Fusion.h File Reference

#include "main.h"
#include "math.h"
#include "TargetFeatures.h"
#include "motion_gc.h"

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Go to the source code of this file.

Classes
union	Vector3
	Union data structure for holding vector of 3 elements. More...
struct	Quaternion
	Structure for holding Quaternion [w, x, y, z]. More...
struct	Orientation
	Structure for holding Euler angles [Roll, Pitch, Yaw]. More...
struct	Fusion
	Structure holding input and output data from sensor fusion. More...
struct	SensorDataNormalised
	Structure holding normalised accelerometer and gyroscope readings. More...

Functions
Vector3	SubstractVector3 (const Vector3 *vectorA, const Vector3 *vectorB)
	SubstractVector3 Substracts two Vector3 vectors. More...
void	CalculateOrientation (Fusion *fusion)
	CalculateOrientation Calculates object's orientation from Quaternion and stores this information in Fusion data structure. More...
void	CalculateLinearAcceleration (Fusion *fusion, const Vector3 *acceleration)
	CalculateLinearAcceleration Calculates object's linear acceleration using Quaternion and accelerometer readings and stores this information in Fusion data structure. More...
Vector3	GetLinearAcceleration (const Fusion *fusion)
	GetLinearAcceleration Getter for linear accelearation. More...
Orientation	GetOrientation (const Fusion *fusion)
	GetOrientation Getter for orientation. More...
void	GetReadings (const SensorHandles *handle, SensorDataNormalised *dataOut)
	GetReadings Reads new data from accelerometer and gyroscope and saves them in SensorDataNormalised data structure. More...
float	deg2rad (float degrees)
	deg2rad Converts degrees to radians More...
void	MotionGC_Init (float freq)
	MotionGC_Init Initializes dynamic gyroscope calibration library. More...
void	MotionGC_updateBias (SensorDataNormalised *imuData, uint8_t *isStable)
	MotionGC_updateBias Calculates gyroscope offset and compensates gyroscope readings. More...

Function Documentation

void CalculateLinearAcceleration	(	Fusion *	fusion,
		const Vector3 *	acceleration
	)

CalculateLinearAcceleration Calculates object's linear acceleration using Quaternion and accelerometer readings and stores this information in Fusion data structure.

Parameters

fusion	Pointer to Fusion data structure
acceleration	Pointer to current acceleration reading

void CalculateOrientation

(

Fusion *

fusion

)

CalculateOrientation Calculates object's orientation from Quaternion and stores this information in Fusion data structure.

Parameters

fusion

Pointer to Fusion data structure

float deg2rad

(

float

degrees

)

deg2rad Converts degrees to radians

Parameters

degrees

Value to convert

Returns

Converted value in radians

Vector3 GetLinearAcceleration

(

const Fusion *

fusion

)

GetLinearAcceleration Getter for linear accelearation.

Parameters

fusion

Pointer to Fusion data structure holiding linear acceleration

Returns

Vector3 structure containing linear acceleration values

Orientation GetOrientation

(

const Fusion *

fusion

)

GetOrientation Getter for orientation.

Parameters

fusion

Pointer to Fusion data structure holiding orientation

Returns

Orientation structure containing object orieantation values in Euler angles

void GetReadings	(	const SensorHandles *	handle,
		SensorDataNormalised *	dataOut
	)

GetReadings Reads new data from accelerometer and gyroscope and saves them in SensorDataNormalised data structure.

Parameters

handle	Pointer to SensorHandles
dataOut	Pointer to SensorDataNormalised, where new readings should be saved

void MotionGC_Init

(

float

freq

)

MotionGC_Init Initializes dynamic gyroscope calibration library.

Parameters

freq	Update frequency

void MotionGC_updateBias	(	SensorDataNormalised *	imuData,
		uint8_t *	isStable
	)

MotionGC_updateBias Calculates gyroscope offset and compensates gyroscope readings.

Parameters

imuData	Pointer to SensorDataNormalised structure where input and output data are stored
isStable	Pointer to flag variable indicating if object is stable

Vector3 SubstractVector3	(	const Vector3 *	vectorA,
		const Vector3 *	vectorB
	)

SubstractVector3 Substracts two Vector3 vectors.

Parameters

vectorA	Pointer to first vector
vectorB	Pointer to second vector

Returns

Vector = vectorA - vectorB