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fusion.h
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1 // Copyright (c) 2014, 2015, 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:
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9 // notice, this list of conditions and the following disclaimer in the
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12 // names of its contributors may be used to endorse or promote products
13 // derived from this software without specific prior written permission.
14 //
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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 // COMPUTE_6DOF_GY_KALMAN constants
35 // *********************************************************************************
36
37 // gyro sensor noise covariance units deg^2
38 #define FQVY_6DOF_GY_KALMAN 1E4F
39 // gyro offset random walk units (deg/s)^2
40 #define FQWB_6DOF_GY_KALMAN 5E-1F
41
42 // *********************************************************************************
43 // COMPUTE_9DOF_GBY_KALMAN constants
44 // *********************************************************************************
45
46 // gyro sensor noise covariance units deg^2
47 #define FQVY_9DOF_GBY_KALMAN 1E4F
48 // gyro offset random walk units (deg/s)^2
49 #define FQWB_9DOF_GBY_KALMAN 5E-1F
50 // geomagnetic inclination angle random walk units deg/s
51 #define FQWDLT_9DOF_GBY_KALMAN 2E1F
52 // minimum magnetometer and magnetic disturbance
53 #define FQVBQD_MIN_9DOF_GBY_KALMAN 7E0F
54 // minimum and maximum gyro offset in deg/s
55 #define FGYRO_OFFSET_MIN_9DOF_GBY_KALMAN -5.0F
56 #define FGYRO_OFFSET_MAX_9DOF_GBY_KALMAN 5.0F
57
58 // *********************************************************************************
59 // function prototypes
60 // *********************************************************************************
61 void fInitFusion(void);
62 void fInit_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, struct PressureSensor *pthisPressure, float flpftimesecs);
63 void fInit_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, struct AccelSensor *pthisAccel, float flpftimesecs);
64 void fInit_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, struct MagSensor *pthisMag, float flpftimesecs);
65 void fInit_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV);
66 void fInit_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag, float flpftimesecs);
67 void fInit_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, struct AccelSensor *pthisAccel);
68 void fInit_9DOF_GBY_KALMAN(struct SV_9DOF_GBY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag,
69 struct MagCalibration *pthisMagCal);
70 void fRun_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, struct PressureSensor *pthisPressure);
71 void fRun_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, struct AccelSensor *pthisAccel);
72 void fRun_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, struct MagSensor *pthisMag);
73 void fRun_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV, struct GyroSensor *pthisGyro);
74 void fRun_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, struct MagSensor *pthisMag, struct AccelSensor *pthisAccel);
75 void fRun_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct GyroSensor *pthisGyro);
76 void fRun_9DOF_GBY_KALMAN(struct SV_9DOF_GBY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag, struct GyroSensor *pthisGyro, struct MagCalibration *pthisMagCal);
77
78 #endif // #ifndef FUSION_H
fInit_6DOF_GY_KALMAN
void fInit_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, struct AccelSensor *pthisAccel)
Definition: fusion.c:238
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)
Definition: fusion.c:940
fRun_6DOF_GB_BASIC
void fRun_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, struct MagSensor *pthisMag, struct AccelSensor *pthisAccel)
Definition: fusion.c:551
fRun_1DOF_P_BASIC
void fRun_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, struct PressureSensor *pthisPressure)
Definition: fusion.c:361
fInit_3DOF_G_BASIC
void fInit_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, struct AccelSensor *pthisAccel, float flpftimesecs)
Definition: fusion.c:106
SV_3DOF_B_BASIC
Definition: fusion_types.h:105
AccelSensor
Definition: sensor_data_types.h:33
SV_9DOF_GBY_KALMAN
Definition: fusion_types.h:218
MagSensor
Definition: sensor_data_types.h:47
magnetic_config.h
fRun_6DOF_GY_KALMAN
void fRun_6DOF_GY_KALMAN(struct SV_6DOF_GY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct GyroSensor *pthisGyro)
Definition: fusion.c:606
SV_1DOF_P_BASIC
Definition: fusion_types.h:68
SV_6DOF_GY_KALMAN
Definition: fusion_types.h:183
fInit_3DOF_Y_BASIC
void fInit_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV)
Definition: fusion.c:180
fRun_3DOF_B_BASIC
void fRun_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, struct MagSensor *pthisMag)
Definition: fusion.c:437
fInit_6DOF_GB_BASIC
void fInit_6DOF_GB_BASIC(struct SV_6DOF_GB_BASIC *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag, float flpftimesecs)
Definition: fusion.c:200
SV_3DOF_Y_BASIC
Definition: fusion_types.h:131
magnetic.h
fusion_types.h
fInit_1DOF_P_BASIC
void fInit_1DOF_P_BASIC(struct SV_1DOF_P_BASIC *pthisSV, struct PressureSensor *pthisPressure, float flpftimesecs)
Definition: fusion.c:84
fInitFusion
void fInitFusion(void)
MagCalibration
Definition: magnetic.h:59
sensor_data_types.h
fRun_3DOF_Y_BASIC
void fRun_3DOF_Y_BASIC(struct SV_3DOF_Y_BASIC *pthisSV, struct GyroSensor *pthisGyro)
Definition: fusion.c:489
fInit_9DOF_GBY_KALMAN
void fInit_9DOF_GBY_KALMAN(struct SV_9DOF_GBY_KALMAN *pthisSV, struct AccelSensor *pthisAccel, struct MagSensor *pthisMag, struct MagCalibration *pthisMagCal)
Definition: fusion.c:284
SV_6DOF_GB_BASIC
Definition: fusion_types.h:155
fInit_3DOF_B_BASIC
void fInit_3DOF_B_BASIC(struct SV_3DOF_B_BASIC *pthisSV, struct MagSensor *pthisMag, float flpftimesecs)
Definition: fusion.c:143
SV_3DOF_G_BASIC
Definition: fusion_types.h:79
GyroSensor
Definition: sensor_data_types.h:64
fRun_3DOF_G_BASIC
void fRun_3DOF_G_BASIC(struct SV_3DOF_G_BASIC *pthisSV, struct AccelSensor *pthisAccel)
Definition: fusion.c:380
PressureSensor
Definition: sensor_data_types.h:20
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