standard_build.h

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/*! \file standard_build.h
    \brief A "standard" build configuration file

    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.
*/

#ifndef BUILD_H
#define BUILD_H


#define THISBUILD       700     ///< define build number sent in debug packet for display purposes only

/// @name 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                           ///< identifier for NED (Aerospace) axes and angles
#define ANDROID 1                       ///< identifier for Android axes and angles
#define WIN8 2                  ///< identifier for Windows 8 axes and angles
#define THISCOORDSYSTEM NED     ///< the coordinate system to be used
///@}

///@{
/// @name 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  ///< nominally 0x0001 if an accelerometer is to be used, 0x0000 otherwise
#define F_USING_MAG             0x0002  ///< nominally 0x0002 if an magnetometer  is to be used, 0x0000 otherwise
#define F_USING_GYRO            0x0004  ///< nominally 0x0004 if a gyro           is to be used, 0x0000 otherwise
#define F_USING_PRESSURE        0x0008  ///< nominally 0x0008 if altimeter        is to be used, 0x0000 otherwise
#define F_USING_TEMPERATURE     0x0010  ///< nominally 0x0010 if temp sensor      is to be used, 0x0000 otherwise
#define F_ALL_SENSORS           0x001F  ///< refers to all applicable sensor types for the given physical unit
///@}
/// @name 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  ///< 1DOF pressure (altitude) and temperature algorithm selector  - 0x0100 to include, 0x0000 otherwise
#define F_3DOF_G_BASIC          0x0200  ///< 3DOF accel tilt (accel) algorithm selector                   - 0x0200 to include, 0x0000 otherwise
#define F_3DOF_B_BASIC          0x0400  ///< 3DOF mag eCompass (vehicle/mag) algorithm selector           - 0x0400 to include, 0x0000 otherwise
#define F_3DOF_Y_BASIC          0x0800  ///< 3DOF gyro integration algorithm selector                     - 0x0800 to include, 0x0000 otherwise
#define F_6DOF_GB_BASIC         0x1000  ///< 6DOF accel and mag eCompass algorithm selector               - 0x1000 to include, 0x0000 otherwise
#define F_6DOF_GY_KALMAN        0x2000  ///< 6DOF accel and gyro (Kalman) algorithm selector              - 0x2000 to include, 0x0000 otherwise
#define F_9DOF_GBY_KALMAN   0x4000  ///< 9DOF accel, mag and gyro algorithm selector                  - 0x4000 to include, 0x0000 otherwise
///@}

/// @name SensorParameters
/// FIFO sizes effect the size of the sensor data structures.  ODR refers to "Output Data Rate"
///@{
#define ACCEL_FIFO_SIZE     32  ///< FXOS8700 (accel), MMA8652, FXLS8952 all have 32 element FIFO
#define MAG_FIFO_SIZE       16  ///< FXOS8700 (mag), MAG3110 have no FIFO so equivalent to 1 element FIFO
#define GYRO_FIFO_SIZE      32  ///< FXAX21000, FXAS21002 have 32 element FIFO
#define ACCEL_ODR_HZ        200     ///< (int) requested accelerometer ODR Hz (over-rides MAG_ODR_HZ for FXOS8700)
#define MAG_ODR_HZ      200     ///< (int) requested magnetometer ODR Hz (over-ridden by ACCEL_ODR_HZ for FXOS8700)
#define GYRO_ODR_HZ         400     ///< (int) requested gyroscope ODR Hz
#define FUSION_HZ       40  ///< (int) actual rate of fusion algorithm execution and sensor FIFO reads
#define FAST_LOOP_HZ        80  ///< Over Sample Ratio * FUSION_HZ when using no FIFO
#define OVERSAMPLE_RATE         FAST_LOOP_HZ/FUSION_HZ
///@}

#endif // BUILD_H