ISF  2.1
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isf_orientation_types.h
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1 /*
2  * @File isf_orientation_types.h
3  *
4  * @brief The \b isf_orientation_types.h file contains the ISF data type definitions for use with the
5  * ISF generic orientation sensor fixed and floating point interface
6  *
7  * @copyright Copyright (c) 2014, Freescale Semiconductor, Inc.
8  */
9 
10 
11 #ifndef ISF_ORIENTATION_TYPES_H_
12 #define ISF_ORIENTATION_TYPES_H_
13 
14 
15 #include <isf_sensor_base_types.h>
16 
17 #if 0 // TODO - Don't use Fixed point for now
18 /* ISF sensors standard fixed point euler orientation in degrees
19  * using AC_Fixed(16,10,1) notation
20  * This means of 16 total bits, 10 are used to represent
21  * the integer portion with the MSB as a sign bit.
22  * This leaves 6 bits for the fractional portion. The LSB is
23  * therefore ~1.5625E-2 degrees.
24  * The type can contain rotations in the
25  * ~ +/-512 degree range.
26  */
27 typedef int16 isf_orientation_euler_deg_fixed_16s1i10_t;
28 
29 /* Euler angle orientation fixed type */
30 typedef struct {
31  isf_timestamp_t timestamp;
32  isf_orientation_euler_deg_fixed_16s1i10_t angles[3];
33 } isf_Orientation3D_Euler_EngFixed_t;
34 #endif
35 
37 
38 // quaternion structure definition
39 typedef struct
40 {
47 
48 
50 
51 /* Euler angle orientation float type */
52 typedef struct {
58 
60 
61 /* Rotation matrix float type */
62 typedef struct {
64  isf_orientation_rot_float_t rMatrix[3][3]; // a posteriori orientation matrix
66 
67 #endif /* ISF_ORIENTATION_TYPES_H_ */
isf_orientation_euler_deg_float_t fPsi
float isf_orientation_euler_deg_float_t
isf_orientation_euler_deg_float_t fThe
isf_orientation_euler_deg_float_t fPhi
isf_orientation_quaternion_float_t xvect
isf_orientation_quaternion_float_t yvect
float isf_orientation_quaternion_float_t
isf_orientation_quaternion_float_t scalar
float isf_orientation_rot_float_t
The isf_sensor_base_types.h file contains declarations for the general base types used in the isf sen...
isf_orientation_quaternion_float_t zvect
uint32 isf_timestamp_t
Standard timestamp.
short int16
This defines int16 as short.
Definition: isf_types.h:23