osx_motion_fx.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef _OSX_MOTION_FX_H_
#define _OSX_MOTION_FX_H_

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "stdint.h"

/* Exported types ------------------------------------------------------------*/
#define NUM_AXES    3
#define QNUM_AXES   4

typedef enum
{
  OSXMFX_ENGINE_DISABLE = 0,
  OSXMFX_ENGINE_ENABLE = 1
} osxMFX_Engine_State;

typedef enum
{
  OSXMFX_ENGINE_OUTPUT_NED = 0,
  OSXMFX_ENGINE_OUTPUT_ENU = 1
} osxMFX_Engine_Output_Ref_Sys;

typedef struct
{
  float ATime;                              /* merge rate to the accel */
  float MTime;                              /* merge rate to the mag */
  float FrTime;                             /* merge rate to the accel when external accelerations occours */
  unsigned char LMode;                      /* gyro bias learn mode: 1-static learning 2-dynamic learning */
  float gbias_mag_th_sc_6X;                 /* 6 axes scaler for the gyro bias mag threshold nominal */
  float gbias_acc_th_sc_6X;                 /* 6 axes scaler for the gyro bias acc threshold nominal */
  float gbias_gyro_th_sc_6X;                /* 6 axes scaler for the gyro bias gyro threshold nominal */
  float gbias_mag_th_sc_9X;                 /* 9 axes scaler for the gyro bias mag threshold nominal */
  float gbias_acc_th_sc_9X;                 /* 9 axes scaler for the gyro bias acc threshold nominal */
  float gbias_gyro_th_sc_9X;                /* 9 axes scaler for the gyro bias gyro threshold nominal */
  unsigned char modx;                       /* setting to indicate the decimation,
                                               set to 1 in smartphone/tablet
                                               set to >=1 in embedded solutions */
  char acc_orientation[QNUM_AXES];          /* accelerometer data orientation */
  char gyro_orientation[QNUM_AXES];         /* gyroscope data orientation */
  char mag_orientation[QNUM_AXES];          /* magnetometer data orientation */
  osxMFX_Engine_Output_Ref_Sys output_type; /* 0: NED, 1: ENU */
  int start_automatic_gbias_calculation;
} osxMFX_knobs;

typedef struct
{
  float mag[NUM_AXES];  /* calibrated mag [uT]/50 */
  float acc[NUM_AXES];  /* acc [g] */
  float gyro[NUM_AXES]; /* gyro [dps] */
} osxMFX_input;

typedef struct
{
  float rotation_9X[NUM_AXES];            /* 9 axes yaw, pitch and roll */
  float quaternion_9X[QNUM_AXES];         /* 9 axes quaternion */
  float gravity_9X[NUM_AXES];             /* 9 axes device frame gravity */
  float linear_acceleration_9X[NUM_AXES]; /* 9 axes device frame linear acceleration */
  float heading_9X;                       /* 9 axes heading */
  float rotation_6X[NUM_AXES];            /* 6 axes yaw, pitch and roll */
  float quaternion_6X[QNUM_AXES];         /* 6 axes quaternion */
  float gravity_6X[NUM_AXES];             /* 6 axes device frame gravity */
  float linear_acceleration_6X[NUM_AXES]; /* 6 axes device frame linear acceleration */
  float heading_6X;                       /* 6 axes heading */
} osxMFX_output;

typedef struct
{
  signed short magOffX; /* X axis Offset */
  signed short magOffY; /* Y axis Offset */
  signed short magOffZ; /* Z axis Offset */
  float magGainX;       /* X axis Gain  */
  float magGainY;       /* Y axis Gain  */
  float magGainZ;       /* Z axis Gain  */
  float expMagVect;     /* expected magnetic field */
} osxMFX_calibFactor;
/* Exported constants --------------------------------------------------------*/
/* Exported variables --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
uint8_t osx_MotionFX_initialize(void);

void osx_MotionFX_setKnobs(osxMFX_knobs *knobs);

void osx_MotionFX_getKnobs(osxMFX_knobs *knobs);

osxMFX_Engine_State osx_MotionFX_getStatus_6X(void);

osxMFX_Engine_State osx_MotionFX_getStatus_9X(void);

void osx_MotionFX_enable_6X(osxMFX_Engine_State enable);

void osx_MotionFX_enable_9X(osxMFX_Engine_State enable);

void osx_MotionFX_setGbias(float *gbias);

void osx_MotionFX_getGbias(float *gbias);

void osx_MotionFX_update(osxMFX_output *data_out, osxMFX_input *data_in, float eml_deltatime, float *eml_q_update);

void osx_MotionFX_propagate(osxMFX_output *data_out, osxMFX_input *data_in, float eml_deltatime);

int osx_MotionFX_getLibVersion(char *version);

void osx_MotionFX_compass_init(void);

void osx_MotionFX_compass_saveAcc(int acc_x, int acc_y, int acc_z);

void osx_MotionFX_compass_saveMag(int mag_x, int mag_y, int mag_z);

int osx_MotionFX_compass_run(void);

unsigned char osx_MotionFX_compass_isCalibrated(void);

void osx_MotionFX_compass_forceReCalibration(void);

void osx_MotionFX_getCalibrationData(osxMFX_calibFactor* CalibrationData);

void osx_MotionFX_setCalibrationData(osxMFX_calibFactor* CalibrationData);

#ifdef __cplusplus
}
#endif

#endif /* _OSX_MOTION_FX_H_ */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/