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/hal_nxp-3.5.0/mcux/mcux-sdk/middleware/issdk/algorithms/sensorfusion/sources/
Dorientation.c55 fmodGxyz = fmodGyz + fGc[CHX] * fGc[CHX]; in f3DOFTiltNED()
69 if (fGc[CHX] >= 0.0F) in f3DOFTiltNED()
71 fR[CHX][CHZ] = 1.0F; in f3DOFTiltNED()
72 fR[CHZ][CHX] = -1.0F; in f3DOFTiltNED()
76 fR[CHX][CHZ] = -1.0F; in f3DOFTiltNED()
77 fR[CHZ][CHX] = 1.0F; in f3DOFTiltNED()
89 for (i = CHX; i <= CHZ; i++) in f3DOFTiltNED()
95 fR[CHX][CHX] = fmodGyz * frecipmodGxyz; in f3DOFTiltNED()
96 fR[CHY][CHX] = -fR[CHX][CHZ] * fR[CHY][CHZ] * ftmp; in f3DOFTiltNED()
97 fR[CHZ][CHX] = -fR[CHX][CHZ] * fR[CHZ][CHZ] * ftmp; in f3DOFTiltNED()
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DprecisionAccelerometer.c40 for (i = CHX; i <= CHZ; i++) pthisAccelCal->fV[i] = *(pFlash++); in fInitializeAccelCalibration()
41 for (i = CHX; i <= CHZ; i++) in fInitializeAccelCalibration()
42 for (j = CHX; j <= CHZ; j++) in fInitializeAccelCalibration()
44 for (i = CHX; i <= CHZ; i++) in fInitializeAccelCalibration()
45 for (j = CHX; j <= CHZ; j++) in fInitializeAccelCalibration()
53 pthisAccelCal->fV[CHX] = pthisAccelCal->fV[CHY] = pthisAccelCal->fV[CHZ] = 0.0F; in fInitializeAccelCalibration()
78 for (i = CHX; i <= CHZ; i++) pthisAccelBuffer->fSumGs[i] = 0.0F; in fUpdateAccelBuffer()
84 for (i = CHX; i <= CHZ; i++) in fUpdateAccelBuffer()
93 for (i = CHX; i <= CHZ; i++) in fUpdateAccelBuffer()
126 for (i = CHX; i <= CHZ; i++) in fInvertAccelCal()
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Dhal_frdm_fxs_mult2_b.c31 int16 itmp16 = Accel->iGsFIFO[i][CHX]; in ApplyAccelHAL()
32 Accel->iGsFIFO[i][CHX] = Accel->iGsFIFO[i][CHY]; in ApplyAccelHAL()
36 Accel->iGsFIFO[i][CHX] = -Accel->iGsFIFO[i][CHX]; in ApplyAccelHAL()
58 int16 itmp16 = Mag->iBsFIFO[i][CHX]; in ApplyMagHAL()
59 Mag->iBsFIFO[i][CHX] = -Mag->iBsFIFO[i][CHY]; in ApplyMagHAL()
64 Mag->iBsFIFO[i][CHX] = -Mag->iBsFIFO[i][CHX]; in ApplyMagHAL()
68 Mag->iBsFIFO[i][CHX] = -Mag->iBsFIFO[i][CHX]; in ApplyMagHAL()
86 int16 itmp16 = Gyro->iYsFIFO[i][CHX]; in ApplyGyroHAL()
87 Gyro->iYsFIFO[i][CHX] = -Gyro->iYsFIFO[i][CHY]; in ApplyGyroHAL()
92 Gyro->iYsFIFO[i][CHX] = -Gyro->iYsFIFO[i][CHX]; in ApplyGyroHAL()
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Dmatrix.c195 A[CHX][CHX] * in f3x3matrixDetA()
202 A[CHX][CHY] * in f3x3matrixDetA()
203 (A[CHY][CHZ] * A[CHZ][CHX] - A[CHY][CHX] * A[CHZ][CHZ]) + in f3x3matrixDetA()
204 A[CHX][CHZ] * in f3x3matrixDetA()
205 (A[CHY][CHX] * A[CHZ][CHY] - A[CHY][CHY] * A[CHZ][CHX]) in f3x3matrixDetA()
807 fv[CHX] = fR[CHX][CHX] * in fveqRu()
808 fu[CHX] + in fveqRu()
809 fR[CHX][CHY] * in fveqRu()
811 fR[CHX][CHZ] * in fveqRu()
813 fv[CHY] = fR[CHY][CHX] * in fveqRu()
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Dfusion.c299 for (i = CHX; i <= CHZ; i++) in fInit_6DOF_GY_KALMAN()
312 for (i = CHX; i <= CHZ; i++) pthisSV->fbPl[i] = *(pFlash++); in fInit_6DOF_GY_KALMAN()
318 for (i = CHX; i <= CHZ; i++) in fInit_6DOF_GY_KALMAN()
364 for (i = CHX; i <= CHZ; i++) { in fInit_9DOF_GBY_KALMAN()
378 for (i = CHX; i <= CHZ; i++) in fInit_9DOF_GBY_KALMAN()
383 for (i = CHX; i <= CHZ; i++) { in fInit_9DOF_GBY_KALMAN()
552 for (i = CHX; i <= CHZ; i++) pthisSV->fOmega[i] = pthisGyro->fYs[i]; in fRun_3DOF_Y_BASIC()
669 for (i = CHX; i <= CHZ; i++) in fRun_6DOF_GY_KALMAN()
686 for (i = CHX; i <= CHZ; i++) in fRun_6DOF_GY_KALMAN()
706 fmodGc = sqrtf(fabs(pthisAccel->fGc[CHX] * pthisAccel->fGc[CHX] + in fRun_6DOF_GY_KALMAN()
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Dmagnetic.c52 for (i = CHX; i <= CHZ; i++) pthisMagCal->fV[i] = *(pFlash++); in fInitializeMagCalibration()
53 for (i = CHX; i <= CHZ; i++) in fInitializeMagCalibration()
54 for (j = CHX; j <= CHZ; j++) in fInitializeMagCalibration()
66 pthisMagCal->fV[CHX] = pthisMagCal->fV[CHY] = pthisMagCal->fV[CHZ] = 0.0F; in fInitializeMagCalibration()
107 itanj = (100 * (int32) pthisMag->iBc[CHX]) / ((int32) pthisMag->iBc[CHZ]); in iUpdateMagBuffer()
118 if (pthisMag->iBc[CHX] < 0) k += MAGBUFFSIZEX; in iUpdateMagBuffer()
126 for (i = CHX; i <= CHZ; i++) in iUpdateMagBuffer()
141 for (i = CHX; i <= CHZ; i++) in iUpdateMagBuffer()
182 for (i = CHX; i <= CHZ; i++) in iUpdateMagBuffer()
199 for (i = CHX; i <= CHZ; i++) in iUpdateMagBuffer()
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Doutput_stream.c86 iOmega[CHX] = (int16_t) (data->fOmega[CHX] * 20.0F); in readCommon()
210 scratch32 = (sfg->Accel.iGc[CHX] * 8192) / sfg->Accel.iCountsPerg; in CreateAndSendPackets()
250 scratch16 = (int16_t) (sfg->Mag.iBc[CHX] * 10) / (sfg->Mag.iCountsPeruT); in CreateAndSendPackets()
284 scratch16 = (int16_t) ((sfg->Gyro.iYs[CHX] * 20) / sfg->Gyro.iCountsPerDegPerSec); in CreateAndSendPackets()
311 iOmega[CHX] = iOmega[CHY] = iOmega[CHZ] = 0; in CreateAndSendPackets()
468 sBufAppendItem(sUARTOutputBuffer, &iIndex, (uint8_t *) &iOmega[CHX], 2); in CreateAndSendPackets()
622 scratch16 = (int16_t) (sfg->MagCal.fV[CHX] * 10.0F); in CreateAndSendPackets()
632 scratch16 = (int16_t) (sfg->MagCal.finvW[CHX][CHX] * 1000.0F); in CreateAndSendPackets()
642 scratch16 = (int16_t) (sfg->MagCal.finvW[CHX][CHY] * 1000.0F); in CreateAndSendPackets()
644 scratch16 = (int16_t) (sfg->MagCal.finvW[CHX][CHZ] * 1000.0F); in CreateAndSendPackets()
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Dsensor_fusion.c172 for (j = CHX; j <= CHZ; j++) iSum[j] = 0; in processAccelData()
174 for (j = CHX; j <= CHZ; j++) iSum[j] += sfg->Accel.iGsFIFO[i][j]; in processAccelData()
177 for (j = CHX; j <= CHZ; j++) in processAccelData()
210 for (j = CHX; j <= CHZ; j++) iSum[j] = 0; in processMagData()
212 for (j = CHX; j <= CHZ; j++) iSum[j] += sfg->Mag.iBsFIFO[i][j]; in processMagData()
215 for (j = CHX; j <= CHZ; j++) in processMagData()
249 for (j = CHX; j <= CHZ; j++) iSum[j] = 0; in processGyroData()
251 for (j = CHX; j <= CHZ; j++) in processGyroData()
255 for (j = CHX; j <= CHZ; j++) in processGyroData()
518 if (sample[CHX] == -32768) sample[CHX]++; in conditionSample()
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Ddriver_FXAS21002.c269 sample[CHX] = (I2C_Buffer[0] << 8) | I2C_Buffer[1]; in FXAS21002_Read()
287 sample[CHX] = (I2C_Buffer[6*j + 0] << 8) | I2C_Buffer[6*j + 1]; in FXAS21002_Read()
Ddriver_FXOS8700.c206 sample[CHX] = (I2C_Buffer[6 * j] << 8) | (I2C_Buffer[6 * j + 1]); // decode X in FXOS8700_ReadAccData()
237 sample[CHX] = (I2C_Buffer[0] << 8) | I2C_Buffer[1]; in FXOS8700_ReadMagData()
Ddriver_MAG3110.c125 sample[CHX] = (I2C_Buffer[0] << 8) | I2C_Buffer[1]; in MAG3110_Read()
Ddriver_FXLS8962.c175 sample[CHX] = (I2C_Buffer[1] << 8) | I2C_Buffer[0]; in FXLS8962_Read()
Ddriver_MMA8652.c165 sample[CHX] = (I2C_Buffer[6 * j ] << 8) | I2C_Buffer[6 * j + 1]; in MMA8652_Read()
DDecodeCommandBytes.c182 for (i = CHX; i <= CHZ; i++) { in DecodeCommandBytes()
Dsensor_fusion.h60 #define CHX 0 ///< Used to access X-channel entries in various data data structures macro
/hal_nxp-3.5.0/mcux/mcux-sdk/middleware/issdk/driverexamples/demos/
Dorientaion_application_baremetal_agm01.c231 iOmega[CHX] = (int16_t)(data->fOmega[CHX] * 20.0F); in readAlgoParams()
298 scratch32 = (sfg->Accel.iGc[CHX] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
327 scratch16 = (int16_t) (sfg->Mag.iBc[CHX] * 10) / (sfg->Mag.iCountsPeruT); in encodeOrientPacketStream()
345 scratch16 = (int16_t) ((sfg->Gyro.iYs[CHX] * 20) / sfg->Gyro.iCountsPerDegPerSec); in encodeOrientPacketStream()
362 iOmega[CHX] = iOmega[CHY] = iOmega[CHZ] = 0; in encodeOrientPacketStream()
Dorientaion_application_baremetal_agm04.c230 iOmega[CHX] = (int16_t)(data->fOmega[CHX] * 20.0F); in readAlgoParams()
297 scratch32 = (sfg->Accel.iGc[CHX] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
326 scratch16 = (int16_t) (sfg->Mag.iBc[CHX] * 10) / (sfg->Mag.iCountsPeruT); in encodeOrientPacketStream()
344 scratch16 = (int16_t) ((sfg->Gyro.iYs[CHX] * 20) / sfg->Gyro.iCountsPerDegPerSec); in encodeOrientPacketStream()
361 iOmega[CHX] = iOmega[CHY] = iOmega[CHZ] = 0; in encodeOrientPacketStream()
Dorientaion_application_baremetal_agmp03.c229 iOmega[CHX] = (int16_t)(data->fOmega[CHX] * 20.0F); in readAlgoParams()
296 scratch32 = (sfg->Accel.iGc[CHX] * 8192) / sfg->Accel.iCountsPerg; in encodeOrientPacketStream()
325 scratch16 = (int16_t) (sfg->Mag.iBc[CHX] * 10) / (sfg->Mag.iCountsPeruT); in encodeOrientPacketStream()
343 scratch16 = (int16_t) ((sfg->Gyro.iYs[CHX] * 20) / sfg->Gyro.iCountsPerDegPerSec); in encodeOrientPacketStream()
360 iOmega[CHX] = iOmega[CHY] = iOmega[CHZ] = 0; in encodeOrientPacketStream()