build.h

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/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * Copyright 2016-2017 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef BUILD_H
#define BUILD_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define THISBUILD 720 
 
// print debug messages to serial output. Set to 1 to enable, 0 to disable
#define ENABLE_DEBUG_LOG 0
 
#define NED             0   
#define ANDROID         1   
#define WIN8            2   
#define THISCOORDSYSTEM NED 
 
//TODO - unhandled exception if trying to not use gyro (and possibly others)
#define F_USING_NONE        0x0000 
#define F_USING_ACCEL       0x0001 
#define F_USING_MAG         0x0002 
#define F_USING_GYRO        0x0004 
#define F_USING_PRESSURE    0x0000 
#define F_USING_TEMPERATURE 0x0000 
#define F_ALL_SENSORS       0x001F 
#define F_1DOF_P_BASIC \
    0x0000 
#define F_3DOF_G_BASIC \
    0x0000 
#define F_3DOF_B_BASIC \
    0x0000 
#define F_3DOF_Y_BASIC \
    0x0000 
#define F_6DOF_GB_BASIC \
    0x0000 
#define F_6DOF_GY_KALMAN \
    0x0000 
#define F_9DOF_GBY_KALMAN \
    0x4000 
 
// The Output Data Rates (ODR) are set by the calls to *_Init() for each physical sensor.
// If a sensor has a FIFO, then it can be read once/fusion cycle; if not, then read more often
#define GYRO_ODR_HZ     400 
#define ACCEL_ODR_HZ    200 
#define MAG_ODR_HZ      200 
#define LOOP_RATE_HZ     40 //adjust according to the size of the FIFOs on sensors. If no FIFO (e.g. 
//FXOS8700 magnetometer) and don't want to skip any readings then need to read at same rate as ODR. 
//If FIFO exists or willing to skip readings, then usually set same as FUSION_HZ. See also sensor_fusion_class.h
#define FUSION_HZ       40  
 
// Output data rate parameters
#define MAXPACKETRATEHZ 40  //max rate at which data packets can practically be sent (e.g. to Fusion Toolbox)
#define RATERESOLUTION 1000 //When throttling back on output rate, this is the resolution in ms
 
//Specify which output method(s) to use for sending serial data packets and receiving commands
//At least one path is needed if using the Orientation Library with the NXP Sensor Toolbox program.
//Neither is needed if using the sensor_fusion_class.* to interface with the Orientation library.
#define F_USE_WIRELESS_UART     0x0000  
#define F_USE_WIRED_UART        0x0000  
 
//#define INCLUDE_DEBUG_FUNCTIONS // Comment this line to disable the ApplyPerturbation function
 
 
#ifdef __cplusplus
}
#endif
 
#endif // BUILD_H