Federico Luis Pinna Gonzalez / Magnetic

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Dependents:   FastECompass

magnetic.h@0:f68c99fc1bc2, 2016-06-18 (annotated)

Committer:
Cotzo
Date:
Sat Jun 18 21:16:12 2016 +0000
Revision:
0:f68c99fc1bc2
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Cotzo 0:f68c99fc1bc2 1 // Source: eCompass v3
Cotzo 0:f68c99fc1bc2 2
Cotzo 0:f68c99fc1bc2 3 #include "mbed.h"
Cotzo 0:f68c99fc1bc2 4
Cotzo 0:f68c99fc1bc2 5 #ifndef _MAGNETIC_H_
Cotzo 0:f68c99fc1bc2 6 #define _MAGNETIC_H_
Cotzo 0:f68c99fc1bc2 7
Cotzo 0:f68c99fc1bc2 8 typedef int16_t int16;
Cotzo 0:f68c99fc1bc2 9 typedef uint16_t uint16;
Cotzo 0:f68c99fc1bc2 10 typedef int32_t int32;
Cotzo 0:f68c99fc1bc2 11 typedef uint32_t uint32;
Cotzo 0:f68c99fc1bc2 12
Cotzo 0:f68c99fc1bc2 13 #define MAGBUFFSIZE (216) // magnetic buffer size: 6 implies 6^3 = 216 entries
Cotzo 0:f68c99fc1bc2 14 #define FINVMATRIXSCALING (50.0F) // inverse of FMATRIXSCALING
Cotzo 0:f68c99fc1bc2 15 #define FUTPERCOUNT (0.1F) // MAG3110 and FXOS8700 provide 0.1uT per count resolution
Cotzo 0:f68c99fc1bc2 16 #define FMATRIXSCALING (0.02F) // approx normalizes geomagnetic field 50uT
Cotzo 0:f68c99fc1bc2 17 #define MAXMATINV 6 // maximum size supported in matrix inverse function
Cotzo 0:f68c99fc1bc2 18
Cotzo 0:f68c99fc1bc2 19 // 3d arrays, dude...
Cotzo 0:f68c99fc1bc2 20
Cotzo 0:f68c99fc1bc2 21 struct MagneticBuffer {
Cotzo 0:f68c99fc1bc2 22 int16 iBx[MAGBUFFSIZE]/*[MAGBUFFSIZE][MAGBUFFSIZE]*/; // array of x magnetic fields
Cotzo 0:f68c99fc1bc2 23 int16 iBy[MAGBUFFSIZE]/*[MAGBUFFSIZE][MAGBUFFSIZE]*/; // array of y magnetic fields
Cotzo 0:f68c99fc1bc2 24 int16 iBz[MAGBUFFSIZE]/*[MAGBUFFSIZE][MAGBUFFSIZE]*/; // array of z magnetic fields
Cotzo 0:f68c99fc1bc2 25 //int32 index[MAGBUFFSIZE][MAGBUFFSIZE][MAGBUFFSIZE]; // array of time indices
Cotzo 0:f68c99fc1bc2 26 //int32 iMagBufferCount; // number of magnetometer readings
Cotzo 0:f68c99fc1bc2 27 };
Cotzo 0:f68c99fc1bc2 28
Cotzo 0:f68c99fc1bc2 29 // magnetic calibration structure
Cotzo 0:f68c99fc1bc2 30 struct MagCalibration
Cotzo 0:f68c99fc1bc2 31 {
Cotzo 0:f68c99fc1bc2 32 float fVx; // x component of computed hard iron offset
Cotzo 0:f68c99fc1bc2 33 float fVy; // y component of computed hard iron offset
Cotzo 0:f68c99fc1bc2 34 float fVz; // z component of computed hard iron offset
Cotzo 0:f68c99fc1bc2 35 float fB; // computed geomagnetic field magnitude in uT
Cotzo 0:f68c99fc1bc2 36 float fFitErrorpc; // computed fit error %
Cotzo 0:f68c99fc1bc2 37 float ftrVx; // trial value of x component of hard iron offset
Cotzo 0:f68c99fc1bc2 38 float ftrVy; // trial value of y component of hard iron offset
Cotzo 0:f68c99fc1bc2 39 float ftrVz; // trial value of z component of hard iron offset
Cotzo 0:f68c99fc1bc2 40 float ftrB; // trial value of geomagnetic field magnitude in uT
Cotzo 0:f68c99fc1bc2 41 float ftrFitErrorpc; // trial value of fit error %
Cotzo 0:f68c99fc1bc2 42 int32 iValidMagCal; // valid magnetic calibration flag
Cotzo 0:f68c99fc1bc2 43 float xfinvW[3][3]; // estimated inverse soft iron matrix size
Cotzo 0:f68c99fc1bc2 44 float *finvW[3];
Cotzo 0:f68c99fc1bc2 45 float xfA[3][3]; // estimated ellipsoid matrix A
Cotzo 0:f68c99fc1bc2 46 float *fA[3];
Cotzo 0:f68c99fc1bc2 47 float xinvA[3][3]; // inverse of ellipsoid matrix A
Cotzo 0:f68c99fc1bc2 48 float *finvA[3];
Cotzo 0:f68c99fc1bc2 49 float xftrinvW[3][3]; // trial computed inverse soft iron matrix size
Cotzo 0:f68c99fc1bc2 50 float *ftrinvW[3];
Cotzo 0:f68c99fc1bc2 51 };
Cotzo 0:f68c99fc1bc2 52
Cotzo 0:f68c99fc1bc2 53 struct vmagi16{
Cotzo 0:f68c99fc1bc2 54 int16_t x;
Cotzo 0:f68c99fc1bc2 55 int16_t y;
Cotzo 0:f68c99fc1bc2 56 int16_t z;
Cotzo 0:f68c99fc1bc2 57 };
Cotzo 0:f68c99fc1bc2 58
Cotzo 0:f68c99fc1bc2 59 struct i16MagCalibration{
Cotzo 0:f68c99fc1bc2 60 int16_t itrVx;
Cotzo 0:f68c99fc1bc2 61 int16_t itrVy;
Cotzo 0:f68c99fc1bc2 62 int16_t itrVz;
Cotzo 0:f68c99fc1bc2 63 };
Cotzo 0:f68c99fc1bc2 64
Cotzo 0:f68c99fc1bc2 65 void fUpdateCalibration4INV(struct MagCalibration *pthisMagCal,
Cotzo 0:f68c99fc1bc2 66 struct MagneticBuffer *pthisMagneticBuffer,
Cotzo 0:f68c99fc1bc2 67 float **ftmpA4x4, float **ftmpB4x4, float **ftmpA4x1,
Cotzo 0:f68c99fc1bc2 68 float **ftmpB4x1, int32 **icolind, int32 **irowind, int32 **ipivot);
Cotzo 0:f68c99fc1bc2 69
Cotzo 0:f68c99fc1bc2 70 void ResetMagCalibration(struct MagCalibration *pthisMagCal/*, struct MagneticBuffer *pthisMagneticBuffer*/);
Cotzo 0:f68c99fc1bc2 71
Cotzo 0:f68c99fc1bc2 72 void magUpdateCalibration(struct MagCalibration *pthisMagCal,
Cotzo 0:f68c99fc1bc2 73 struct MagneticBuffer *pthisMagneticBuffer);
Cotzo 0:f68c99fc1bc2 74
Cotzo 0:f68c99fc1bc2 75 #endif