output_stream.c File Reference

Implements streaming function for the status subsystem. See status.h. More...

#include "sensor_fusion.h"
#include "control.h"
#include "debug.h"

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Macros
#define	MAXPACKETRATEHZ   40
#define	RATERESOLUTION   1000

Functions
void	sBufAppendItem (uint8_t *pDest, uint16_t *pIndex, uint8_t *pSource, uint16_t iBytesToCopy)
	Utility function used to place data in output buffer about to be transmitted via UART. More...
void	sBufAppendZeros (uint8_t *pDest, uint16_t *pIndex, uint16_t numZeros)
void	readCommon (SV_ptr data, Quaternion *fq, int16_t *iPhi, int16_t *iThe, int16_t *iRho, int16_t iOmega[], uint16_t *isystick)
uint16_t	throttle ()
	(OVERSAMPLE_RATIO * MAXPACKETRATEHZ) / SENSORFS More...
void	CreateAndSendPackets (SensorFusionGlobals *sfg, uint8_t *sUARTOutputBuffer)

Detailed Description

Implements streaming function for the status subsystem. See status.h.

Definition in file output_stream.c.

Macro Definition Documentation

MAXPACKETRATEHZ

#define MAXPACKETRATEHZ   40

Definition at line 42 of file output_stream.c.

Referenced by throttle().

RATERESOLUTION

#define RATERESOLUTION   1000

Definition at line 43 of file output_stream.c.

Referenced by throttle().

Function Documentation

CreateAndSendPackets()

void CreateAndSendPackets	(	SensorFusionGlobals *	sfg,
		uint8_t *	sUARTOutputBuffer
	)

Called once per fusion cycle to stream information required by the NXP Sensor Fusion Toolbox. Packet protocols are defined in the NXP Sensor Fusion for Kinetis Product Development Kit User Guide.

Definition at line 148 of file output_stream.c.

References ControlSubsystem::AccelCalPacketOn, ControlSubsystem::AltPacketOn, ControlSubsystem::AngularVelocityPacketOn, CHX, CHY, CHZ, ControlSubsystem::DebugPacketOn, F_1DOF_P_BASIC, F_3DOF_B_BASIC, F_3DOF_G_BASIC, F_3DOF_Y_BASIC, F_6DOF_GB_BASIC, F_6DOF_GY_KALMAN, F_9DOF_GBY_KALMAN, F_USING_ACCEL, F_USING_GYRO, F_USING_MAG, MagCalibration::fB, MagCalibration::fFitErrorpc, MagCalibration::finvW, FUSION_HZ, MagCalibration::fV, MagSensor::iBc, MagBuffer::iBs, MagSensor::iCountsPeruT, SensorFusionGlobals::iFlags, MagBuffer::iMagBufferCount, MagBuffer::index, int32_t(), SensorFusionGlobals::Mag, SensorFusionGlobals::MagBuffer, MAGBUFFSIZEX, MAGBUFFSIZEY, SensorFusionGlobals::MagCal, MAX_ACCEL_CAL_ORIENTATIONS, SensorFusionGlobals::pControlSubsystem, Quaternion::q0, Quaternion::q1, Quaternion::q2, Quaternion::q3, Q3, Q3G, Q3M, Q6AG, Q6MA, Q9, ControlSubsystem::QuaternionPacketType, readCommon(), ControlSubsystem::RPCPacketOn, sBufAppendItem(), sBufAppendZeros(), THIS_BOARD, THIS_SHIELD, THISBUILD, throttle(), and ControlSubsystem::write.

Referenced by initializeControlPort().

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readCommon()

void readCommon	(	SV_ptr	data,
		Quaternion *	fq,
		int16_t *	iPhi,
		int16_t *	iThe,
		int16_t *	iRho,
		int16_t	iOmega[],
		uint16_t *	isystick
	)

Definition at line 104 of file output_stream.c.

References CHX, CHY, CHZ, SV_COMMON::fOmega, SV_COMMON::fPhi, SV_COMMON::fq, SV_COMMON::fRho, SV_COMMON::fThe, and SV_COMMON::systick.

Referenced by CreateAndSendPackets().

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sBufAppendItem()

void sBufAppendItem	(	uint8_t *	pDest,
		uint16_t *	pIndex,
		uint8_t *	pSource,
		uint16_t	iBytesToCopy
	)

Utility function used to place data in output buffer about to be transmitted via UART.

Definition at line 63 of file output_stream.c.

Referenced by appendZerosOrientBuf(), CreateAndSendPackets(), and sBufAppendZeros().

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sBufAppendZeros()

void sBufAppendZeros	(	uint8_t *	pDest,
		uint16_t *	pIndex,
		uint16_t	numZeros
	)

Definition at line 96 of file output_stream.c.

References sBufAppendItem().

Referenced by CreateAndSendPackets().

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throttle()

uint16_t throttle

(

)

(OVERSAMPLE_RATIO * MAXPACKETRATEHZ) / SENSORFS

Definition at line 123 of file output_stream.c.

References FUSION_HZ, MAXPACKETRATEHZ, and RATERESOLUTION.

Referenced by CreateAndSendPackets().

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