Hi Miroslav,
Below is the code for calling MotionFx library. I read the raw data from registers directly (not FIFO) and then subtract by the bias which is calculated in calibration phase (put on stationary table) after power on and well configured, translate them to correct unit, say, dps and g, before saving to Mfx_din.
========================================================================
while (1)
{
/* USER CODE END WHILE */
// --------------------------------------------------------------
currTick_100us = HAL_GetTickIn100us();
dTick = TIME_DIFF(currTick_100us, prevTick_100us);
// IMU_FUSION_RATE_TICK = 200 for 50Hz
if ( dTick >= IMU_FUSION_RATE_TICK )
{
prevTick_100us = currTick_100us;
if ( firstFusion ) {
firstFusion = 0;
// read GYO/ACC from registers directly and translate the raw
// data to Mfx_din structure
imu_xsm330_nondma_read( &hi2c1, 1, 1 );
}
else {
imu_xsm330_ahrs_update( dTick * IMU_FUSION_DELTA_T );
imu_xsm330_nondma_read( &hi2c1, 1, 1 );
}
} // compare dTick to IMU_FUSION_RATE_TICK
// --------------------------------------------------------------
}
void imu_xsm330_ahrs_update( float dt )
{
float dT = dt;
MotionFX_propagate( &Mfx_dout, &Mfx_din, &dT );
MotionFX_update( &Mfx_dout, &Mfx_din, &dT, NULL );
}
========================================================================
Anyway, I will check your log file and see what is the difference between our result.
BRs,
MJ
