hal_frdm_fxs_mult2_b.c

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/*! \file hal_frdm_fxs_mult2_b.c
    \brief Hardware Abstraction layer for the FRDM-FXS-MULT2-B sensor shield.
*/

#include "sensor_fusion.h"  // top level magCal and sensor fusion interfaces

// This HAL (Hardware Abstraction Layer) is applicable to:
// FRDM_K64F +
// FRDM_FXS_MULT2_B utilizing the FX0S8700 and FXAS21002 on the shield
// It also works for the FRDM-STBC_AGM01 board.
// It also works for the FRDM-STBC_AGM02 board (the driver_MAG3110.c inverts
// the MAG3110 Z-axis reading to enforce +Z = up, so compatibility is maintained)

void ApplyAccelHAL(AccelSensor *Accel)
{
    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;
}

// function applies the hardware abstraction layer to the magnetometer readings
void ApplyMagHAL(MagSensor *Mag)
{
    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;
}

// function applies the hardware abstraction layer to the gyro readings
void ApplyGyroHAL(GyroSensor *Gyro)
{
    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;
}