sensor_fusion.h File Reference

Performs sensor fusion using accelerometer, gyro, and magnetometer data. More...

#include "sensor_common.h"

Go to the source code of this file.

Enumerations
enum	MblMwSensorFusionMode {   MBL_MW_SENSOR_FUSION_MODE_SLEEP = 0, MBL_MW_SENSOR_FUSION_MODE_NDOF, MBL_MW_SENSOR_FUSION_MODE_IMU_PLUS, MBL_MW_SENSOR_FUSION_MODE_COMPASS,   MBL_MW_SENSOR_FUSION_MODE_M4G }
	Fusion modes supported by the algorithm.
enum	MblMwSensorFusionAccRange { MBL_MW_SENSOR_FUSION_ACC_RANGE_2G = 0, MBL_MW_SENSOR_FUSION_ACC_RANGE_4G, MBL_MW_SENSOR_FUSION_ACC_RANGE_8G, MBL_MW_SENSOR_FUSION_ACC_RANGE_16G }
	Supported acceleration ranges.
enum	MblMwSensorFusionGyroRange { MBL_MW_SENSOR_FUSION_GYRO_RANGE_2000DPS = 0, MBL_MW_SENSOR_FUSION_GYRO_RANGE_1000DPS, MBL_MW_SENSOR_FUSION_GYRO_RANGE_500DPS, MBL_MW_SENSOR_FUSION_GYRO_RANGE_250DPS }
	Supported rotation ranges.
enum	MblMwSensorFusionData {   MBL_MW_SENSOR_FUSION_DATA_CORRECTED_ACC = 0, MBL_MW_SENSOR_FUSION_DATA_CORRECTED_GYRO, MBL_MW_SENSOR_FUSION_DATA_CORRECTED_MAG, MBL_MW_SENSOR_FUSION_DATA_QUATERNION,   MBL_MW_SENSOR_FUSION_DATA_EULER_ANGLE, MBL_MW_SENSOR_FUSION_DATA_GRAVITY_VECTOR, MBL_MW_SENSOR_FUSION_DATA_LINEAR_ACC }
	Data computed by the algorithm.

Functions
METAWEAR_API MblMwDataSignal *	mbl_mw_sensor_fusion_get_data_signal (const MblMwMetaWearBoard *board, MblMwSensorFusionData data)
	Get the data signal object representing data from the sensor fusion algorithm. More...
METAWEAR_API MblMwDataSignal *	mbl_mw_sensor_fusion_calibration_state_data_signal (const MblMwMetaWearBoard *board)
	Get the data signal object representing thecalibration state. More...
METAWEAR_API void	mbl_mw_sensor_fusion_set_mode (MblMwMetaWearBoard *board, MblMwSensorFusionMode mode)
	Set the operation mode. More...
METAWEAR_API void	mbl_mw_sensor_fusion_set_acc_range (MblMwMetaWearBoard *board, MblMwSensorFusionAccRange range)
	Set the accelerometer data range. More...
METAWEAR_API void	mbl_mw_sensor_fusion_set_gyro_range (MblMwMetaWearBoard *board, MblMwSensorFusionGyroRange range)
	Set the gyroscope data range. More...
METAWEAR_API void	mbl_mw_sensor_fusion_write_config (MblMwMetaWearBoard *board)
	Write the module configuration to the board. More...
METAWEAR_API void	mbl_mw_sensor_fusion_read_config (const MblMwMetaWearBoard *board, void *context, MblMwFnBoardPtrInt completed)
	Pulls the current sensor fusion configuration from the board. More...
METAWEAR_API void	mbl_mw_sensor_fusion_enable_data (MblMwMetaWearBoard *board, MblMwSensorFusionData data)
	Set a data enable bit. More...
METAWEAR_API void	mbl_mw_sensor_fusion_clear_enabled_mask (MblMwMetaWearBoard *board)
	Clear all data enable bits. More...
METAWEAR_API void	mbl_mw_sensor_fusion_start (const MblMwMetaWearBoard *board)
	Start sensor fusion. More...
METAWEAR_API void	mbl_mw_sensor_fusion_stop (const MblMwMetaWearBoard *board)
	Stop sensor fusion. More...

Variables
const uint8_t	MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_UNRELIABLE = 0
const uint8_t	MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_LOW = 1
const uint8_t	MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_MEDIUM = 2
const uint8_t	MBL_MW_SENSOR_FUSION_CALIBRATION_ACCURACY_HIGH = 3

Detailed Description

Performs sensor fusion using accelerometer, gyro, and magnetometer data.

Copyright

MbientLab License

When using the sensor fusion module, do not use the accelerometer, gyro, and magnetometer functions.
The api will automatically configure the sensors based on the selected fusion mode.

Function Documentation

mbl_mw_sensor_fusion_calibration_state_data_signal()

METAWEAR_API MblMwDataSignal* mbl_mw_sensor_fusion_calibration_state_data_signal

(

const MblMwMetaWearBoard *

board

)

Get the data signal object representing thecalibration state.

This signal can only be used while the sensor fusion algorithm is running

Parameters

board

Calling object

Returns

Data signal object

mbl_mw_sensor_fusion_clear_enabled_mask()

METAWEAR_API void mbl_mw_sensor_fusion_clear_enabled_mask

(

MblMwMetaWearBoard *

board

)

Clear all data enable bits.

Parameters

board

Calling object

mbl_mw_sensor_fusion_enable_data()

METAWEAR_API void mbl_mw_sensor_fusion_enable_data	(	MblMwMetaWearBoard *	board,
		MblMwSensorFusionData	data
	)

Set a data enable bit.

Parameters

board	Calling object
data	Sensor fuson data to enable

mbl_mw_sensor_fusion_get_data_signal()

METAWEAR_API MblMwDataSignal* mbl_mw_sensor_fusion_get_data_signal	(	const MblMwMetaWearBoard *	board,
		MblMwSensorFusionData	data
	)

Get the data signal object representing data from the sensor fusion algorithm.

Parameters

board	Calling object
data	Desired sensor fusion data

Returns

Data signal object

mbl_mw_sensor_fusion_read_config()

METAWEAR_API void mbl_mw_sensor_fusion_read_config	(	const MblMwMetaWearBoard *	board,
		void *	context,
		MblMwFnBoardPtrInt	completed
	)

Pulls the current sensor fusion configuration from the board.

Parameters

board	Calling object
context	Pointer to additional data for the callback function
completed	Callback function that is executed when the task is finished

mbl_mw_sensor_fusion_set_acc_range()

METAWEAR_API void mbl_mw_sensor_fusion_set_acc_range	(	MblMwMetaWearBoard *	board,
		MblMwSensorFusionAccRange	range
	)

Set the accelerometer data range.

Parameters

board	Calling object
range	New data range of the accelerometer

mbl_mw_sensor_fusion_set_gyro_range()

METAWEAR_API void mbl_mw_sensor_fusion_set_gyro_range	(	MblMwMetaWearBoard *	board,
		MblMwSensorFusionGyroRange	range
	)

Set the gyroscope data range.

Parameters

board	Calling object
range	New data range of the gyroscope

mbl_mw_sensor_fusion_set_mode()

METAWEAR_API void mbl_mw_sensor_fusion_set_mode	(	MblMwMetaWearBoard *	board,
		MblMwSensorFusionMode	mode
	)

Set the operation mode.

Parameters

board	Calling object
mode	New operation mode

mbl_mw_sensor_fusion_start()

METAWEAR_API void mbl_mw_sensor_fusion_start

(

const MblMwMetaWearBoard *

board

)

Start sensor fusion.

Parameters

board

Calling object

mbl_mw_sensor_fusion_stop()

METAWEAR_API void mbl_mw_sensor_fusion_stop

(

const MblMwMetaWearBoard *

board

)

Stop sensor fusion.

Parameters

board

Calling object

mbl_mw_sensor_fusion_write_config()

METAWEAR_API void mbl_mw_sensor_fusion_write_config

(

MblMwMetaWearBoard *

board

)

Write the module configuration to the board.

Parameters

board

Calling object