Sensor Fusion for Kinetis MCUs (ISSDK/KSDK version)
DecodeCommandBytes.c
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30 
31 /*! \file DecodeCommandBytes.c
32  \brief Command interpreter which interfaces to the Sensor Fusion Toolbox
33 */
34 
35 #include "sensor_fusion.h"
36 #include "control.h"
37 #include "fusion.h"
38 #include "calibration_storage.h"
39 // All commands for the command interpreter are exactly 4 characters long.
40 // The command interpeter converts the incoming packet to a 32-bit integer, which is then
41 // the index into a large switch statement for processing commands.
42 // The following block of #define statements are responsible for the conversion from 4-characters
43 // into an easier to use integer format.
44 #define cmd_VGplus (((((('V' << 8) | 'G') << 8) | '+') << 8) | ' ') // "VG+ " = enable angular velocity packet transmission
45 #define cmd_VGminus (((((('V' << 8) | 'G') << 8) | '-') << 8) | ' ') // "VG- " = disable angular velocity packet transmission
46 #define cmd_DBplus (((((('D' << 8) | 'B') << 8) | '+') << 8) | ' ') // "DB+ " = enable debug packet transmission
47 #define cmd_DBminus (((((('D' << 8) | 'B') << 8) | '-') << 8) | ' ') // "DB- " = disable debug packet transmission
48 #define cmd_Q3 (((((('Q' << 8) | '3') << 8) | ' ') << 8) | ' ') // "Q3 " = transmit 3-axis accelerometer quaternion in standard packet
49 #define cmd_Q3M (((((('Q' << 8) | '3') << 8) | 'M') << 8) | ' ') // "Q3M " = transmit 3-axis magnetic quaternion in standard packet
50 #define cmd_Q3G (((((('Q' << 8) | '3') << 8) | 'G') << 8) | ' ') // "Q3G " = transmit 3-axis gyro quaternion in standard packet
51 #define cmd_Q6MA (((((('Q' << 8) | '6') << 8) | 'M') << 8) | 'A') // "Q6MA" = transmit 6-axis mag/accel quaternion in standard packet
52 #define cmd_Q6AG (((((('Q' << 8) | '6') << 8) | 'A') << 8) | 'G') // "Q6AG" = transmit 6-axis accel/gyro quaternion in standard packet
53 #define cmd_Q9 (((((('Q' << 8) | '9') << 8) | ' ') << 8) | ' ') // "Q9 " = transmit 9-axis quaternion in standard packet (default)
54 #define cmd_RPCplus (((((('R' << 8) | 'P') << 8) | 'C') << 8) | '+') // "RPC+" = Roll/Pitch/Compass on
55 #define cmd_RPCminus (((((('R' << 8) | 'P') << 8) | 'C') << 8) | '-') // "RPC-" = Roll/Pitch/Compass off
56 #define cmd_ALTplus (((((('A' << 8) | 'L') << 8) | 'T') << 8) | '+') // "ALT+" = Altitude packet on
57 #define cmd_ALTminus (((((('A' << 8) | 'L') << 8) | 'T') << 8) | '-') // "ALT-" = Altitude packet off
58 #define cmd_RST (((((('R' << 8) | 'S') << 8) | 'T') << 8) | ' ') // "RST " = Soft reset
59 #define cmd_RINS (((((('R' << 8) | 'I') << 8) | 'N') << 8) | 'S') // "RINS" = Reset INS inertial navigation velocity and position
60 #define cmd_SVAC (((((('S' << 8) | 'V') << 8) | 'A') << 8) | 'C') // "SVAC" = save all calibrations to Kinetis flash
61 #define cmd_SVMC (((((('S' << 8) | 'V') << 8) | 'M') << 8) | 'C') // "SVMC" = save magnetic calibration to Kinetis flash
62 #define cmd_SVYC (((((('S' << 8) | 'V') << 8) | 'Y') << 8) | 'C') // "SVYC" = save gyroscope calibration to Kinetis flash
63 #define cmd_SVGC (((((('S' << 8) | 'V') << 8) | 'G') << 8) | 'C') // "SVGC" = save precision accelerometer calibration to Kinetis flash
64 #define cmd_ERAC (((((('E' << 8) | 'R') << 8) | 'A') << 8) | 'C') // "ERAC" = erase all calibrations from Kinetis flash
65 #define cmd_ERMC (((((('E' << 8) | 'R') << 8) | 'M') << 8) | 'C') // "ERMC" = erase magnetic calibration from Kinetis flash
66 #define cmd_ERYC (((((('E' << 8) | 'R') << 8) | 'Y') << 8) | 'C') // "ERYC" = erase gyro offset calibration from Kinetis flash
67 #define cmd_ERGC (((((('E' << 8) | 'R') << 8) | 'G') << 8) | 'C') // "ERGC" = erase precision accelerometer calibration from Kinetis flash
68 #define cmd_180X (((((('1' << 8) | '8') << 8) | '0') << 8) | 'X') // "180X" perturbation
69 #define cmd_180Y (((((('1' << 8) | '8') << 8) | '0') << 8) | 'Y') // "180Y" perturbation
70 #define cmd_180Z (((((('1' << 8) | '8') << 8) | '0') << 8) | 'Z') // "180Z" perturbation
71 #define cmd_M90X (((((('M' << 8) | '9') << 8) | '0') << 8) | 'X') // "M90X" perturbation
72 #define cmd_P90X (((((('P' << 8) | '9') << 8) | '0') << 8) | 'X') // "P90X" perturbation
73 #define cmd_M90Y (((((('M' << 8) | '9') << 8) | '0') << 8) | 'Y') // "M90Y" perturbation
74 #define cmd_P90Y (((((('P' << 8) | '9') << 8) | '0') << 8) | 'Y') // "P90Y" perturbation
75 #define cmd_M90Z (((((('M' << 8) | '9') << 8) | '0') << 8) | 'Z') // "M90Z" perturbation
76 #define cmd_P90Z (((((('P' << 8) | '9') << 8) | '0') << 8) | 'Z') // "P90Z" perturbation
77 #define cmd_PA00 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '0') // "PA00" average precision accelerometer location 0
78 #define cmd_PA01 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '1') // "PA01" average precision accelerometer location 1
79 #define cmd_PA02 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '2') // "PA02" average precision accelerometer location 2
80 #define cmd_PA03 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '3') // "PA03" average precision accelerometer location 3
81 #define cmd_PA04 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '4') // "PA04" average precision accelerometer location 4
82 #define cmd_PA05 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '5') // "PA05" average precision accelerometer location 5
83 #define cmd_PA06 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '6') // "PA06" average precision accelerometer location 6
84 #define cmd_PA07 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '7') // "PA07" average precision accelerometer location 7
85 #define cmd_PA08 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '8') // "PA08" average precision accelerometer location 8
86 #define cmd_PA09 (((((('P' << 8) | 'A') << 8) | '0') << 8) | '9') // "PA09" average precision accelerometer location 9
87 #define cmd_PA10 (((((('P' << 8) | 'A') << 8) | '1') << 8) | '0') // "PA10" average precision accelerometer location 10
88 #define cmd_PA11 (((((('P' << 8) | 'A') << 8) | '1') << 8) | '1') // "PA11" average precision accelerometer location 11
89 
90 void DecodeCommandBytes(SensorFusionGlobals *sfg, char iCommandBuffer[], uint8 sUART_InputBuffer[], uint16 nbytes)
91 {
92  int32 isum; // 32 bit command identifier
93  int16 i, j; // loop counters
94 
95  // parse all received bytes in sUARTInputBuf into the iCommandBuffer delay line
96  for (i = 0; i < nbytes; i++) {
97  // shuffle the iCommandBuffer delay line and add the new command byte
98  for (j = 0; j < 3; j++)
99  iCommandBuffer[j] = iCommandBuffer[j + 1];
100  iCommandBuffer[3] = sUART_InputBuffer[i];
101 
102  // check if we have a valid command yet
103  isum = ((((((int32)iCommandBuffer[0] << 8) | iCommandBuffer[1]) << 8) | iCommandBuffer[2]) << 8) | iCommandBuffer[3];
104  switch (isum) {
105  case cmd_VGplus: // "VG+ " = enable angular velocity packet transmission
106  sfg->pControlSubsystem->AngularVelocityPacketOn = true;
107  iCommandBuffer[3] = '~';
108  break;
109 
110  case cmd_VGminus: // "VG- " = disable angular velocity packet transmission
111  sfg->pControlSubsystem->AngularVelocityPacketOn = false;
112  iCommandBuffer[3] = '~';
113  break;
114 
115  case cmd_DBplus: // "DB+ " = enable debug packet transmission
116  sfg->pControlSubsystem->DebugPacketOn = true;
117  iCommandBuffer[3] = '~';
118  break;
119 
120  case cmd_DBminus: // "DB- " = disable debug packet transmission
121  sfg->pControlSubsystem->DebugPacketOn = false;
122  iCommandBuffer[3] = '~';
123  break;
124 
125  case cmd_Q3: // "Q3 " = transmit 3-axis accelerometer quaternion in standard packet
126 #if F_3DOF_G_BASIC
127  sfg->pControlSubsystem->QuaternionPacketType = Q3;
128 #endif
129  iCommandBuffer[3] = '~';
130  break;
131 
132  case cmd_Q3M: // "Q3M " = transmit 3-axis magnetometer quaternion in standard packet
133 #if F_3DOF_B_BASIC
134  sfg->pControlSubsystem->QuaternionPacketType = Q3M;
135 #endif
136  iCommandBuffer[3] = '~';
137  break;
138 
139  case cmd_Q3G: // "Q3G " = transmit 3-axis gyro quaternion in standard packet
140 #if F_3DOF_Y_BASIC
141  sfg->pControlSubsystem->QuaternionPacketType = Q3G;
142 #endif
143  iCommandBuffer[3] = '~';
144  break;
145 
146  case cmd_Q6MA: // "Q6MA" = transmit 6-axis mag/accel quaternion in standard packet
147 #if F_6DOF_GB_BASIC
148  sfg->pControlSubsystem->QuaternionPacketType = Q6MA;
149 #endif
150  iCommandBuffer[3] = '~';
151  break;
152 
153  case cmd_Q6AG: // "Q6AG" = transmit 6-axis accel/gyro quaternion in standard packet
154 #if F_6DOF_GY_KALMAN
155  sfg->pControlSubsystem->QuaternionPacketType = Q6AG;
156 #endif
157  iCommandBuffer[3] = '~';
158  break;
159 
160  case cmd_Q9: // "Q9 " = transmit 9-axis quaternion in standard packet (default)
161 #if F_9DOF_GBY_KALMAN
162  sfg->pControlSubsystem->QuaternionPacketType = Q9;
163 #endif
164  iCommandBuffer[3] = '~';
165  break;
166 
167  case cmd_RPCplus: // "RPC+" = Roll/Pitch/Compass on
168  sfg->pControlSubsystem->RPCPacketOn = true;
169  iCommandBuffer[3] = '~';
170  break;
171 
172  case cmd_RPCminus: // "RPC-" = Roll/Pitch/Compass off
173  sfg->pControlSubsystem->RPCPacketOn = false;
174  iCommandBuffer[3] = '~';
175  break;
176 
177  case cmd_ALTplus: // "ALT+" = Altitude packet on
178  sfg->pControlSubsystem->AltPacketOn = true;
179  iCommandBuffer[3] = '~';
180  break;
181 
182  case cmd_ALTminus: // "ALT-" = Altitude packet off
183  sfg->pControlSubsystem->AltPacketOn = false;
184  iCommandBuffer[3] = '~';
185  break;
186 
187  case cmd_RST: // "RST " = Soft reset
188  // reset sensor fusion
189  fInitializeFusion(sfg);
190 
191  // reset magnetic calibration and magnetometer data buffer
192 #if F_USING_MAG
193  fInitializeMagCalibration(&sfg->MagCal, &sfg->MagBuffer);
194 #endif
195  // reset precision accelerometer calibration and accelerometer measurements
196 #if F_USING_ACCEL
197  fInitializeAccelCalibration(&sfg->AccelCal, &sfg->AccelBuffer, &(sfg->pControlSubsystem->AccelCalPacketOn)) ;
198 #endif
199  iCommandBuffer[3] = '~';
200  break;
201 
202  case cmd_RINS: // "RINS" = Reset INS inertial navigation velocity and position
203 #if F_9DOF_GBY_KALMAN
204  for (i = CHX; i <= CHZ; i++) {
205  sfg->SV_9DOF_GBY_KALMAN.fVelGl[i] = 0.0F;
206  sfg->SV_9DOF_GBY_KALMAN.fDisGl[i] = 0.0F;
207  }
208 #endif
209  iCommandBuffer[3] = '~';
210  break;
211 
212  case cmd_SVAC: // "SVAC" = save all calibrations to Kinetis flash
213  SaveMagCalibrationToNVM(sfg);
214  SaveGyroCalibrationToNVM(sfg);
215  SaveAccelCalibrationToNVM(sfg);
216  iCommandBuffer[3] = '~';
217  break;
218 
219  case cmd_SVMC: // "SVMC" = save magnetic calibration to Kinetis flash
220  SaveMagCalibrationToNVM(sfg);
221  iCommandBuffer[3] = '~';
222  break;
223 
224  case cmd_SVYC: // "SVYC" = save gyroscope calibration to Kinetis flash
225  SaveGyroCalibrationToNVM(sfg);
226  iCommandBuffer[3] = '~';
227  break;
228 
229  case cmd_SVGC: // "SVGC" = save precision accelerometer calibration to Kinetis flash
230  SaveAccelCalibrationToNVM(sfg);
231  iCommandBuffer[3] = '~';
232  break;
233 
234  case cmd_ERAC: // "ERAC" = erase all calibrations from Kinetis flash
235  EraseMagCalibrationFromNVM();
236  EraseGyroCalibrationFromNVM();
237  EraseAccelCalibrationFromNVM();
238  iCommandBuffer[3] = '~';
239  break;
240 
241  case cmd_ERMC: // "ERMC" = erase magnetic calibration offset 0 bytes from Kinetis flash
242  EraseMagCalibrationFromNVM();
243  iCommandBuffer[3] = '~';
244  break;
245 
246  case cmd_ERYC: // "ERYC" = erase gyro offset calibrationoffset 128 bytes from Kinetis flash
247  EraseGyroCalibrationFromNVM();
248  iCommandBuffer[3] = '~';
249  break;
250 
251  case cmd_ERGC: // "ERGC" = erase precision accelerometer calibration offset 192 bytesfrom Kinetis flash
252  EraseAccelCalibrationFromNVM();
253  iCommandBuffer[3] = '~';
254  break;
255 
256  case cmd_180X: // "180X" perturbation
257  sfg->iPerturbation = 1;
258  iCommandBuffer[3] = '~';
259  break;
260 
261  case cmd_180Y: // "180Y" perturbation
262  sfg->iPerturbation = 2;
263  iCommandBuffer[3] = '~';
264  break;
265 
266  case cmd_180Z: // "180Z" perturbation
267  sfg->iPerturbation = 3;
268  iCommandBuffer[3] = '~';
269  break;
270 
271  case cmd_M90X: // "M90X" perturbation
272  sfg->iPerturbation = 4;
273  iCommandBuffer[3] = '~';
274  break;
275 
276  case cmd_P90X: // "P90X" perturbation
277  sfg->iPerturbation = 5;
278  iCommandBuffer[3] = '~';
279  break;
280 
281  case cmd_M90Y: // "M90Y" perturbation
282  sfg->iPerturbation = 6;
283  iCommandBuffer[3] = '~';
284  break;
285 
286  case cmd_P90Y: // "P90Y" perturbation
287  sfg->iPerturbation = 7;
288  iCommandBuffer[3] = '~';
289  break;
290 
291  case cmd_M90Z: // "M90Z" perturbation
292  sfg->iPerturbation = 8;
293  iCommandBuffer[3] = '~';
294  break;
295 
296  case cmd_P90Z: // "P90Z" perturbation
297  sfg->iPerturbation = 9;
298  iCommandBuffer[3] = '~';
299  break;
300 
301 #if F_USING_ACCEL
302  case cmd_PA00: // "PA00" average precision accelerometer location 0
303  sfg->AccelBuffer.iStoreLocation = 0;
304  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
305  iCommandBuffer[3] = '~';
306  break;
307 
308  case cmd_PA01: // "PA01" average precision accelerometer location 1
309  sfg->AccelBuffer.iStoreLocation = 1;
310  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
311  iCommandBuffer[3] = '~';
312  break;
313 
314  case cmd_PA02: // "PA02" average precision accelerometer location 2
315  sfg->AccelBuffer.iStoreLocation = 2;
316  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
317  iCommandBuffer[3] = '~';
318  break;
319 
320  case cmd_PA03: // "PA03" average precision accelerometer location 3
321  sfg->AccelBuffer.iStoreLocation = 3;
322  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
323  iCommandBuffer[3] = '~';
324  break;
325 
326  case cmd_PA04: // "PA04" average precision accelerometer location 4
327  sfg->AccelBuffer.iStoreLocation = 4;
328  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
329  iCommandBuffer[3] = '~';
330  break;
331 
332  case cmd_PA05: // "PA05" average precision accelerometer location 5
333  sfg->AccelBuffer.iStoreLocation = 5;
334  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
335  iCommandBuffer[3] = '~';
336  break;
337 
338  case cmd_PA06: // "PA06" average precision accelerometer location 6
339  sfg->AccelBuffer.iStoreLocation = 6;
340  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
341  iCommandBuffer[3] = '~';
342  break;
343 
344  case cmd_PA07: // "PA07" average precision accelerometer location 7
345  sfg->AccelBuffer.iStoreLocation = 7;
346  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
347  iCommandBuffer[3] = '~';
348  break;
349 
350  case cmd_PA08: // "PA08" average precision accelerometer location 8
351  sfg->AccelBuffer.iStoreLocation = 8;
352  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
353  iCommandBuffer[3] = '~';
354  break;
355 
356  case cmd_PA09: // "PA09" average precision accelerometer location 9
357  sfg->AccelBuffer.iStoreLocation = 9;
358  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
359  iCommandBuffer[3] = '~';
360  break;
361 
362  case cmd_PA10: // "PA10" average precision accelerometer location 10
363  sfg->AccelBuffer.iStoreLocation = 10;
364  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
365  iCommandBuffer[3] = '~';
366  break;
367 
368  case cmd_PA11: // "PA11" average precision accelerometer location 11
369  sfg->AccelBuffer.iStoreLocation = 11;
370  sfg->AccelBuffer.iStoreCounter = (ACCEL_CAL_AVERAGING_SECS * FUSION_HZ);
371  iCommandBuffer[3] = '~';
372  break;
373 #endif // precision accelerometer calibration
374 
375  default:
376  // no action
377  break;
378  }
379  } // end of loop over received characters
380 
381  return;
382 }
cmd_PA04
#define cmd_PA04
Definition: DecodeCommandBytes.c:81
Q9
Quaternion derived from full 9-axis sensor fusion.
Definition: sensor_fusion.h:70
EraseGyroCalibrationFromNVM
void EraseGyroCalibrationFromNVM(void)
Definition: calibration_storage.c:167
DecodeCommandBytes
void DecodeCommandBytes(SensorFusionGlobals *sfg, char iCommandBuffer[], uint8 sUART_InputBuffer[], uint16 nbytes)
This function is responsible for decoding commands sent by the NXP Sensor Fusion Toolbox and setting ...
Definition: DecodeCommandBytes.c:90
fInitializeFusion
void fInitializeFusion(SensorFusionGlobals *sfg)
Definition: fusion.c:51
cmd_SVGC
#define cmd_SVGC
Definition: DecodeCommandBytes.c:63
SaveMagCalibrationToNVM
void SaveMagCalibrationToNVM(SensorFusionGlobals *sfg)
Definition: calibration_storage.c:39
cmd_SVYC
#define cmd_SVYC
Definition: DecodeCommandBytes.c:62
fInitializeMagCalibration
void fInitializeMagCalibration(MagCalibration *pthisMagCal, MagBuffer *pthisMagBuffer)
Definition: magnetic.c:41
cmd_M90Y
#define cmd_M90Y
Definition: DecodeCommandBytes.c:73
fusion.h
Lower level sensor fusion interface.
cmd_PA08
#define cmd_PA08
Definition: DecodeCommandBytes.c:85
SaveAccelCalibrationToNVM
void SaveAccelCalibrationToNVM(SensorFusionGlobals *sfg)
Definition: calibration_storage.c:112
EraseMagCalibrationFromNVM
void EraseMagCalibrationFromNVM(void)
Definition: calibration_storage.c:146
ControlSubsystem::AltPacketOn
volatile uint8_t AltPacketOn
flag to enable altitude packet
Definition: control.h:70
cmd_P90Y
#define cmd_P90Y
Definition: DecodeCommandBytes.c:74
Q3M
Quaternion derived from 3-axis mag only (auto compass algorithm)
Definition: sensor_fusion.h:66
cmd_RST
#define cmd_RST
Definition: DecodeCommandBytes.c:58
SensorFusionGlobals::MagCal
MagCalibration MagCal
mag cal storage
Definition: sensor_fusion.h:503
cmd_ERGC
#define cmd_ERGC
Definition: DecodeCommandBytes.c:67
cmd_VGminus
#define cmd_VGminus
Definition: DecodeCommandBytes.c:45
SensorFusionGlobals
The top level fusion structure.
Definition: sensor_fusion.h:467
ControlSubsystem::AccelCalPacketOn
volatile int8_t AccelCalPacketOn
variable used to coordinate accelerometer calibration
Definition: control.h:71
cmd_SVAC
#define cmd_SVAC
Definition: DecodeCommandBytes.c:60
cmd_PA10
#define cmd_PA10
Definition: DecodeCommandBytes.c:87
Q3G
Quaternion derived from 3-axis gyro only (rotation)
Definition: sensor_fusion.h:67
Q6MA
Quaternion derived from 3-axis accel + 3 axis mag (eCompass)
Definition: sensor_fusion.h:68
uint8
uint8_t uint8
Definition: sensor_fusion.h:58
int32
int32_t int32
Definition: sensor_fusion.h:57
Q6AG
Quaternion derived from 3-axis accel + 3-axis gyro (gaming)
Definition: sensor_fusion.h:69
cmd_DBminus
#define cmd_DBminus
Definition: DecodeCommandBytes.c:47
SensorFusionGlobals::pControlSubsystem
struct ControlSubsystem * pControlSubsystem
Definition: sensor_fusion.h:475
SaveGyroCalibrationToNVM
void SaveGyroCalibrationToNVM(SensorFusionGlobals *sfg)
Definition: calibration_storage.c:73
cmd_PA05
#define cmd_PA05
Definition: DecodeCommandBytes.c:82
cmd_PA01
#define cmd_PA01
Definition: DecodeCommandBytes.c:78
cmd_P90X
#define cmd_P90X
Definition: DecodeCommandBytes.c:72
cmd_PA00
#define cmd_PA00
Definition: DecodeCommandBytes.c:77
sensor_fusion.h
The sensor_fusion.h file implements the top level programming interface.
CHZ
#define CHZ
cmd_DBplus
#define cmd_DBplus
Definition: DecodeCommandBytes.c:46
cmd_PA06
#define cmd_PA06
Definition: DecodeCommandBytes.c:83
cmd_PA03
#define cmd_PA03
Definition: DecodeCommandBytes.c:80
ControlSubsystem::DebugPacketOn
volatile uint8_t DebugPacketOn
flag to enable debug packet
Definition: control.h:68
cmd_RPCminus
#define cmd_RPCminus
Definition: DecodeCommandBytes.c:55
cmd_PA07
#define cmd_PA07
Definition: DecodeCommandBytes.c:84
CHX
#define CHX
Used to access X-channel entries in various data data structures.
Definition: sensor_fusion.h:76
cmd_Q3M
#define cmd_Q3M
Definition: DecodeCommandBytes.c:49
calibration_storage.h
Provides functions to store calibration to NVM.
cmd_P90Z
#define cmd_P90Z
Definition: DecodeCommandBytes.c:76
SensorFusionGlobals::MagBuffer
MagBuffer MagBuffer
mag cal constellation points
Definition: sensor_fusion.h:504
cmd_SVMC
#define cmd_SVMC
Definition: DecodeCommandBytes.c:61
cmd_180Y
#define cmd_180Y
Definition: DecodeCommandBytes.c:69
cmd_ALTplus
#define cmd_ALTplus
Definition: DecodeCommandBytes.c:56
cmd_PA11
#define cmd_PA11
Definition: DecodeCommandBytes.c:88
uint16
uint16_t uint16
Definition: sensor_fusion.h:59
cmd_Q3
#define cmd_Q3
Definition: DecodeCommandBytes.c:48
cmd_ALTminus
#define cmd_ALTminus
Definition: DecodeCommandBytes.c:57
ControlSubsystem::RPCPacketOn
volatile uint8_t RPCPacketOn
flag to enable roll, pitch, compass packet
Definition: control.h:69
Q3
Quaternion derived from 3-axis accel (tilt)
Definition: sensor_fusion.h:65
EraseAccelCalibrationFromNVM
void EraseAccelCalibrationFromNVM(void)
Definition: calibration_storage.c:188
FUSION_HZ
#define FUSION_HZ
(int) actual rate of fusion algorithm execution and sensor FIFO reads
Definition: standard_build.h:85
cmd_Q6AG
#define cmd_Q6AG
Definition: DecodeCommandBytes.c:52
cmd_Q6MA
#define cmd_Q6MA
Definition: DecodeCommandBytes.c:51
control.h
Defines control sub-system.
cmd_RPCplus
#define cmd_RPCplus
Definition: DecodeCommandBytes.c:54
cmd_RINS
#define cmd_RINS
Definition: DecodeCommandBytes.c:59
cmd_ERMC
#define cmd_ERMC
Definition: DecodeCommandBytes.c:65
cmd_VGplus
#define cmd_VGplus
Definition: DecodeCommandBytes.c:44
fInitializeAccelCalibration
void fInitializeAccelCalibration(struct AccelCalibration *pthisAccelCal, struct AccelBuffer *pthisAccelBuffer, volatile int8 *AccelCalPacketOn)
Initialize the accelerometer calibration functions.
Definition: precisionAccelerometer.c:34
cmd_PA02
#define cmd_PA02
Definition: DecodeCommandBytes.c:79
int16
int16_t int16
Definition: sensor_fusion.h:56
cmd_PA09
#define cmd_PA09
Definition: DecodeCommandBytes.c:86
sfg
SensorFusionGlobals sfg
This is the primary sensor fusion data structure.
Definition: main_agm01_freertos_two_tasks.c:62
cmd_180X
#define cmd_180X
Definition: DecodeCommandBytes.c:68
cmd_ERAC
#define cmd_ERAC
Definition: DecodeCommandBytes.c:64
ACCEL_CAL_AVERAGING_SECS
#define ACCEL_CAL_AVERAGING_SECS
calibration constants
Definition: precisionAccelerometer.h:34
cmd_180Z
#define cmd_180Z
Definition: DecodeCommandBytes.c:70
cmd_M90X
#define cmd_M90X
Definition: DecodeCommandBytes.c:71
SensorFusionGlobals::iPerturbation
volatile uint8_t iPerturbation
test perturbation to be applied
Definition: sensor_fusion.h:482
ControlSubsystem::QuaternionPacketType
volatile quaternion_type QuaternionPacketType
quaternion type transmitted over UART
Definition: control.h:66
cmd_M90Z
#define cmd_M90Z
Definition: DecodeCommandBytes.c:75
cmd_Q3G
#define cmd_Q3G
Definition: DecodeCommandBytes.c:50
cmd_Q9
#define cmd_Q9
Definition: DecodeCommandBytes.c:53
ControlSubsystem::AngularVelocityPacketOn
volatile uint8_t AngularVelocityPacketOn
flag to enable angular velocity packet
Definition: control.h:67
cmd_ERYC
#define cmd_ERYC
Definition: DecodeCommandBytes.c:66