diff options
| author | Yuval Adam <yuval@y3xz.com> | 2015-03-13 12:24:52 +0200 |
|---|---|---|
| committer | Yuval Adam <yuval@y3xz.com> | 2015-03-13 12:24:52 +0200 |
| commit | 4085ae3ddfbbf10c8ccbd3dccd43452c40a1fe40 (patch) | |
| tree | ac63581949a49511136e7e9e47d265bfb4119b26 /sensorlib/comp_dcm.h | |
| parent | 788db64b8642bf31de6930d18a62177c64163ee0 (diff) | |
Add bootloader, nfclib and sensorlib
Diffstat (limited to 'sensorlib/comp_dcm.h')
| -rw-r--r-- | sensorlib/comp_dcm.h | 120 |
1 files changed, 120 insertions, 0 deletions
diff --git a/sensorlib/comp_dcm.h b/sensorlib/comp_dcm.h new file mode 100644 index 0000000..860bda9 --- /dev/null +++ b/sensorlib/comp_dcm.h @@ -0,0 +1,120 @@ +//*****************************************************************************
+//
+// comp_dcm.h - Prototypes for the complementary filter direction cosine matrix
+// functions.
+//
+// Copyright (c) 2012-2014 Texas Instruments Incorporated. All rights reserved.
+// Software License Agreement
+//
+// Texas Instruments (TI) is supplying this software for use solely and
+// exclusively on TI's microcontroller products. The software is owned by
+// TI and/or its suppliers, and is protected under applicable copyright
+// laws. You may not combine this software with "viral" open-source
+// software in order to form a larger program.
+//
+// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
+// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
+// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
+// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
+// DAMAGES, FOR ANY REASON WHATSOEVER.
+//
+// This is part of revision 2.1.0.12573 of the Tiva Firmware Development Package.
+//
+//*****************************************************************************
+
+#ifndef __SENSORLIB_COMP_DCM_H__
+#define __SENSORLIB_COMP_DCM_H__
+
+//*****************************************************************************
+//
+// If building with a C++ compiler, make all of the definitions in this header
+// have a C binding.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//*****************************************************************************
+//
+// The structure that defines the internal state of the complementary filter
+// DCM algorithm.
+//
+//*****************************************************************************
+typedef struct
+{
+ //
+ // The state of the direction cosine matrix.
+ //
+ float ppfDCM[3][3];
+
+ //
+ // The time delta between updates to the DCM.
+ //
+ float fDeltaT;
+
+ //
+ // The scaling factor for the DCM update based on the accelerometer
+ // reading.
+ //
+ float fScaleA;
+
+ //
+ // The scaling factor for the DCM update based on the gyroscope reading.
+ //
+ float fScaleG;
+
+ //
+ // The scaling factor for the DCM update based on the magnetometer reading.
+ //
+ float fScaleM;
+
+ //
+ // The most recent accelerometer readings.
+ //
+ float pfAccel[3];
+
+ //
+ // The most recent gyroscope readings.
+ //
+ float pfGyro[3];
+
+ //
+ // The most recent magnetometer readings.
+ //
+ float pfMagneto[3];
+}
+tCompDCM;
+
+//*****************************************************************************
+//
+// Prototypes.
+//
+//*****************************************************************************
+extern void CompDCMInit(tCompDCM *psDCM, float fDeltaT, float fScaleA,
+ float fScaleG, float fScaleM);
+extern void CompDCMAccelUpdate(tCompDCM *psDCM, float fAccelX, float fAccelY,
+ float fAccelZ);
+extern void CompDCMGyroUpdate(tCompDCM *psDCM, float fGyroX, float fGyroY,
+ float fGyroZ);
+extern void CompDCMMagnetoUpdate(tCompDCM *psDCM, float fMagnetoX,
+ float fMagnetoY, float fMagnetoZ);
+extern void CompDCMStart(tCompDCM *psDCM);
+extern void CompDCMUpdate(tCompDCM *psDCM);
+extern void CompDCMMatrixGet(tCompDCM *psDCM, float ppfDCM[3][3]);
+extern void CompDCMComputeEulers(tCompDCM *psDCM, float *pfRoll,
+ float *pfPitch, float *pfYaw);
+extern void CompDCMComputeQuaternion(tCompDCM *psDCM, float pfQuaternion[4]);
+
+//*****************************************************************************
+//
+// Mark the end of the C bindings section for C++ compilers.
+//
+//*****************************************************************************
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __SENSORLIB_COMP_DCM_H__
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