diff --git a/docs/html/board_8h.html b/docs/html/board_8h.html index c693f0a..b64302c 100644 --- a/docs/html/board_8h.html +++ b/docs/html/board_8h.html @@ -99,7 +99,7 @@ - + diff --git a/docs/html/board_8h__dep__incl.map b/docs/html/board_8h__dep__incl.map index 96c2dbe..6578c23 100644 --- a/docs/html/board_8h__dep__incl.map +++ b/docs/html/board_8h__dep__incl.map @@ -1,7 +1,7 @@ - + diff --git a/docs/html/board_8h__dep__incl.md5 b/docs/html/board_8h__dep__incl.md5 index f8ba94c..dfcd82b 100644 --- a/docs/html/board_8h__dep__incl.md5 +++ b/docs/html/board_8h__dep__incl.md5 @@ -1 +1 @@ -4c74f9e140a2bbfc36eb9997086efcbe \ No newline at end of file +806b11e5d7c7cd16d9ccdfb08999120f \ No newline at end of file diff --git a/docs/html/build_8h.html b/docs/html/build_8h.html index e19f70c..c53646e 100644 --- a/docs/html/build_8h.html +++ b/docs/html/build_8h.html @@ -83,7 +83,7 @@ - + diff --git a/docs/html/build_8h__dep__incl.map b/docs/html/build_8h__dep__incl.map index 8ff941c..dd6f25b 100644 --- a/docs/html/build_8h__dep__incl.map +++ b/docs/html/build_8h__dep__incl.map @@ -1,7 +1,7 @@ - + diff --git a/docs/html/build_8h__dep__incl.md5 b/docs/html/build_8h__dep__incl.md5 index 084c18c..498db8a 100644 --- a/docs/html/build_8h__dep__incl.md5 +++ b/docs/html/build_8h__dep__incl.md5 @@ -1 +1 @@ -e2e0ddc86fd6980f791f4725c64cc99a \ No newline at end of file +562297b4dc04e57ace4545f3ee567585 \ No newline at end of file diff --git a/docs/html/classSensorFusion-members.html b/docs/html/classSensorFusion-members.html index b1be384..2c985f8 100644 --- a/docs/html/classSensorFusion-members.html +++ b/docs/html/classSensorFusion-members.html @@ -80,6 +80,14 @@ GetAccelZMPerSS(void)SensorFusion GetHeadingDegrees(void)SensorFusion GetHeadingRadians(void)SensorFusion + GetMagneticBMag(void)SensorFusion + GetMagneticBMagTrial(void)SensorFusion + GetMagneticCalSolver(void)SensorFusion + GetMagneticFitError(void)SensorFusion + GetMagneticFitErrorTrial(void)SensorFusion + GetMagneticInclinationDeg(void)SensorFusion + GetMagneticInclinationRad(void)SensorFusion + GetMagneticNoiseCovariance(void)SensorFusion GetOrientationQuaternion(Quaternion *quat)SensorFusion GetPitchDegrees(void)SensorFusion GetPitchRadians(void)SensorFusion @@ -89,34 +97,35 @@ GetRollRadians(void)SensorFusion GetRollRateDegPerS(void)SensorFusion GetRollRateRadPerS(void)SensorFusion - GetTemperatureC(void)SensorFusion - GetTemperatureK(void)SensorFusion - GetTurnRateDegPerS(void)SensorFusion - GetTurnRateRadPerS(void)SensorFusion - InitializeInputOutputSubsystem(const Stream *serial_port=NULL, const void *tcp_client=NULL)SensorFusion - InitializeSensorFusionGlobals(void)SensorFusionprivate - InitializeStatusSubsystem(void)SensorFusionprivate - InjectCommand(const char *command)SensorFusion - InstallSensor(uint8_t sensor_i2c_addr, SensorType sensor_type)SensorFusion - IsDataValid(void)SensorFusion - kLoopsPerAccelReadSensorFusionprivate - kLoopsPerFusionCalcSensorFusionprivate - kLoopsPerGyroReadSensorFusionprivate - kLoopsPerMagReadSensorFusionprivate - kLoopsPerThermReadSensorFusionprivate - loops_per_fuse_counter_SensorFusionprivate - num_sensors_installed_SensorFusionprivate - ProcessCommands(void)SensorFusion - ProduceToolboxOutput(void)SensorFusion - ReadSensors(void)SensorFusion - RunFusion(void)SensorFusion + GetSystemStatus(void)SensorFusion + GetTemperatureC(void)SensorFusion + GetTemperatureK(void)SensorFusion + GetTurnRateDegPerS(void)SensorFusion + GetTurnRateRadPerS(void)SensorFusion + InitializeInputOutputSubsystem(const Stream *serial_port=NULL, const void *tcp_client=NULL)SensorFusion + InitializeSensorFusionGlobals(void)SensorFusionprivate + InitializeStatusSubsystem(void)SensorFusionprivate + InjectCommand(const char *command)SensorFusion + InstallSensor(uint8_t sensor_i2c_addr, SensorType sensor_type)SensorFusion + IsDataValid(void)SensorFusion + kLoopsPerAccelReadSensorFusionprivate + kLoopsPerFusionCalcSensorFusionprivate + kLoopsPerGyroReadSensorFusionprivate + kLoopsPerMagReadSensorFusionprivate + kLoopsPerThermReadSensorFusionprivate + loops_per_fuse_counter_SensorFusionprivate + num_sensors_installed_SensorFusionprivate + ProcessCommands(void)SensorFusion + ProduceToolboxOutput(void)SensorFusion + ReadSensors(void)SensorFusion + RunFusion(void)SensorFusion + SaveMagneticCalibration(void)SensorFusion SendArbitraryData(const char *buffer, uint16_t data_length)SensorFusion SensorFusion()SensorFusion sensors_SensorFusionprivate sfg_SensorFusionprivate status_subsystem_SensorFusionprivate - SystemStatus(void)SensorFusion - UpdateWiFiStream(void *tcp_client)SensorFusion + UpdateWiFiStream(void *tcp_client)SensorFusion
diff --git a/docs/html/classSensorFusion.html b/docs/html/classSensorFusion.html index 6482607..6117a24 100644 --- a/docs/html/classSensorFusion.html +++ b/docs/html/classSensorFusion.html @@ -99,10 +99,10 @@ bool InstallSensor (uint8_t sensor_i2c_addr, SensorType sensor_type)  Install Sensor in linked list The max length of the list is checked, and if there is room, the given sensor is inserted at the head of the list. An accelerometer and magnetometer may be combined in one IC - if that is the case then only one call is required to install, provided the associated *_Init() and *_Read() function reads both the accel & magnetometer data. The Init() and Read() functions of each sensor are defined in driver_*.* files. More...
  -void Begin (int pin_i2c_sda=-1, int pin_i2c_scl=-1) -  bool InitializeInputOutputSubsystem (const Stream *serial_port=NULL, const void *tcp_client=NULL)   +void Begin (int pin_i2c_sda=-1, int pin_i2c_scl=-1) +  void UpdateWiFiStream (void *tcp_client)  Update the TCP client pointer. Call when a new TCP connection is made, as reported by WiFiServer::available() When tcp_client is NULL, output via WiFi is not attempted. More...
  @@ -126,10 +126,13 @@ void InjectCommand (const char *command)  Inject and process a single command in the control subsystem. More...
  +void SaveMagneticCalibration (void) + Save current magnetic calibration to non-volatile memory. More...
+  bool IsDataValid (void)   -int SystemStatus (void) -  +int GetSystemStatus (void) +  float GetHeadingDegrees (void)   float GetPitchDegrees (void) @@ -173,6 +176,22 @@ void GetOrientationQuaternion (Quaternion *quat)  Return the orientation as a quaternion. More...
  +float GetMagneticFitError (void) +  +float GetMagneticFitErrorTrial (void) +  +float GetMagneticBMag (void) +  +float GetMagneticBMagTrial (void) +  +float GetMagneticInclinationDeg (void) +  +float GetMagneticInclinationRad (void) +  +float GetMagneticNoiseCovariance (void) +  +float GetMagneticCalSolver (void) +  @@ -426,6 +445,169 @@

Returns
Return the Compass Heading in radians
+ + + +

◆ GetMagneticBMag()

+ +
+
+

Private Member Functions

+ + + + + + + +
float SensorFusion::GetMagneticBMag (void )
+
+
Returns
Return geomagnetic field magnitude in uT of current calibration.
+

This value does not change with each sensor reading - it only updates if a new calibration parameter set is calculated and becomes the currently-used calibration.

+ +
+ + +

◆ GetMagneticBMagTrial()

+ +
+
+ + + + + + + + +
float SensorFusion::GetMagneticBMagTrial (void )
+
+
Returns
Return geomagnetic field magnitude in uT of trial calibration.
+

This value is the current best-estimate of the B field using recent magnetic sensor readings. It updates with each new sensor reading added to the buffer. If the new trial calibration parameters are accepted and replace the current calibration, then this B field becomes associated with that set.

+

This parameter provides an indication of magnetic interference; if it differs widely from the B value of the current calibration then one can conclude that the current calibration is not valid for the present magnetic environment.

+ +
+
+ +

◆ GetMagneticCalSolver()

+ +
+
+ + + + + + + + +
float SensorFusion::GetMagneticCalSolver (void )
+
+
Returns
Return solver used for current calibration [0,4,7,10]
+

The solver is the number of elements (complexity) of the calibration algorithm. 0 means no calibration; 10 is the most complex.

+ +
+
+ +

◆ GetMagneticFitError()

+ +
+
+ + + + + + + + +
float SensorFusion::GetMagneticFitError (void )
+
+
Returns
Return magnetic fit error of current calibration
+

This function returns the measure of the goodness of fit of the currently-used calibration parameter set. Units are in % and a value less than 3.5% is considered good. If no calibration is available on startup (i.e. none saved in EEPROM) then a value of 0 is returned briefly during program startup, indicating that insufficient data are available to calculate a fit.

+ +
+
+ +

◆ GetMagneticFitErrorTrial()

+ +
+
+ + + + + + + + +
float SensorFusion::GetMagneticFitErrorTrial (void )
+
+
Returns
Return magnetic fit error of trial calibration
+

The background calibration task uses recent magnetic readings to periodically calculate a new set of calibration parameters. This function returns the measure of goodness of fit of the new calibration parameter set. Units are in % and a value less than 3.5% is considered good. A value of 0 is returned briefly during program startup, indicating that insufficient data are available to calculate a fit.

+ +
+
+ +

◆ GetMagneticInclinationDeg()

+ +
+
+ + + + + + + + +
float SensorFusion::GetMagneticInclinationDeg (void )
+
+
Returns
Return geomagnetic field inclination from horizontal in degrees.
+

This is the a posteriori value from Kalman filter output and updates with each sensor reading. It can be used as an indication of magnetic interference; if its value changes by more than, say, 10 degrees from recent previous values then it indicates a disturbance in the magnetic environment.

+

Magnetic inclination values vary over the earth's surface and are available from sources such as NOAA.

+ +
+
+ +

◆ GetMagneticInclinationRad()

+ +
+
+ + + + + + + + +
float SensorFusion::GetMagneticInclinationRad (void )
+
+
Returns
Return geomagnetic field inclination from horizontal in radians.
+

This is the a posteriori value from Kalman filter output and updates with each sensor reading. It can be used as an indication of magnetic interference; if its value changes by more than, say, 10 degrees from recent previous values then it indicates a disturbance in the magnetic environment.

+

Magnetic inclination values vary over the earth's surface and are available from sources such as NOAA.

+ +
+
+ +

◆ GetMagneticNoiseCovariance()

+ +
+
+ + + + + + + + +
float SensorFusion::GetMagneticNoiseCovariance (void )
+
+
Returns
Return measurement noise covariance value for magnetic field.
+

This is proportional to how heavily the magnetic readings are weighted in calculating the a posteriori orientation. This is a good measure of magnetic interference; when the noise covariance value rises above about 0.00056 it indicates the current magnetic reading does not lie close to the surface of the calibrated geomagnetic sphere.

+
@@ -447,7 +629,7 @@

Parameters
- +
pointerto quaternion structure, to be filled by this method
quatpointer to quaternion structure, to be filled by this method
@@ -604,6 +786,26 @@

Returns
Return the Roll Rate in rad/s
+ + + +

◆ GetSystemStatus()

+ +
+
+ + + + + + + + +
int SensorFusion::GetSystemStatus (void )
+
+
Returns
Fusion System status
+

System status is indicated by an integer. See sensor_fusion.h for details. Common values are: 1 (Initializing); 3 (Normal); and 7 (Soft Fault - usually caused by communications fault with sensor IC)

+
@@ -621,7 +823,8 @@

-
Returns
Return the Temperature in degrees C
+
Returns
Return the Temperature in degrees C
+

This is the temperature of the sensor IC die. It is not factory-trimmed, so it very likely has an offset that should be calibrated out for best accuracy.

@@ -640,7 +843,8 @@

-
Returns
Return the Temperature in degrees K
+
Returns
Return the Temperature in degrees K
+

This is the temperature of the sensor IC die. It is not factory-trimmed, so it very likely has an offset that should be calibrated out for best accuracy.

@@ -738,7 +942,7 @@

control_input.c in the Orientation library.

Parameters
- +
constchar * command is a four-character sequence selected from the list of valid commands. Illegal commands are ignored without any action taken.
commandis a four-character sequence selected from the list of valid commands. Illegal commands are ignored without any action taken.
@@ -820,6 +1024,29 @@

+

◆ SaveMagneticCalibration()

+ +
+
+ + + + + + + + +
void SensorFusion::SaveMagneticCalibration (void )
+
+ +

Save current magnetic calibration to non-volatile memory.

+

Passes to the fusion control subsystem the command to save the current magnetic calibration parameters to EEPROM. This calibration will then be loaded each time the system restarts.

+

One can pass this command directly using InjectCommand(), but SaveMagneticCalibration() is provided as a convenience.

+

The fusion system continuously runs a time-sliced calibration routine in the background, and if a superior set of calibration parameters are calculated based on recent magnetic measurements, then these new parameters replace the current ones in RAM. However, it is only via this command that the parameters can be caused to persist beyond the next system reset.

+
@@ -849,25 +1076,6 @@

places data from buffer into Control subsystem's output buffer, and sends it out via serial and/or wifi. Any existing data in the output buffer that hasn't already been sent will be overwritten. Returns true on success, false on problem such as data_length too long for the transmit buffer.

- - - -

◆ SystemStatus()

- -
-
- - - - - - - - -
int SensorFusion::SystemStatus (void )
-
-
Returns
Fusion System status
-
@@ -917,7 +1125,7 @@

Initial value:
=
-
1
+
1

how often an accelerometer read is performed

@@ -943,7 +1151,7 @@

Initial value:
=
-
1
+
1

how often to fuse. Usually the max of previous 3 constants.

@@ -969,7 +1177,7 @@

Initial value:
=
-
1
+
1

how often a gyroscope read is performed

@@ -995,10 +1203,10 @@

Initial value:
=
-
1
+
1

how often a magnetometer read is performed

-

Constants of the form kLoopsPer_____ set the relationship between number of sensor reads and each execution of the fusion algorithm. Normally there is a 1:1 relationship (i.e. read, fuse, read, fuse,...) but other arrangements are possible (e.g. read, read, fuse, read, read,...) The rate at which main loop() executes is set by LOOP_RATE_HZ in build.h

+

Constants of the form kLoopsPer_____ set the relationship between number of sensor reads and each execution of the fusion algorithm. Normally there is a 1:1 relationship (i.e. read, fuse, read, fuse,...) but other arrangements are possible (e.g. read, read, fuse, read, read,...) The rate at which main loop() executes is set by LOOP_RATE_HZ in build.h

@@ -1022,7 +1230,7 @@

Initial value:
=
-
1
+
1

how often a thermometer read is performed

@@ -1048,7 +1256,7 @@

Initial value:
=
-
0
+
0

counts how many times through loop have been done

@@ -1074,7 +1282,7 @@

Initial value:
=
-
0
+
0

tracks how many sensors have been added to list

diff --git a/docs/html/control_8h.html b/docs/html/control_8h.html index 12cbf2e..60bdd33 100644 --- a/docs/html/control_8h.html +++ b/docs/html/control_8h.html @@ -92,7 +92,7 @@ - + diff --git a/docs/html/control_8h__dep__incl.map b/docs/html/control_8h__dep__incl.map index 0996e4e..702319f 100644 --- a/docs/html/control_8h__dep__incl.map +++ b/docs/html/control_8h__dep__incl.map @@ -7,5 +7,5 @@ - + diff --git a/docs/html/control_8h__dep__incl.md5 b/docs/html/control_8h__dep__incl.md5 index 02424c1..4217394 100644 --- a/docs/html/control_8h__dep__incl.md5 +++ b/docs/html/control_8h__dep__incl.md5 @@ -1 +1 @@ -e6f3b74d1e84ea5e935b338907d76c4d \ No newline at end of file +94e600320e2055541fa658a22ff7c858 \ No newline at end of file diff --git a/docs/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/docs/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html index 8a6bd2e..04a2990 100644 --- a/docs/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/docs/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -94,7 +94,7 @@  Build configuration file.
  file  main.cc - Example main program, demonstrating how to use SensorFusion class This file creates a SensorFusion object, and runs a loop that produces orientation data every 25ms. Output is possible in NXP SensorToolbox application format, and also in user-defined format, depending on which functions are called. Both Serial UART and WiFi output are supported. Because this file is also being used for development of the fusion library, various features may be commented in/out in the latest version found on Github. You may want to keep a local copy that doesn't get modified each time you refresh your local repository.
+ Example main program, demonstrating how to use SensorFusion class.
  file  sensor_fusion_class.cc  An easy-to-use interface to the NXP Sensor Fusion version 7 library algorithms.
diff --git a/docs/html/driver__fxas21002_8h.html b/docs/html/driver__fxas21002_8h.html index 6fd520b..e53653a 100644 --- a/docs/html/driver__fxas21002_8h.html +++ b/docs/html/driver__fxas21002_8h.html @@ -88,7 +88,7 @@ - + diff --git a/docs/html/driver__fxas21002_8h__dep__incl.map b/docs/html/driver__fxas21002_8h__dep__incl.map index 0df1070..40291fd 100644 --- a/docs/html/driver__fxas21002_8h__dep__incl.map +++ b/docs/html/driver__fxas21002_8h__dep__incl.map @@ -3,7 +3,7 @@ - + diff --git a/docs/html/driver__fxas21002_8h__dep__incl.md5 b/docs/html/driver__fxas21002_8h__dep__incl.md5 index 955f700..0b5e250 100644 --- a/docs/html/driver__fxas21002_8h__dep__incl.md5 +++ b/docs/html/driver__fxas21002_8h__dep__incl.md5 @@ -1 +1 @@ -f59e914b4c65b73e8c245b2374ab400e \ No newline at end of file +86f87a867740d6dbe29ee5ba2ba4af96 \ No newline at end of file diff --git a/docs/html/driver__fxos8700_8h.html b/docs/html/driver__fxos8700_8h.html index 5c6d2f1..aecf5d7 100644 --- a/docs/html/driver__fxos8700_8h.html +++ b/docs/html/driver__fxos8700_8h.html @@ -99,7 +99,7 @@ - + diff --git a/docs/html/driver__fxos8700_8h__dep__incl.map b/docs/html/driver__fxos8700_8h__dep__incl.map index 0b5eeb2..05a172e 100644 --- a/docs/html/driver__fxos8700_8h__dep__incl.map +++ b/docs/html/driver__fxos8700_8h__dep__incl.map @@ -3,7 +3,7 @@ - + diff --git a/docs/html/driver__fxos8700_8h__dep__incl.md5 b/docs/html/driver__fxos8700_8h__dep__incl.md5 index 4b683bc..953dfff 100644 --- a/docs/html/driver__fxos8700_8h__dep__incl.md5 +++ b/docs/html/driver__fxos8700_8h__dep__incl.md5 @@ -1 +1 @@ -3f5e2f054b5a8d9117070d30685949a8 \ No newline at end of file +190b95abef0cfd50d9932ff3d2b01f68 \ No newline at end of file diff --git a/docs/html/driver__sensors__types_8h.html b/docs/html/driver__sensors__types_8h.html index 7865540..feb32b0 100644 --- a/docs/html/driver__sensors__types_8h.html +++ b/docs/html/driver__sensors__types_8h.html @@ -102,7 +102,7 @@ - + diff --git a/docs/html/driver__sensors__types_8h__dep__incl.map b/docs/html/driver__sensors__types_8h__dep__incl.map index 51748c2..9c9b382 100644 --- a/docs/html/driver__sensors__types_8h__dep__incl.map +++ b/docs/html/driver__sensors__types_8h__dep__incl.map @@ -7,7 +7,7 @@ - + diff --git a/docs/html/driver__sensors__types_8h__dep__incl.md5 b/docs/html/driver__sensors__types_8h__dep__incl.md5 index 3d733f4..be97b3a 100644 --- a/docs/html/driver__sensors__types_8h__dep__incl.md5 +++ b/docs/html/driver__sensors__types_8h__dep__incl.md5 @@ -1 +1 @@ -549f945560c40d59d30704290e708bea \ No newline at end of file +56943cef07ee192af5b26edac613ade9 \ No newline at end of file diff --git a/docs/html/files.html b/docs/html/files.html index c64a594..f61ea31 100644 --- a/docs/html/files.html +++ b/docs/html/files.html @@ -110,7 +110,7 @@  status.hApplication-specific status subsystem  board.hBoard configuration file  build.hBuild configuration file - main.ccExample main program, demonstrating how to use SensorFusion class This file creates a SensorFusion object, and runs a loop that produces orientation data every 25ms. Output is possible in NXP SensorToolbox application format, and also in user-defined format, depending on which functions are called. Both Serial UART and WiFi output are supported. Because this file is also being used for development of the fusion library, various features may be commented in/out in the latest version found on Github. You may want to keep a local copy that doesn't get modified each time you refresh your local repository + main.ccExample main program, demonstrating how to use SensorFusion class  sensor_fusion_class.ccAn easy-to-use interface to the NXP Sensor Fusion version 7 library algorithms  sensor_fusion_class.h diff --git a/docs/html/functions_func.html b/docs/html/functions_func.html index 3a302f2..832533c 100644 --- a/docs/html/functions_func.html +++ b/docs/html/functions_func.html @@ -97,6 +97,30 @@

- g -