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fusion.h
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1 // Copyright (c) 2014, Freescale Semiconductor, Inc.
2 // All rights reserved.
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are met:
6 // * Redistributions of source code must retain the above copyright
7 // notice, this list of conditions and the following disclaimer.
8 // * Redistributions in binary form must reproduce the above copyright
9 // notice, this list of conditions and the following disclaimer in the
10 // documentation and/or other materials provided with the distribution.
11 // * Neither the name of Freescale Semiconductor, Inc. nor the
12 // names of its contributors may be used to endorse or promote products
13 // derived from this software without specific prior written permission.
14 //
15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
16 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
17 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
18 // DISCLAIMED. IN NO EVENT SHALL FREESCALE SEMICONDUCTOR, INC. BE LIABLE FOR ANY
19 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
20 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
21 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
22 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
23 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
24 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25 //
26 #ifndef FUSION_H
27 #define FUSION_H
28 #include "sensor_data_types.h"
29 #include "fusion_types.h"
30 #include "magnetic_config.h"
31 #include "magnetic.h"
32
33
34
35 // *********************************************************************************
36 // function prototypes
37 // *********************************************************************************
38
39 void fInit_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, float flpftimesecs, int16 iSensorFS, int16 iOverSampleRatio);
40 void fInit_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, float flpftimesecs, int16 iSensorFS, int16 iOverSampleRatio);
41 void fInit_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, float flpftimesecs, int16 iSensorFS, int16 iOverSampleRatio);
42 void fInit_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV, int16 iSensorFS, int16 iOverSampleRatio);
43 void fInit_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, float flpftimesecs, int16 iSensorFS, int16 iOverSampleRatio);
44 void fInit_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, int16 iSensorFS, int16 iOverSampleRatio);
45 void fInit_9DOF_GBY_KALMAN(struct SV_9DOF_GBY_KALMAN *pthisSV, int16 ithisCoordSystem, int16 iSensorFS, int16 iOverSampleRatio);
46
47 void fRun_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, struct PressureSensor *pthisPressure, int32 loopcounter);
48 void fRun_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, struct AccelSensor *pthisAccel, int32 loopcounter, int16 ithisCoordSystem);
49 void fRun_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, struct MagSensor *pthisMag, int32 loopcounter, int16 ithisCoordSystem);
50 void fRun_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV, struct GyroSensor *pthisGyro, int32 loopcounter, int16 ithisCoordSystem, int16 iOverSampleRatio);
51 void fRun_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, struct MagSensor *pthisMag, struct AccelSensor *pthisAccel, int32 loopcounter, int16 ithisCoordSystem);
52 void fRun_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct GyroSensor *pthisGyro, int16 ithisCoordSystem, int16 iOverSampleRatio);
53 void fRun_9DOF_GBY_KALMAN(struct SV_9DOF_GBY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag, struct GyroSensor *pthisGyro,
54 struct MagCalibration *pthisMagCal, int16 ithisCoordSystem, int16 iOverSampleRatio);
55
56 #endif // #ifndef FUSION_H
fInit_1DOF_P_BASIC
void fInit_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, float flpftimesecs, int16 iSensorFS, int16 iOverSampleRatio)
Definition: fusion.c:81
fInit_6DOF_GY_KALMAN
void fInit_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, int16 iSensorFS, int16 iOverSampleRatio)
Definition: fusion.c:166
fRun_3DOF_B_BASIC
void fRun_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, struct MagSensor *pthisMag, int32 loopcounter, int16 ithisCoordSystem)
Definition: fusion.c:403
fRun_3DOF_G_BASIC
void fRun_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, struct AccelSensor *pthisAccel, int32 loopcounter, int16 ithisCoordSystem)
Definition: fusion.c:340
fRun_9DOF_GBY_KALMAN
void fRun_9DOF_GBY_KALMAN(struct SV_9DOF_GBY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag, struct GyroSensor *pthisGyro, struct MagCalibration *pthisMagCal, int16 ithisCoordSystem, int16 iOverSampleRatio)
Definition: fusion.c:1110
fInit_6DOF_GB_BASIC
void fInit_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, float flpftimesecs, int16 iSensorFS, int16 iOverSampleRatio)
Definition: fusion.c:148
SV_3DOF_B_BASIC
Definition: fusion_types.h:74
AccelSensor
Definition: sensor_data_types.h:28
SV_9DOF_GBY_KALMAN
Definition: fusion_types.h:202
fInit_9DOF_GBY_KALMAN
void fInit_9DOF_GBY_KALMAN(struct SV_9DOF_GBY_KALMAN *pthisSV, int16 ithisCoordSystem, int16 iSensorFS, int16 iOverSampleRatio)
Definition: fusion.c:234
MagSensor
Definition: sensor_data_types.h:39
magnetic_config.h
fInit_3DOF_Y_BASIC
void fInit_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV, int16 iSensorFS, int16 iOverSampleRatio)
Definition: fusion.c:131
SV_1DOF_P_BASIC
Definition: fusion_types.h:37
fRun_1DOF_P_BASIC
void fRun_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, struct PressureSensor *pthisPressure, int32 loopcounter)
Definition: fusion.c:323
SV_6DOF_GY_KALMAN
Definition: fusion_types.h:153
SV_3DOF_Y_BASIC
Definition: fusion_types.h:100
magnetic.h
fusion_types.h
fRun_3DOF_Y_BASIC
void fRun_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV, struct GyroSensor *pthisGyro, int32 loopcounter, int16 ithisCoordSystem, int16 iOverSampleRatio)
Definition: fusion.c:461
int32
long int32
This defines int32 as long.
Definition: isf_types.h:32
fInit_3DOF_G_BASIC
void fInit_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, float flpftimesecs, int16 iSensorFS, int16 iOverSampleRatio)
Definition: fusion.c:97
int16
short int16
This defines int16 as short.
Definition: isf_types.h:23
MagCalibration
Definition: magnetic.h:42
sensor_data_types.h
fInit_3DOF_B_BASIC
void fInit_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, float flpftimesecs, int16 iSensorFS, int16 iOverSampleRatio)
Definition: fusion.c:114
fRun_6DOF_GB_BASIC
void fRun_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, struct MagSensor *pthisMag, struct AccelSensor *pthisAccel, int32 loopcounter, int16 ithisCoordSystem)
Definition: fusion.c:532
SV_6DOF_GB_BASIC
Definition: fusion_types.h:125
SV_3DOF_G_BASIC
Definition: fusion_types.h:48
fRun_6DOF_GY_KALMAN
void fRun_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct GyroSensor *pthisGyro, int16 ithisCoordSystem, int16 iOverSampleRatio)
Definition: fusion.c:593
GyroSensor
Definition: sensor_data_types.h:54
PressureSensor
Definition: sensor_data_types.h:15
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