Diff: DeviceErrorModel.h

Revision:

174:0f86eedd511c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DeviceErrorModel.h	Sun Jun 26 10:16:39 2016 +0000
@@ -0,0 +1,79 @@
+#ifndef __DEVICE_EM_H__
+#define __DEVICE_EM_H__
+
+//Bias model #1 typedefs
+//  Error = m[0] + m[1] * T + m[2] * dT
+typedef struct _DeviceEMBias1Settings {
+  int32_t enabled;
+  int32_t m[3];
+} DeviceEMBias1Settings;
+
+typedef struct _DeviceEMBias1State {
+  int32_t enabled;
+  int32_t ppm;           //Accumulated angle error - millionth part in signed 16.16 format
+  int32_t error;         //Accumulated angle error - pulses in signed 16.16 format
+} DeviceEMBias1State;
+
+typedef struct _DeviceEMBias1 {
+  DeviceEMBias1Settings settings;
+  DeviceEMBias1State state;
+} DeviceEMBias1;
+
+//Bias model #2 typedefs
+//  Error = f(T), f(T) - piecewise linear interpolation
+typedef struct _DeviceEMBias2Function {
+  int32_t points;
+  int32_t celsius[16];   //Temperature - celsius in signed 16.16 format
+  int32_t ppm[16];       //Accumulated angle correction per dither cycle interval - ppm in signed 16.16 format
+} DeviceEMBias2Function;
+
+typedef struct _DeviceEMBias2Settings {
+  int32_t enabled;
+  DeviceEMBias2Function tc;
+} DeviceEMBias2Settings;
+
+typedef struct _DeviceEMBias2State {
+  int32_t enabled;
+  int32_t ppm;           //Accumulated angle error - millionth part in signed 16.16 format
+  int32_t error;         //Accumulated angle error - pulses in signed 16.16 format
+} DeviceEMBias2State;
+
+typedef struct _DeviceEMBias2 {
+  DeviceEMBias2Settings settings;
+  DeviceEMBias2State state;
+} DeviceEMBias2;
+
+//Scale error model typedefs
+//typedef struct _DeviceEMScale1 {
+//  DeviceEMScale1Settings settings;
+//  DeviceEMScale1State state;
+//} DeviceEMScale1;
+
+//Total error model typedefs
+typedef struct _DeviceEMErrorSettings {
+} DeviceEMErrorSettings;
+
+typedef struct _DeviceEMErrorState {
+  int32_t ppm;           //Accumulated angle error - millionth part in signed 16.16 format
+  int32_t correction;    //Accumulated angle error - pulses in signed 16.16 format
+} DeviceEMErrorState;
+
+typedef struct _DeviceEMError {
+  DeviceEMErrorSettings settings;
+  DeviceEMErrorState state;
+} DeviceEMError;
+
+typedef struct _DeviceEM {
+  DeviceEMBias1 bias1;   //Bias error model #1
+  DeviceEMBias2 bias2;   //Bias error model #2
+  //DeviceEMScale1 scale1; //Scale factor error model #1
+  DeviceEMError error;   //Total error
+} DeviceEM;
+
+void InitEMDefaultSettings(void);
+void InitEMState(void);
+void DeviceStartEM(void);
+
+void emProcess(void);
+
+#endif  /* __DEVICE_EM_H__ */
\ No newline at end of file