MotionFX_Manager.h

00001 /**
00002   ******************************************************************************
00003   * @file    MotionFX_Manager.h
00004   * @author  Central Lab
00005   * @version V1.1.0
00006   * @date    20-January-2015
00007   * @brief   This file includes sensor fusion interface functions
00008   ******************************************************************************
00009   * @attention
00010   *
00011   * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00012   *
00013   * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
00014   * You may not use this file except in compliance with the License.
00015   * You may obtain a copy of the License at:
00016   *
00017   *        http://www.st.com/software_license_agreement_liberty_v2
00018   *
00019   * Redistribution and use in source and binary forms, with or without modification,
00020   * are permitted provided that the following conditions are met:
00021   *   1. Redistributions of source code must retain the above copyright notice,
00022   *      this list of conditions and the following disclaimer.
00023   *   2. Redistributions in binary form must reproduce the above copyright notice,
00024   *      this list of conditions and the following disclaimer in the documentation
00025   *      and/or other materials provided with the distribution.
00026   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00027   *      may be used to endorse or promote products derived from this software
00028   *      without specific prior written permission.
00029   *
00030   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00031   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00032   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00033   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00034   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00035   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00036   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00037   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00038   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00039   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00040   *
00041   ******************************************************************************
00042   */
00043   
00044 #ifndef _MOTIONFX_MANAGER_H_
00045 #define _MOTIONFX_MANAGER_H_
00046 
00047 #ifdef __cplusplus
00048  extern "C" {
00049 #endif
00050 
00051 //#define USE_SENSOR_FUSION_LIB    /** uncomment only if STM32_OSX_MotionFX_Library is linked and licensed **/
00052 
00053 #include <cstdio>
00054 #include <stdint.h> 
00055 #include <stdio.h>   
00056      
00057 #ifdef USE_SENSOR_FUSION_LIB     
00058 #include "osx_motion_fx.h"
00059 #else
00060 
00061 #define NUM_AXES    3
00062 #define QNUM_AXES   4
00063      
00064 typedef struct
00065 {
00066   float mag[NUM_AXES];  /* calibrated mag [uT]/50 */
00067   float acc[NUM_AXES];  /* acc [g] */
00068   float gyro[NUM_AXES]; /* gyro [dps] */
00069 } osxMFX_input;
00070 
00071 typedef struct
00072 {
00073   float rotation_9X[NUM_AXES];            /* 9 axes yaw, pitch and roll */
00074   float quaternion_9X[QNUM_AXES];         /* 9 axes quaternion */
00075   float gravity_9X[NUM_AXES];             /* 9 axes device frame gravity */
00076   float linear_acceleration_9X[NUM_AXES]; /* 9 axes device frame linear acceleration */
00077   float heading_9X;                       /* 9 axes heading */
00078   float rotation_6X[NUM_AXES];            /* 6 axes yaw, pitch and roll */
00079   float quaternion_6X[QNUM_AXES];         /* 6 axes quaternion */
00080   float gravity_6X[NUM_AXES];             /* 6 axes device frame gravity */
00081   float linear_acceleration_6X[NUM_AXES]; /* 6 axes device frame linear acceleration */
00082   float heading_6X;                       /* 6 axes heading */
00083 } osxMFX_output;
00084 
00085 typedef struct
00086 {
00087   signed short magOffX; /* X axis Offset */
00088   signed short magOffY; /* Y axis Offset */
00089   signed short magOffZ; /* Z axis Offset */
00090   float magGainX;       /* X axis Gain  */
00091   float magGainY;       /* Y axis Gain  */
00092   float magGainZ;       /* Z axis Gain  */
00093   float expMagVect;     /* expected magnetic field */
00094 } osxMFX_calibFactor;    
00095      
00096 unsigned char osx_MotionFX_compass_isCalibrated(void);
00097 void osx_MotionFX_compass_forceReCalibration(void);
00098 void osx_MotionFX_compass_saveAcc(int acc_x, int acc_y, int acc_z);
00099 void osx_MotionFX_compass_saveMag(int mag_x, int mag_y, int mag_z);
00100 int  osx_MotionFX_compass_run(void);
00101 void osx_MotionFX_setCalibrationData(osxMFX_calibFactor* CalibrationData);
00102 void osx_MotionFX_getCalibrationData(osxMFX_calibFactor* CalibrationData);
00103 
00104 #endif
00105      
00106      
00107 typedef struct {
00108     int32_t AXIS_X;
00109     int32_t AXIS_Y;
00110     int32_t AXIS_Z;
00111 } AxesRaw_t;
00112      
00113 /* Exported functions ------------------------------------------------------- */
00114 
00115 bool MotionFX_manager_init(bool DS3_OnBoard, osxMFX_calibFactor & magOffset);
00116 void MotionFX_manager_run(AxesRaw_t *ACC_Value, AxesRaw_t *GYR_Value, AxesRaw_t *MAG_Value, osxMFX_calibFactor & magOffset);
00117 void MotionFX_manager_start_6X(void);
00118 void MotionFX_manager_stop_6X(void);
00119 void MotionFX_manager_start_9X(void);
00120 void MotionFX_manager_stop_9X(void);
00121 
00122 void MotionFX_manager_setDependencies(uint8_t sf, int32_t sensorMask);
00123 void MotionFX_manager_resetDependencies(uint8_t sf, int32_t sensorMask);
00124 uint32_t MotionFX_manager_getDependencies(uint8_t sf);
00125 
00126 osxMFX_output* MotionFX_manager_getDataOUT(void);
00127 osxMFX_input* MotionFX_manager_getDataIN(void);
00128 
00129 /* Exported constants --------------------------------------------------------*/
00130 
00131 /* Delta time mSec for Deltafusion */
00132 #define DELTATIMESENSORFUSION 0.01
00133 
00134 #ifdef __cplusplus
00135 }
00136 #endif
00137 
00138 #endif //_MOTIONFX_MANAGER_H_
00139 
00140 /******************* (C) COPYRIGHT 2015 STMicroelectronics *****END OF FILE****/