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magnetic.h
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1 // Copyright (c) 2014, 2015, Freescale Semiconductor, Inc.
2 // All rights reserved.
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26 #ifndef MAGNETIC_H
27 #define MAGNETIC_H
28
29
30 #include "sensor_data_types.h"
31 #include "magnetic_config.h"
32
33 // magnetic calibration constants
34 //#define MAGBUFFSIZEX 14 // x dimension in magnetometer buffer (12x24 equals 288 elements)
35 //#define MAGBUFFSIZEY (2 * MAGBUFFSIZEX) // y dimension in magnetometer buffer (12x24 equals 288 elements)
36 //#define MINMEASUREMENTS4CAL 100 // minimum number of measurements for 4 element calibration
37 //#define MINMEASUREMENTS7CAL 150 // minimum number of measurements for 7 element calibration
38 //#define MINMEASUREMENTS10CAL 250 // minimum number of measurements for 10 element calibration
39 //#define MAXMEASUREMENTS 340 // maximum number of measurements used for calibration
40 //#define INTERVAL4CAL 75 // 3s at 25Hz: 4 element interval (samples)
41 //#define INTERVAL7CAL 250 // 10s at 25Hz: 7 element interval (samples)
42 //#define INTERVAL10CAL 750 // 30s at 25Hz: 10 element interval (samples)
43 //#define MINBFITUT 10.0F // minimum acceptable geomagnetic field B (uT) for valid calibration
44 //#define MAXBFITUT 90.0F // maximum acceptable geomagnetic field B (uT) for valid calibration
45 //#define FITERRORAGINGSECS 86400.0F // 24 hours: time (s) for fit error to increase (age) by e=2.718
46 //#define MESHDELTACOUNTS 50 // magnetic buffer mesh spacing in counts (here 5uT)
47 #define DEFAULTB 50.0F // default geomagnetic field (uT)
48
49 // magnetometer measurement buffer
50 struct MagneticBuffer
51 {
52 int16 iBs[3][MAGBUFFSIZEX][MAGBUFFSIZEY]; // uncalibrated magnetometer readings
53 int32 index[MAGBUFFSIZEX][MAGBUFFSIZEY]; // array of time indices
54 int16 tanarray[MAGBUFFSIZEX - 1]; // array of tangents of (100 * angle)
55 int16 iMagBufferCount; // number of magnetometer readings
56 };
57
58 // magnetic calibration structure
59 struct MagCalibration
60 {
61 float fV[3]; // current hard iron offset x, y, z, (uT)
62 float finvW[3][3]; // current inverse soft iron matrix
63 float fB; // current geomagnetic field magnitude (uT)
64 float fFitErrorpc; // current fit error percentage
65 float ftrV[3]; // trial value of hard iron offset z, y, z (uT)
66 float ftrinvW[3][3]; // trial inverse soft iron matrix size
67 float ftrB; // trial value of geomagnetic field magnitude in uT
68 float ftrFitErrorpc; // trial value of fit error percentage
69 float fA[3][3]; // ellipsoid matrix A
70 float finvA[3][3]; // inverse of ellipsoid matrix A
71 float fmatA[10][10]; // scratch 10x10 matrix used by calibration algorithms
72 float fmatB[10][10]; // scratch 10x10 matrix used by calibration algorithms
73 float fvecA[10]; // scratch 10x1 vector used by calibration algorithms
74 float fvecB[4]; // scratch 4x1 vector used by calibration algorithms
75 int8 iCalInProgress; // flag denoting that a calibration is in progress
76 int8 iMagCalHasRun; // flag denoting that at least one calibration has been launched
77 int8 iValidMagCal; // integer value 0, 4, 7, 10 denoting both valid calibration and solver used
78 };
79
80 // function prototypes for functions in magnetic.c
81 void fInitMagCalibration(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer);
82 void fRunMagCalibration(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer, struct MagSensor* pthisMag);
83 void iUpdateMagnetometerBuffer(struct MagneticBuffer *pthisMagBuffer, struct MagSensor *pthisMag, int32 loopcounter);
84 void fInvertMagCal(struct MagSensor *pthisMag, struct MagCalibration *pthisMagCal);
85 void fUpdateCalibration4INV(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer, struct MagSensor *pthisMag);
86 void fUpdateCalibration7EIG(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer, struct MagSensor *pthisMag);
87 void fUpdateCalibration10EIG(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer, struct MagSensor *pthisMag);
88
89 #endif // #ifndef MAGNETIC_H
MagneticBuffer
Definition: magnetic.h:50
MagCalibration::fvecA
float fvecA[10]
Definition: magnetic.h:73
MagCalibration::fV
float fV[3]
Definition: magnetic.h:61
MagneticBuffer::tanarray
int16 tanarray[MAGBUFFSIZEX-1]
Definition: magnetic.h:54
MagCalibration::ftrinvW
float ftrinvW[3][3]
Definition: magnetic.h:66
fUpdateCalibration7EIG
void fUpdateCalibration7EIG(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer, struct MagSensor *pthisMag)
Definition: magnetic.c:530
MagCalibration::fmatA
float fmatA[10][10]
Definition: magnetic.h:71
fUpdateCalibration10EIG
void fUpdateCalibration10EIG(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer, struct MagSensor *pthisMag)
Definition: magnetic.c:677
MagCalibration::iValidMagCal
int8 iValidMagCal
Definition: magnetic.h:77
MagSensor
Definition: sensor_data_types.h:47
magnetic_config.h
MagCalibration::fA
float fA[3][3]
Definition: magnetic.h:69
MagneticBuffer::index
int32 index[MAGBUFFSIZEX][MAGBUFFSIZEY]
Definition: magnetic.h:53
MagCalibration::iCalInProgress
int8 iCalInProgress
Definition: magnetic.h:75
MagCalibration::ftrV
float ftrV[3]
Definition: magnetic.h:65
MagCalibration::ftrFitErrorpc
float ftrFitErrorpc
Definition: magnetic.h:68
MAGBUFFSIZEX
#define MAGBUFFSIZEX
Definition: magnetic_config.h:31
int16
signed short int int16
Definition: isf_types.h:73
MAGBUFFSIZEY
#define MAGBUFFSIZEY
Definition: magnetic_config.h:32
MagCalibration::fFitErrorpc
float fFitErrorpc
Definition: magnetic.h:64
MagCalibration::iMagCalHasRun
int8 iMagCalHasRun
Definition: magnetic.h:76
MagCalibration::fvecB
float fvecB[4]
Definition: magnetic.h:74
MagCalibration::finvA
float finvA[3][3]
Definition: magnetic.h:70
MagCalibration::fB
float fB
Definition: magnetic.h:63
fUpdateCalibration4INV
void fUpdateCalibration4INV(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer, struct MagSensor *pthisMag)
Definition: magnetic.c:351
int32
signed long int int32
Definition: isf_types.h:74
MagCalibration
Definition: magnetic.h:59
sensor_data_types.h
fInvertMagCal
void fInvertMagCal(struct MagSensor *pthisMag, struct MagCalibration *pthisMagCal)
Definition: magnetic.c:242
MagneticBuffer::iBs
int16 iBs[3][MAGBUFFSIZEX][MAGBUFFSIZEY]
Definition: magnetic.h:52
MagCalibration::fmatB
float fmatB[10][10]
Definition: magnetic.h:72
fRunMagCalibration
void fRunMagCalibration(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer, struct MagSensor *pthisMag)
Definition: magnetic.c:278
MagCalibration::ftrB
float ftrB
Definition: magnetic.h:67
iUpdateMagnetometerBuffer
void iUpdateMagnetometerBuffer(struct MagneticBuffer *pthisMagBuffer, struct MagSensor *pthisMag, int32 loopcounter)
Definition: magnetic.c:75
MagneticBuffer::iMagBufferCount
int16 iMagBufferCount
Definition: magnetic.h:55
fInitMagCalibration
void fInitMagCalibration(struct MagCalibration *pthisMagCal, struct MagneticBuffer *pthisMagBuffer)
Definition: magnetic.c:38
MagCalibration::finvW
float finvW[3][3]
Definition: magnetic.h:62
int8
signed char int8
Definition: isf_types.h:72
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