File content as of revision 13:51ef67cd4fd6:

#ifndef SENSORFUSION_H_INCLUDED
#define SENSORFUSION_H_INCLUDED

#include <math.h>

#define FTimer          250.0f             ///Hz
#define sample_time     1.0f/FTimer
#define LOOP_TIME_MS    1000.0f/FTimer
#define Alpha           FTimer/25.0f
#define pi_const        3.14159f

extern float axm, aym, azm, u1, u2, u3, mx, my, mz;
extern float Ac[3];

extern float axm_f, axm_f_old, u3aym_f, u3aym_f_old, u2azm_f, u2azm_f_old;
extern float aym_f, aym_f_old, u3axm_f, u3axm_f_old, u1azm_f, u1azm_f_old;
extern float azm_f, azm_f_old, u2axm_f, u2axm_f_old, u1aym_f, u1aym_f_old;

extern float x1_hat, x2_hat, x3_hat;
extern float sinroll, cosroll, roll_angle, droll_angle, droll_angle_old;
extern float sinpitch, cospitch, yaw_ref, yaw_angle, yaw_angle_old, dyaw_angle, dyaw_angle_old;

extern float mx_f, mx_f_old, u3my_f, u3my_f_old, u2mz_f, u2mz_f_old;
extern float my_f, my_f_old, u3mx_f, u3mx_f_old, u1mz_f, u1mz_f_old;
extern float mz_f, mz_f_old, u2mx_f, u2mx_f_old, u1my_f, u1my_f_old;

extern float mx1_hat, mx2_hat, mx3_hat, m_sinyaw, m_cosyaw, m_yaw_angle;

extern void get_9axis_data(unsigned char speed_state);

extern float lpf(float input,float input_old,float frequency);
extern void x1_hat_estimat(float a_xm,float a_ym,float a_zm,float u_3,float u_2,float alpha);
extern void roll_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_1,float alpha);
extern void x3_hat_estimat(float a_xm,float a_ym,float a_zm,float u_2,float u_1,float alpha);
extern void m_x1_hat(float m_x, float m_y,float m_z,float u_3,float u_2,float alpha);
extern void m_x2_hat(float m_x,float m_y,float m_z,float u_3,float u_1,float alpha);
extern void m_x3_hat(float m_x,float m_y,float m_z,float u_2,float u_1,float alpha);
extern void m_yaw_fusion(void);
extern float Determinant(float x11, float x12, float x21, float x22);
extern float absolute(float value);

extern void Reset_data(void);

#endif // SENSORFUSION_H_INCLUDED