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globals.c
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globals.c
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// Copyright (c) 2014, 2015, Freescale Semiconductor, Inc.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of Freescale Semiconductor, Inc. nor the
// names of its contributors may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL FREESCALE SEMICONDUCTOR, INC. BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include "globals.h"
#include "types.h"
#include "fusion.h"
#include "magnetic.h"
uint32_t loopcounter = 0;
// sensor data structures
#ifdef PRESSURE_SENSOR
struct PressureSensor thisPressure; // this pressure sensor
#endif
#ifdef ACCEL_SENSOR
struct AccelSensor thisAccel; // this accelerometer
#endif
#ifdef MAG_SENSOR
struct MagSensor thisMag; // this magnetometer
struct MagCalibration thisMagCal; // hard and soft iron magnetic calibration
struct MagneticBuffer thisMagBuffer; // magnetometer measurement buffer
#endif
#ifdef GYRO_SENSOR
struct GyroSensor thisGyro; // this gyro
#endif
// 1DOF pressure structure
#if defined COMPUTE_1DOF_P_BASIC
struct SV_1DOF_P_BASIC thisSV_1DOF_P_BASIC;
#endif
// 3DOF accelerometer (Basic) structure
#if defined COMPUTE_3DOF_G_BASIC
struct SV_3DOF_G_BASIC thisSV_3DOF_G_BASIC;
#endif
// 3DOF magnetometer (Basic) structure
#if defined COMPUTE_3DOF_B_BASIC
struct SV_3DOF_B_BASIC thisSV_3DOF_B_BASIC;
#endif
// 3DOF gyro (Basic) structure
#if defined COMPUTE_3DOF_Y_BASIC
struct SV_3DOF_Y_BASIC thisSV_3DOF_Y_BASIC;
#endif
// 6DOF accelerometer and magnetometer (Basic) structure
#if defined COMPUTE_6DOF_GB_BASIC
struct SV_6DOF_GB_BASIC thisSV_6DOF_GB_BASIC;
#endif
// 6DOF accelerometer and gyro (Kalman) structure
#if defined COMPUTE_6DOF_GY_KALMAN
struct SV_6DOF_GY_KALMAN thisSV_6DOF_GY_KALMAN;
#endif
// 9DOF accelerometer, magnetometer and gyro (Kalman) structure
#if defined COMPUTE_9DOF_GBY_KALMAN
struct SV_9DOF_GBY_KALMAN thisSV_9DOF_GBY_KALMAN;
#endif