#include "Fusion/Fusion.h"

Include dependency graph for Fusion.c:

Macros
#define	Q fusion->quaternion

#define	Q fusion->quaternion

Functions
Vector3	SubstractVector3 (const Vector3 vectorA, const Vector3 vectorB)
	SubstractVector3 Substracts two vectors of lenght equal to 3. 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 vectors of lenght equal to 3.

Parameters

vectorA	Pointer to first vector
vectorB	Pointer to second vector

Returns: Vector = vectorA - vectorB

Macros

Functions

Function Documentation