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Searched refs:sfg (Results 1 – 23 of 23) sorted by relevance

/hal_nxp-3.5.0/mcux/mcux-sdk/middleware/issdk/algorithms/sensorfusion/sources/
Dsensor_fusion.c26 void setStatus(SensorFusionGlobals *sfg, fusion_status_t status) in setStatus() argument
28 sfg->pStatusSubsystem->set(sfg->pStatusSubsystem, status); in setStatus()
33 void queueStatus(SensorFusionGlobals *sfg, fusion_status_t status) in queueStatus() argument
35 sfg->pStatusSubsystem->queue(sfg->pStatusSubsystem, status); in queueStatus()
40 void updateStatus(SensorFusionGlobals *sfg) in updateStatus() argument
42 sfg->pStatusSubsystem->update(sfg->pStatusSubsystem); in updateStatus()
45 void testStatus(SensorFusionGlobals *sfg) in testStatus() argument
47 sfg->pStatusSubsystem->test(sfg->pStatusSubsystem); in testStatus()
51 void initSensorFusionGlobals(SensorFusionGlobals *sfg, in initSensorFusionGlobals() argument
55 …sfg->iFlags = // all of the following defines are either 0x0000 or a 1-bit value (2, 4, 8 ...) and… in initSensorFusionGlobals()
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DDecodeCommandBytes.c68 void DecodeCommandBytes(SensorFusionGlobals *sfg, char iCommandBuffer[], uint8 sUART_InputBuffer[],… in DecodeCommandBytes() argument
84 sfg->pControlSubsystem->AngularVelocityPacketOn = true; in DecodeCommandBytes()
89 sfg->pControlSubsystem->AngularVelocityPacketOn = false; in DecodeCommandBytes()
94 sfg->pControlSubsystem->DebugPacketOn = true; in DecodeCommandBytes()
99 sfg->pControlSubsystem->DebugPacketOn = false; in DecodeCommandBytes()
105 sfg->pControlSubsystem->QuaternionPacketType = Q3; in DecodeCommandBytes()
112 sfg->pControlSubsystem->QuaternionPacketType = Q3M; in DecodeCommandBytes()
119 sfg->pControlSubsystem->QuaternionPacketType = Q3G; in DecodeCommandBytes()
126 sfg->pControlSubsystem->QuaternionPacketType = Q6MA; in DecodeCommandBytes()
133 sfg->pControlSubsystem->QuaternionPacketType = Q6AG; in DecodeCommandBytes()
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Ddrivers.h48 int8_t MPL3115_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
49 int8_t FXOS8700_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
50 int8_t FXAS21002_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
51 int8_t MMA8652_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
52 int8_t FXLS8952_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
53 int8_t MAG3110_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
54 int8_t MMA8451_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
55 int8_t FXLS8471Q_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
56 int8_t FXLS8962_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
57 int8_t FXLS8972_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg);
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Doutput_stream.c122 void CreateAndSendPackets(SensorFusionGlobals *sfg, uint8_t *sUARTOutputBuffer) in CreateAndSendPackets() argument
155 quaternionPacketType = sfg->pControlSubsystem->QuaternionPacketType; in CreateAndSendPackets()
156 AngularVelocityPacketOn = sfg->pControlSubsystem->AngularVelocityPacketOn; in CreateAndSendPackets()
157 DebugPacketOn = sfg->pControlSubsystem->DebugPacketOn; in CreateAndSendPackets()
158 RPCPacketOn = sfg->pControlSubsystem->RPCPacketOn; in CreateAndSendPackets()
159 AccelCalPacketOn = sfg->pControlSubsystem->AccelCalPacketOn; in CreateAndSendPackets()
201 if (sfg->iFlags & F_USING_ACCEL) { in CreateAndSendPackets()
210 scratch32 = (sfg->Accel.iGc[CHX] * 8192) / sfg->Accel.iCountsPerg; in CreateAndSendPackets()
216 scratch32 = (sfg->Accel.iGc[CHY] * 8192) / sfg->Accel.iCountsPerg; in CreateAndSendPackets()
222 scratch32 = (sfg->Accel.iGc[CHZ] * 8192) / sfg->Accel.iCountsPerg; in CreateAndSendPackets()
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Ddriver_MPL3115.c68 int8_t MPL3115_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in MPL3115_Init() argument
74 sfg->Pressure.iWhoAmI = reg; in MPL3115_Init()
89 sfg->Pressure.fmPerCount = MPL3115_MPERCOUNT; // Convert 32-bit Altitude value to meters in MPL3115_Init()
90 sfg->Pressure.fCPerCount = MPL3115_CPERCOUNT; // Convert 16-bit Temperature value to Celcius in MPL3115_Init()
93 sfg->Pressure.isEnabled = true; in MPL3115_Init()
98 int8_t MPL3115_Read(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in MPL3115_Read() argument
112 sfg->Pressure.iH = (I2C_Buffer[0] << 24) | (I2C_Buffer[1] << 16) | (I2C_Buffer[2] << 8); in MPL3115_Read()
113 sfg->Pressure.iT = (I2C_Buffer[3] << 8) | I2C_Buffer[4]; in MPL3115_Read()
116 sfg->Pressure.fH = (float) sfg->Pressure.iH * sfg->Pressure.fmPerCount; in MPL3115_Read()
117 sfg->Pressure.fT = (float) sfg->Pressure.iT * sfg->Pressure.fCPerCount; in MPL3115_Read()
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Ddriver_FXOS8700.c130 int8_t FXOS8700_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in FXOS8700_Init() argument
139 sfg->Accel.iWhoAmI = reg; in FXOS8700_Init()
140 sfg->Accel.iCountsPerg = FXOS8700_COUNTSPERG; in FXOS8700_Init()
141 sfg->Accel.fgPerCount = 1.0F / FXOS8700_COUNTSPERG; in FXOS8700_Init()
144 sfg->Mag.iWhoAmI = reg; in FXOS8700_Init()
145 sfg->Mag.iCountsPeruT = FXOS8700_COUNTSPERUT; in FXOS8700_Init()
146 sfg->Mag.fCountsPeruT = (float) FXOS8700_COUNTSPERUT; in FXOS8700_Init()
147 sfg->Mag.fuTPerCount = 1.0F / FXOS8700_COUNTSPERUT; in FXOS8700_Init()
163 sfg->Accel.isEnabled = true; in FXOS8700_Init()
166 sfg->Mag.isEnabled = true; in FXOS8700_Init()
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Ddebug.c36 void ApplyPerturbation(SensorFusionGlobals *sfg) in ApplyPerturbation() argument
61 quaternionPacketType = sfg->pControlSubsystem->QuaternionPacketType; in ApplyPerturbation()
66 switch (sfg->iPerturbation) in ApplyPerturbation()
151 CurrentQ = sfg->SV_3DOF_G_BASIC.fLPq; in ApplyPerturbation()
152 qAeqAxB(&(sfg->SV_3DOF_G_BASIC.fLPq), &ftmpq); in ApplyPerturbation()
157 CurrentQ = sfg->SV_3DOF_B_BASIC.fLPq; in ApplyPerturbation()
158 qAeqAxB(&(sfg->SV_3DOF_B_BASIC.fLPq), &ftmpq); in ApplyPerturbation()
163 CurrentQ = sfg->SV_3DOF_Y_BASIC.fq; in ApplyPerturbation()
164 qAeqAxB(&(sfg->SV_3DOF_Y_BASIC.fq), &ftmpq); in ApplyPerturbation()
169 CurrentQ = sfg->SV_6DOF_GB_BASIC.fLPq; in ApplyPerturbation()
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Ddriver_FXAS21002.c181 int8_t FXAS21002_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in FXAS21002_Init() argument
189 sfg->Gyro.iWhoAmI = reg; in FXAS21002_Init()
203 switch (sfg->Gyro.iWhoAmI) { in FXAS21002_Init()
208 sfg->Gyro.iCountsPerDegPerSec = FXAS21000_COUNTSPERDEGPERSEC; in FXAS21002_Init()
209 sfg->Gyro.fDegPerSecPerCount = 1.0F / FXAS21000_COUNTSPERDEGPERSEC; in FXAS21002_Init()
214 sfg->Gyro.iCountsPerDegPerSec = FXAS21002_COUNTSPERDEGPERSEC; in FXAS21002_Init()
215 sfg->Gyro.fDegPerSecPerCount = 1.0F / FXAS21002_COUNTSPERDEGPERSEC; in FXAS21002_Init()
218 sfg->Gyro.iFIFOCount=0; in FXAS21002_Init()
220 sfg->Gyro.isEnabled = true; in FXAS21002_Init()
225 int8_t FXAS21002_Read(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in FXAS21002_Read() argument
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Ddriver_MAG3110.c82 int8_t MAG3110_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in MAG3110_Init() argument
88 sfg->Mag.iWhoAmI = reg; in MAG3110_Init()
103 sfg->Mag.iCountsPeruT = MAG3110_COUNTSPERUT; in MAG3110_Init()
104 …sfg->Mag.fCountsPeruT = (float)MAG3110_COUNTSPERUT; // IAR optimized this out without the #pragma … in MAG3110_Init()
105 …sfg->Mag.fuTPerCount = 1.0F / MAG3110_COUNTSPERUT; // IAR optimized this out without the #pragma … in MAG3110_Init()
108 …sfg->Mag.isEnabled = true; // IAR optimized this out without the #pragma before t… in MAG3110_Init()
113 int8_t MAG3110_Read(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in MAG3110_Read() argument
131 addToFifo((union FifoSensor*) &(sfg->Mag), MAG_FIFO_SIZE, sample); in MAG3110_Read()
147 int8_t MAG3110_Idle(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in MAG3110_Idle() argument
153 sfg->Mag.isEnabled = false; in MAG3110_Idle()
Ddriver_FXLS8962.c118 int8_t FXLS8962_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in FXLS8962_Init() argument
125 sfg->Accel.iWhoAmI = reg; in FXLS8962_Init()
138 sfg->Accel.iCountsPerg = FXLS8962_COUNTSPERG; in FXLS8962_Init()
139 sfg->Accel.fgPerCount = 1.0F / FXLS8962_COUNTSPERG; in FXLS8962_Init()
140 sfg->Accel.fgPerCount = 1.0F / FXLS8962_COUNTSPERG; in FXLS8962_Init()
143 sfg->Accel.isEnabled = true; in FXLS8962_Init()
148 int8_t FXLS8962_Read(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in FXLS8962_Read() argument
179 addToFifo((union FifoSensor*) &(sfg->Accel), ACCEL_FIFO_SIZE, sample); in FXLS8962_Read()
195 int8_t FXLS8962_Idle(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in FXLS8962_Idle() argument
201 sfg->Accel.isEnabled = false; in FXLS8962_Idle()
Ddriver_MMA8652.c110 int8_t MMA8652_Init(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in MMA8652_Init() argument
116 sfg->Accel.iWhoAmI = reg; in MMA8652_Init()
124 sfg->Accel.iCountsPerg = MMA8652_COUNTSPERG; in MMA8652_Init()
125 sfg->Accel.fgPerCount = 1.0F / MMA8652_COUNTSPERG; in MMA8652_Init()
126 sfg->Accel.fgPerCount = 1.0F / MMA8652_COUNTSPERG; in MMA8652_Init()
129 sfg->Accel.isEnabled = true; in MMA8652_Init()
134 int8_t MMA8652_Read(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in MMA8652_Read() argument
169 addToFifo((union FifoSensor*) &(sfg->Accel), ACCEL_FIFO_SIZE, sample); in MMA8652_Read()
186 int8_t MMA8652_Idle(struct PhysicalSensor *sensor, SensorFusionGlobals *sfg) in MMA8652_Idle() argument
192 sfg->Accel.isEnabled = false; in MMA8652_Idle()
Dsensor_fusion.h118 struct SensorFusionGlobals *sfg
122 struct SensorFusionGlobals *sfg
125 struct SensorFusionGlobals *sfg,
129 struct SensorFusionGlobals *sfg, ///< Global data structure pointer
141 typedef void (initializeFusionEngine_t) (struct SensorFusionGlobals *sfg);
142 typedef void (runFusion_t) (struct SensorFusionGlobals *sfg);
143 typedef void (clearFIFOs_t) (struct SensorFusionGlobals *sfg);
144 typedef void (conditionSensorReadings_t) (struct SensorFusionGlobals *sfg);
145 typedef void (applyPerturbation_t) (struct SensorFusionGlobals *sfg) ;
146 typedef void (setStatus_t) (struct SensorFusionGlobals *sfg, fusion_status_t status);
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Dcontrol.c43 extern SensorFusionGlobals sfg;
95 sfg.setStatus(&sfg, RECEIVING_WIRELESS); in WIRELESS_UART_IRQHandler()
104 DecodeCommandBytes(&sfg, iCommandBuffer_B, &data, 1); in WIRELESS_UART_IRQHandler()
144 sfg.setStatus(&sfg, RECEIVING_WIRED); in WIRED_UART_IRQHandler()
153 DecodeCommandBytes(&sfg, iCommandBuffer_A, &data, 1); in WIRED_UART_IRQHandler()
Dcalibration_storage.c21 void SaveMagCalibrationToNVM(SensorFusionGlobals *sfg) in SaveMagCalibrationToNVM() argument
45 pSrc = (uint8 *) &(sfg->MagCal); in SaveMagCalibrationToNVM()
55 void SaveGyroCalibrationToNVM(SensorFusionGlobals *sfg) in SaveGyroCalibrationToNVM() argument
81 pSrc = (uint8 *) sfg->SV_9DOF_GBY_KALMAN.fbPl; in SaveGyroCalibrationToNVM()
83 pSrc = (uint8 *) sfg->SV_6DOF_GY_KALMAN.fbPl; in SaveGyroCalibrationToNVM()
94 void SaveAccelCalibrationToNVM(SensorFusionGlobals *sfg) in SaveAccelCalibrationToNVM() argument
118 pSrc = (uint8 *) &(sfg->AccelCal); in SaveAccelCalibrationToNVM()
Dcalibration_storage.h21 void SaveMagCalibrationToNVM(SensorFusionGlobals *sfg);
22 void SaveGyroCalibrationToNVM(SensorFusionGlobals *sfg);
23 void SaveAccelCalibrationToNVM(SensorFusionGlobals *sfg);
Dcontrol.h34 typedef void (streamData_t)(SensorFusionGlobals *sfg, uint8_t *sUARTOutputBuffer);
59 void CreateAndSendPackets(SensorFusionGlobals *sfg, uint8_t *sUARTOutputBuffer);
65 void DecodeCommandBytes(SensorFusionGlobals *sfg, char iCommandBuffer[], uint8 sUART_InputBuffer[],…
Dcontrol_lpc.c30 extern SensorFusionGlobals sfg;
64 DecodeCommandBytes(&sfg, iCommandBuffer_B, &data, 1); in WIRED_USART_IRQHandler()
Ddebug.h23 void ApplyPerturbation(SensorFusionGlobals *sfg);
Dfusion.c33 void fInitializeFusion(SensorFusionGlobals *sfg) in fInitializeFusion() argument
42 sfg->SV_1DOF_P_BASIC.resetflag = true; in fInitializeFusion()
45 sfg->SV_3DOF_B_BASIC.resetflag = true; in fInitializeFusion()
48 sfg->SV_3DOF_G_BASIC.resetflag = true; in fInitializeFusion()
51 sfg->SV_3DOF_Y_BASIC.resetflag = true; in fInitializeFusion()
54 sfg->SV_6DOF_GB_BASIC.resetflag = true; in fInitializeFusion()
57 sfg->SV_6DOF_GY_KALMAN.resetflag = true; in fInitializeFusion()
60 sfg->SV_9DOF_GBY_KALMAN.resetflag = true; in fInitializeFusion()
64 sfg->loopcounter = 0; in fInitializeFusion()
Dfusion.h70 void fInitializeFusion(SensorFusionGlobals *sfg);
/hal_nxp-3.5.0/mcux/mcux-sdk/middleware/issdk/driverexamples/demos/
Dorientaion_application_baremetal_agmp03.c74 SensorFusionGlobals sfg; /* Sensor Fusion Global Structure … variable
103 static void encodeOrientPacketStream (SensorFusionGlobals * sfg, uint8_t *sUARTOutputBuffer);
267 void encodeOrientPacketStream(SensorFusionGlobals *sfg, uint8_t *sUARTOutputBuffer) in encodeOrientPacketStream() argument
293 if (sfg->iFlags & F_USING_ACCEL) in encodeOrientPacketStream()
296 scratch32 = (sfg->Accel.iGc[CHX] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
302 scratch32 = (sfg->Accel.iGc[CHY] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
308 scratch32 = (sfg->Accel.iGc[CHZ] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
322 if (sfg->iFlags & F_USING_MAG) in encodeOrientPacketStream()
325 scratch16 = (int16_t) (sfg->Mag.iBc[CHX] * 10) / (sfg->Mag.iCountsPeruT); in encodeOrientPacketStream()
327 scratch16 = (int16_t) ((sfg->Mag.iBc[CHY] * 10) / sfg->Mag.iCountsPeruT); in encodeOrientPacketStream()
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Dorientaion_application_baremetal_agm01.c75 SensorFusionGlobals sfg; /* Sensor Fusion Global Structure … variable
105 static void encodeOrientPacketStream (SensorFusionGlobals * sfg, uint8_t *sUARTOutputBuffer);
269 void encodeOrientPacketStream(SensorFusionGlobals *sfg, uint8_t *sUARTOutputBuffer) in encodeOrientPacketStream() argument
295 if (sfg->iFlags & F_USING_ACCEL) in encodeOrientPacketStream()
298 scratch32 = (sfg->Accel.iGc[CHX] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
304 scratch32 = (sfg->Accel.iGc[CHY] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
310 scratch32 = (sfg->Accel.iGc[CHZ] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
324 if (sfg->iFlags & F_USING_MAG) in encodeOrientPacketStream()
327 scratch16 = (int16_t) (sfg->Mag.iBc[CHX] * 10) / (sfg->Mag.iCountsPeruT); in encodeOrientPacketStream()
329 scratch16 = (int16_t) ((sfg->Mag.iBc[CHY] * 10) / sfg->Mag.iCountsPeruT); in encodeOrientPacketStream()
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Dorientaion_application_baremetal_agm04.c74 SensorFusionGlobals sfg; /* Sensor Fusion Global Structure … variable
104 static void encodeOrientPacketStream (SensorFusionGlobals * sfg, uint8_t *sUARTOutputBuffer);
268 void encodeOrientPacketStream(SensorFusionGlobals *sfg, uint8_t *sUARTOutputBuffer) in encodeOrientPacketStream() argument
294 if (sfg->iFlags & F_USING_ACCEL) in encodeOrientPacketStream()
297 scratch32 = (sfg->Accel.iGc[CHX] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
303 scratch32 = (sfg->Accel.iGc[CHY] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
309 scratch32 = (sfg->Accel.iGc[CHZ] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
323 if (sfg->iFlags & F_USING_MAG) in encodeOrientPacketStream()
326 scratch16 = (int16_t) (sfg->Mag.iBc[CHX] * 10) / (sfg->Mag.iCountsPeruT); in encodeOrientPacketStream()
328 scratch16 = (int16_t) ((sfg->Mag.iBc[CHY] * 10) / sfg->Mag.iCountsPeruT); in encodeOrientPacketStream()
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