**BeagleBone peripherals**

**Utilities to control Beaglebone peripherals in Linux ** peripherals.zip

- PWM – contains several functions to handle PWM output
- EACP – PWM input over eCap
- UART – basic functionality to send and receive data over UART

**Math libraries**

**Basic matrix operations ** matrix.zip

- Template classes (suitable for single and double precision float)
- Basic matrix operations (+ – * / , * scalar, submatrices)
- Primarily on stack (no usage of heap – faster, no fragmentation) -> limited size (13 rows and 169 items max)

But can be compiled for heap usage - Compilable in GCC, but should be compilable also in Visual Studio (not tested recently)

Note: The classes are based on C math libraries developed for the quadro-copter (that’s why they look as they look)

**Basic rotation math (plus some more)**

- Template classes
- Rotation vector, matrix, quaternion

And conversion between them - Euler and Tait-Bryan
- Basic LTI system handling class (state space representation)
- Note: depends on basic matrix operations

GNU Octave / Matlab rotation math matlab.zip

- Basic quaternion operations
- Few vector operations

**Math**

**Magnetometer calibration**

Least squares algorithm magnetometer calibration Least Squares.zip

- Example of hard iron (and sensor gain) calibration for 3-axial magnetometer using least squares
- Note: depends on basic rotation math for GNU Octave / Matlab

**IMU/INS**

IMU 6 DOF IMU.zip , 6 DOF IMU C++.zip

- Simple example implementation of the MEKF as 6 DOF IMU
- GNU Octave / Matlab version and equivalent C++ version
- Note: GNU Octave/Matlab version depends on basic rotation math for GNU Octave / Matlab
- Note: C++ version depends on basic matrix operations and basic rotation math from above (copy them to corresponding folders in the project or modify makefile)

**Under construction**

PS: Sorry, but comments are in Czech only.

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Thank you for making this (peripherals.zip) available.

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