Witek Ewert / Mbed 2 deprecated kl46_accel_mag

KL46 Accelerometer + Magnetometer, with 3-axis calibration. Readout through OpenSDA CDC.

Dependencies:   MAG3110 MMA8451Q USBDevice mbed

magnetic.h@0:c569d820861b, 2014-04-10 (annotated)

Committer:
wue
Date:
Thu Apr 10 07:48:46 2014 +0000
Revision:
0:c569d820861b
KL46Z Accelerometer & Magnetometer readout over OpenSDA CDC.; 3-axis 4-value calibration taken from eCompass.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wue 0:c569d820861b 1 // Source: eCompass v3
wue 0:c569d820861b 2
wue 0:c569d820861b 3 #include "mbed.h"
wue 0:c569d820861b 4
wue 0:c569d820861b 5 #ifndef _MAGNETIC_H_
wue 0:c569d820861b 6 #define _MAGNETIC_H_
wue 0:c569d820861b 7
wue 0:c569d820861b 8 typedef int16_t int16;
wue 0:c569d820861b 9 typedef uint16_t uint16;
wue 0:c569d820861b 10 typedef int32_t int32;
wue 0:c569d820861b 11 typedef uint32_t uint32;
wue 0:c569d820861b 12
wue 0:c569d820861b 13 #define MAGBUFFSIZE (216) // magnetic buffer size: 6 implies 6^3 = 216 entries
wue 0:c569d820861b 14 #define FINVMATRIXSCALING (50.0F) // inverse of FMATRIXSCALING
wue 0:c569d820861b 15 #define FUTPERCOUNT (0.1F) // MAG3110 and FXOS8700 provide 0.1uT per count resolution
wue 0:c569d820861b 16 #define FMATRIXSCALING (0.02F) // approx normalizes geomagnetic field 50uT
wue 0:c569d820861b 17 #define MAXMATINV 6 // maximum size supported in matrix inverse function
wue 0:c569d820861b 18
wue 0:c569d820861b 19 // 3d arrays, dude...
wue 0:c569d820861b 20
wue 0:c569d820861b 21 struct MagneticBuffer {
wue 0:c569d820861b 22 int16 iBx[MAGBUFFSIZE]/*[MAGBUFFSIZE][MAGBUFFSIZE]*/; // array of x magnetic fields
wue 0:c569d820861b 23 int16 iBy[MAGBUFFSIZE]/*[MAGBUFFSIZE][MAGBUFFSIZE]*/; // array of y magnetic fields
wue 0:c569d820861b 24 int16 iBz[MAGBUFFSIZE]/*[MAGBUFFSIZE][MAGBUFFSIZE]*/; // array of z magnetic fields
wue 0:c569d820861b 25 //int32 index[MAGBUFFSIZE][MAGBUFFSIZE][MAGBUFFSIZE]; // array of time indices
wue 0:c569d820861b 26 //int32 iMagBufferCount; // number of magnetometer readings
wue 0:c569d820861b 27 };
wue 0:c569d820861b 28
wue 0:c569d820861b 29 // magnetic calibration structure
wue 0:c569d820861b 30 struct MagCalibration
wue 0:c569d820861b 31 {
wue 0:c569d820861b 32 float fVx; // x component of computed hard iron offset
wue 0:c569d820861b 33 float fVy; // y component of computed hard iron offset
wue 0:c569d820861b 34 float fVz; // z component of computed hard iron offset
wue 0:c569d820861b 35 float fB; // computed geomagnetic field magnitude in uT
wue 0:c569d820861b 36 float fFitErrorpc; // computed fit error %
wue 0:c569d820861b 37 float ftrVx; // trial value of x component of hard iron offset
wue 0:c569d820861b 38 float ftrVy; // trial value of y component of hard iron offset
wue 0:c569d820861b 39 float ftrVz; // trial value of z component of hard iron offset
wue 0:c569d820861b 40 float ftrB; // trial value of geomagnetic field magnitude in uT
wue 0:c569d820861b 41 float ftrFitErrorpc; // trial value of fit error %
wue 0:c569d820861b 42 int32 iValidMagCal; // valid magnetic calibration flag
wue 0:c569d820861b 43 float xfinvW[3][3]; // estimated inverse soft iron matrix size
wue 0:c569d820861b 44 float *finvW[3];
wue 0:c569d820861b 45 float xfA[3][3]; // estimated ellipsoid matrix A
wue 0:c569d820861b 46 float *fA[3];
wue 0:c569d820861b 47 float xinvA[3][3]; // inverse of ellipsoid matrix A
wue 0:c569d820861b 48 float *finvA[3];
wue 0:c569d820861b 49 float xftrinvW[3][3]; // trial computed inverse soft iron matrix size
wue 0:c569d820861b 50 float *ftrinvW[3];
wue 0:c569d820861b 51 };
wue 0:c569d820861b 52
wue 0:c569d820861b 53 void fUpdateCalibration4INV(struct MagCalibration *pthisMagCal,
wue 0:c569d820861b 54 struct MagneticBuffer *pthisMagneticBuffer,
wue 0:c569d820861b 55 float **ftmpA4x4, float **ftmpB4x4, float **ftmpA4x1,
wue 0:c569d820861b 56 float **ftmpB4x1, int32 **icolind, int32 **irowind, int32 **ipivot);
wue 0:c569d820861b 57
wue 0:c569d820861b 58 void ResetMagCalibration(struct MagCalibration *pthisMagCal/*, struct MagneticBuffer *pthisMagneticBuffer*/);
wue 0:c569d820861b 59
wue 0:c569d820861b 60 void magUpdateCalibration(struct MagCalibration *pthisMagCal,
wue 0:c569d820861b 61 struct MagneticBuffer *pthisMagneticBuffer);
wue 0:c569d820861b 62
wue 0:c569d820861b 63 #endif