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Sensor Fusion for Kinetis MCUs (ISSDK/KSDK version)
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Sensor Fusion for Kinetis MCUs (ISSDK/KSDK version)
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Go to the source code of this file.
Macros | |
| #define | THISBUILD 700 |
| #define | THISCOORDSYSTEM NED |
| #define | F_ALL_SENSORS 0x001F |
| #define | F_9DOF_GBY_KALMAN 0x4000 |
CoordinateSystemBitFields | |
These defines determine the frame of reference (x, y, z axes and Euler angles) standard to be used for a particular build. Change THISCOORDSYSTEM to whichever of NED, ANDROID or WIN8 you prefer. | |
| #define | NED 0 |
| #define | ANDROID 1 |
| #define | WIN8 2 |
SensorBitFields | |
These bit-field values are used to declare which sensor types are used in the application. Change bit-field values to 0x0000 for any features NOT USED | |
| #define | F_USING_ACCEL 0x0001 |
| #define | F_USING_MAG 0x0002 |
| #define | F_USING_GYRO 0x0004 |
| #define | F_USING_PRESSURE 0x0008 |
| #define | F_USING_TEMPERATURE 0x0010 |
FusionSelectionBitFields | |
These bit-field values are used to declare which sensor fusion algorithms are used in the application. You can use more than one, altough they all run from the same data. Change individual bit-field values to 0x0000 for any features NOT USED. | |
| #define | F_1DOF_P_BASIC 0x0100 |
| #define | F_3DOF_G_BASIC 0x0200 |
| #define | F_3DOF_B_BASIC 0x0400 |
| #define | F_3DOF_Y_BASIC 0x0800 |
| #define | F_6DOF_GB_BASIC 0x1000 |
| #define | F_6DOF_GY_KALMAN 0x2000 |
SensorParameters | |
FIFO sizes effect the size of the sensor data structures. ODR refers to "Output Data Rate" | |
| #define | ACCEL_FIFO_SIZE 32 |
| #define | MAG_FIFO_SIZE 16 |
| #define | GYRO_FIFO_SIZE 32 |
| #define | ACCEL_ODR_HZ 200 |
| #define | MAG_ODR_HZ 200 |
| #define | GYRO_ODR_HZ 400 |
| #define | FUSION_HZ 40 |
| #define | FAST_LOOP_HZ 80 |
| #define | OVERSAMPLE_RATE FAST_LOOP_HZ/FUSION_HZ |
This file contains only those parameters that directly relate to fusion implementation choices. Board dependencies are in hal_<shield_board>.h. Consult the Sensor Fusion User Guide for guidance and details.
Definition in file standard_build.h.
| #define ACCEL_FIFO_SIZE 32 |
FXOS8700 (accel), MMA8652, FXLS8952 all have 32 element FIFO.
Definition at line 79 of file standard_build.h.
Referenced by FXLS8471Q_Read(), and FXOS8700_Init().
| #define ACCEL_ODR_HZ 200 |
(int) requested accelerometer ODR Hz (over-rides MAG_ODR_HZ for FXOS8700)
Definition at line 82 of file standard_build.h.
| #define ANDROID 1 |
identifier for Android axes and angles
Definition at line 46 of file standard_build.h.
Referenced by fRunAccelCalibration().
| #define F_1DOF_P_BASIC 0x0100 |
1DOF pressure (altitude) and temperature algorithm selector - 0x0100 to include, 0x0000 otherwise
Definition at line 67 of file standard_build.h.
Referenced by CreateAndSendPackets(), and initSensorFusionGlobals().
| #define F_3DOF_B_BASIC 0x0400 |
3DOF mag eCompass (vehicle/mag) algorithm selector - 0x0400 to include, 0x0000 otherwise
Definition at line 69 of file standard_build.h.
Referenced by CreateAndSendPackets(), initializeFusionEngine(), and initSensorFusionGlobals().
| #define F_3DOF_G_BASIC 0x0200 |
3DOF accel tilt (accel) algorithm selector - 0x0200 to include, 0x0000 otherwise
Definition at line 68 of file standard_build.h.
Referenced by CreateAndSendPackets(), and initSensorFusionGlobals().
| #define F_3DOF_Y_BASIC 0x0800 |
3DOF gyro integration algorithm selector - 0x0800 to include, 0x0000 otherwise
Definition at line 70 of file standard_build.h.
Referenced by CreateAndSendPackets(), initializeFusionEngine(), and initSensorFusionGlobals().
| #define F_6DOF_GB_BASIC 0x1000 |
6DOF accel and mag eCompass algorithm selector - 0x1000 to include, 0x0000 otherwise
Definition at line 71 of file standard_build.h.
Referenced by CreateAndSendPackets(), initializeFusionEngine(), and initSensorFusionGlobals().
| #define F_6DOF_GY_KALMAN 0x2000 |
6DOF accel and gyro (Kalman) algorithm selector - 0x2000 to include, 0x0000 otherwise
Definition at line 72 of file standard_build.h.
Referenced by CreateAndSendPackets(), initializeFusionEngine(), initSensorFusionGlobals(), and SaveGyroCalibrationToNVM().
| #define F_9DOF_GBY_KALMAN 0x4000 |
Referenced by CreateAndSendPackets(), initializeFusionEngine(), and initSensorFusionGlobals().
| #define F_ALL_SENSORS 0x001F |
Referenced by initSensorFusionGlobals(), and main().
| #define F_USING_ACCEL 0x0001 |
nominally 0x0001 if an accelerometer is to be used, 0x0000 otherwise
Definition at line 55 of file standard_build.h.
Referenced by CreateAndSendPackets(), FXLS8471Q_Idle(), FXLS8471Q_Init(), FXLS8471Q_Read(), FXOS8700_Idle(), FXOS8700_Init(), and initSensorFusionGlobals().
| #define F_USING_GYRO 0x0004 |
nominally 0x0004 if a gyro is to be used, 0x0000 otherwise
Definition at line 57 of file standard_build.h.
Referenced by CreateAndSendPackets(), and initSensorFusionGlobals().
| #define F_USING_MAG 0x0002 |
nominally 0x0002 if an magnetometer is to be used, 0x0000 otherwise
Definition at line 56 of file standard_build.h.
| #define F_USING_PRESSURE 0x0008 |
nominally 0x0008 if altimeter is to be used, 0x0000 otherwise
Definition at line 58 of file standard_build.h.
Referenced by initSensorFusionGlobals().
| #define F_USING_TEMPERATURE 0x0010 |
nominally 0x0010 if temp sensor is to be used, 0x0000 otherwise
Definition at line 59 of file standard_build.h.
Referenced by initSensorFusionGlobals().
| #define FAST_LOOP_HZ 80 |
Over Sample Ratio * FUSION_HZ when using no FIFO.
Definition at line 86 of file standard_build.h.
| #define FUSION_HZ 40 |
(int) actual rate of fusion algorithm execution and sensor FIFO reads
Definition at line 85 of file standard_build.h.
Referenced by CreateAndSendPackets(), DecodeCommandBytes(), fInit_1DOF_P_BASIC(), fInit_3DOF_B_BASIC(), fInit_3DOF_G_BASIC(), fInit_3DOF_Y_BASIC(), fInit_6DOF_GB_BASIC(), fInit_6DOF_GY_KALMAN(), fInit_9DOF_GBY_KALMAN(), fRunMagCalibration(), fUpdateAccelBuffer(), main(), and throttle().
| #define GYRO_FIFO_SIZE 32 |
FXAX21000, FXAS21002 have 32 element FIFO.
Definition at line 81 of file standard_build.h.
| #define GYRO_ODR_HZ 400 |
(int) requested gyroscope ODR Hz
Definition at line 84 of file standard_build.h.
| #define MAG_FIFO_SIZE 16 |
FXOS8700 (mag), MAG3110 have no FIFO so equivalent to 1 element FIFO.
Definition at line 80 of file standard_build.h.
Referenced by FXOS8700_ReadMagData(), and MAG3110_Read().
| #define MAG_ODR_HZ 200 |
(int) requested magnetometer ODR Hz (over-ridden by ACCEL_ODR_HZ for FXOS8700)
Definition at line 83 of file standard_build.h.
| #define NED 0 |
identifier for NED (Aerospace) axes and angles
Definition at line 45 of file standard_build.h.
Referenced by fRunAccelCalibration().
| #define OVERSAMPLE_RATE FAST_LOOP_HZ/FUSION_HZ |
Definition at line 87 of file standard_build.h.
Referenced by read_task().
| #define THISBUILD 700 |
define build number sent in debug packet for display purposes only
Definition at line 38 of file standard_build.h.
Referenced by CreateAndSendPackets().
| #define THISCOORDSYSTEM NED |
Referenced by fRunAccelCalibration().
| #define WIN8 2 |
identifier for Windows 8 axes and angles
Definition at line 47 of file standard_build.h.
Referenced by fRunAccelCalibration().
