SensorFusionGlobals Struct Reference

The top level fusion structure. More...

#include <sensor_fusion.h>

Collaboration diagram for SensorFusionGlobals:

Data Fields
SubsystemPointers
The Status and Control subsystems can be used as-is, or completely replaced with alternate implementations, as long as those implementations provide the same interfaces defined in control.h and status.h.
struct ControlSubsystem *	pControlSubsystem
struct StatusSubsystem *	pStatusSubsystem
MiscFields
uint32_t	iFlags
	a bit-field of sensors and algorithms used More...
struct PhysicalSensor *	pSensors
	a linked list of physical sensors More...
volatile uint8_t	iPerturbation
	test perturbation to be applied More...
int32_t	loopcounter
	counter incrementing each iteration of sensor fusion (typically 25Hz) More...
int32_t	systick_I2C
	systick counter to benchmark I2C reads More...
int32_t	systick_Spare
	systick counter for counts spare waiting for timing interrupt More...
SensorRelatedStructures
These structures provide homes for sensor readings, as well as various calibration functions. Only those needed for a specific build are included.
struct MagSensor	Mag
	magnetometer storage More...
struct MagCalibration	MagCal
	mag cal storage More...
struct MagBuffer	MagBuffer
	mag cal constellation points More...
FunctionPointers
Function pointers (the SF library external interface)
installSensor_t *	installSensor
	function for installing a new sensor into t More...
initializeFusionEngine_t *	initializeFusionEngine
	set sensor fusion structures to initial values More...
applyPerturbation_t *	applyPerturbation
	apply step function for testing purposes More...
readSensors_t *	readSensors
	read all physical sensors More...
runFusion_t *	runFusion
	run the fusion routines More...
conditionSensorReadings_t *	conditionSensorReadings
	preprocessing step for sensor fusion More...
clearFIFOs_t *	clearFIFOs
	clear sensor FIFOs More...
setStatus_t *	setStatus
	change status indicator immediately More...
setStatus_t *	queueStatus
	queue status change for next regular interval More...
updateStatus_t *	updateStatus
	status=next status More...
updateStatus_t *	testStatus
	increment to next enumerated status value (test only) More...

Detailed Description

The top level fusion structure.

The top level fusion structure grows/shrinks based upon flag definitions contained in build.h. These same flags will populate the .iFlags field for run-time access.

Definition at line 454 of file sensor_fusion.h.

Field Documentation

applyPerturbation

applyPerturbation_t* applyPerturbation

apply step function for testing purposes

Definition at line 526 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), and main().

clearFIFOs

clearFIFOs_t* clearFIFOs

clear sensor FIFOs

Definition at line 530 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals().

conditionSensorReadings

conditionSensorReadings_t* conditionSensorReadings

preprocessing step for sensor fusion

Definition at line 529 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), and main().

iFlags

uint32_t iFlags

a bit-field of sensors and algorithms used

Definition at line 467 of file sensor_fusion.h.

Referenced by CreateAndSendPackets(), initializeFusionEngine(), and initSensorFusionGlobals().

initializeFusionEngine

initializeFusionEngine_t* initializeFusionEngine

set sensor fusion structures to initial values

Definition at line 525 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), and main().

installSensor

installSensor_t* installSensor

function for installing a new sensor into t

Definition at line 524 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), and main().

iPerturbation

volatile uint8_t iPerturbation

test perturbation to be applied

Definition at line 469 of file sensor_fusion.h.

Referenced by ApplyPerturbation(), DecodeCommandBytes(), and initSensorFusionGlobals().

loopcounter

int32_t loopcounter

counter incrementing each iteration of sensor fusion (typically 25Hz)

Definition at line 471 of file sensor_fusion.h.

Referenced by fInitializeFusion(), initializeFusionEngine(), initSensorFusionGlobals(), main(), and processMagData().

Mag

struct MagSensor Mag

magnetometer storage

Definition at line 489 of file sensor_fusion.h.

Referenced by clearFIFOs(), conditionSensorReadings(), CreateAndSendPackets(), FXOS8700_Idle(), FXOS8700_Init(), FXOS8700_ReadMagData(), initSensorFusionGlobals(), MAG3110_Idle(), MAG3110_Init(), MAG3110_Read(), processMagData(), and runFusion().

MagBuffer

struct MagBuffer MagBuffer

mag cal constellation points

Definition at line 491 of file sensor_fusion.h.

Referenced by CreateAndSendPackets(), DecodeCommandBytes(), initializeFusionEngine(), and processMagData().

MagCal

struct MagCalibration MagCal

mag cal storage

Definition at line 490 of file sensor_fusion.h.

Referenced by CreateAndSendPackets(), DecodeCommandBytes(), initializeFusionEngine(), processMagData(), runFusion(), and SaveMagCalibrationToNVM().

pControlSubsystem

struct ControlSubsystem* pControlSubsystem

Definition at line 462 of file sensor_fusion.h.

Referenced by ApplyPerturbation(), CreateAndSendPackets(), DecodeCommandBytes(), initializeFusionEngine(), initializeSensors(), initSensorFusionGlobals(), and main().

pSensors

struct PhysicalSensor* pSensors

a linked list of physical sensors

Definition at line 468 of file sensor_fusion.h.

Referenced by initializeSensors(), initSensorFusionGlobals(), installSensor(), and readSensors().

pStatusSubsystem

struct StatusSubsystem* pStatusSubsystem

Definition at line 463 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), queueStatus(), setStatus(), testStatus(), and updateStatus().

queueStatus

setStatus_t* queueStatus

queue status change for next regular interval

Definition at line 532 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), main(), and vApplicationTickHook().

readSensors

readSensors_t* readSensors

read all physical sensors

Definition at line 527 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), and main().

runFusion

runFusion_t* runFusion

run the fusion routines

Definition at line 528 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), and main().

setStatus

setStatus_t* setStatus

change status indicator immediately

Definition at line 531 of file sensor_fusion.h.

Referenced by CONTROL_UART_IRQHandler(), initializeFusionEngine(), initializeSensors(), initSensorFusionGlobals(), main(), processMagData(), readSensors(), WIRED_UART_IRQHandler(), and WIRELESS_UART_IRQHandler().

systick_I2C

int32_t systick_I2C

systick counter to benchmark I2C reads

Definition at line 472 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals().

systick_Spare

int32_t systick_Spare

systick counter for counts spare waiting for timing interrupt

Definition at line 473 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals().

testStatus

updateStatus_t* testStatus

increment to next enumerated status value (test only)

Definition at line 534 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals().

updateStatus

updateStatus_t* updateStatus

status=next status

Definition at line 533 of file sensor_fusion.h.

Referenced by initSensorFusionGlobals(), and main().

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The documentation for this struct was generated from the following file:

• algorithms/sensorfusion/sources/sensor_fusion.h