Include dependency graph for sensor_fusion.c:

Functions
void	setStatus (SensorFusionGlobals *sfg, fusion_status_t status)

void	queueStatus (SensorFusionGlobals *sfg, fusion_status_t status)

void	updateStatus (SensorFusionGlobals *sfg)

void	testStatus (SensorFusionGlobals *sfg)

void	initSensorFusionGlobals (SensorFusionGlobals sfg, StatusSubsystem pStatusSubsystem, ControlSubsystem *pControlSubsystem)

int8_t	installSensor (SensorFusionGlobals sfg, PhysicalSensor pSensor, uint16_t addr, uint16_t schedule, void bus_driver, initializeSensor_t initialize, readSensor_t *read)

int8_t	initializeSensors (SensorFusionGlobals *sfg)

void	processMagData (SensorFusionGlobals *sfg)

int8_t	readSensors (SensorFusionGlobals *sfg, uint16_t read_loop_counter)

void	conditionSensorReadings (SensorFusionGlobals *sfg)

void	zeroArray (StatusSubsystem pStatus, void data, uint16_t size, uint16_t numElements, uint8_t check)

void	clearFIFOs (SensorFusionGlobals *sfg)

void	runFusion (SensorFusionGlobals *sfg)

void	initializeFusionEngine (SensorFusionGlobals *sfg)

void	conditionSample (int16_t sample[3])

void	addToFifo (FifoSensor *sensor, uint16_t maxFifoSize, int16_t sample[3])

Function Documentation

void addToFifo	(	FifoSensor *	sensor,
		uint16_t	maxFifoSize,
		int16_t	sample[3]
	)

addToFifo is called from within sensor driver read functions

addToFifo is called from within sensor driver read functions to transfer new readings into the sensor structure corresponding to accel, gyro or mag. This function ensures that the software FIFOs are not overrun.

example usage: if (status==SENSOR_ERROR_NONE) addToFifo((FifoSensor*) &(sfg->Mag), MAG_FIFO_SIZE, sample);

Parameters

sensor	pointer to structure of type AccelSensor, MagSensor or GyroSensor
maxFifoSize	the size of the software (not hardware) FIFO
sample	the sample to add

Definition at line 531 of file sensor_fusion.c.

Referenced by FXLS8471Q_Read(), FXOS8700_Init(), FXOS8700_ReadMagData(), and MAG3110_Read().

 {
   // Note that FifoSensor is a union of GyroSensor, MagSensor and AccelSensor.
   // All contain FIFO structures in the same location.  We use the Accel
   // structure to index here.
 
   // example usage: if (status==SENSOR_ERROR_NONE) addToFifo((FifoSensor*) &(sfg->Mag), MAG_FIFO_SIZE, sample);
     uint8_t fifoCount = sensor->Accel.iFIFOCount;
     if (fifoCount < maxFifoSize) {
         // we have room for the new sample
         sensor->Accel.iGsFIFO[fifoCount][CHX] = sample[CHX];
         sensor->Accel.iGsFIFO[fifoCount][CHY] = sample[CHY];
         sensor->Accel.iGsFIFO[fifoCount][CHZ] = sample[CHZ];
         sensor->Accel.iFIFOCount += 1;
         sensor->Accel.iFIFOExceeded = 0;
     } else {
         //there is no room for a new sample
         sensor->Accel.iFIFOExceeded += 1;
     }
 }

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void clearFIFOs ( SensorFusionGlobals * sfg )

Function to clear FIFO at the end of each fusion computation.

Parameters

sfg	Global data structure pointer

Definition at line 363 of file sensor_fusion.c.

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

                                           {
   // We only clear FIFOs if the sensors are enabled.  This allows us
   // to continue to use these values when we've shut higher power consumption
   // sensors down during periods of no activity.
 #if F_USING_ACCEL
     sfg->Accel.iFIFOCount=0;
     sfg->Accel.iFIFOExceeded = false;
 #endif
 #if F_USING_MAG
     sfg->Mag.iFIFOCount=0;
     sfg->Mag.iFIFOExceeded = false;
 #endif
 #if F_USING_GYRO
     sfg->Gyro.iFIFOCount=0;
     sfg->Gyro.iFIFOExceeded = false;
 #endif
 }

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void conditionSample ( int16_t sample[3] )

conditionSample ensures that we never encounter the maximum negative two's complement value for a 16-bit variable (-32768).

conditionSample ensures that we never encounter the maximum negative two's complement value for a 16-bit variable (-32768). This value cannot be negated, because the maximum positive value is +32767. We need the ability to negate to gaurantee that subsequent HAL operations can be run successfully.

Parameters

sample 16-bit register value from triaxial sensor read

Definition at line 519 of file sensor_fusion.c.

Referenced by FXLS8471Q_Read(), FXOS8700_Init(), FXOS8700_ReadMagData(), and MAG3110_Read().

 {
     // This function should be called for every 16 bit sample read from sensor hardware.
     // It is responsible for making sure that we never pass on the value of -32768.
     // That value cannot be properly negated using 16-bit twos complement math.
     // The ability to be later negated is required for general compatibility
     // with possible HAL (Hardware abstraction logic) which is run later in
     // the processing pipeline.
     if (sample[CHX] == -32768) sample[CHX]++;
     if (sample[CHY] == -32768) sample[CHY]++;
     if (sample[CHZ] == -32768) sample[CHZ]++;
 }

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void conditionSensorReadings ( SensorFusionGlobals * sfg )

conditionSensorReadings() transforms raw software FIFO readings into forms that can be consumed by the sensor fusion engine. This include sample averaging and (in the case of the gyro) integrations, applying hardware abstraction layers, and calibration functions. This function is normally involved via the "sfg." global pointer.

Parameters

sfg	Global data structure pointer

Definition at line 305 of file sensor_fusion.c.

Referenced by initSensorFusionGlobals().

                                                        {
 #if F_USING_ACCEL
     if (sfg->Accel.isEnabled) processAccelData(sfg);
 #endif
 
 #if F_USING_MAG
     if (sfg->Mag.isEnabled) processMagData(sfg);
 #endif
 
 #if F_USING_GYRO
     if (sfg->Gyro.isEnabled) processGyroData(sfg);
 #endif
     return;
 }

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void initializeFusionEngine ( SensorFusionGlobals * sfg )

This function is responsible for initializing the system prior to starting the main fusion loop. This function is normally involved via the "sfg." global pointer.

Definition at line 471 of file sensor_fusion.c.

Referenced by initSensorFusionGlobals().

 {
     int16_t status = 0;
     ControlSubsystem    *pComm;
     pComm = sfg->pControlSubsystem;
 
     // configure the 24 bit downwards ARM systick timer and wait 50ms=CORE_SYSTICK_HZ / 20 clock ticks
     // to avoid a race condition between Kinetis and the sensors after power on.
     ARM_systick_enable();
     // wait 50ms to avoid a race condition with sensors at power on
     ARM_systick_delay_ms(CORE_SYSTICK_HZ, 50);
 
     sfg->setStatus(sfg, INITIALIZING);
     status = initializeSensors(sfg);
     if (status!=SENSOR_ERROR_NONE) {  // fault condition found
         sfg->setStatus(sfg, HARD_FAULT);  // Never returns
     }
 
     // recall: typedef enum quaternion {Q3, Q3M, Q3G, Q6MA, Q6AG, Q9} quaternion_type;
     // Set the default quaternion to the most sophisticated supported by this build
     pComm->DefaultQuaternionPacketType = Q3;
     if (sfg->iFlags & F_3DOF_B_BASIC) pComm->DefaultQuaternionPacketType = Q3M;
     if (sfg->iFlags & F_3DOF_Y_BASIC) pComm->DefaultQuaternionPacketType = Q3G;
     if (sfg->iFlags & F_6DOF_GB_BASIC) pComm->DefaultQuaternionPacketType = Q6MA;
     if (sfg->iFlags & F_6DOF_GY_KALMAN) pComm->DefaultQuaternionPacketType = Q6AG;
     if (sfg->iFlags & F_9DOF_GBY_KALMAN) pComm->DefaultQuaternionPacketType = Q9;
     pComm->QuaternionPacketType = pComm->DefaultQuaternionPacketType ;
 
     // initialize the sensor fusion algorithms
     fInitializeFusion(sfg);
 
     // reset the loop counter to zero for first iteration
     sfg->loopcounter = 0;
 
     // initialize the magnetic calibration and magnetometer data buffer
 #if F_USING_MAG
     fInitializeMagCalibration(&sfg->MagCal, &sfg->MagBuffer);
 #endif
 
     // initialize the precision accelerometer calibration and accelerometer data buffer
 #if F_USING_ACCEL
     fInitializeAccelCalibration(&sfg->AccelCal, &sfg->AccelBuffer, &sfg->pControlSubsystem->AccelCalPacketOn );
 #endif
     sfg->setStatus(sfg, NORMAL);
 
     clearFIFOs(sfg);
 }

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int8_t initializeSensors ( SensorFusionGlobals * sfg )

Definition at line 157 of file sensor_fusion.c.

Referenced by initializeFusionEngine().

 {
     PhysicalSensor  *pSensor;
     int8_t          s;
     int8_t          status = 0;
     for (pSensor = sfg->pSensors; pSensor != NULL; pSensor = pSensor->next)
     {
         s = pSensor->initialize(pSensor, sfg);
         if (status == 0) status = s;            // will return 1st error flag, but try all sensors
     }
     return (status);
 }

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void initSensorFusionGlobals	(	SensorFusionGlobals *	sfg,
		StatusSubsystem *	pStatusSubsystem,
		ControlSubsystem *	pControlSubsystem
	)

utility function to insert default values in the top level structure

Parameters

sfg	Global data structure pointer
pStatusSubsystem	Status subsystem pointer
pControlSubsystem	Control subsystem pointer

Definition at line 68 of file sensor_fusion.c.

Referenced by main().

 {
     sfg->iFlags = // all of the following defines are either 0x0000 or a 1-bit value (2, 4, 8 ...) and are defined in build.h
                 F_USING_ACCEL           |
                 F_USING_MAG             |
                 F_USING_GYRO            |
                 F_USING_PRESSURE        |
                 F_USING_TEMPERATURE     |
                 F_ALL_SENSORS           |       // refers to all applicable sensor types for the given physical unit
                 F_1DOF_P_BASIC          |       // 1DOF pressure (altitude) and temperature: (pressure)
                 F_3DOF_G_BASIC          |   // 3DOF accel tilt: (accel)
                 F_3DOF_B_BASIC          |   // 3DOF mag eCompass (vehicle): (mag)
                 F_3DOF_Y_BASIC          |   // 3DOF gyro integration: (gyro)
                 F_6DOF_GB_BASIC         |   // 6DOF accel and mag eCompass)
                 F_6DOF_GY_KALMAN        |   // 6DOF accel and gyro (Kalman): (accel + gyro)
                 F_9DOF_GBY_KALMAN   ;   // 9DOF accel, mag and gyro (Kalman): (accel + mag + gyro)
 
     sfg->pControlSubsystem = pControlSubsystem;
     sfg->pStatusSubsystem = pStatusSubsystem;
     sfg->loopcounter = 0;                     // counter incrementing each iteration of sensor fusion (typically 25Hz)
     sfg->systick_I2C = 0;                     // systick counter to benchmark I2C reads
     sfg->systick_Spare = 0;                   // systick counter for counts spare waiting for timing interrupt
     sfg->iPerturbation = 0;                   // no perturbation to be applied
     sfg->installSensor = installSensor;       // function for installing a new sensor into the structures
     sfg->initializeFusionEngine = initializeFusionEngine;   // function for installing a new sensor into the structures
     sfg->readSensors = readSensors;           // function for installing a new sensor into the structures
     sfg->runFusion = runFusion;               // function for installing a new sensor into the structures
     sfg->applyPerturbation = ApplyPerturbation; // function used for step function testing
     sfg->conditionSensorReadings = conditionSensorReadings; // function does averaging, HAL adjustments, etc.
     sfg->clearFIFOs = clearFIFOs;             // function to clear FIFO flags    sfg->applyPerturbation = ApplyPerturbation; // function used for step function testing
     sfg->setStatus = setStatus;               // function to immediately set status change
     sfg->queueStatus = queueStatus;           // function to queue status change
     sfg->updateStatus = updateStatus;         // function to promote queued status change
     sfg->testStatus = testStatus;             // function for unit testing the status subsystem
     sfg->pSensors = NULL;                     // pointer to linked list of physical sensors
 //  put error value into whoAmI as initial value
 #if F_USING_ACCEL
     sfg->Accel.iWhoAmI = 0;
 #endif
 #if F_USING_MAG
     sfg->Mag.iWhoAmI = 0;
 #endif
 #if F_USING_GYRO
     sfg->Gyro.iWhoAmI = 0;
 #endif
 #if F_USING_PRESSURE
     sfg->Pressure.iWhoAmI = 0;
 #endif
 }

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int8_t installSensor	(	SensorFusionGlobals *	sfg,
		PhysicalSensor *	pSensor,
		uint16_t	addr,
		uint16_t	schedule,
		void *	bus_driver,
		initializeSensor_t *	initialize,
		readSensor_t *	read
	)

installSensor is used to instantiate a physical sensor driver into the sensor fusion system. This function is normally involved via the "sfg." global pointer.

Parameters

sfg	top level fusion structure
pSensor	pointer to structure describing physical sensor
addr	I2C address for sensor (if applicable)
schedule	Parameter to control sensor sampling rate
bus_driver	ISSDK sensor bus driver (usually KSDK I2C bus)
initialize	pointer to sensor initialization function
read	pointer to sensor read function

Definition at line 122 of file sensor_fusion.c.

Referenced by initSensorFusionGlobals().

 {
     if (sfg && pSensor && bus_driver && initialize && read)
     {
         pSensor->bus_driver = bus_driver;
         pSensor->initialize = initialize;       // The initialization function is responsible for putting the sensor
                                                 // into the proper mode for sensor fusion.  It is normally KSDK-based.
         pSensor->read = read;                   // The read function is responsible for taking sensor readings and
                                                 // loading them into the sensor fusion input structures.  Also KDSK-based.
         pSensor->addr = addr;                   // I2C address if applicable
         pSensor->schedule = schedule;
         pSensor->slaveParams.pReadPreprocessFN = NULL;  // SPI-specific parameters get overwritten later if used
         pSensor->slaveParams.pWritePreprocessFN = NULL;
         pSensor->slaveParams.pTargetSlavePinID = NULL;
         pSensor->slaveParams.spiCmdLen = 0;
         pSensor->slaveParams.ssActiveValue = 0;
         // Now add the new sensor at the head of the linked list
         pSensor->next = sfg->pSensors;
         sfg->pSensors = pSensor;
         return (0);
     }
     else
     {
         return (1);
     }
 }

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void processMagData ( SensorFusionGlobals * sfg )

Definition at line 209 of file sensor_fusion.c.

Referenced by conditionSensorReadings().

 {
     int32 iSum[3];              // channel sums
     int16 i, j;                 // counters
 
     // printf("ProcessingMagData()\n");
     if (sfg->Mag.iFIFOExceeded > 0) {
       sfg->setStatus(sfg, SOFT_FAULT);
     }
 
     ApplyMagHAL(&(sfg->Mag));         // This function is board-dependent
 
     // calculate the average HAL-corrected measurement
     for (j = CHX; j <= CHZ; j++) iSum[j] = 0;
     for (i = 0; i < sfg->Mag.iFIFOCount; i++)
     for (j = CHX; j <= CHZ; j++) iSum[j] += sfg->Mag.iBsFIFO[i][j];
     if (sfg->Mag.iFIFOCount > 0)
     {
       for (j = CHX; j <= CHZ; j++)
       {
           sfg->Mag.iBs[j] = (int16)(iSum[j] / (int32) sfg->Mag.iFIFOCount);
           sfg->Mag.fBs[j] = (float)sfg->Mag.iBs[j] * sfg->Mag.fuTPerCount;
       }
     }
 
     // remove hard and soft iron terms from fBs (uT) to get calibrated data fBc (uT), iBc (counts) and
     // update magnetic buffer avoiding a write while a magnetic calibration is in progress.
     // run one iteration of the time sliced magnetic calibration
     fInvertMagCal(&(sfg->Mag), &(sfg->MagCal));
     if (!sfg->MagCal.iMagBufferReadOnly)
         iUpdateMagBuffer(&(sfg->MagBuffer), &(sfg->Mag), sfg->loopcounter);
     fRunMagCalibration(&(sfg->MagCal), &(sfg->MagBuffer), &(sfg->Mag),
                            sfg->loopcounter);
 
     return;
 }

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void queueStatus	(	SensorFusionGlobals *	sfg,
		fusion_status_t	status
	)

Poor man's inheritance for status subsystem queueStatus command. This function is normally involved via the "sfg." global pointer.

Definition at line 50 of file sensor_fusion.c.

Referenced by initSensorFusionGlobals().

 {
     sfg->pStatusSubsystem->queue(sfg->pStatusSubsystem, status);
 }

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int8_t readSensors	(	SensorFusionGlobals *	sfg,
		uint16_t	read_loop_counter
	)

readSensors traverses the linked list of physical sensors, calling the individual read functions one by one. This function is normally involved via the "sfg." global pointer.

Parameters

sfg	pointer to global sensor fusion data structure
read_loop_counter	current loop counter (used for multirate processing)

Definition at line 276 of file sensor_fusion.c.

Referenced by initSensorFusionGlobals().

 {
     PhysicalSensor  *pSensor;
     int8_t          s;
     int8_t          status = 0;
     float           remainder;
 
     pSensor = sfg->pSensors;
 
     for (pSensor = sfg->pSensors; pSensor != NULL; pSensor = pSensor->next)
     {   if (pSensor->isInitialized) {
             remainder = fmod(read_loop_counter, pSensor->schedule);
             if (remainder==0) {
                 s = pSensor->read(pSensor, sfg);
                 if (status == 0) status = s;            // will return 1st error flag, but try all sensors
             }
         }
     }
     if (status==SENSOR_ERROR_INIT) sfg->setStatus(sfg, HARD_FAULT);  // Never returns
     return (status);
 }

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void runFusion ( SensorFusionGlobals * sfg )

runFusion the top level call that actually runs the sensor fusion. This is a utility function which manages the various defines in build.h. You should feel free to drop down a level and implement only those portions of fFuseSensors() that your application needs. This function is normally involved via the "sfg." global pointer.

Definition at line 386 of file sensor_fusion.c.

Referenced by initSensorFusionGlobals().

 {
     struct SV_1DOF_P_BASIC *pSV_1DOF_P_BASIC;
     struct SV_3DOF_G_BASIC *pSV_3DOF_G_BASIC;
     struct SV_3DOF_B_BASIC *pSV_3DOF_B_BASIC;
     struct SV_3DOF_Y_BASIC *pSV_3DOF_Y_BASIC;
     struct SV_6DOF_GB_BASIC *pSV_6DOF_GB_BASIC;
     struct SV_6DOF_GY_KALMAN *pSV_6DOF_GY_KALMAN;
     struct SV_9DOF_GBY_KALMAN *pSV_9DOF_GBY_KALMAN;
     struct AccelSensor *pAccel;
     struct MagSensor *pMag;
     struct GyroSensor *pGyro;
     struct PressureSensor *pPressure;
     struct MagCalibration *pMagCal;
 #if F_1DOF_P_BASIC
     pSV_1DOF_P_BASIC = &(sfg->SV_1DOF_P_BASIC);
 #else
     pSV_1DOF_P_BASIC = NULL;
 #endif
 #if F_3DOF_G_BASIC
     pSV_3DOF_G_BASIC = &(sfg->SV_3DOF_G_BASIC)  ;
 #else
     pSV_3DOF_G_BASIC = NULL;
 #endif
 #if F_3DOF_B_BASIC
     pSV_3DOF_B_BASIC = &(sfg->SV_3DOF_B_BASIC);
 #else
     pSV_3DOF_B_BASIC = NULL;
 #endif
 #if F_3DOF_Y_BASIC
     pSV_3DOF_Y_BASIC = &(sfg->SV_3DOF_Y_BASIC);
 #else
     pSV_3DOF_Y_BASIC = NULL;
 #endif
 #if F_6DOF_GB_BASIC
     pSV_6DOF_GB_BASIC = &(sfg->SV_6DOF_GB_BASIC);
 #else
     pSV_6DOF_GB_BASIC = NULL;
 #endif
 #if F_6DOF_GY_KALMAN
     pSV_6DOF_GY_KALMAN = &(sfg->SV_6DOF_GY_KALMAN);
 #else
     pSV_6DOF_GY_KALMAN = NULL;
 #endif
 #if F_9DOF_GBY_KALMAN
     pSV_9DOF_GBY_KALMAN = &(sfg->SV_9DOF_GBY_KALMAN);
 #else
     pSV_9DOF_GBY_KALMAN = NULL;
 #endif
 #if F_USING_ACCEL
     pAccel =  &(sfg->Accel);
 #else
     pAccel = NULL;
 #endif
 #if F_USING_MAG
     pMag = &(sfg->Mag);
     pMagCal = &(sfg->MagCal);
 #else
     pMag = NULL;
     pMagCal = NULL;
 #endif
 #if F_USING_GYRO
     pGyro = &(sfg->Gyro);
 #else
     pGyro = NULL;
 #endif
 #if F_USING_PRESSURE
     pPressure = &(sfg->Pressure);
 #else
     pPressure = NULL;
 #endif
 
     // conditionSensorReadings(sfg);  must be called prior to this function
     // fuse the sensor data
     fFuseSensors(pSV_1DOF_P_BASIC, pSV_3DOF_G_BASIC,
                  pSV_3DOF_B_BASIC, pSV_3DOF_Y_BASIC,
                  pSV_6DOF_GB_BASIC, pSV_6DOF_GY_KALMAN,
                  pSV_9DOF_GBY_KALMAN, pAccel, pMag, pGyro,
                  pPressure, pMagCal);
     clearFIFOs(sfg);
 }

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void setStatus	(	SensorFusionGlobals *	sfg,
		fusion_status_t	status
	)

Poor man's inheritance for status subsystem setStatus command This function is normally involved via the "sfg." global pointer.

Definition at line 43 of file sensor_fusion.c.

Referenced by initSensorFusionGlobals().

 {
     sfg->pStatusSubsystem->set(sfg->pStatusSubsystem, status);
 }

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void testStatus ( SensorFusionGlobals * sfg )

Definition at line 62 of file sensor_fusion.c.

Referenced by initSensorFusionGlobals().

 {
     sfg->pStatusSubsystem->test(sfg->pStatusSubsystem);
 }

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void updateStatus ( SensorFusionGlobals * sfg )

Poor man's inheritance for status subsystem updateStatus command. This function is normally involved via the "sfg." global pointer.

Definition at line 57 of file sensor_fusion.c.

Referenced by initSensorFusionGlobals().

 {
     sfg->pStatusSubsystem->update(sfg->pStatusSubsystem);
 }

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void zeroArray	(	StatusSubsystem *	pStatus,
		void *	data,
		uint16_t	size,
		uint16_t	numElements,
		uint8_t	check
	)

Parameters

pStatus	Status subsystem pointer
data	pointer to array to be zeroed
size	data type size = 8, 16 or 32
numElements	number of elements to zero out
check	true if you would like to verify writes, false otherwise

Definition at line 320 of file sensor_fusion.c.

                                                                                                          {
   uint16_t i;
   uint8_t *d8;
   uint16_t *d16;
   uint32_t *d32;
   switch(size) {
   case 8:
     d8 = data;
     for (i=0; i<numElements; i++) d8[i]=0;
     break;
   case 16:
     d16 = data;
     for (i=0; i<numElements; i++) d16[i]=0;
     break;
   case 32:
     d32 = data;
     for (i=0; i<numElements; i++) d32[i]=0;
     break;
   default:
     pStatus->set(pStatus, HARD_FAULT);
   }
   if (check) {
     switch(size) {
     case 8:
       d8 = data;
       for (i=0; i<numElements; i++)
         if (d8[i]!=0) pStatus->set(pStatus, HARD_FAULT);
       break;
     case 16:
       d16 = data;
       for (i=0; i<numElements; i++)
         if (d16[i]!=0) pStatus->set(pStatus, HARD_FAULT);
       break;
     case 32:
       d32 = data;
       for (i=0; i<numElements; i++)
         if (d32[i]!=0) pStatus->set(pStatus, HARD_FAULT);
       break;
     }
     return;
   }
 }

Functions

Function Documentation