Diff: magnetic.h

Revision:

0:c569d820861b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/magnetic.h	Thu Apr 10 07:48:46 2014 +0000
@@ -0,0 +1,63 @@
+// Source: eCompass v3
+
+#include "mbed.h"
+
+#ifndef _MAGNETIC_H_
+#define _MAGNETIC_H_
+
+typedef int16_t int16;
+typedef uint16_t uint16;
+typedef int32_t int32;
+typedef uint32_t uint32;
+
+#define MAGBUFFSIZE (216)               // magnetic buffer size: 6 implies 6^3 = 216 entries
+#define FINVMATRIXSCALING (50.0F)     // inverse of FMATRIXSCALING
+#define FUTPERCOUNT (0.1F)            // MAG3110 and FXOS8700 provide 0.1uT per count resolution 
+#define FMATRIXSCALING (0.02F)        // approx normalizes geomagnetic field 50uT 
+#define MAXMATINV 6                 // maximum size supported in matrix inverse function
+
+// 3d arrays, dude...
+
+struct MagneticBuffer {
+    int16 iBx[MAGBUFFSIZE]/*[MAGBUFFSIZE][MAGBUFFSIZE]*/;   // array of x magnetic fields
+    int16 iBy[MAGBUFFSIZE]/*[MAGBUFFSIZE][MAGBUFFSIZE]*/;   // array of y magnetic fields
+    int16 iBz[MAGBUFFSIZE]/*[MAGBUFFSIZE][MAGBUFFSIZE]*/;   // array of z magnetic fields
+    //int32 index[MAGBUFFSIZE][MAGBUFFSIZE][MAGBUFFSIZE]; // array of time indices
+    //int32 iMagBufferCount;                              // number of magnetometer readings
+};
+
+// magnetic calibration structure
+struct MagCalibration
+{
+    float fVx;                          // x component of computed hard iron offset
+    float fVy;                          // y component of computed hard iron offset
+    float fVz;                          // z component of computed hard iron offset
+    float fB;                           // computed geomagnetic field magnitude in uT 
+    float fFitErrorpc;                  // computed fit error %
+    float ftrVx;                        // trial value of x component of hard iron offset
+    float ftrVy;                        // trial value of y component of hard iron offset
+    float ftrVz;                        // trial value of z component of hard iron offset
+    float ftrB;                         // trial value of geomagnetic field magnitude in uT 
+    float ftrFitErrorpc;                // trial value of fit error %
+    int32 iValidMagCal;                 // valid magnetic calibration flag
+    float xfinvW[3][3];                 // estimated inverse soft iron matrix size
+    float *finvW[3];
+    float xfA[3][3];                    // estimated ellipsoid matrix A 
+    float *fA[3];
+    float xinvA[3][3];                  // inverse of ellipsoid matrix A 
+    float *finvA[3];                    
+    float xftrinvW[3][3];               // trial computed inverse soft iron matrix size 
+    float *ftrinvW[3];              
+};
+
+void fUpdateCalibration4INV(struct MagCalibration *pthisMagCal,
+    struct MagneticBuffer *pthisMagneticBuffer,
+    float **ftmpA4x4, float **ftmpB4x4, float **ftmpA4x1,
+    float **ftmpB4x1, int32 **icolind, int32 **irowind, int32 **ipivot);
+
+void ResetMagCalibration(struct MagCalibration *pthisMagCal/*, struct MagneticBuffer *pthisMagneticBuffer*/);
+
+void magUpdateCalibration(struct MagCalibration *pthisMagCal,
+    struct MagneticBuffer *pthisMagneticBuffer);
+    
+#endif
\ No newline at end of file