Diff: MotionFX_Manager.h

Revision:

4:1d3d071a4c2c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotionFX_Manager.h	Tue Jan 26 13:29:53 2016 +0000
@@ -0,0 +1,140 @@
+/**
+  ******************************************************************************
+  * @file    MotionFX_Manager.h
+  * @author  Central Lab
+  * @version V1.1.0
+  * @date    20-Jannuary-2015
+  * @brief   This file includes sensor fusion interface functions
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+  *
+  * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
+  * You may not use this file except in compliance with the License.
+  * You may obtain a copy of the License at:
+  *
+  *        http://www.st.com/software_license_agreement_liberty_v2
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+  
+#ifndef _MOTIONFX_MANAGER_H_
+#define _MOTIONFX_MANAGER_H_
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+//#define USE_SENSOR_FUSION_LIB    /** uncomment only if STM32_OSX_MotionFX_Library is linked and licensed **/
+
+#include <cstdio>
+#include <stdint.h> 
+#include <stdio.h>   
+     
+#ifdef USE_SENSOR_FUSION_LIB     
+#include "osx_motion_fx.h"
+#else
+
+#define NUM_AXES    3
+#define QNUM_AXES   4
+     
+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;    
+     
+unsigned char osx_MotionFX_compass_isCalibrated(void);
+void osx_MotionFX_compass_forceReCalibration(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);
+void osx_MotionFX_setCalibrationData(osxMFX_calibFactor* CalibrationData);
+void osx_MotionFX_getCalibrationData(osxMFX_calibFactor* CalibrationData);
+
+#endif
+     
+     
+typedef struct {
+    int32_t AXIS_X;
+    int32_t AXIS_Y;
+    int32_t AXIS_Z;
+} AxesRaw_t;
+     
+/* Exported functions ------------------------------------------------------- */
+
+bool MotionFX_manager_init(bool DS3_OnBoard, osxMFX_calibFactor & magOffset);
+void MotionFX_manager_run(AxesRaw_t *ACC_Value, AxesRaw_t *GYR_Value, AxesRaw_t *MAG_Value, osxMFX_calibFactor & magOffset);
+void MotionFX_manager_start_6X(void);
+void MotionFX_manager_stop_6X(void);
+void MotionFX_manager_start_9X(void);
+void MotionFX_manager_stop_9X(void);
+
+void MotionFX_manager_setDependencies(uint8_t sf, int32_t sensorMask);
+void MotionFX_manager_resetDependencies(uint8_t sf, int32_t sensorMask);
+uint32_t MotionFX_manager_getDependencies(uint8_t sf);
+
+osxMFX_output* MotionFX_manager_getDataOUT(void);
+osxMFX_input* MotionFX_manager_getDataIN(void);
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Delta time mSec for Deltafusion */
+#define DELTATIMESENSORFUSION 0.01
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //_MOTIONFX_MANAGER_H_
+
+/******************* (C) COPYRIGHT 2015 STMicroelectronics *****END OF FILE****/