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//*****************************************************************************
//
// 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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