OrientationSensorFusion-ESP/fusion_8h_source.html

/*

 * Copyright (c) 2015, Freescale Semiconductor, Inc.

 * Copyright 2016-2017 NXP

 * All rights reserved.

 *

 * SPDX-License-Identifier: BSD-3-Clause

 */


#ifndef FUSION_H

#define FUSION_H


#ifdef __cplusplus

extern "C" {

#endif


#include "sensor_fusion.h"


#define FLPFSECS_1DOF_P_BASIC       1.5F


#define FLPFSECS_3DOF_G_BASIC       1.0F


#define FLPFSECS_3DOF_B_BASIC       7.0F


#define FLPFSECS_6DOF_GB_BASIC      7.0F


#define FQVY_6DOF_GY_KALMAN         2E2

#define FQVG_6DOF_GY_KALMAN         1.2E-3

#define FQWB_6DOF_GY_KALMAN         2E-2F

#define FMIN_6DOF_GY_BPL            -7.0F

#define FMAX_6DOF_GY_BPL            7.0F


#define FQVY_9DOF_GBY_KALMAN        2E2

#define FQVG_9DOF_GBY_KALMAN        1.2E-3

#define FQVB_9DOF_GBY_KALMAN        5E0

#define FQWB_9DOF_GBY_KALMAN        2E-2F

#define FMIN_9DOF_GBY_BPL       -7.0F

#define FMAX_9DOF_GBY_BPL       7.0F


void fInitializeFusion(SensorFusionGlobals *sfg);

void fFuseSensors(struct SV_1DOF_P_BASIC *pthisSV_1DOF_P_BASIC, struct SV_3DOF_G_BASIC *pthisSV_3DOF_G_BASIC,

        struct SV_3DOF_B_BASIC *pthisSV_3DOF_B_BASIC, struct SV_3DOF_Y_BASIC *pthisSV_3DOF_Y_BASIC,

        struct SV_6DOF_GB_BASIC *pthisSV_6DOF_GB_BASIC, struct SV_6DOF_GY_KALMAN *pthisSV_6DOF_GY_KALMAN,

        struct SV_9DOF_GBY_KALMAN *pthisSV_9DOF_GBY_KALMAN,

        struct AccelSensor *pthisAccel, struct MagSensor *pthisMag, struct GyroSensor *pthisGyro,

        struct PressureSensor *pthisPressure, struct MagCalibration *pthisMagCal);

void fInit_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, struct PressureSensor *pthisPressure,  float flpftimesecs);

void fInit_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, struct AccelSensor *pthisAccel, float flpftimesecs);

void fInit_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, struct MagSensor *pthisMag, float flpftimesecs);

void fInit_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV);

void fInit_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag, float flpftimesecs);

void fInit_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct GyroSensor *pthisGyro);

void fInit_9DOF_GBY_KALMAN(struct SV_9DOF_GBY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag,

        struct GyroSensor *pthisGyro, struct MagCalibration *pthisMagCal);

void fRun_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, struct PressureSensor *pthisPressure);

void fRun_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, struct AccelSensor *pthisAccel);

void fRun_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, struct MagSensor *pthisMag);

void fRun_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV, struct GyroSensor *pthisGyro);

void fRun_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, struct MagSensor *pthisMag, struct AccelSensor *pthisAccel);

void fRun_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct GyroSensor *pthisGyro);

void fRun_9DOF_GBY_KALMAN(struct SV_9DOF_GBY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag, struct GyroSensor *pthisGyro, struct MagCalibration *pthisMagCal);


#ifdef __cplusplus

}

#endif


#endif   // #ifndef FUSION_H

sensor_fusion.h
The sensor_fusion.h file implements the top level programming interface.

AccelSensor
The AccelSensor structure stores raw and processed measurements for a 3-axis accelerometer.
Definition sensor_fusion.h:190

GyroSensor
The GyroSensor structure stores raw and processed measurements for a 3-axis gyroscope.
Definition sensor_fusion.h:242

MagCalibration
Magnetic Calibration Structure.
Definition magnetic.h:61

MagSensor
The MagSensor structure stores raw and processed measurements for a 3-axis magnetic sensor.
Definition sensor_fusion.h:212

PressureSensor
The PressureSensor structure stores raw and processed measurements for an altimeter.
Definition sensor_fusion.h:172

SV_1DOF_P_BASIC
The SV_1DOF_P_BASIC structure contains state information for a pressure sensor/altimeter.
Definition sensor_fusion.h:266

SV_3DOF_B_BASIC
This is the 3DOF basic magnetometer state vector structure/.
Definition sensor_fusion.h:299

SV_3DOF_G_BASIC
This is the 3DOF basic accelerometer state vector structure.
Definition sensor_fusion.h:277

SV_3DOF_Y_BASIC
SV_3DOF_Y_BASIC structure is the 3DOF basic gyroscope state vector structure.
Definition sensor_fusion.h:321

SV_6DOF_GB_BASIC
SV_6DOF_GB_BASIC is the 6DOF basic accelerometer and magnetometer state vector structure.
Definition sensor_fusion.h:340

SV_6DOF_GY_KALMAN
SV_6DOF_GY_KALMAN is the 6DOF Kalman filter accelerometer and gyroscope state vector structure.
Definition sensor_fusion.h:364

SV_9DOF_GBY_KALMAN
SV_9DOF_GBY_KALMAN is the 9DOF Kalman filter accelerometer, magnetometer and gyroscope state vector s...
Definition sensor_fusion.h:398

SensorFusionGlobals
The top level fusion structure.
Definition sensor_fusion.h:461