ST X-CUBE-MEMS1 - Page 11

– void MotionFX_CM0P_update(MFX_CM0P_output_t *data_out, MFX_CM0P_input_t
*data_in, float deltatime)
◦
runs the sensor fusion algorithm
◦ *data_out parameter is a pointer to output data structure
◦ *data_in parameter is a pointer to input data structure
◦ deltatime parameter is a delta time between two propagate calls [sec]
– void MotionFX_CM0P_MagCal_init(int sampletime, unsigned short int enable)
◦ initializes the magnetometer calibration library
◦ sampletime parameter is a period in milliseconds [ms] between the update function calls
◦ enable parameter is to enable (1) or disable (0) library
– void MotionFX_CM0P_MagCal_run(MFX_MagCal_CM0P_input_t *data_in)
◦ runs the magnetometer calibration algorithm
◦ *data_in parameter is a pointer to input data structure
◦ the parameters for the structure type MFX_MagCal_CM0P_input_t are:
• mag is uncalibrated magnetometer data [µT]/50
– void MotionFX_CM0P_MagCal_getParams(MFX_CM0P_MagCal_output_t *data_out)
◦ gets magnetometer calibration parameters
◦ *data_out parameter is a pointer to output data structure
◦ the parameters for the structure type MFX__CM0P_MagCal_output_t are:
• hi_bias is the hard iron offset array [µT]/50
• cal_quality is the calibration quality factor:
• MFX_CM0P_MAGCALUNKNOWN = 0; accuracy of the calibration parameters is unknown
• MFX_CM0P_MAGCALPOOR = 1; accuracy of the calibration parameters is poor, cannot
be trusted
• MFX_CM0P_MAGCALOK = 2; accuracy of the calibration parameters is OK
• MFX_CM0P_MAGCALGOOD = 3; accuracy of the calibration parameters is good
UM2220
MotionFX library
UM2220 - Rev 7
page 11/24