1<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> 2<html xmlns="http://www.w3.org/1999/xhtml"> 3<head> 4<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/> 5<meta http-equiv="X-UA-Compatible" content="IE=9"/> 6<meta name="generator" content="Doxygen 1.8.13"/> 7<meta name="viewport" content="width=device-width, initial-scale=1"/> 8<title>ISSDK: algorithms/sensorfusion/sources/output_stream.c Source File</title> 9<link href="tabs.css" rel="stylesheet" type="text/css"/> 10<script type="text/javascript" src="jquery.js"></script> 11<script type="text/javascript" src="dynsections.js"></script> 12<link href="issdk_stylesheet.css" rel="stylesheet" type="text/css" /> 13</head> 14<body> 15<div id="top"><!-- do not remove this div, it is closed by doxygen! --> 16<div id="titlearea"> 17<table cellspacing="0" cellpadding="0"> 18 <tbody> 19 <tr style="height: 56px;"> 20 <td id="projectlogo"><img alt="Logo" src="nxp_logo_small.png"/></td> 21 <td id="projectalign" style="padding-left: 0.5em;"> 22 <div id="projectname">ISSDK 23  <span id="projectnumber">1.8</span> 24 </div> 25 <div id="projectbrief">IoT Sensing Software Development Kit</div> 26 </td> 27 </tr> 28 </tbody> 29</table> 30</div> 31<!-- end header part --> 32<!-- Generated by Doxygen 1.8.13 --> 33<script type="text/javascript" src="menudata.js"></script> 34<script type="text/javascript" src="menu.js"></script> 35<script type="text/javascript"> 36$(function() { 37 initMenu('',false,false,'search.php','Search'); 38}); 39</script> 40<div id="main-nav"></div> 41<div id="nav-path" class="navpath"> 42 <ul> 43<li class="navelem"><a class="el" href="dir_c0ce462e37efe0a8d60c01d75f78f8a0.html">algorithms</a></li><li class="navelem"><a class="el" href="dir_cb8ed5ffd1f20a5af7e420f81f312621.html">sensorfusion</a></li><li class="navelem"><a class="el" href="dir_c60867674b20e7d761cd401b87ce879d.html">sources</a></li> </ul> 44</div> 45</div><!-- top --> 46<div class="header"> 47 <div class="headertitle"> 48<div class="title">output_stream.c</div> </div> 49</div><!--header--> 50<div class="contents"> 51<a href="a00902.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (c) 2015, Freescale Semiconductor, Inc.</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> * Copyright 2016-2017 NXP</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * All rights reserved.</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> *</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * SPDX-License-Identifier: BSD-3-Clause</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> */</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"></span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">/*! \file output_stream.c</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> \brief Implements streaming function for the status subsystem. See status.h</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">*/</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="a00914.html">sensor_fusion.h</a>"</span> <span class="comment">// top level magCal and sensor fusion interfaces</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "<a class="code" href="a00779.html">control.h</a>"</span> <span class="comment">// Command/Streaming interface - application specific</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "<a class="code" href="a00791.html">debug.h</a>"</span> <span class="comment">// for test purposes</span></div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="a00902.html#abac6549a1587711841a3467018ee2582"> 16</a></span> <span class="preprocessor">#define MAXPACKETRATEHZ 40</span></div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="a00902.html#a9badfcf686c8cfb2afabc3c9e3ba11d3"> 17</a></span> <span class="preprocessor">#define RATERESOLUTION 1000</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"></span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">///////////////////////////////////////////////////////////////////////////////////////////////////////</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"></span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// UART packet drivers</span><span class="comment"></span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">///////////////////////////////////////////////////////////////////////////////////////////////////////</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"></span><span class="comment">// function appends a variable number of source bytes to a destimation buffer</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">// for transmission as the bluetooth packet</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">// bluetooth packets are delimited by inserting the special byte 0x7E at the start</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">// and end of packets. this function must therefore handle the case of 0x7E appearing</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">// as general data. this is done here with the substitutions:</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">// a) replace 0x7E by 0x7D and 0x5E (one byte becomes two)</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">// b) replace 0x7D by 0x7D and 0x5D (one byte becomes two)</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">// the inverse mapping must be performed at the application receiving the bluetooth stream: ie:</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">// replace 0x7D and 0x5E with 0x7E</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">// replace 0x7D and 0x5D with 0x7D</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">// NOTE: do not use this function to append the start and end bytes 0x7E to the bluetooth</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment">// buffer. instead add the start and end bytes 0x7E explicitly as in:</span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment">// sUARTOutputBuffer[iByteCount++] = 0x7E;</span></div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299"> 37</a></span> <span class="keywordtype">void</span> <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(uint8_t *pDest, uint16_t *pIndex, uint8_t *pSource,</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  uint16_t iBytesToCopy)</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  uint16_t i; <span class="comment">// loop counter</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="comment">// loop over number of bytes to add to the destination buffer</span></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordflow">for</span> (i = 0; i < iBytesToCopy; i++)</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  {</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordflow">switch</span> (pSource[i])</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  {</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">case</span> 0x7E:</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="comment">// special case 1: replace 0x7E (start and end byte) with 0x7D and 0x5E</span></div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  pDest[(*pIndex)++] = 0x7D;</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  pDest[(*pIndex)++] = 0x5E;</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">case</span> 0x7D:</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="comment">// special case 2: replace 0x7D with 0x7D and 0x5D</span></div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  pDest[(*pIndex)++] = 0x7D;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  pDest[(*pIndex)++] = 0x5D;</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="comment">// general case, simply add this byte without change</span></div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  pDest[(*pIndex)++] = pSource[i];</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  }</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">return</span>;</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> }</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment">// utility function for sending int16_t zeros</span></div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3"> 70</a></span> <span class="keywordtype">void</span> <a class="code" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a>(uint8_t *pDest, uint16_t *pIndex, uint16_t numZeros) {</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  int16_t scratch16 = 0;</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  uint16_t i;</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">for</span> (i=0; i<numZeros; i++) {</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(pDest, pIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  }</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span> }</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment">// utility function for reading common algorithm parameters</span></div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="a00902.html#a96da70ac128170ff0d03feffa05ef769"> 78</a></span> <span class="keywordtype">void</span> <a class="code" href="a00902.html#a96da70ac128170ff0d03feffa05ef769">readCommon</a>( <a class="code" href="a04043.html">SV_ptr</a> <a class="code" href="a00428.html#a0155cf01983779a6f386fb8eac40d37c">data</a>,</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <a class="code" href="a03979.html">Quaternion</a> *fq,</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  int16_t *iPhi,</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  int16_t *iThe,</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  int16_t *iRho,</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  int16_t iOmega[],</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  uint16_t *isystick) {</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  *fq = data-><a class="code" href="a04043.html#ae323c150fb116c0fc1e24c3e455dd4f2">fq</a>;</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  iOmega[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] = (int16_t) (data-><a class="code" href="a04043.html#a9c974a110a3c50ed4b350da903928cfd">fOmega</a>[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] * 20.0F);</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  iOmega[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] = (int16_t) (data-><a class="code" href="a04043.html#a9c974a110a3c50ed4b350da903928cfd">fOmega</a>[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] * 20.0F);</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  iOmega[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] = (int16_t) (data-><a class="code" href="a04043.html#a9c974a110a3c50ed4b350da903928cfd">fOmega</a>[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] * 20.0F);</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  *iPhi = (int16_t) (10.0F * data-><a class="code" href="a04043.html#ae388283b0a16e1083295ac079bc54806">fPhi</a>);</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  *iThe = (int16_t) (10.0F * data-><a class="code" href="a04043.html#abbe4bc1a12d4f43042fd3b8bc3cc1abc">fThe</a>);</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  *iRho = (int16_t) (10.0F * data-><a class="code" href="a04043.html#a1fd4efd6240dc7dff533fe1a63898682">fRho</a>);</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  *isystick = (uint16_t) (data-><a class="code" href="a04043.html#ae581521fc995a2fa92a72146841363e9">systick</a> / 20);</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> }</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment">// throttle back by fractional multiplier</span><span class="comment"></span></div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment">/// (OVERSAMPLE_RATIO * MAXPACKETRATEHZ) / SENSORFS</span></div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="a00902.html#a16d1508470294835d76682195104898e"> 97</a></span> <span class="comment"></span>uint16_t <a class="code" href="a00902.html#a16d1508470294835d76682195104898e">throttle</a>()</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> {</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">static</span> <a class="code" href="a00914.html#ab7903878916593daecbeb95b98115ab0">int32</a> iThrottle = 0;</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  uint8_t skip;</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">// The UART (serial over USB and over Bluetooth)</span></div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="comment">// is limited to 115kbps which is more than adequate for the 31kbps</span></div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="comment">// needed at the default 25Hz output rate but insufficient for 100Hz or</span></div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="comment">// 200Hz output rates. There is little point is providing output data</span></div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="comment">// faster than 25Hz video rates but since the UARTs can</span></div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// support a higher rate, the limit is set to MAXPACKETRATEHZ=40Hz.</span></div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="comment">// the increment applied to iThrottle is in the range 0 to (RATERESOLUTION - 1)</span></div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  iThrottle += ((<a class="code" href="a00914.html#ab7903878916593daecbeb95b98115ab0">int32</a>) <a class="code" href="a00902.html#abac6549a1587711841a3467018ee2582">MAXPACKETRATEHZ</a> * (<a class="code" href="a00914.html#ab7903878916593daecbeb95b98115ab0">int32</a>) <a class="code" href="a00902.html#a9badfcf686c8cfb2afabc3c9e3ba11d3">RATERESOLUTION</a>) / (<a class="code" href="a00914.html#ab7903878916593daecbeb95b98115ab0">int32</a>) <a class="code" href="a00917.html#a470d8d33fe0efafcc0c0835fbea14f5e">FUSION_HZ</a>;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordflow">if</span> (iThrottle >= <a class="code" href="a00902.html#a9badfcf686c8cfb2afabc3c9e3ba11d3">RATERESOLUTION</a>) {</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="comment">// update the throttle counter and transmit the packets over UART (USB and Bluetooth)</span></div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  iThrottle -= <a class="code" href="a00902.html#a9badfcf686c8cfb2afabc3c9e3ba11d3">RATERESOLUTION</a>;</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  skip = <span class="keyword">false</span>;</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  skip = <span class="keyword">true</span>;</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordflow">return</span>(skip);</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span> }</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment">// set packets out over UART_A to shield / Bluetooth module and over UART_B to OpenSDA / USB</span></div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment">//#pragma diag_suppress=Pe177,Pe550 // Suppress "never used" and "set but never used"</span></div><div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="a00902.html#adbb4129e795ca534e4bb1649bb81b559"> 122</a></span> <span class="keywordtype">void</span> <a class="code" href="a00902.html#adbb4129e795ca534e4bb1649bb81b559">CreateAndSendPackets</a>(<a class="code" href="a04047.html">SensorFusionGlobals</a> *<a class="code" href="a00470.html#afa81c629d378fe700f351a1bce411ad5">sfg</a>, uint8_t *<a class="code" href="a00776.html#a3b6c71dda245dccb73352c7264176527">sUARTOutputBuffer</a>)</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span> {</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <a class="code" href="a03979.html">Quaternion</a> fq; <span class="comment">// quaternion to be transmitted</span></div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">float</span> ftmp; <span class="comment">// scratch</span></div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keyword">static</span> uint32_t iTimeStamp = 0; <span class="comment">// 1MHz time stamp</span></div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  uint16_t iIndex; <span class="comment">// output buffer counter</span></div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <a class="code" href="a00521.html#a5d7069350a7d7e65686c77a8038f462f">int32_t</a> scratch32; <span class="comment">// scratch int32_t</span></div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  int16_t scratch16; <span class="comment">// scratch int16_t</span></div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  int16_t iPhi,</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  iThe,</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  iRho; <span class="comment">// integer angles to be transmitted</span></div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  int16_t iDelta; <span class="comment">// magnetic inclination angle if available</span></div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  int16_t iOmega[3]; <span class="comment">// scaled angular velocity vector</span></div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  uint16_t isystick; <span class="comment">// algorithm systick time</span></div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  int16_t i, j, k; <span class="comment">// general purpose</span></div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  uint8_t tmpuint8_t; <span class="comment">// scratch uint8_t</span></div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  uint8_t flags; <span class="comment">// byte of flags</span></div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  uint8_t AngularVelocityPacketOn,</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  DebugPacketOn,</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  RPCPacketOn;</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  int8_t AccelCalPacketOn;</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keyword">static</span> uint8_t iPacketNumber = 0; <span class="comment">// packet number</span></div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">// update the 1MHz time stamp counter expected by the PC GUI (independent of project clock rates)</span></div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  iTimeStamp += 1000000 / <a class="code" href="a00917.html#a470d8d33fe0efafcc0c0835fbea14f5e">FUSION_HZ</a>;</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span> </div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="preprocessor">#if (MAXPACKETRATEHZ < FUSION_HZ)</span></div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  uint8_t skip_packet = <a class="code" href="a00902.html#a16d1508470294835d76682195104898e">throttle</a>(); <span class="comment">// possible UART bandwidth problem</span></div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">if</span> (skip_packet) <span class="keywordflow">return</span>; <span class="comment">// need to skip packet transmission to avoid UART overrun</span></div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="comment">// cache local copies of control flags so we don't have to keep dereferencing pointers below</span></div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <a class="code" href="a00914.html#ad1d4d649bfa88f655f8f2d1ee5ae5ace">quaternion_type</a> quaternionPacketType;</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  quaternionPacketType = sfg-><a class="code" href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">pControlSubsystem</a>-><a class="code" href="a03967.html#a560615429c69fcefa85de0624fa6d83e">QuaternionPacketType</a>;</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  AngularVelocityPacketOn = sfg-><a class="code" href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">pControlSubsystem</a>-><a class="code" href="a03967.html#a527b159143188ef9b66bd4c8a6aefcdf">AngularVelocityPacketOn</a>;</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  DebugPacketOn = sfg-><a class="code" href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">pControlSubsystem</a>-><a class="code" href="a03967.html#a41ad90f99ac3c14b2bdce3967df14f1b">DebugPacketOn</a>;</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  RPCPacketOn = sfg-><a class="code" href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">pControlSubsystem</a>-><a class="code" href="a03967.html#a6c5365ebe170e2ee207212da7531ccea">RPCPacketOn</a>;</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  AccelCalPacketOn = sfg-><a class="code" href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">pControlSubsystem</a>-><a class="code" href="a03967.html#aa62f07fac570bf67c0832d4bf7d38e76">AccelCalPacketOn</a>;</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="comment">// zero the counter for bytes accumulated into the transmit buffer</span></div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  iIndex = 0;</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="comment">// Main type 1: range 0 to 35 = 36 bytes</span></div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="comment">// Debug type 2: range 0 to 7 = 8 bytes</span></div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="comment">// Angular velocity type 3: range 0 to 13 = 14 bytes</span></div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="comment">// Euler angles type 4: range 0 to 13 = 14 bytes</span></div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="comment">// Altitude/Temp type 5: range 0 to 13 = 14 bytes</span></div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="comment">// Magnetic type 6: range 0 to 16 = 18 bytes</span></div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="comment">// Kalman packet 7: range 0 to 47 = 48 bytes</span></div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="comment">// Precision Accelerometer packet 8: range 0 to 46 = 47 bytes</span></div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="comment">//</span></div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="comment">// Total excluding intermittent packet 8 is:</span></div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="comment">// 152 bytes vs 256 bytes size of sUARTOutputBuffer</span></div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="comment">// at 25Hz, data rate is 25*152 = 3800 bytes/sec = 38.0kbaud = 33% of 115.2kbaud</span></div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="comment">// at 40Hz, data rate is 40*152 = 6080 bytes/sec = 60.8kbaud = 53% of 115.2kbaud</span></div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="comment">// at 50Hz, data rate is 50*152 = 7600 bytes/sec = 76.0kbaud = 66% of 115.2kbaud</span></div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="comment">// fixed length packet type 1</span></div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="comment">// this packet type is always transmitted</span></div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="comment">// total size is 0 to 35 equals 36 bytes</span></div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="comment">// [0]: packet start byte (need a iIndex++ here since not using sBufAppendItem)</span></div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="comment">// [1]: packet type 1 byte (iIndex is automatically updated in sBufAppendItem)</span></div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  tmpuint8_t = 0x01;</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &tmpuint8_t, 1);</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span> </div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="comment">// [2]: packet number byte</span></div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &iPacketNumber, 1);</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  iPacketNumber++;</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span> </div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="comment">// [6-3]: 1MHz time stamp (4 bytes)</span></div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iTimeStamp, 4);</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span> </div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="comment">// [12-7]: integer accelerometer data words (scaled to 8192 counts per g for PC GUI)</span></div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="comment">// send non-zero data only if the accelerometer sensor is enabled and used by the selected quaternion</span></div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#a8f284d04ec459633d30dc85cf0a32a0d">F_USING_ACCEL</a>) {</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">switch</span> (quaternionPacketType)</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  {</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa19bd87b11e82b9047ad750fb62711ba8">Q3</a>:</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa0cf62dda224dcbac09ae26cd46ccce01">Q6MA</a>:</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa59c8dc55b720396019ef93eb943a3b96">Q6AG</a>:</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa9c5ceeb2bc9bf27379c7e72bc4d0ff13">Q9</a>:</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="preprocessor">#if F_USING_ACCEL</span></div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="comment">// accelerometer data is used for the selected quaternion so transmit but clip at 4g</span></div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  scratch32 = (sfg->Accel.iGc[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] * 8192) / sfg->Accel.iCountsPerg;</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  if (scratch32 > 32767) scratch32 = 32767;</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordflow">if</span> (scratch32 < -32768) scratch32 = -32768;</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  scratch16 = (int16_t) (scratch32);</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  scratch32 = (sfg->Accel.iGc[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] * 8192) / sfg->Accel.iCountsPerg;</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  if (scratch32 > 32767) scratch32 = 32767;</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keywordflow">if</span> (scratch32 < -32768) scratch32 = -32768;</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  scratch16 = (int16_t) (scratch32);</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span> </div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  scratch32 = (sfg->Accel.iGc[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] * 8192) / sfg->Accel.iCountsPerg;</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  if (scratch32 > 32767) scratch32 = 32767;</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">if</span> (scratch32 < -32768) scratch32 = -32768;</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  scratch16 = (int16_t) (scratch32);</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="preprocessor">#endif // F_USING_ACCEL</span></div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaada2dae63d5865a8446caa7938c73c5dc">Q3M</a>:</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaaf63c9f6fec59717499a84048f682cf8a">Q3G</a>:</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="comment">// accelerometer data is not used in currently selected algorithm so transmit zero</span></div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <a class="code" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a>(sUARTOutputBuffer, &iIndex, 3);</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  }</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="comment">// accelerometer structure is not defined so transmit zero</span></div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <a class="code" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a>(sUARTOutputBuffer, &iIndex, 3);</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  }</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="comment">// [18-13]: integer calibrated magnetometer data words (already scaled to 10 count per uT for PC GUI)</span></div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="comment">// send non-zero data only if the magnetometer sensor is enabled and used by the selected quaternion</span></div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00857.html#a78765407e471fe0b9119e5ff41aa7d16">F_USING_MAG</a>)</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordflow">switch</span> (quaternionPacketType)</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  {</div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaada2dae63d5865a8446caa7938c73c5dc">Q3M</a>:</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa0cf62dda224dcbac09ae26cd46ccce01">Q6MA</a>:</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa9c5ceeb2bc9bf27379c7e72bc4d0ff13">Q9</a>:</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="preprocessor">#if F_USING_MAG</span></div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="comment">// magnetometer data is used for the selected quaternion so transmit</span></div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#a5f25d32f1eabdbcde99601df3f136ce0">Mag</a>.<a class="code" href="a04003.html#a8a3b181bc80ba70aa8e9741c6a4b8320">iBc</a>[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] * 10) / (sfg-><a class="code" href="a04047.html#a5f25d32f1eabdbcde99601df3f136ce0">Mag</a>.<a class="code" href="a04003.html#a8d14850aea4f6f78343db74f3208f5d0">iCountsPeruT</a>);</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  scratch16 = (int16_t) ((sfg-><a class="code" href="a04047.html#a5f25d32f1eabdbcde99601df3f136ce0">Mag</a>.<a class="code" href="a04003.html#a8a3b181bc80ba70aa8e9741c6a4b8320">iBc</a>[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] * 10) / sfg-><a class="code" href="a04047.html#a5f25d32f1eabdbcde99601df3f136ce0">Mag</a>.<a class="code" href="a04003.html#a8d14850aea4f6f78343db74f3208f5d0">iCountsPeruT</a>);</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  scratch16 = (int16_t) ((sfg-><a class="code" href="a04047.html#a5f25d32f1eabdbcde99601df3f136ce0">Mag</a>.<a class="code" href="a04003.html#a8a3b181bc80ba70aa8e9741c6a4b8320">iBc</a>[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] * 10) / sfg-><a class="code" href="a04047.html#a5f25d32f1eabdbcde99601df3f136ce0">Mag</a>.<a class="code" href="a04003.html#a8d14850aea4f6f78343db74f3208f5d0">iCountsPeruT</a>);</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="comment">// magnetometer data is not used in currently selected algorithm so transmit zero</span></div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa19bd87b11e82b9047ad750fb62711ba8">Q3</a>:</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaaf63c9f6fec59717499a84048f682cf8a">Q3G</a>:</div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa59c8dc55b720396019ef93eb943a3b96">Q6AG</a>:</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <a class="code" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a>(sUARTOutputBuffer, &iIndex, 3);</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  }</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  {</div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="comment">// magnetometer structure is not defined so transmit zero</span></div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <a class="code" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a>(sUARTOutputBuffer, &iIndex, 3);</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span> </div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="comment">// [24-19]: uncalibrated gyro data words (scaled to 20 counts per deg/s for PC GUI)</span></div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="comment">// send non-zero data only if the gyro sensor is enabled and used by the selected quaternion</span></div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#aecf1505d7dbaa2569dd3f36bf05ab5a0">F_USING_GYRO</a>)</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  {</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">switch</span> (quaternionPacketType)</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  {</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaaf63c9f6fec59717499a84048f682cf8a">Q3G</a>:</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa59c8dc55b720396019ef93eb943a3b96">Q6AG</a>:</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span> <span class="preprocessor">#if F_USING_GYRO</span></div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa9c5ceeb2bc9bf27379c7e72bc4d0ff13">Q9</a>:</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span> </div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="comment">// gyro data is used for the selected quaternion so transmit</span></div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  scratch16 = (int16_t) ((sfg->Gyro.iYs[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] * 20) / sfg->Gyro.iCountsPerDegPerSec);</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  scratch16 = (int16_t) ((sfg->Gyro.iYs[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] * 20) / sfg->Gyro.iCountsPerDegPerSec);</div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  scratch16 = (int16_t) ((sfg->Gyro.iYs[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] * 20) / sfg->Gyro.iCountsPerDegPerSec);</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa19bd87b11e82b9047ad750fb62711ba8">Q3</a>:</div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaada2dae63d5865a8446caa7938c73c5dc">Q3M</a>:</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa0cf62dda224dcbac09ae26cd46ccce01">Q6MA</a>:</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="comment">// gyro data is not used in currently selected algorithm so transmit zero</span></div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <a class="code" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a>(sUARTOutputBuffer, &iIndex, 3);</div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  }</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  }</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  {</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="comment">// gyro structure is not defined so transmit zero</span></div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <a class="code" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a>(sUARTOutputBuffer, &iIndex, 3);</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  }</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span> </div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="comment">// initialize default quaternion, flags byte, angular velocity and orientation</span></div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  fq.<a class="code" href="a03979.html#a27b8f713c4a449fb2fbb1cbdb3a1e149">q0</a> = 1.0F;</div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  fq.<a class="code" href="a03979.html#a209c65446ca302d32cbb908c4d75f616">q1</a> = fq.<a class="code" href="a03979.html#afddca3451c589f7b5928b6dccf8c88ba">q2</a> = fq.<a class="code" href="a03979.html#aa92940755b1370321ed489e6f2448ad9">q3</a> = 0.0F;</div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  flags = 0x00;</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  iOmega[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] = iOmega[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] = iOmega[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] = 0;</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  iPhi = iThe = iRho = iDelta = 0;</div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  isystick = 0;</div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span> </div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="comment">// flags byte 33: quaternion type in least significant nibble</span></div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="comment">// Q3: coordinate nibble, 1</span></div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="comment">// Q3M: coordinate nibble, 6</span></div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="comment">// Q3G: coordinate nibble, 3</span></div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="comment">// Q6MA: coordinate nibble, 2</span></div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="comment">// Q6AG: coordinate nibble, 4</span></div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="comment">// Q9: coordinate nibble, 8</span></div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="comment">// flags byte 33: coordinate in most significant nibble</span></div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="comment">// Aerospace/NED: 0, quaternion nibble</span></div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="comment">// Android: 1, quaternion nibble</span></div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="comment">// Windows 8: 2, quaternion nibble</span></div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="comment">// set the quaternion, flags, angular velocity and Euler angles</span></div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keywordflow">switch</span> (quaternionPacketType)</div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  {</div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span> <span class="preprocessor">#if F_3DOF_G_BASIC</span></div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa19bd87b11e82b9047ad750fb62711ba8">Q3</a>:</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#adb79fa7eb529c4cae2619ef22af3211e">F_3DOF_G_BASIC</a>)</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  {</div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  flags |= 0x01;</div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <a class="code" href="a00902.html#a96da70ac128170ff0d03feffa05ef769">readCommon</a>((<a class="code" href="a04043.html">SV_ptr</a>)&sfg->SV_3DOF_G_BASIC, &fq, &iPhi, &iThe, &iRho, iOmega, &isystick);</div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  }</div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span> <span class="preprocessor">#if F_3DOF_B_BASIC</span></div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaada2dae63d5865a8446caa7938c73c5dc">Q3M</a>:</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#aed8da52c8d0d14325445b139876492b4">F_3DOF_B_BASIC</a>)</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  {</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  flags |= 0x06;</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <a class="code" href="a00902.html#a96da70ac128170ff0d03feffa05ef769">readCommon</a>((<a class="code" href="a04043.html">SV_ptr</a>)&sfg->SV_3DOF_B_BASIC, &fq, &iPhi, &iThe, &iRho, iOmega, &isystick);</div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  }</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span> <span class="preprocessor">#if F_3DOF_Y_BASIC</span></div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaaf63c9f6fec59717499a84048f682cf8a">Q3G</a>:</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#a990887d9ed9f03bcaffcd4abae429265">F_3DOF_Y_BASIC</a>)</div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  {</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  flags |= 0x03;</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <a class="code" href="a00902.html#a96da70ac128170ff0d03feffa05ef769">readCommon</a>((<a class="code" href="a04043.html">SV_ptr</a>)&sfg->SV_3DOF_Y_BASIC, &fq, &iPhi, &iThe, &iRho, iOmega, &isystick);</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  }</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span> <span class="preprocessor">#if F_6DOF_GB_BASIC</span></div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa0cf62dda224dcbac09ae26cd46ccce01">Q6MA</a>:</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#a9b0aadad0b960783ff2ecd5174a57905">F_6DOF_GB_BASIC</a>)</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  {</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  flags |= 0x02;</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  iDelta = (int16_t) (10.0F * sfg->SV_6DOF_GB_BASIC.fLPDelta);</div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  <a class="code" href="a00902.html#a96da70ac128170ff0d03feffa05ef769">readCommon</a>((<a class="code" href="a04043.html">SV_ptr</a>)&sfg->SV_6DOF_GB_BASIC, &fq, &iPhi, &iThe, &iRho, iOmega, &isystick);</div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  }</div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span> <span class="preprocessor">#if F_6DOF_GY_KALMAN</span></div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa59c8dc55b720396019ef93eb943a3b96">Q6AG</a>:</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#a3aa2972ee6d1865b5bd7ab4e1914a4c5">F_6DOF_GY_KALMAN</a>)</div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  {</div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  flags |= 0x04;</div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <a class="code" href="a00902.html#a96da70ac128170ff0d03feffa05ef769">readCommon</a>((<a class="code" href="a04043.html">SV_ptr</a>)&sfg->SV_6DOF_GY_KALMAN, &fq, &iPhi, &iThe, &iRho, iOmega, &isystick);</div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  }</div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="keywordflow">case</span> <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa9c5ceeb2bc9bf27379c7e72bc4d0ff13">Q9</a>:</div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#a067a973335873757f5ecfda300e9c082">F_9DOF_GBY_KALMAN</a>)</div><div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  {</div><div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  flags |= 0x08;</div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  iDelta = (int16_t) (10.0F * sfg->SV_9DOF_GBY_KALMAN.fDeltaPl);</div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <a class="code" href="a00902.html#a96da70ac128170ff0d03feffa05ef769">readCommon</a>((<a class="code" href="a04043.html">SV_ptr</a>)&sfg->SV_9DOF_GBY_KALMAN, &fq, &iPhi, &iThe, &iRho, iOmega, &isystick);</div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  }</div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="comment">// use the default data already initialized</span></div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  }</div><div class="line"><a name="l00389"></a><span class="lineno"> 389</span> </div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="comment">// [32-25]: scale the quaternion (30K = 1.0F) and add to the buffer</span></div><div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  scratch16 = (int16_t) (fq.<a class="code" href="a03979.html#a27b8f713c4a449fb2fbb1cbdb3a1e149">q0</a> * 30000.0F);</div><div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  scratch16 = (int16_t) (fq.<a class="code" href="a03979.html#a209c65446ca302d32cbb908c4d75f616">q1</a> * 30000.0F);</div><div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  scratch16 = (int16_t) (fq.<a class="code" href="a03979.html#afddca3451c589f7b5928b6dccf8c88ba">q2</a> * 30000.0F);</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  scratch16 = (int16_t) (fq.<a class="code" href="a03979.html#aa92940755b1370321ed489e6f2448ad9">q3</a> * 30000.0F);</div><div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00399"></a><span class="lineno"> 399</span> </div><div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="comment">// set the coordinate system bits in flags from default NED (00)</span></div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span> <span class="preprocessor">#if THISCOORDSYSTEM == ANDROID</span></div><div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="comment">// set the Android flag bits</span></div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  flags |= 0x10;</div><div class="line"><a name="l00404"></a><span class="lineno"> 404</span> <span class="preprocessor">#elif THISCOORDSYSTEM == WIN8</span></div><div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="comment">// set the Win8 flag bits</span></div><div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  flags |= 0x20;</div><div class="line"><a name="l00407"></a><span class="lineno"> 407</span> <span class="preprocessor">#endif // THISCOORDSYSTEM</span></div><div class="line"><a name="l00408"></a><span class="lineno"> 408</span> </div><div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="comment">// [33]: add the flags byte to the buffer</span></div><div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &flags, 1);</div><div class="line"><a name="l00411"></a><span class="lineno"> 411</span> </div><div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <span class="comment">// [34]: add the shield (bits 7-5) and Kinetis (bits 4-0) byte</span></div><div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  tmpuint8_t = ((<a class="code" href="a04337.html#a5a9bd184123e2bae424d2b725ec48270">THIS_SHIELD</a> & 0x07) << 5) | (<a class="code" href="a00578.html#a970d1d55390bb3d17dd1e780382a0d38">THIS_BOARD</a> & 0x1F);</div><div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &tmpuint8_t, 1);</div><div class="line"><a name="l00415"></a><span class="lineno"> 415</span> </div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  <span class="comment">// [35]: add the tail byte for the standard packet type 1</span></div><div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00418"></a><span class="lineno"> 418</span> </div><div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <span class="comment">// Variable length debug packet type 2</span></div><div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <span class="comment">// total size is 0 to 7 equals 8 bytes</span></div><div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="keywordflow">if</span> (DebugPacketOn)</div><div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  {</div><div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  <span class="comment">// [0]: packet start byte</span></div><div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00427"></a><span class="lineno"> 427</span> </div><div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  <span class="comment">// [1]: packet type 2 byte</span></div><div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  tmpuint8_t = 0x02;</div><div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &tmpuint8_t, 1);</div><div class="line"><a name="l00431"></a><span class="lineno"> 431</span> </div><div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  <span class="comment">// [2]: packet number byte</span></div><div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &iPacketNumber, 1);</div><div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  iPacketNumber++;</div><div class="line"><a name="l00435"></a><span class="lineno"> 435</span> </div><div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <span class="comment">// [4-3] software version number</span></div><div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  scratch16 = <a class="code" href="a00917.html#a37b68379c938c8404e8e8b0572e7a530">THISBUILD</a>;</div><div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00439"></a><span class="lineno"> 439</span> </div><div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="comment">// [6-5] systick count / 20</span></div><div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &isystick, 2);</div><div class="line"><a name="l00442"></a><span class="lineno"> 442</span> </div><div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  <span class="comment">// [7 in practice but can be variable]: add the tail byte for the debug packet type 2</span></div><div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  }</div><div class="line"><a name="l00446"></a><span class="lineno"> 446</span> </div><div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="comment">// Angular Velocity packet type 3</span></div><div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <span class="comment">// total bytes for packet type 2 is range 0 to 13 = 14 bytes</span></div><div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  <span class="keywordflow">if</span> (AngularVelocityPacketOn)</div><div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  {</div><div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  <span class="comment">// [0]: packet start byte</span></div><div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00455"></a><span class="lineno"> 455</span> </div><div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  <span class="comment">// [1]: packet type 3 byte (angular velocity)</span></div><div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  tmpuint8_t = 0x03;</div><div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &tmpuint8_t, 1);</div><div class="line"><a name="l00459"></a><span class="lineno"> 459</span> </div><div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="comment">// [2]: packet number byte</span></div><div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &iPacketNumber, 1);</div><div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  iPacketNumber++;</div><div class="line"><a name="l00463"></a><span class="lineno"> 463</span> </div><div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  <span class="comment">// [6-3]: time stamp (4 bytes)</span></div><div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iTimeStamp, 4);</div><div class="line"><a name="l00466"></a><span class="lineno"> 466</span> </div><div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  <span class="comment">// [12-7]: add the scaled angular velocity vector to the output buffer</span></div><div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iOmega[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>], 2);</div><div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iOmega[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>], 2);</div><div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iOmega[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>], 2);</div><div class="line"><a name="l00471"></a><span class="lineno"> 471</span> </div><div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="comment">// [13]: add the tail byte for the angular velocity packet type 3</span></div><div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  }</div><div class="line"><a name="l00475"></a><span class="lineno"> 475</span> </div><div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  <span class="comment">// Roll, Pitch, Compass Euler angles packet type 4</span></div><div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="comment">// total bytes for packet type 4 is range 0 to 13 = 14 bytes</span></div><div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <span class="keywordflow">if</span> (RPCPacketOn)</div><div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  {</div><div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  <span class="comment">// [0]: packet start byte</span></div><div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00484"></a><span class="lineno"> 484</span> </div><div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <span class="comment">// [1]: packet type 4 byte (Euler angles)</span></div><div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  tmpuint8_t = 0x04;</div><div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &tmpuint8_t, 1);</div><div class="line"><a name="l00488"></a><span class="lineno"> 488</span> </div><div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  <span class="comment">// [2]: packet number byte</span></div><div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &iPacketNumber, 1);</div><div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  iPacketNumber++;</div><div class="line"><a name="l00492"></a><span class="lineno"> 492</span> </div><div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  <span class="comment">// [6-3]: time stamp (4 bytes)</span></div><div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iTimeStamp, 4);</div><div class="line"><a name="l00495"></a><span class="lineno"> 495</span> </div><div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="comment">// [12-7]: add the angles (resolution 0.1 deg per count) to the transmit buffer</span></div><div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iPhi, 2);</div><div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iThe, 2);</div><div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iRho, 2);</div><div class="line"><a name="l00500"></a><span class="lineno"> 500</span> </div><div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  <span class="comment">// [13]: add the tail byte for the roll, pitch, compass angle packet type 4</span></div><div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  }</div><div class="line"><a name="l00504"></a><span class="lineno"> 504</span> </div><div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  <span class="comment">// Altitude / Temperature packet type 5</span></div><div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  <span class="comment">// total bytes for packet type 5 is range 0 to 13 = 14 bytes</span></div><div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00509"></a><span class="lineno"> 509</span> <span class="preprocessor">#if F_USING_PRESSURE</span></div><div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#a69b745acfd24d1873d47c67aca06df26">F_1DOF_P_BASIC</a>)</div><div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  {</div><div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">pControlSubsystem</a>-><a class="code" href="a03967.html#af46ef3a1af714f7d40707053964db4a8">AltPacketOn</a> && sfg->Pressure.iWhoAmI)</div><div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  {</div><div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  <span class="comment">// [0]: packet start byte</span></div><div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00516"></a><span class="lineno"> 516</span> </div><div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  <span class="comment">// [1]: packet type 5 byte</span></div><div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  tmpuint8_t = 0x05;</div><div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &tmpuint8_t, 1);</div><div class="line"><a name="l00520"></a><span class="lineno"> 520</span> </div><div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  <span class="comment">// [2]: packet number byte</span></div><div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &iPacketNumber, 1);</div><div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  iPacketNumber++;</div><div class="line"><a name="l00524"></a><span class="lineno"> 524</span> </div><div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  <span class="comment">// [6-3]: time stamp (4 bytes)</span></div><div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &iTimeStamp,</div><div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  4);</div><div class="line"><a name="l00528"></a><span class="lineno"> 528</span> </div><div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  <span class="comment">// [10-7]: altitude (4 bytes, metres times 1000)</span></div><div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  scratch32 = (<a class="code" href="a00521.html#a5d7069350a7d7e65686c77a8038f462f">int32_t</a>) (sfg->SV_1DOF_P_BASIC.fLPH * 1000.0F);</div><div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch32, 4);</div><div class="line"><a name="l00532"></a><span class="lineno"> 532</span> </div><div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <span class="comment">// [12-11]: temperature (2 bytes, deg C times 100)</span></div><div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  scratch16 = (int16_t) (sfg->SV_1DOF_P_BASIC.fLPT * 100.0F);</div><div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00536"></a><span class="lineno"> 536</span> </div><div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <span class="comment">// [13]: add the tail byte for the altitude / temperature packet type 5</span></div><div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  }</div><div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  }</div><div class="line"><a name="l00541"></a><span class="lineno"> 541</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00542"></a><span class="lineno"> 542</span> </div><div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  <span class="comment">// magnetic buffer packet type 6</span></div><div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  <span class="comment">// currently total size is 0 to 17 equals 18 bytes</span></div><div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  <span class="comment">// this packet is only transmitted if a magnetic algorithm is computed</span></div><div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  <span class="comment">// ************************************************************************</span></div><div class="line"><a name="l00548"></a><span class="lineno"> 548</span> <span class="preprocessor">#if F_USING_MAG</span></div><div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  <span class="keyword">static</span> int16_t MagneticPacketID = 0; <span class="comment">// magnetic packet number</span></div><div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00857.html#a78765407e471fe0b9119e5ff41aa7d16">F_USING_MAG</a>)</div><div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  {</div><div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  <span class="comment">// [0]: packet start byte</span></div><div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00554"></a><span class="lineno"> 554</span> </div><div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <span class="comment">// [1]: packet type 6 byte</span></div><div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  tmpuint8_t = 0x06;</div><div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &tmpuint8_t, 1);</div><div class="line"><a name="l00558"></a><span class="lineno"> 558</span> </div><div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  <span class="comment">// [2]: packet number byte</span></div><div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &iPacketNumber, 1);</div><div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  iPacketNumber++;</div><div class="line"><a name="l00562"></a><span class="lineno"> 562</span> </div><div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  <span class="comment">// [4-3]: number of active measurements in the magnetic buffer</span></div><div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex,</div><div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  (uint8_t *) &(sfg-><a class="code" href="a04047.html#a987fc4c5dd36f2058beb0ca0a340174c">MagBuffer</a>.<a class="code" href="a03971.html#a3cf587e6fce57898d9d4977239462406">iMagBufferCount</a>), 2);</div><div class="line"><a name="l00566"></a><span class="lineno"> 566</span> </div><div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  <span class="comment">// [6-5]: fit error (%) with resolution 0.01%</span></div><div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  <span class="keywordflow">if</span> (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#aed673fe73dd32922ee873849472dfe71">fFitErrorpc</a> > 327.67F)</div><div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  scratch16 = 32767;</div><div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#aed673fe73dd32922ee873849472dfe71">fFitErrorpc</a> * 100.0F);</div><div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00573"></a><span class="lineno"> 573</span> </div><div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  <span class="comment">// [8-7]: geomagnetic field strength with resolution 0.1uT</span></div><div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#a70d5d3dc1013e238e1d623e67332d87c">fB</a> * 10.0F);</div><div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00577"></a><span class="lineno"> 577</span> </div><div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  <span class="comment">// always calculate magnetic buffer row and column (low overhead and saves warnings)</span></div><div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  k = MagneticPacketID - 10;</div><div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  j = k / <a class="code" href="a00857.html#a1b70272c1471e11b0484ffa27f815e17">MAGBUFFSIZEX</a>;</div><div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  i = k - j * <a class="code" href="a00857.html#a1b70272c1471e11b0484ffa27f815e17">MAGBUFFSIZEX</a>;</div><div class="line"><a name="l00582"></a><span class="lineno"> 582</span> </div><div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  <span class="comment">// [10-9]: int16_t: ID of magnetic variable to be transmitted</span></div><div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  <span class="comment">// ID 0 to 4 inclusive are magnetic calibration coefficients</span></div><div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  <span class="comment">// ID 5 to 9 inclusive are for future expansion</span></div><div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  <span class="comment">// ID 10 to (MAGBUFFSIZEX=12) * (MAGBUFFSIZEY=24)-1 or 10 to 10+288-1 are magnetic buffer elements</span></div><div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  <span class="comment">// where the convention is used that a negative value indicates empty buffer element (index=-1)</span></div><div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  <span class="keywordflow">if</span> ((MagneticPacketID >= 10) && (sfg-><a class="code" href="a04047.html#a987fc4c5dd36f2058beb0ca0a340174c">MagBuffer</a>.<a class="code" href="a03971.html#a516ccae5ac2dac76ae40f1a3818bd853">index</a>[i][j] == -1))</div><div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  {</div><div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  <span class="comment">// use negative ID to indicate inactive magnetic buffer element</span></div><div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  scratch16 = -MagneticPacketID;</div><div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  }</div><div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  {</div><div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  <span class="comment">// use positive ID unchanged for variable or active magnetic buffer entry</span></div><div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  scratch16 = MagneticPacketID;</div><div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  }</div><div class="line"><a name="l00600"></a><span class="lineno"> 600</span> </div><div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  <span class="comment">// [12-11]: int16_t: variable 1 to be transmitted this iteration</span></div><div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  <span class="comment">// [14-13]: int16_t: variable 2 to be transmitted this iteration</span></div><div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  <span class="comment">// [16-15]: int16_t: variable 3 to be transmitted this iteration</span></div><div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  <span class="keywordflow">switch</span> (MagneticPacketID)</div><div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  {</div><div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  <span class="keywordflow">case</span> 0:</div><div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  <span class="comment">// item 1: currently unused</span></div><div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  scratch16 = 0;</div><div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00610"></a><span class="lineno"> 610</span> </div><div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  <span class="comment">// item 2: currently unused</span></div><div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  scratch16 = 0;</div><div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00614"></a><span class="lineno"> 614</span> </div><div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  <span class="comment">// item 3: magnetic inclination angle with resolution 0.1 deg</span></div><div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  scratch16 = iDelta;</div><div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00619"></a><span class="lineno"> 619</span> </div><div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  <span class="keywordflow">case</span> 1:</div><div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  <span class="comment">// items 1 to 3: hard iron components range -3276uT to +3276uT encoded with 0.1uT resolution</span></div><div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#a549982ae4ede950388c65e2f945cc372">fV</a>[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] * 10.0F);</div><div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#a549982ae4ede950388c65e2f945cc372">fV</a>[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] * 10.0F);</div><div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#a549982ae4ede950388c65e2f945cc372">fV</a>[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] * 10.0F);</div><div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00629"></a><span class="lineno"> 629</span> </div><div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  <span class="keywordflow">case</span> 2:</div><div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  <span class="comment">// items 1 to 3: diagonal soft iron range -32. to +32. encoded with 0.001 resolution</span></div><div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#aa6507fceb0291baedb7aaf19d84a73d6">finvW</a>[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>][<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] * 1000.0F);</div><div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#aa6507fceb0291baedb7aaf19d84a73d6">finvW</a>[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>][<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] * 1000.0F);</div><div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#aa6507fceb0291baedb7aaf19d84a73d6">finvW</a>[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>][<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] * 1000.0F);</div><div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00639"></a><span class="lineno"> 639</span> </div><div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  <span class="keywordflow">case</span> 3:</div><div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  <span class="comment">// items 1 to 3: off-diagonal soft iron range -32. to +32. encoded with 0.001 resolution</span></div><div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#aa6507fceb0291baedb7aaf19d84a73d6">finvW</a>[CHX][CHY] * 1000.0F);</div><div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#aa6507fceb0291baedb7aaf19d84a73d6">finvW</a>[CHX][CHZ] * 1000.0F);</div><div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  scratch16 = (int16_t) (sfg-><a class="code" href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">MagCal</a>.<a class="code" href="a03975.html#aa6507fceb0291baedb7aaf19d84a73d6">finvW</a>[CHY][CHZ] * 1000.0F);</div><div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00649"></a><span class="lineno"> 649</span> </div><div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  <span class="keywordflow">case</span> 4:</div><div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  <span class="keywordflow">case</span> 5:</div><div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  <span class="keywordflow">case</span> 6:</div><div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  <span class="keywordflow">case</span> 7:</div><div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  <span class="keywordflow">case</span> 8:</div><div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  <span class="keywordflow">case</span> 9:</div><div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  <span class="comment">// cases 4 to 9 inclusive are for future expansion so transmit zeroes for now</span></div><div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  <a class="code" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a>(sUARTOutputBuffer, &iIndex, 3);</div><div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00659"></a><span class="lineno"> 659</span> </div><div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  <span class="comment">// 10 and upwards: this handles the magnetic buffer elements</span></div><div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex,</div><div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  (uint8_t *) &(sfg-><a class="code" href="a04047.html#a987fc4c5dd36f2058beb0ca0a340174c">MagBuffer</a>.<a class="code" href="a03971.html#a9d168c941699f9628cc9c0af79b85032">iBs</a>[CHX][i][j]), 2);</div><div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex,</div><div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  (uint8_t *) &(sfg-><a class="code" href="a04047.html#a987fc4c5dd36f2058beb0ca0a340174c">MagBuffer</a>.<a class="code" href="a03971.html#a9d168c941699f9628cc9c0af79b85032">iBs</a>[CHY][i][j]), 2);</div><div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex,</div><div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  (uint8_t *) &(sfg-><a class="code" href="a04047.html#a987fc4c5dd36f2058beb0ca0a340174c">MagBuffer</a>.<a class="code" href="a03971.html#a9d168c941699f9628cc9c0af79b85032">iBs</a>[CHZ][i][j]), 2);</div><div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  }</div><div class="line"><a name="l00670"></a><span class="lineno"> 670</span> </div><div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  <span class="comment">// wrap the variable ID back to zero if necessary</span></div><div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  MagneticPacketID++;</div><div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  <span class="keywordflow">if</span> (MagneticPacketID >= (10 + MAGBUFFSIZEX * <a class="code" href="a00857.html#a9cda394198fba30f4e7aff9ee06e0677">MAGBUFFSIZEY</a>))</div><div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  MagneticPacketID = 0;</div><div class="line"><a name="l00675"></a><span class="lineno"> 675</span> </div><div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  <span class="comment">// [17]: add the tail byte for the magnetic packet type 6</span></div><div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  }</div><div class="line"><a name="l00679"></a><span class="lineno"> 679</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00680"></a><span class="lineno"> 680</span> </div><div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  <span class="comment">// *******************************************************************************</span></div><div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  <span class="comment">// Kalman filter packet type 7</span></div><div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  <span class="comment">// total bytes for packet type 7 is range 0 to 41 inclusive = 42 bytes</span></div><div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  <span class="comment">// this packet is only transmitted when a Kalman algorithm is computed</span></div><div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  <span class="comment">// and then non-zero data is transmitted only when a Kalman quaternion is selected</span></div><div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  <span class="comment">// *******************************************************************************</span></div><div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  <span class="keywordtype">bool</span> kalman = <span class="keyword">false</span>;</div><div class="line"><a name="l00688"></a><span class="lineno"> 688</span> <span class="preprocessor">#if F_6DOF_GY_KALMAN</span></div><div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  uint8_t six_axis_kalman = (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#a3aa2972ee6d1865b5bd7ab4e1914a4c5">F_6DOF_GY_KALMAN</a>) && (quaternionPacketType == <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa59c8dc55b720396019ef93eb943a3b96">Q6AG</a>);</div><div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  kalman = six_axis_kalman;</div><div class="line"><a name="l00691"></a><span class="lineno"> 691</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00692"></a><span class="lineno"> 692</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  uint8_t nine_axis_kalman = (sfg-><a class="code" href="a04047.html#aef4363c6eab965a0a328ee2108572893">iFlags</a> & <a class="code" href="a00917.html#a067a973335873757f5ecfda300e9c082">F_9DOF_GBY_KALMAN</a>) && (quaternionPacketType == <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa9c5ceeb2bc9bf27379c7e72bc4d0ff13">Q9</a>);</div><div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  kalman = kalman | nine_axis_kalman;</div><div class="line"><a name="l00695"></a><span class="lineno"> 695</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00696"></a><span class="lineno"> 696</span> <span class="preprocessor">#if F_6DOF_GY_KALMAN || F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  <span class="keywordflow">if</span> (kalman)</div><div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  {</div><div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  <span class="keywordflow">if</span> ((quaternionPacketType == <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa59c8dc55b720396019ef93eb943a3b96">Q6AG</a>) || (quaternionPacketType == <a class="code" href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa9c5ceeb2bc9bf27379c7e72bc4d0ff13">Q9</a>))</div><div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  {</div><div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  <span class="comment">// [0]: packet start byte</span></div><div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00703"></a><span class="lineno"> 703</span> </div><div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  <span class="comment">// [1]: packet type 7 byte</span></div><div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  tmpuint8_t = 0x07;</div><div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &tmpuint8_t, 1);</div><div class="line"><a name="l00707"></a><span class="lineno"> 707</span> </div><div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  <span class="comment">// [2]: packet number byte</span></div><div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &iPacketNumber, 1);</div><div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  iPacketNumber++;</div><div class="line"><a name="l00711"></a><span class="lineno"> 711</span> </div><div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  <span class="comment">// [4-3]: fzgErr[CHX] resolution scaled by 30000</span></div><div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  <span class="comment">// [6-5]: fzgErr[CHY] resolution scaled by 30000</span></div><div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  <span class="comment">// [8-7]: fzgErr[CHZ] resolution scaled by 30000</span></div><div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  <span class="keywordflow">for</span> (i = <a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>; i <= <a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>; i++)</div><div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  {</div><div class="line"><a name="l00717"></a><span class="lineno"> 717</span> <span class="preprocessor">#if F_6DOF_GY_KALMAN</span></div><div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  <span class="keywordflow">if</span> (six_axis_kalman) scratch16 = (int16_t) (sfg->SV_6DOF_GY_KALMAN.fZErr[i] * 30000.0F);</div><div class="line"><a name="l00719"></a><span class="lineno"> 719</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00720"></a><span class="lineno"> 720</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  <span class="keywordflow">if</span> (nine_axis_kalman) scratch16 = (int16_t) (sfg->SV_9DOF_GBY_KALMAN.fZErr[i] * 30000.0F);</div><div class="line"><a name="l00722"></a><span class="lineno"> 722</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16,2);</div><div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  }</div><div class="line"><a name="l00725"></a><span class="lineno"> 725</span> </div><div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  <span class="comment">// [10-9]: fgErrPl[CHX] resolution scaled by 30000</span></div><div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  <span class="comment">// [12-11]: fgErrPl[CHY] resolution scaled by 30000</span></div><div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  <span class="comment">// [14-13]: fgErrPl[CHZ] resolution scaled by 30000</span></div><div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  <span class="keywordflow">for</span> (i = <a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>; i <= <a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>; i++)</div><div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  {</div><div class="line"><a name="l00731"></a><span class="lineno"> 731</span> <span class="preprocessor">#if F_6DOF_GY_KALMAN</span></div><div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  <span class="keywordflow">if</span> (six_axis_kalman) scratch16 = (int16_t) (sfg->SV_6DOF_GY_KALMAN.fqgErrPl[i] * 30000.0F);</div><div class="line"><a name="l00733"></a><span class="lineno"> 733</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00734"></a><span class="lineno"> 734</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  <span class="keywordflow">if</span> (nine_axis_kalman) scratch16 = (int16_t) (sfg->SV_9DOF_GBY_KALMAN.fqgErrPl[i] * 30000.0F);</div><div class="line"><a name="l00736"></a><span class="lineno"> 736</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16,2);</div><div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  }</div><div class="line"><a name="l00739"></a><span class="lineno"> 739</span> </div><div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  <span class="comment">// [16-15]: fzmErr[CHX] resolution scaled by 30000</span></div><div class="line"><a name="l00741"></a><span class="lineno"> 741</span>  <span class="comment">// [18-17]: fzmErr[CHY] resolution scaled by 30000</span></div><div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  <span class="comment">// [20-19]: fzmErr[CHZ] resolution scaled by 30000</span></div><div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  <span class="keywordflow">for</span> (i = <a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>; i <= <a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>; i++)</div><div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  {</div><div class="line"><a name="l00745"></a><span class="lineno"> 745</span> <span class="preprocessor">#if F_6DOF_GY_KALMAN</span></div><div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  <span class="keywordflow">if</span> (six_axis_kalman) scratch16 = 0;</div><div class="line"><a name="l00747"></a><span class="lineno"> 747</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00748"></a><span class="lineno"> 748</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  <span class="keywordflow">if</span> (nine_axis_kalman) scratch16 = (int16_t) (sfg->SV_9DOF_GBY_KALMAN.fZErr[i + 3] * 30000.0F);</div><div class="line"><a name="l00750"></a><span class="lineno"> 750</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  }</div><div class="line"><a name="l00753"></a><span class="lineno"> 753</span> </div><div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  <span class="comment">// [22-21]: fmErrPl[CHX] resolution scaled by 30000</span></div><div class="line"><a name="l00755"></a><span class="lineno"> 755</span>  <span class="comment">// [24-23]: fmErrPl[CHY] resolution scaled by 30000</span></div><div class="line"><a name="l00756"></a><span class="lineno"> 756</span>  <span class="comment">// [26-25]: fmErrPl[CHZ] resolution scaled by 30000</span></div><div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  <span class="keywordflow">for</span> (i = <a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>; i <= <a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>; i++)</div><div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  {</div><div class="line"><a name="l00759"></a><span class="lineno"> 759</span> <span class="preprocessor">#if F_6DOF_GY_KALMAN</span></div><div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  <span class="keywordflow">if</span> (six_axis_kalman) scratch16 = 0;</div><div class="line"><a name="l00761"></a><span class="lineno"> 761</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00762"></a><span class="lineno"> 762</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  <span class="keywordflow">if</span> (nine_axis_kalman) scratch16 = (int16_t) (sfg->SV_9DOF_GBY_KALMAN.fqmErrPl[i] * 30000.0F);</div><div class="line"><a name="l00764"></a><span class="lineno"> 764</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  }</div><div class="line"><a name="l00767"></a><span class="lineno"> 767</span> </div><div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  <span class="comment">// [28-27]: fbPl[CHX] resolution 0.001 deg/sec</span></div><div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  <span class="comment">// [30-29]: fbPl[CHY] resolution 0.001 deg/sec</span></div><div class="line"><a name="l00770"></a><span class="lineno"> 770</span>  <span class="comment">// [32-31]: fbPl[CHZ] resolution 0.001 deg/sec</span></div><div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  <span class="keywordflow">for</span> (i = <a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>; i <= <a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>; i++)</div><div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  {</div><div class="line"><a name="l00773"></a><span class="lineno"> 773</span> <span class="preprocessor">#if F_6DOF_GY_KALMAN</span></div><div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  <span class="keywordflow">if</span> (six_axis_kalman) scratch16 = (int16_t) (sfg->SV_6DOF_GY_KALMAN.fbPl[i] * 1000.0F);</div><div class="line"><a name="l00775"></a><span class="lineno"> 775</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00776"></a><span class="lineno"> 776</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  <span class="keywordflow">if</span> (nine_axis_kalman) scratch16 = (int16_t) (sfg->SV_9DOF_GBY_KALMAN.fbPl[i] * 1000.0F);</div><div class="line"><a name="l00778"></a><span class="lineno"> 778</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  }</div><div class="line"><a name="l00781"></a><span class="lineno"> 781</span> </div><div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  <span class="comment">// [34-33]: fDeltaPl resolution 0.01deg</span></div><div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  scratch16 = 0;</div><div class="line"><a name="l00784"></a><span class="lineno"> 784</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00785"></a><span class="lineno"> 785</span>  <span class="keywordflow">if</span> (nine_axis_kalman) scratch16 = (int16_t) (sfg->SV_9DOF_GBY_KALMAN.fDeltaPl * 100.0F);</div><div class="line"><a name="l00786"></a><span class="lineno"> 786</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00788"></a><span class="lineno"> 788</span> </div><div class="line"><a name="l00789"></a><span class="lineno"> 789</span>  <span class="comment">// [36-35]: fAccGl[CHX] resolution 1/8192 g</span></div><div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  <span class="comment">// [38-37]: fAccGl[CHY] resolution 1/8192 g</span></div><div class="line"><a name="l00791"></a><span class="lineno"> 791</span>  <span class="comment">// [40-39]: fAccGl[CHZ] resolution 1/8192 g</span></div><div class="line"><a name="l00792"></a><span class="lineno"> 792</span>  <span class="keywordflow">for</span> (i = <a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>; i <= <a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>; i++)</div><div class="line"><a name="l00793"></a><span class="lineno"> 793</span>  {</div><div class="line"><a name="l00794"></a><span class="lineno"> 794</span>  <span class="comment">// default to zero data</span></div><div class="line"><a name="l00795"></a><span class="lineno"> 795</span>  ftmp = 0.0F;</div><div class="line"><a name="l00796"></a><span class="lineno"> 796</span> <span class="preprocessor">#if F_6DOF_GY_KALMAN</span></div><div class="line"><a name="l00797"></a><span class="lineno"> 797</span>  <span class="keywordflow">if</span> (six_axis_kalman) ftmp = sfg->SV_6DOF_GY_KALMAN.fAccGl[i] * 8192.0F;</div><div class="line"><a name="l00798"></a><span class="lineno"> 798</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00799"></a><span class="lineno"> 799</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00800"></a><span class="lineno"> 800</span>  <span class="keywordflow">if</span> (nine_axis_kalman) ftmp = sfg->SV_9DOF_GBY_KALMAN.fAccGl[i] * 8192.0F;</div><div class="line"><a name="l00801"></a><span class="lineno"> 801</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00802"></a><span class="lineno"> 802</span> </div><div class="line"><a name="l00803"></a><span class="lineno"> 803</span>  <span class="comment">// check for clipping</span></div><div class="line"><a name="l00804"></a><span class="lineno"> 804</span>  <span class="keywordflow">if</span> (ftmp > 32767.0F) scratch16 = 32767;</div><div class="line"><a name="l00805"></a><span class="lineno"> 805</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ftmp < -32768.0F) scratch16 = -32768;</div><div class="line"><a name="l00806"></a><span class="lineno"> 806</span>  <span class="keywordflow">else</span> scratch16 = (int16_t) ftmp;</div><div class="line"><a name="l00807"></a><span class="lineno"> 807</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00808"></a><span class="lineno"> 808</span>  }</div><div class="line"><a name="l00809"></a><span class="lineno"> 809</span> </div><div class="line"><a name="l00810"></a><span class="lineno"> 810</span>  <span class="comment">// [42-41]: fDisGl[CHX] resolution 0.01m</span></div><div class="line"><a name="l00811"></a><span class="lineno"> 811</span>  <span class="comment">// [44-43]: fDisGl[CHY] resolution 0.01m</span></div><div class="line"><a name="l00812"></a><span class="lineno"> 812</span>  <span class="comment">// [46-45]: fDisGl[CHZ] resolution 0.01m</span></div><div class="line"><a name="l00813"></a><span class="lineno"> 813</span>  <span class="keywordflow">for</span> (i = <a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>; i <= <a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>; i++)</div><div class="line"><a name="l00814"></a><span class="lineno"> 814</span>  {</div><div class="line"><a name="l00815"></a><span class="lineno"> 815</span>  <span class="comment">// default to zero data</span></div><div class="line"><a name="l00816"></a><span class="lineno"> 816</span>  ftmp = 0.0F;</div><div class="line"><a name="l00817"></a><span class="lineno"> 817</span> <span class="preprocessor">#if F_9DOF_GBY_KALMAN</span></div><div class="line"><a name="l00818"></a><span class="lineno"> 818</span>  <span class="keywordflow">if</span> (nine_axis_kalman) ftmp = sfg->SV_9DOF_GBY_KALMAN.fDisGl[i] * 100.0F;</div><div class="line"><a name="l00819"></a><span class="lineno"> 819</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00820"></a><span class="lineno"> 820</span> </div><div class="line"><a name="l00821"></a><span class="lineno"> 821</span>  <span class="comment">// check for clipping</span></div><div class="line"><a name="l00822"></a><span class="lineno"> 822</span>  <span class="keywordflow">if</span> (ftmp > 32767.0F) scratch16 = 32767;</div><div class="line"><a name="l00823"></a><span class="lineno"> 823</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ftmp < -32768.0F) scratch16 = -32768;</div><div class="line"><a name="l00824"></a><span class="lineno"> 824</span>  <span class="keywordflow">else</span> scratch16 = (int16_t) ftmp;</div><div class="line"><a name="l00825"></a><span class="lineno"> 825</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00826"></a><span class="lineno"> 826</span>  }</div><div class="line"><a name="l00827"></a><span class="lineno"> 827</span> </div><div class="line"><a name="l00828"></a><span class="lineno"> 828</span>  <span class="comment">// [47]: add the tail byte for the Kalman packet type 7</span></div><div class="line"><a name="l00829"></a><span class="lineno"> 829</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00830"></a><span class="lineno"> 830</span>  }</div><div class="line"><a name="l00831"></a><span class="lineno"> 831</span>  } <span class="comment">// end of check for Kalman packet</span></div><div class="line"><a name="l00832"></a><span class="lineno"> 832</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00833"></a><span class="lineno"> 833</span> <span class="preprocessor">#if F_USING_ACCEL</span></div><div class="line"><a name="l00834"></a><span class="lineno"> 834</span>  <span class="comment">// *************************************************************************</span></div><div class="line"><a name="l00835"></a><span class="lineno"> 835</span>  <span class="comment">// fixed length packet type 8 transmitted whenever a precision accelerometer</span></div><div class="line"><a name="l00836"></a><span class="lineno"> 836</span>  <span class="comment">// measurement has been stored.</span></div><div class="line"><a name="l00837"></a><span class="lineno"> 837</span>  <span class="comment">// total size is 0 to 40 equals 41 bytes</span></div><div class="line"><a name="l00838"></a><span class="lineno"> 838</span>  <span class="comment">// *************************************************************************</span></div><div class="line"><a name="l00839"></a><span class="lineno"> 839</span>  <span class="comment">// check to see which packet (if any) is to be transmitted</span></div><div class="line"><a name="l00840"></a><span class="lineno"> 840</span>  <span class="keywordflow">if</span> (AccelCalPacketOn != -1)</div><div class="line"><a name="l00841"></a><span class="lineno"> 841</span>  {</div><div class="line"><a name="l00842"></a><span class="lineno"> 842</span>  <span class="comment">// [0]: packet start byte (need a iIndex++ here since not using sBufAppendItem)</span></div><div class="line"><a name="l00843"></a><span class="lineno"> 843</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00844"></a><span class="lineno"> 844</span> </div><div class="line"><a name="l00845"></a><span class="lineno"> 845</span>  <span class="comment">// [1]: packet type 8 byte (iIndex is automatically updated in sBufAppendItem)</span></div><div class="line"><a name="l00846"></a><span class="lineno"> 846</span>  tmpuint8_t = 0x08;</div><div class="line"><a name="l00847"></a><span class="lineno"> 847</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &tmpuint8_t, 1);</div><div class="line"><a name="l00848"></a><span class="lineno"> 848</span> </div><div class="line"><a name="l00849"></a><span class="lineno"> 849</span>  <span class="comment">// [2]: packet number byte</span></div><div class="line"><a name="l00850"></a><span class="lineno"> 850</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, &iPacketNumber, 1);</div><div class="line"><a name="l00851"></a><span class="lineno"> 851</span>  iPacketNumber++;</div><div class="line"><a name="l00852"></a><span class="lineno"> 852</span> </div><div class="line"><a name="l00853"></a><span class="lineno"> 853</span>  <span class="comment">// [3]: AccelCalPacketOn in range 0-11 denotes stored location and MAXORIENTATIONS denotes transmit</span></div><div class="line"><a name="l00854"></a><span class="lineno"> 854</span>  <span class="comment">// precision accelerometer calibration on power on before any measurements have been obtained.</span></div><div class="line"><a name="l00855"></a><span class="lineno"> 855</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex,</div><div class="line"><a name="l00856"></a><span class="lineno"> 856</span>  (uint8_t *) &(AccelCalPacketOn), 1);</div><div class="line"><a name="l00857"></a><span class="lineno"> 857</span> </div><div class="line"><a name="l00858"></a><span class="lineno"> 858</span>  <span class="comment">// [9-4]: stored accelerometer measurement fGs (scaled to 8192 counts per g)</span></div><div class="line"><a name="l00859"></a><span class="lineno"> 859</span>  <span class="keywordflow">if</span> ((AccelCalPacketOn >= 0) &&</div><div class="line"><a name="l00860"></a><span class="lineno"> 860</span>  (AccelCalPacketOn < <a class="code" href="a00908.html#a5ed11d7ac5361003e06a95d4f7a3fcb7">MAX_ACCEL_CAL_ORIENTATIONS</a>))</div><div class="line"><a name="l00861"></a><span class="lineno"> 861</span>  {</div><div class="line"><a name="l00862"></a><span class="lineno"> 862</span>  scratch16 = (int16_t) (sfg->AccelBuffer.fGsStored[AccelCalPacketOn][<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] * 8192.0F);</div><div class="line"><a name="l00863"></a><span class="lineno"> 863</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00864"></a><span class="lineno"> 864</span>  scratch16 = (int16_t) (sfg->AccelBuffer.fGsStored[AccelCalPacketOn][<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] * 8192.0F);</div><div class="line"><a name="l00865"></a><span class="lineno"> 865</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00866"></a><span class="lineno"> 866</span>  scratch16 = (int16_t) (sfg->AccelBuffer.fGsStored[AccelCalPacketOn][<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] * 8192.0F);</div><div class="line"><a name="l00867"></a><span class="lineno"> 867</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00868"></a><span class="lineno"> 868</span>  }</div><div class="line"><a name="l00869"></a><span class="lineno"> 869</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00870"></a><span class="lineno"> 870</span>  {</div><div class="line"><a name="l00871"></a><span class="lineno"> 871</span>  <span class="comment">// transmit zero bytes since this is the power on or reset transmission of the precision calibration</span></div><div class="line"><a name="l00872"></a><span class="lineno"> 872</span>  <a class="code" href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a>(sUARTOutputBuffer, &iIndex, 3);</div><div class="line"><a name="l00873"></a><span class="lineno"> 873</span>  }</div><div class="line"><a name="l00874"></a><span class="lineno"> 874</span> </div><div class="line"><a name="l00875"></a><span class="lineno"> 875</span>  <span class="comment">// [15-10]: precision accelerometer offset vector fV (g scaled by 32768.0)</span></div><div class="line"><a name="l00876"></a><span class="lineno"> 876</span>  scratch16 = (int16_t) (sfg->AccelCal.fV[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] * 32768.0F);</div><div class="line"><a name="l00877"></a><span class="lineno"> 877</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00878"></a><span class="lineno"> 878</span>  scratch16 = (int16_t) (sfg->AccelCal.fV[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] * 32768.0F);</div><div class="line"><a name="l00879"></a><span class="lineno"> 879</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00880"></a><span class="lineno"> 880</span>  scratch16 = (int16_t) (sfg->AccelCal.fV[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] * 32768.0F);</div><div class="line"><a name="l00881"></a><span class="lineno"> 881</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00882"></a><span class="lineno"> 882</span> </div><div class="line"><a name="l00883"></a><span class="lineno"> 883</span>  <span class="comment">// [21-16]: precision accelerometer inverse gain matrix diagonal finvW - 1.0 (scaled by 10000.0)</span></div><div class="line"><a name="l00884"></a><span class="lineno"> 884</span>  scratch16 = (int16_t) ((sfg->AccelCal.finvW[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>][<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] - 1.0F) * 10000.0F);</div><div class="line"><a name="l00885"></a><span class="lineno"> 885</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00886"></a><span class="lineno"> 886</span>  scratch16 = (int16_t) ((sfg->AccelCal.finvW[<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>][<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] - 1.0F) * 10000.0F);</div><div class="line"><a name="l00887"></a><span class="lineno"> 887</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00888"></a><span class="lineno"> 888</span>  scratch16 = (int16_t) ((sfg->AccelCal.finvW[<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>][<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] - 1.0F) * 10000.0F);</div><div class="line"><a name="l00889"></a><span class="lineno"> 889</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00890"></a><span class="lineno"> 890</span> </div><div class="line"><a name="l00891"></a><span class="lineno"> 891</span>  <span class="comment">// [27-22]: precision accelerometer inverse gain matrix off-diagonal finvW (scaled by 10000)</span></div><div class="line"><a name="l00892"></a><span class="lineno"> 892</span>  scratch16 = (int16_t) (sfg->AccelCal.finvW[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>][<a class="code" href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a>] * 10000.0F);</div><div class="line"><a name="l00893"></a><span class="lineno"> 893</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00894"></a><span class="lineno"> 894</span>  scratch16 = (int16_t) (sfg->AccelCal.finvW[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>][<a class="code" href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a>] * 10000.0F);</div><div class="line"><a name="l00895"></a><span class="lineno"> 895</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00896"></a><span class="lineno"> 896</span>  scratch16 = (int16_t) (sfg->AccelCal.finvW[CHY][CHZ] * 10000.0F);</div><div class="line"><a name="l00897"></a><span class="lineno"> 897</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00898"></a><span class="lineno"> 898</span> </div><div class="line"><a name="l00899"></a><span class="lineno"> 899</span>  <span class="comment">// [33-28]: precision accelerometer rotation matrix diagonal fR0 (scaled by 10000)</span></div><div class="line"><a name="l00900"></a><span class="lineno"> 900</span>  scratch16 = (int16_t) (sfg->AccelCal.fR0[<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>][<a class="code" href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a>] * 10000.0F);</div><div class="line"><a name="l00901"></a><span class="lineno"> 901</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00902"></a><span class="lineno"> 902</span>  scratch16 = (int16_t) (sfg->AccelCal.fR0[CHY][CHY] * 10000.0F);</div><div class="line"><a name="l00903"></a><span class="lineno"> 903</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00904"></a><span class="lineno"> 904</span>  scratch16 = (int16_t) (sfg->AccelCal.fR0[CHZ][CHZ] * 10000.0F);</div><div class="line"><a name="l00905"></a><span class="lineno"> 905</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00906"></a><span class="lineno"> 906</span> </div><div class="line"><a name="l00907"></a><span class="lineno"> 907</span>  <span class="comment">// [45-34]: precision accelerometer inverse rotation matrix off-diagonal fR0 (scaled by 10000)</span></div><div class="line"><a name="l00908"></a><span class="lineno"> 908</span>  scratch16 = (int16_t) (sfg->AccelCal.fR0[CHX][CHY] * 10000.0F);</div><div class="line"><a name="l00909"></a><span class="lineno"> 909</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00910"></a><span class="lineno"> 910</span>  scratch16 = (int16_t) (sfg->AccelCal.fR0[CHX][CHZ] * 10000.0F);</div><div class="line"><a name="l00911"></a><span class="lineno"> 911</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00912"></a><span class="lineno"> 912</span>  scratch16 = (int16_t) (sfg->AccelCal.fR0[CHY][CHX] * 10000.0F);</div><div class="line"><a name="l00913"></a><span class="lineno"> 913</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00914"></a><span class="lineno"> 914</span>  scratch16 = (int16_t) (sfg->AccelCal.fR0[CHY][CHZ] * 10000.0F);</div><div class="line"><a name="l00915"></a><span class="lineno"> 915</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00916"></a><span class="lineno"> 916</span>  scratch16 = (int16_t) (sfg->AccelCal.fR0[CHZ][CHX] * 10000.0F);</div><div class="line"><a name="l00917"></a><span class="lineno"> 917</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00918"></a><span class="lineno"> 918</span>  scratch16 = (int16_t) (sfg->AccelCal.fR0[CHZ][CHY] * 10000.0F);</div><div class="line"><a name="l00919"></a><span class="lineno"> 919</span>  <a class="code" href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a>(sUARTOutputBuffer, &iIndex, (uint8_t *) &scratch16, 2);</div><div class="line"><a name="l00920"></a><span class="lineno"> 920</span> </div><div class="line"><a name="l00921"></a><span class="lineno"> 921</span>  <span class="comment">// [46]: add the tail byte for the packet type 8</span></div><div class="line"><a name="l00922"></a><span class="lineno"> 922</span>  sUARTOutputBuffer[iIndex++] = 0x7E;</div><div class="line"><a name="l00923"></a><span class="lineno"> 923</span> </div><div class="line"><a name="l00924"></a><span class="lineno"> 924</span>  <span class="comment">// disable future packets of this type until a new measurement has been obtained</span></div><div class="line"><a name="l00925"></a><span class="lineno"> 925</span>  sfg-><a class="code" href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">pControlSubsystem</a>-><a class="code" href="a03967.html#aa62f07fac570bf67c0832d4bf7d38e76">AccelCalPacketOn</a> = -1;</div><div class="line"><a name="l00926"></a><span class="lineno"> 926</span>  }</div><div class="line"><a name="l00927"></a><span class="lineno"> 927</span> <span class="preprocessor">#endif // F_USING_ACCEL</span></div><div class="line"><a name="l00928"></a><span class="lineno"> 928</span>  <span class="comment">// ********************************************************************************</span></div><div class="line"><a name="l00929"></a><span class="lineno"> 929</span>  <span class="comment">// all packets have now been constructed in the output buffer so now transmit.</span></div><div class="line"><a name="l00930"></a><span class="lineno"> 930</span>  <span class="comment">// The final iIndex++ gives the number of bytes to transmit which is one more than</span></div><div class="line"><a name="l00931"></a><span class="lineno"> 931</span>  <span class="comment">// the last index in the buffer. this function is non-blocking</span></div><div class="line"><a name="l00932"></a><span class="lineno"> 932</span>  <span class="comment">// ********************************************************************************</span></div><div class="line"><a name="l00933"></a><span class="lineno"> 933</span>  sfg-><a class="code" href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">pControlSubsystem</a>-><a class="code" href="a03967.html#a8c91c6fe2a5725abe8944b06e46041a5">write</a>(sfg-><a class="code" href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">pControlSubsystem</a>, sUARTOutputBuffer, iIndex);</div><div class="line"><a name="l00934"></a><span class="lineno"> 934</span>  <span class="keywordflow">return</span>;</div><div class="line"><a name="l00935"></a><span class="lineno"> 935</span> }</div><div class="ttc" id="a04043_html_a1fd4efd6240dc7dff533fe1a63898682"><div class="ttname"><a href="a04043.html#a1fd4efd6240dc7dff533fe1a63898682">SV_COMMON::fRho</a></div><div class="ttdeci">float fRho</div><div class="ttdoc">compass (deg) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00439">sensor_fusion.h:439</a></div></div> 52<div class="ttc" id="a03979_html_afddca3451c589f7b5928b6dccf8c88ba"><div class="ttname"><a href="a03979.html#afddca3451c589f7b5928b6dccf8c88ba">Quaternion::q2</a></div><div class="ttdeci">float q2</div><div class="ttdoc">y vector component </div><div class="ttdef"><b>Definition:</b> <a href="a00899_source.html#l00024">orientation.h:24</a></div></div> 53<div class="ttc" id="a00917_html_aecf1505d7dbaa2569dd3f36bf05ab5a0"><div class="ttname"><a href="a00917.html#aecf1505d7dbaa2569dd3f36bf05ab5a0">F_USING_GYRO</a></div><div class="ttdeci">#define F_USING_GYRO</div><div class="ttdoc">nominally 0x0004 if a gyro is to be used, 0x0000 otherwise </div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00040">standard_build.h:40</a></div></div> 54<div class="ttc" id="a00917_html_a990887d9ed9f03bcaffcd4abae429265"><div class="ttname"><a href="a00917.html#a990887d9ed9f03bcaffcd4abae429265">F_3DOF_Y_BASIC</a></div><div class="ttdeci">#define F_3DOF_Y_BASIC</div><div class="ttdoc">3DOF gyro integration algorithm selector - 0x0800 to include, 0x0000 otherwise </div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00053">standard_build.h:53</a></div></div> 55<div class="ttc" id="a03967_html_a6c5365ebe170e2ee207212da7531ccea"><div class="ttname"><a href="a03967.html#a6c5365ebe170e2ee207212da7531ccea">ControlSubsystem::RPCPacketOn</a></div><div class="ttdeci">volatile uint8_t RPCPacketOn</div><div class="ttdoc">flag to enable roll, pitch, compass packet </div><div class="ttdef"><b>Definition:</b> <a href="a00779_source.html#l00047">control.h:47</a></div></div> 56<div class="ttc" id="a03975_html_aed673fe73dd32922ee873849472dfe71"><div class="ttname"><a href="a03975.html#aed673fe73dd32922ee873849472dfe71">MagCalibration::fFitErrorpc</a></div><div class="ttdeci">float fFitErrorpc</div><div class="ttdoc">current fit error % </div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00062">magnetic.h:62</a></div></div> 57<div class="ttc" id="a03971_html_a3cf587e6fce57898d9d4977239462406"><div class="ttname"><a href="a03971.html#a3cf587e6fce57898d9d4977239462406">MagBuffer::iMagBufferCount</a></div><div class="ttdeci">int16_t iMagBufferCount</div><div class="ttdoc">number of magnetometer readings </div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00051">magnetic.h:51</a></div></div> 58<div class="ttc" id="a04337_html_a5a9bd184123e2bae424d2b725ec48270"><div class="ttname"><a href="a04337.html#a5a9bd184123e2bae424d2b725ec48270">THIS_SHIELD</a></div><div class="ttdeci">#define THIS_SHIELD</div><div class="ttdef"><b>Definition:</b> <a href="a04337_source.html#l00087">frdm_fxs_mult2b_shield.h:87</a></div></div> 59<div class="ttc" id="a00917_html_adb79fa7eb529c4cae2619ef22af3211e"><div class="ttname"><a href="a00917.html#adb79fa7eb529c4cae2619ef22af3211e">F_3DOF_G_BASIC</a></div><div class="ttdeci">#define F_3DOF_G_BASIC</div><div class="ttdoc">3DOF accel tilt (accel) algorithm selector - 0x0200 to include, 0x0000 otherwise </div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00051">standard_build.h:51</a></div></div> 60<div class="ttc" id="a00791_html"><div class="ttname"><a href="a00791.html">debug.h</a></div><div class="ttdoc">ApplyPerturbation function used to analyze dynamic performance. </div></div> 61<div class="ttc" id="a00914_html_ad1d4d649bfa88f655f8f2d1ee5ae5ace"><div class="ttname"><a href="a00914.html#ad1d4d649bfa88f655f8f2d1ee5ae5ace">quaternion_type</a></div><div class="ttdeci">enum quaternion quaternion_type</div><div class="ttdoc">the quaternion type to be transmitted </div></div> 62<div class="ttc" id="a00917_html_a8f284d04ec459633d30dc85cf0a32a0d"><div class="ttname"><a href="a00917.html#a8f284d04ec459633d30dc85cf0a32a0d">F_USING_ACCEL</a></div><div class="ttdeci">#define F_USING_ACCEL</div><div class="ttdoc">nominally 0x0001 if an accelerometer is to be used, 0x0000 otherwise </div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00038">standard_build.h:38</a></div></div> 63<div class="ttc" id="a00917_html_a3aa2972ee6d1865b5bd7ab4e1914a4c5"><div class="ttname"><a href="a00917.html#a3aa2972ee6d1865b5bd7ab4e1914a4c5">F_6DOF_GY_KALMAN</a></div><div class="ttdeci">#define F_6DOF_GY_KALMAN</div><div class="ttdoc">6DOF accel and gyro (Kalman) algorithm selector - 0x2000 to include, 0x0000 otherwise ...</div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00055">standard_build.h:55</a></div></div> 64<div class="ttc" id="a00902_html_a7ad6e53b35d6fc860a1299ceff40a299"><div class="ttname"><a href="a00902.html#a7ad6e53b35d6fc860a1299ceff40a299">sBufAppendItem</a></div><div class="ttdeci">void sBufAppendItem(uint8_t *pDest, uint16_t *pIndex, uint8_t *pSource, uint16_t iBytesToCopy)</div><div class="ttdoc">Utility function used to place data in output buffer about to be transmitted via UART. </div><div class="ttdef"><b>Definition:</b> <a href="a00902_source.html#l00037">output_stream.c:37</a></div></div> 65<div class="ttc" id="a03975_html_aa6507fceb0291baedb7aaf19d84a73d6"><div class="ttname"><a href="a03975.html#aa6507fceb0291baedb7aaf19d84a73d6">MagCalibration::finvW</a></div><div class="ttdeci">float finvW[3][3]</div><div class="ttdoc">current inverse soft iron matrix </div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00059">magnetic.h:59</a></div></div> 66<div class="ttc" id="a03967_html_a527b159143188ef9b66bd4c8a6aefcdf"><div class="ttname"><a href="a03967.html#a527b159143188ef9b66bd4c8a6aefcdf">ControlSubsystem::AngularVelocityPacketOn</a></div><div class="ttdeci">volatile uint8_t AngularVelocityPacketOn</div><div class="ttdoc">flag to enable angular velocity packet </div><div class="ttdef"><b>Definition:</b> <a href="a00779_source.html#l00045">control.h:45</a></div></div> 67<div class="ttc" id="a00857_html_a1b70272c1471e11b0484ffa27f815e17"><div class="ttname"><a href="a00857.html#a1b70272c1471e11b0484ffa27f815e17">MAGBUFFSIZEX</a></div><div class="ttdeci">#define MAGBUFFSIZEX</div><div class="ttdoc">x dimension in magnetometer buffer (12x24 equals 288 elements) </div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00027">magnetic.h:27</a></div></div> 68<div class="ttc" id="a00914_html_ab7903878916593daecbeb95b98115ab0"><div class="ttname"><a href="a00914.html#ab7903878916593daecbeb95b98115ab0">int32</a></div><div class="ttdeci">int32_t int32</div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00041">sensor_fusion.h:41</a></div></div> 69<div class="ttc" id="a03971_html_a516ccae5ac2dac76ae40f1a3818bd853"><div class="ttname"><a href="a03971.html#a516ccae5ac2dac76ae40f1a3818bd853">MagBuffer::index</a></div><div class="ttdeci">int32_t index[MAGBUFFSIZEX][MAGBUFFSIZEY]</div><div class="ttdoc">array of time indices </div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00049">magnetic.h:49</a></div></div> 70<div class="ttc" id="a00914_html_a76143891435bdd7248857e45b93521ed"><div class="ttname"><a href="a00914.html#a76143891435bdd7248857e45b93521ed">CHZ</a></div><div class="ttdeci">#define CHZ</div><div class="ttdoc">Used to access Z-channel entries in various data data structures. </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00062">sensor_fusion.h:62</a></div></div> 71<div class="ttc" id="a03967_html_a8c91c6fe2a5725abe8944b06e46041a5"><div class="ttname"><a href="a03967.html#a8c91c6fe2a5725abe8944b06e46041a5">ControlSubsystem::write</a></div><div class="ttdeci">writePort_t * write</div><div class="ttdoc">low level function to write a char buffer to the serial stream </div><div class="ttdef"><b>Definition:</b> <a href="a00779_source.html#l00050">control.h:50</a></div></div> 72<div class="ttc" id="a00914_html_a5f469312b3865f2d3efea2edd6f8afaaa0cf62dda224dcbac09ae26cd46ccce01"><div class="ttname"><a href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa0cf62dda224dcbac09ae26cd46ccce01">Q6MA</a></div><div class="ttdoc">Quaternion derived from 3-axis accel + 3 axis mag (eCompass) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00052">sensor_fusion.h:52</a></div></div> 73<div class="ttc" id="a04043_html_abbe4bc1a12d4f43042fd3b8bc3cc1abc"><div class="ttname"><a href="a04043.html#abbe4bc1a12d4f43042fd3b8bc3cc1abc">SV_COMMON::fThe</a></div><div class="ttdeci">float fThe</div><div class="ttdoc">pitch (deg) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00437">sensor_fusion.h:437</a></div></div> 74<div class="ttc" id="a00917_html_a067a973335873757f5ecfda300e9c082"><div class="ttname"><a href="a00917.html#a067a973335873757f5ecfda300e9c082">F_9DOF_GBY_KALMAN</a></div><div class="ttdeci">#define F_9DOF_GBY_KALMAN</div><div class="ttdoc">9DOF accel, mag and gyro algorithm selector - 0x4000 to include, 0x0000 otherwise ...</div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00056">standard_build.h:56</a></div></div> 75<div class="ttc" id="a04047_html_a5f25d32f1eabdbcde99601df3f136ce0"><div class="ttname"><a href="a04047.html#a5f25d32f1eabdbcde99601df3f136ce0">SensorFusionGlobals::Mag</a></div><div class="ttdeci">struct MagSensor Mag</div><div class="ttdoc">magnetometer storage </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00489">sensor_fusion.h:489</a></div></div> 76<div class="ttc" id="a00779_html"><div class="ttname"><a href="a00779.html">control.h</a></div><div class="ttdoc">Defines control sub-system. </div></div> 77<div class="ttc" id="a00578_html_a970d1d55390bb3d17dd1e780382a0d38"><div class="ttname"><a href="a00578.html#a970d1d55390bb3d17dd1e780382a0d38">THIS_BOARD</a></div><div class="ttdeci">#define THIS_BOARD</div><div class="ttdoc">FRDM_K64F. </div><div class="ttdef"><b>Definition:</b> <a href="a00578_source.html#l00145">frdm_k64f.h:145</a></div></div> 78<div class="ttc" id="a04047_html"><div class="ttname"><a href="a04047.html">SensorFusionGlobals</a></div><div class="ttdoc">The top level fusion structure. </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00454">sensor_fusion.h:454</a></div></div> 79<div class="ttc" id="a03967_html_a41ad90f99ac3c14b2bdce3967df14f1b"><div class="ttname"><a href="a03967.html#a41ad90f99ac3c14b2bdce3967df14f1b">ControlSubsystem::DebugPacketOn</a></div><div class="ttdeci">volatile uint8_t DebugPacketOn</div><div class="ttdoc">flag to enable debug packet </div><div class="ttdef"><b>Definition:</b> <a href="a00779_source.html#l00046">control.h:46</a></div></div> 80<div class="ttc" id="a00902_html_a96da70ac128170ff0d03feffa05ef769"><div class="ttname"><a href="a00902.html#a96da70ac128170ff0d03feffa05ef769">readCommon</a></div><div class="ttdeci">void readCommon(SV_ptr data, Quaternion *fq, int16_t *iPhi, int16_t *iThe, int16_t *iRho, int16_t iOmega[], uint16_t *isystick)</div><div class="ttdef"><b>Definition:</b> <a href="a00902_source.html#l00078">output_stream.c:78</a></div></div> 81<div class="ttc" id="a00914_html_a6a25024f52cc6bea13d19f8b68456cea"><div class="ttname"><a href="a00914.html#a6a25024f52cc6bea13d19f8b68456cea">CHY</a></div><div class="ttdeci">#define CHY</div><div class="ttdoc">Used to access Y-channel entries in various data data structures. </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00061">sensor_fusion.h:61</a></div></div> 82<div class="ttc" id="a00521_html_a5d7069350a7d7e65686c77a8038f462f"><div class="ttname"><a href="a00521.html#a5d7069350a7d7e65686c77a8038f462f">int32_t</a></div><div class="ttdeci">typedef int32_t(DATA_FORMAT_Append_t))(void *pData</div><div class="ttdoc">The interface function to append the data on the formated stream. </div></div> 83<div class="ttc" id="a00857_html_a9cda394198fba30f4e7aff9ee06e0677"><div class="ttname"><a href="a00857.html#a9cda394198fba30f4e7aff9ee06e0677">MAGBUFFSIZEY</a></div><div class="ttdeci">#define MAGBUFFSIZEY</div><div class="ttdoc">y dimension in magnetometer buffer (12x24 equals 288 elements) </div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00028">magnetic.h:28</a></div></div> 84<div class="ttc" id="a00914_html_a5f469312b3865f2d3efea2edd6f8afaaa19bd87b11e82b9047ad750fb62711ba8"><div class="ttname"><a href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa19bd87b11e82b9047ad750fb62711ba8">Q3</a></div><div class="ttdoc">Quaternion derived from 3-axis accel (tilt) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00049">sensor_fusion.h:49</a></div></div> 85<div class="ttc" id="a00914_html_a5f469312b3865f2d3efea2edd6f8afaaada2dae63d5865a8446caa7938c73c5dc"><div class="ttname"><a href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaada2dae63d5865a8446caa7938c73c5dc">Q3M</a></div><div class="ttdoc">Quaternion derived from 3-axis mag only (auto compass algorithm) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00050">sensor_fusion.h:50</a></div></div> 86<div class="ttc" id="a03979_html"><div class="ttname"><a href="a03979.html">Quaternion</a></div><div class="ttdoc">quaternion structure definition </div><div class="ttdef"><b>Definition:</b> <a href="a00899_source.html#l00020">orientation.h:20</a></div></div> 87<div class="ttc" id="a03979_html_aa92940755b1370321ed489e6f2448ad9"><div class="ttname"><a href="a03979.html#aa92940755b1370321ed489e6f2448ad9">Quaternion::q3</a></div><div class="ttdeci">float q3</div><div class="ttdoc">z vector component </div><div class="ttdef"><b>Definition:</b> <a href="a00899_source.html#l00025">orientation.h:25</a></div></div> 88<div class="ttc" id="a03967_html_a560615429c69fcefa85de0624fa6d83e"><div class="ttname"><a href="a03967.html#a560615429c69fcefa85de0624fa6d83e">ControlSubsystem::QuaternionPacketType</a></div><div class="ttdeci">volatile quaternion_type QuaternionPacketType</div><div class="ttdoc">quaternion type transmitted over UART </div><div class="ttdef"><b>Definition:</b> <a href="a00779_source.html#l00044">control.h:44</a></div></div> 89<div class="ttc" id="a04047_html_ab9b83bac9b472c5ce93500d07485d826"><div class="ttname"><a href="a04047.html#ab9b83bac9b472c5ce93500d07485d826">SensorFusionGlobals::MagCal</a></div><div class="ttdeci">struct MagCalibration MagCal</div><div class="ttdoc">mag cal storage </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00490">sensor_fusion.h:490</a></div></div> 90<div class="ttc" id="a03975_html_a549982ae4ede950388c65e2f945cc372"><div class="ttname"><a href="a03975.html#a549982ae4ede950388c65e2f945cc372">MagCalibration::fV</a></div><div class="ttdeci">float fV[3]</div><div class="ttdoc">current hard iron offset x, y, z, (uT) </div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00058">magnetic.h:58</a></div></div> 91<div class="ttc" id="a04047_html_aef4363c6eab965a0a328ee2108572893"><div class="ttname"><a href="a04047.html#aef4363c6eab965a0a328ee2108572893">SensorFusionGlobals::iFlags</a></div><div class="ttdeci">uint32_t iFlags</div><div class="ttdoc">a bit-field of sensors and algorithms used </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00467">sensor_fusion.h:467</a></div></div> 92<div class="ttc" id="a04047_html_a987fc4c5dd36f2058beb0ca0a340174c"><div class="ttname"><a href="a04047.html#a987fc4c5dd36f2058beb0ca0a340174c">SensorFusionGlobals::MagBuffer</a></div><div class="ttdeci">struct MagBuffer MagBuffer</div><div class="ttdoc">mag cal constellation points </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00491">sensor_fusion.h:491</a></div></div> 93<div class="ttc" id="a03971_html_a9d168c941699f9628cc9c0af79b85032"><div class="ttname"><a href="a03971.html#a9d168c941699f9628cc9c0af79b85032">MagBuffer::iBs</a></div><div class="ttdeci">int16_t iBs[3][MAGBUFFSIZEX][MAGBUFFSIZEY]</div><div class="ttdoc">uncalibrated magnetometer readings </div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00048">magnetic.h:48</a></div></div> 94<div class="ttc" id="a04043_html_ae388283b0a16e1083295ac079bc54806"><div class="ttname"><a href="a04043.html#ae388283b0a16e1083295ac079bc54806">SV_COMMON::fPhi</a></div><div class="ttdeci">float fPhi</div><div class="ttdoc">roll (deg) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00436">sensor_fusion.h:436</a></div></div> 95<div class="ttc" id="a04043_html"><div class="ttname"><a href="a04043.html">SV_COMMON</a></div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00435">sensor_fusion.h:435</a></div></div> 96<div class="ttc" id="a00914_html_a5f469312b3865f2d3efea2edd6f8afaaa9c5ceeb2bc9bf27379c7e72bc4d0ff13"><div class="ttname"><a href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa9c5ceeb2bc9bf27379c7e72bc4d0ff13">Q9</a></div><div class="ttdoc">Quaternion derived from full 9-axis sensor fusion. </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00054">sensor_fusion.h:54</a></div></div> 97<div class="ttc" id="a04043_html_a9c974a110a3c50ed4b350da903928cfd"><div class="ttname"><a href="a04043.html#a9c974a110a3c50ed4b350da903928cfd">SV_COMMON::fOmega</a></div><div class="ttdeci">float fOmega[3]</div><div class="ttdoc">average angular velocity (deg/s) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00444">sensor_fusion.h:444</a></div></div> 98<div class="ttc" id="a00914_html"><div class="ttname"><a href="a00914.html">sensor_fusion.h</a></div><div class="ttdoc">The sensor_fusion.h file implements the top level programming interface. </div></div> 99<div class="ttc" id="a00428_html_a0155cf01983779a6f386fb8eac40d37c"><div class="ttname"><a href="a00428.html#a0155cf01983779a6f386fb8eac40d37c">data</a></div><div class="ttdeci">uint8_t data[FXLS8962_DATA_SIZE]</div><div class="ttdef"><b>Definition:</b> <a href="a00428_source.html#l00174">fxls8962_demo.c:174</a></div></div> 100<div class="ttc" id="a00902_html_abac6549a1587711841a3467018ee2582"><div class="ttname"><a href="a00902.html#abac6549a1587711841a3467018ee2582">MAXPACKETRATEHZ</a></div><div class="ttdeci">#define MAXPACKETRATEHZ</div><div class="ttdef"><b>Definition:</b> <a href="a00902_source.html#l00016">output_stream.c:16</a></div></div> 101<div class="ttc" id="a00917_html_aed8da52c8d0d14325445b139876492b4"><div class="ttname"><a href="a00917.html#aed8da52c8d0d14325445b139876492b4">F_3DOF_B_BASIC</a></div><div class="ttdeci">#define F_3DOF_B_BASIC</div><div class="ttdoc">3DOF mag eCompass (vehicle/mag) algorithm selector - 0x0400 to include, 0x0000 otherwise ...</div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00052">standard_build.h:52</a></div></div> 102<div class="ttc" id="a03967_html_af46ef3a1af714f7d40707053964db4a8"><div class="ttname"><a href="a03967.html#af46ef3a1af714f7d40707053964db4a8">ControlSubsystem::AltPacketOn</a></div><div class="ttdeci">volatile uint8_t AltPacketOn</div><div class="ttdoc">flag to enable altitude packet </div><div class="ttdef"><b>Definition:</b> <a href="a00779_source.html#l00048">control.h:48</a></div></div> 103<div class="ttc" id="a00917_html_a9b0aadad0b960783ff2ecd5174a57905"><div class="ttname"><a href="a00917.html#a9b0aadad0b960783ff2ecd5174a57905">F_6DOF_GB_BASIC</a></div><div class="ttdeci">#define F_6DOF_GB_BASIC</div><div class="ttdoc">6DOF accel and mag eCompass algorithm selector - 0x1000 to include, 0x0000 otherwise ...</div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00054">standard_build.h:54</a></div></div> 104<div class="ttc" id="a00902_html_a93db92e775dee51c4dbf2dca2aed05b3"><div class="ttname"><a href="a00902.html#a93db92e775dee51c4dbf2dca2aed05b3">sBufAppendZeros</a></div><div class="ttdeci">void sBufAppendZeros(uint8_t *pDest, uint16_t *pIndex, uint16_t numZeros)</div><div class="ttdef"><b>Definition:</b> <a href="a00902_source.html#l00070">output_stream.c:70</a></div></div> 105<div class="ttc" id="a00902_html_a16d1508470294835d76682195104898e"><div class="ttname"><a href="a00902.html#a16d1508470294835d76682195104898e">throttle</a></div><div class="ttdeci">uint16_t throttle()</div><div class="ttdoc">(OVERSAMPLE_RATIO * MAXPACKETRATEHZ) / SENSORFS </div><div class="ttdef"><b>Definition:</b> <a href="a00902_source.html#l00097">output_stream.c:97</a></div></div> 106<div class="ttc" id="a04043_html_ae323c150fb116c0fc1e24c3e455dd4f2"><div class="ttname"><a href="a04043.html#ae323c150fb116c0fc1e24c3e455dd4f2">SV_COMMON::fq</a></div><div class="ttdeci">Quaternion fq</div><div class="ttdoc">orientation quaternion </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00442">sensor_fusion.h:442</a></div></div> 107<div class="ttc" id="a00776_html_a3b6c71dda245dccb73352c7264176527"><div class="ttname"><a href="a00776.html#a3b6c71dda245dccb73352c7264176527">sUARTOutputBuffer</a></div><div class="ttdeci">uint8_t sUARTOutputBuffer[256]</div><div class="ttdoc">main output buffer defined in control.c </div><div class="ttdef"><b>Definition:</b> <a href="a00776_source.html#l00037">control.c:37</a></div></div> 108<div class="ttc" id="a00857_html_a78765407e471fe0b9119e5ff41aa7d16"><div class="ttname"><a href="a00857.html#a78765407e471fe0b9119e5ff41aa7d16">F_USING_MAG</a></div><div class="ttdeci">#define F_USING_MAG</div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00021">magnetic.h:21</a></div></div> 109<div class="ttc" id="a00470_html_afa81c629d378fe700f351a1bce411ad5"><div class="ttname"><a href="a00470.html#afa81c629d378fe700f351a1bce411ad5">sfg</a></div><div class="ttdeci">SensorFusionGlobals sfg</div><div class="ttdef"><b>Definition:</b> <a href="a00470_source.html#l00075">orientaion_application_baremetal_agm01.c:75</a></div></div> 110<div class="ttc" id="a00917_html_a470d8d33fe0efafcc0c0835fbea14f5e"><div class="ttname"><a href="a00917.html#a470d8d33fe0efafcc0c0835fbea14f5e">FUSION_HZ</a></div><div class="ttdeci">#define FUSION_HZ</div><div class="ttdoc">(int) actual rate of fusion algorithm execution and sensor FIFO reads </div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00068">standard_build.h:68</a></div></div> 111<div class="ttc" id="a04047_html_a51cbe943cdee0fd0a2ff72d2a04fad9a"><div class="ttname"><a href="a04047.html#a51cbe943cdee0fd0a2ff72d2a04fad9a">SensorFusionGlobals::pControlSubsystem</a></div><div class="ttdeci">struct ControlSubsystem * pControlSubsystem</div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00462">sensor_fusion.h:462</a></div></div> 112<div class="ttc" id="a00914_html_a5f469312b3865f2d3efea2edd6f8afaaaf63c9f6fec59717499a84048f682cf8a"><div class="ttname"><a href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaaf63c9f6fec59717499a84048f682cf8a">Q3G</a></div><div class="ttdoc">Quaternion derived from 3-axis gyro only (rotation) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00051">sensor_fusion.h:51</a></div></div> 113<div class="ttc" id="a00902_html_a9badfcf686c8cfb2afabc3c9e3ba11d3"><div class="ttname"><a href="a00902.html#a9badfcf686c8cfb2afabc3c9e3ba11d3">RATERESOLUTION</a></div><div class="ttdeci">#define RATERESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="a00902_source.html#l00017">output_stream.c:17</a></div></div> 114<div class="ttc" id="a03979_html_a209c65446ca302d32cbb908c4d75f616"><div class="ttname"><a href="a03979.html#a209c65446ca302d32cbb908c4d75f616">Quaternion::q1</a></div><div class="ttdeci">float q1</div><div class="ttdoc">x vector component </div><div class="ttdef"><b>Definition:</b> <a href="a00899_source.html#l00023">orientation.h:23</a></div></div> 115<div class="ttc" id="a00914_html_a48bbd27e913de8d7749dff9dec2fe816"><div class="ttname"><a href="a00914.html#a48bbd27e913de8d7749dff9dec2fe816">CHX</a></div><div class="ttdeci">#define CHX</div><div class="ttdoc">Used to access X-channel entries in various data data structures. </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00060">sensor_fusion.h:60</a></div></div> 116<div class="ttc" id="a00914_html_a5f469312b3865f2d3efea2edd6f8afaaa59c8dc55b720396019ef93eb943a3b96"><div class="ttname"><a href="a00914.html#a5f469312b3865f2d3efea2edd6f8afaaa59c8dc55b720396019ef93eb943a3b96">Q6AG</a></div><div class="ttdoc">Quaternion derived from 3-axis accel + 3-axis gyro (gaming) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00053">sensor_fusion.h:53</a></div></div> 117<div class="ttc" id="a03975_html_a70d5d3dc1013e238e1d623e67332d87c"><div class="ttname"><a href="a03975.html#a70d5d3dc1013e238e1d623e67332d87c">MagCalibration::fB</a></div><div class="ttdeci">float fB</div><div class="ttdoc">current geomagnetic field magnitude (uT) </div><div class="ttdef"><b>Definition:</b> <a href="a00857_source.html#l00060">magnetic.h:60</a></div></div> 118<div class="ttc" id="a04043_html_ae581521fc995a2fa92a72146841363e9"><div class="ttname"><a href="a04043.html#ae581521fc995a2fa92a72146841363e9">SV_COMMON::systick</a></div><div class="ttdeci">int32_t systick</div><div class="ttdoc">systick timer; </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00445">sensor_fusion.h:445</a></div></div> 119<div class="ttc" id="a00917_html_a69b745acfd24d1873d47c67aca06df26"><div class="ttname"><a href="a00917.html#a69b745acfd24d1873d47c67aca06df26">F_1DOF_P_BASIC</a></div><div class="ttdeci">#define F_1DOF_P_BASIC</div><div class="ttdoc">1DOF pressure (altitude) and temperature algorithm selector - 0x0100 to include, 0x0000 otherwise ...</div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00050">standard_build.h:50</a></div></div> 120<div class="ttc" id="a04003_html_a8a3b181bc80ba70aa8e9741c6a4b8320"><div class="ttname"><a href="a04003.html#a8a3b181bc80ba70aa8e9741c6a4b8320">MagSensor::iBc</a></div><div class="ttdeci">int16_t iBc[3]</div><div class="ttdoc">averaged calibrated measurement (counts) </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00227">sensor_fusion.h:227</a></div></div> 121<div class="ttc" id="a00917_html_a37b68379c938c8404e8e8b0572e7a530"><div class="ttname"><a href="a00917.html#a37b68379c938c8404e8e8b0572e7a530">THISBUILD</a></div><div class="ttdeci">#define THISBUILD</div><div class="ttdoc">define build number sent in debug packet for display purposes only </div><div class="ttdef"><b>Definition:</b> <a href="a00917_source.html#l00021">standard_build.h:21</a></div></div> 122<div class="ttc" id="a03979_html_a27b8f713c4a449fb2fbb1cbdb3a1e149"><div class="ttname"><a href="a03979.html#a27b8f713c4a449fb2fbb1cbdb3a1e149">Quaternion::q0</a></div><div class="ttdeci">float q0</div><div class="ttdoc">scalar component </div><div class="ttdef"><b>Definition:</b> <a href="a00899_source.html#l00022">orientation.h:22</a></div></div> 123<div class="ttc" id="a04003_html_a8d14850aea4f6f78343db74f3208f5d0"><div class="ttname"><a href="a04003.html#a8d14850aea4f6f78343db74f3208f5d0">MagSensor::iCountsPeruT</a></div><div class="ttdeci">int16_t iCountsPeruT</div><div class="ttdoc">counts per uT </div><div class="ttdef"><b>Definition:</b> <a href="a00914_source.html#l00228">sensor_fusion.h:228</a></div></div> 124<div class="ttc" id="a00902_html_adbb4129e795ca534e4bb1649bb81b559"><div class="ttname"><a href="a00902.html#adbb4129e795ca534e4bb1649bb81b559">CreateAndSendPackets</a></div><div class="ttdeci">void CreateAndSendPackets(SensorFusionGlobals *sfg, uint8_t *sUARTOutputBuffer)</div><div class="ttdef"><b>Definition:</b> <a href="a00902_source.html#l00122">output_stream.c:122</a></div></div> 125<div class="ttc" id="a00908_html_a5ed11d7ac5361003e06a95d4f7a3fcb7"><div class="ttname"><a href="a00908.html#a5ed11d7ac5361003e06a95d4f7a3fcb7">MAX_ACCEL_CAL_ORIENTATIONS</a></div><div class="ttdeci">#define MAX_ACCEL_CAL_ORIENTATIONS</div><div class="ttdoc">number of stored precision accelerometer measurements </div><div class="ttdef"><b>Definition:</b> <a href="a00908_source.html#l00018">precisionAccelerometer.h:18</a></div></div> 126<div class="ttc" id="a03967_html_aa62f07fac570bf67c0832d4bf7d38e76"><div class="ttname"><a href="a03967.html#aa62f07fac570bf67c0832d4bf7d38e76">ControlSubsystem::AccelCalPacketOn</a></div><div class="ttdeci">volatile int8_t AccelCalPacketOn</div><div class="ttdoc">variable used to coordinate accelerometer calibration </div><div class="ttdef"><b>Definition:</b> <a href="a00779_source.html#l00049">control.h:49</a></div></div> 127</div><!-- fragment --></div><!-- contents --> 128 129<hr class="footer"/><address class="footer"><small> 130© Copyright 2016-2022 NXP. All Rights Reserved. SPDX-License-Identifier: BSD-3-Clause 131</small></address> 132</body> 133</html> 134
