hal_frdm_fxs_mult2_b.c File Reference

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Functions
void	ApplyAccelHAL (AccelSensor *Accel)
void	ApplyMagHAL (MagSensor *Mag)
void	ApplyGyroHAL (GyroSensor *Gyro)

Function Documentation

void ApplyAccelHAL

(

AccelSensor *

Accel

)

Apply the accelerometer Hardware Abstraction Layer.

Parameters

Accel

pointer to accelerometer logical sensor

Definition at line 44 of file hal_frdm_fxs_mult2_b.c.

Referenced by initializeSensors().

{
    int8 i;             // loop counter

    // apply HAL to all measurements read from FIFO buffer
    for (i = 0; i < Accel->iFIFOCount; i++)
    {
        // apply HAL mapping to coordinate system used
#if THISCOORDSYSTEM == NED
        int16 itmp16 = Accel->iGsFIFO[i][CHX];
        Accel->iGsFIFO[i][CHX] = Accel->iGsFIFO[i][CHY];
        Accel->iGsFIFO[i][CHY] = itmp16;
#endif // NED
#if THISCOORDSYSTEM == ANDROID
        Accel->iGsFIFO[i][CHX] = -Accel->iGsFIFO[i][CHX];
        Accel->iGsFIFO[i][CHY] = -Accel->iGsFIFO[i][CHY];
#endif // Android
#if (THISCOORDSYSTEM == WIN8)
        Accel->iGsFIFO[i][CHZ] = -Accel->iGsFIFO[i][CHZ];
#endif // Win8

    } // end of loop over FIFO count

    return;
}

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void ApplyGyroHAL

(

GyroSensor *

Gyro

)

Apply the gyroscope Hardware Abstraction Layer.

Parameters

Gyro	pointer to gyroscope logical sensor

Definition at line 99 of file hal_frdm_fxs_mult2_b.c.

Referenced by processMagData().

{
    int8 i;             // loop counter

    // apply HAL to all measurements read from FIFO buffer
    for (i = 0; i < Gyro->iFIFOCount; i++)
    {
        // apply HAL mapping to coordinate system used
#if THISCOORDSYSTEM == NED
        int16 itmp16 = Gyro->iYsFIFO[i][CHX];
        Gyro->iYsFIFO[i][CHX] = -Gyro->iYsFIFO[i][CHY];
        Gyro->iYsFIFO[i][CHY] = -itmp16;
        Gyro->iYsFIFO[i][CHZ] = -Gyro->iYsFIFO[i][CHZ];
#endif // NED
#if THISCOORDSYSTEM == ANDROID
        Gyro->iYsFIFO[i][CHX] = -Gyro->iYsFIFO[i][CHX];
        Gyro->iYsFIFO[i][CHY] = -Gyro->iYsFIFO[i][CHY];
#endif // Android
#if THISCOORDSYSTEM == WIN8
        Gyro->iYsFIFO[i][CHX] = -Gyro->iYsFIFO[i][CHX];
        Gyro->iYsFIFO[i][CHY] = -Gyro->iYsFIFO[i][CHY];
#endif // Win8

    } // end of loop over FIFO count

    return;
}

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void ApplyMagHAL

(

MagSensor *

Mag

)

Apply the magnetometer Hardware Abstraction Layer.

Parameters

Mag	pointer to magnetometer logical sensor

Definition at line 71 of file hal_frdm_fxs_mult2_b.c.

Referenced by processMagData().

{
    int8 i;             // loop counter

    // apply HAL to all measurements read from FIFO buffer
    for (i = 0; i < Mag->iFIFOCount; i++)
    {
        // apply HAL mapping to coordinate system used
#if THISCOORDSYSTEM == NED
        int16 itmp16 = Mag->iBsFIFO[i][CHX];
        Mag->iBsFIFO[i][CHX] = -Mag->iBsFIFO[i][CHY];
        Mag->iBsFIFO[i][CHY] = -itmp16;
        Mag->iBsFIFO[i][CHZ] = -Mag->iBsFIFO[i][CHZ];
#endif // NED
#if THISCOORDSYSTEM == ANDROID
        Mag->iBsFIFO[i][CHX] = -Mag->iBsFIFO[i][CHX];
        Mag->iBsFIFO[i][CHY] = -Mag->iBsFIFO[i][CHY];
#endif // Android
#if THISCOORDSYSTEM == WIN8
        Mag->iBsFIFO[i][CHX] = -Mag->iBsFIFO[i][CHX];
        Mag->iBsFIFO[i][CHY] = -Mag->iBsFIFO[i][CHY];
#endif
    } // end of loop over FIFO count

    return;
}

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