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VQF-C: A Lightweight Implementation of VQF for Embedded Devices

VQF-C is a C language implementation of the full VQF, with credit to the original project's author for their pioneering work. This project aims to bring the full capabilities of VQF to embedded devices such as Cortex-M4F and RISC-V MCUs, with minimal overhead.

Key Highlights

  • Full Version VQF Functionality: The implementation retains the full feature set of the original VQF full version.
  • Easy Integration: The code is structured to be easily integrated into existing C environments for embedded MCUs/chips.

Usage

To use VQF-C in your embedded application, include the headers and utilize the provided functions.

#include "vqf.h"

int main() {
    // Initialize VQF-C and perform operations
    vqf_real_t gyr[3];
    vqf_real_t acc[3];
    vqf_real_t mag[3];

    vqf_real_t quat6D[4];
    vqf_real_t quat9D[4];

    vqf_real_t gyrTs = 0.000250;
    vqf_real_t accTs = 0.001;
    vqf_real_t magTs = 5.0;
    initVqf(gyrTs, accTs, magTs);

    while (1) {
        // Update VQF-C with new sensor data
        if (newGyrData) updateGyr(gyr);
        if (newAccData) updateAcc(acc);
        if (newMagData) updateMag(mag);

        if (newGyrData || newAccData) {
            quat6D = getQuat6D();
        }

        if (newMagData) {
            quat9D = getQuat9D();
        }
    }

    return 0;
}

TODO

  • Integrate CMSIS-DSP library functions for mathematics and filtering to replace current implementations, aiming to achieve better runtime performance.

License

VQF-C is open source and available under the MIT License. This means that you can use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the software. The full terms of the license are detailed in the LICENSE file.

For a quick overview, here are some key points about the MIT License:

  • Free to use: You can use VQF-C in your projects without any cost.
  • Permissive: You can modify the source code and distribute your modified versions.
  • No Warranty: The software is provided "as is" without any warranties.
  • Requiring preservation of copyright and license notices: You must include the copyright notice and a pointer to where the MIT License can be found in any substantial portions of the software.

For the full legal text, see the LICENSE file.