SensorFusionGlobals Struct Reference

Collaboration diagram for SensorFusionGlobals:

Data Fields
SubsystemPointers
struct ControlSubsystem *	pControlSubsystem
struct StatusSubsystem *	pStatusSubsystem
MiscFields
uint32_t	iFlags
PhysicalSensor *	pSensors
volatile uint8_t	iPerturbation
int32_t	loopcounter
int32_t	systick_I2C
SensorRelatedStructures
These structures provide homes for sensor readings, as well as various calibration functions. Only those needed for a specific build are included.
MagSensor	Mag
MagCalibration	MagCal
MagBuffer	MagBuffer
FunctionPointers
Function pointers (the SF library external interface)
installSensor_t *	installSensor
initializeFusionEngine_t *	initializeFusionEngine
applyPerturbation_t *	applyPerturbation
readSensors_t *	readSensors
runFusion_t *	runFusion
conditionSensorReadings_t *	conditionSensorReadings
clearFIFOs_t *	clearFIFOs
setStatus_t *	setStatus
setStatus_t *	queueStatus
updateStatus_t *	updateStatus

Detailed Description

The top level fusion structure grows/shrinks based upon flag definitions contained in build.h. These same flags will populate the .iFlags field for run-time access.

Definition at line 467 of file sensor_fusion.h.

Field Documentation

applyPerturbation_t* applyPerturbation

apply step function for testing purposes

Definition at line 539 of file sensor_fusion.h.

Referenced by fusion_task(), initSensorFusionGlobals(), main(), and read_task().

clearFIFOs_t* clearFIFOs

clear sensor FIFOs

Definition at line 543 of file sensor_fusion.h.

Referenced by fusion_task(), and initSensorFusionGlobals().

conditionSensorReadings_t* conditionSensorReadings

preprocessing step for sensor fusion

Definition at line 542 of file sensor_fusion.h.

Referenced by fusion_task(), initSensorFusionGlobals(), and main().

uint32_t iFlags

a bit-field of sensors and algorithms used

Definition at line 480 of file sensor_fusion.h.

Referenced by CreateAndSendPackets(), initializeFusionEngine(), and initSensorFusionGlobals().

initializeFusionEngine_t* initializeFusionEngine

set sensor fusion structures to initial values

Definition at line 538 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), and main().

installSensor_t* installSensor

function for installing a new sensor into t

Definition at line 537 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), and main().

volatile uint8_t iPerturbation

test perturbation to be applied

Definition at line 482 of file sensor_fusion.h.

Referenced by ApplyPerturbation(), DecodeCommandBytes(), and initSensorFusionGlobals().

int32_t loopcounter

counter incrementing each iteration of sensor fusion (typically 25Hz)

Definition at line 484 of file sensor_fusion.h.

Referenced by fInitializeFusion(), fusion_task(), initializeFusionEngine(), initSensorFusionGlobals(), main(), processMagData(), and read_task().

MagSensor Mag

magnetometer storage

Definition at line 492 of file sensor_fusion.h.

Referenced by clearFIFOs(), conditionSensorReadings(), CreateAndSendPackets(), FXOS8700_Idle(), FXOS8700_Init(), FXOS8700_ReadMagData(), initSensorFusionGlobals(), MAG3110_Idle(), MAG3110_Init(), MAG3110_Read(), processMagData(), and runFusion().

MagBuffer MagBuffer

mag cal constellation points

Definition at line 504 of file sensor_fusion.h.

Referenced by CreateAndSendPackets(), DecodeCommandBytes(), initializeFusionEngine(), and processMagData().

MagCalibration MagCal

mag cal storage

Definition at line 503 of file sensor_fusion.h.

Referenced by CreateAndSendPackets(), DecodeCommandBytes(), initializeFusionEngine(), processMagData(), runFusion(), and SaveMagCalibrationToNVM().

struct ControlSubsystem* pControlSubsystem

Definition at line 475 of file sensor_fusion.h.

Referenced by ApplyPerturbation(), CreateAndSendPackets(), DecodeCommandBytes(), fusion_task(), initializeFusionEngine(), initializeSensors(), initSensorFusionGlobals(), main(), and read_task().

PhysicalSensor* pSensors

a linked list of physical sensors

Definition at line 481 of file sensor_fusion.h.

Referenced by initializeSensors(), initSensorFusionGlobals(), installSensor(), and readSensors().

struct StatusSubsystem* pStatusSubsystem

Definition at line 476 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), queueStatus(), setStatus(), testStatus(), and updateStatus().

setStatus_t* queueStatus

queue status change for next regular interval

Definition at line 545 of file sensor_fusion.h.

Referenced by fusion_task(), initSensorFusionGlobals(), main(), read_task(), and vApplicationTickHook().

readSensors_t* readSensors

read all physical sensors

Definition at line 540 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), main(), and read_task().

runFusion_t* runFusion

run the fusion routines

Definition at line 541 of file sensor_fusion.h.

Referenced by fusion_task(), initSensorFusionGlobals(), main(), and read_task().

setStatus_t* setStatus

change status indicator immediately

Definition at line 544 of file sensor_fusion.h.

Referenced by initializeFusionEngine(), initializeSensors(), initSensorFusionGlobals(), main(), processMagData(), readSensors(), WIRED_UART_IRQHandler(), and WIRELESS_UART_IRQHandler().

int32_t systick_I2C

systick counter to benchmark I2C reads

Definition at line 485 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals().

updateStatus_t* updateStatus

status=next status

Definition at line 546 of file sensor_fusion.h.

Referenced by fusion_task(), initSensorFusionGlobals(), main(), and read_task().

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The documentation for this struct was generated from the following file:

• sensor_fusion.h