magnetic.h File Reference

Lower level magnetic calibration interface. More...

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Data Structures
struct	MagBuffer
struct	MagCalibration
	Magnetic Calibration Structure. More...

Macros
#define	F_USING_MAG   0x0002
Magnetic Calibration Constants
#define	MAGBUFFSIZEX   14
	x dimension in magnetometer buffer (12x24 equals 288 elements) More...
#define	MAGBUFFSIZEY   (2 * MAGBUFFSIZEX)
	y dimension in magnetometer buffer (12x24 equals 288 elements) More...
#define	MINMEASUREMENTS4CAL   110
	minimum number of measurements for 4 element calibration More...
#define	MINMEASUREMENTS7CAL   220
	minimum number of measurements for 7 element calibration More...
#define	MINMEASUREMENTS10CAL   330
	minimum number of measurements for 10 element calibration More...
#define	MAXMEASUREMENTS   360
	maximum number of measurements used for calibration More...
#define	CAL_INTERVAL_SECS   300
	300s or 5min interval for regular calibration checks More...
#define	MINBFITUT   10.0F
	minimum acceptable geomagnetic field B (uT) for valid calibration More...
#define	MAXBFITUT   90.0F
	maximum acceptable geomagnetic field B (uT) for valid calibration More...
#define	FITERRORAGINGSECS   86400.0F
	24 hours: time (s) for fit error to increase (age) by e=2.718 More...
#define	MESHDELTACOUNTS   50
	magnetic buffer mesh spacing in counts (here 5uT) More...
#define	DEFAULTB   50.0F
	default geomagnetic field (uT) More...

Functions
Function prototypes for functions in magnetic.c
These functions comprise the core of the magnetic calibration features of the library. Parameter descriptions are not included here, as details are provided in sensor_fusion.h.
void	fInitializeMagCalibration (struct MagCalibration *pthisMagCal, struct MagBuffer *pthisMagBuffer)
void	iUpdateMagBuffer (struct MagBuffer *pthisMagBuffer, struct MagSensor *pthisMag, int32_t loopcounter)
void	fInvertMagCal (struct MagSensor *pthisMag, struct MagCalibration *pthisMagCal)
void	fRunMagCalibration (struct MagCalibration *pthisMagCal, struct MagBuffer *pthisMagBuffer, struct MagSensor *pthisMag, int32_t loopcounter)
void	fUpdateMagCalibration4 (struct MagCalibration *pthisMagCal, struct MagBuffer *pthisMagBuffer, struct MagSensor *pthisMag)
void	fUpdateMagCalibration7 (struct MagCalibration *pthisMagCal, struct MagBuffer *pthisMagBuffer, struct MagSensor *pthisMag)
void	fUpdateMagCalibration10 (struct MagCalibration *pthisMagCal, struct MagBuffer *pthisMagBuffer, struct MagSensor *pthisMag)
void	fUpdateMagCalibration4Slice (struct MagCalibration *pthisMagCal, struct MagBuffer *pthisMagBuffer, struct MagSensor *pthisMag)
void	fUpdateMagCalibration7Slice (struct MagCalibration *pthisMagCal, struct MagBuffer *pthisMagBuffer, struct MagSensor *pthisMag)
void	fUpdateMagCalibration10Slice (struct MagCalibration *pthisMagCal, struct MagBuffer *pthisMagBuffer, struct MagSensor *pthisMag)

Detailed Description

Lower level magnetic calibration interface.

Many developers can utilize the NXP Sensor Fusion Library without ever making any adjustment to the lower level magnetic calibration functions defined in this file.

Definition in file magnetic.h.

Macro Definition Documentation

CAL_INTERVAL_SECS

#define CAL_INTERVAL_SECS   300

300s or 5min interval for regular calibration checks

Definition at line 59 of file magnetic.h.

Referenced by fRunMagCalibration().

DEFAULTB

#define DEFAULTB   50.0F

default geomagnetic field (uT)

Definition at line 64 of file magnetic.h.

Referenced by fComputeMagCalibration10(), fComputeMagCalibration4(), fComputeMagCalibration7(), and fInitializeMagCalibration().

F_USING_MAG

#define F_USING_MAG   0x0002

Definition at line 47 of file magnetic.h.

Referenced by CreateAndSendPackets(), FXOS8700_Idle(), FXOS8700_Init(), FXOS8700_ReadMagData(), initSensorFusionGlobals(), MAG3110_Idle(), MAG3110_Init(), and MAG3110_Read().

FITERRORAGINGSECS

#define FITERRORAGINGSECS   86400.0F

24 hours: time (s) for fit error to increase (age) by e=2.718

Definition at line 62 of file magnetic.h.

Referenced by fRunMagCalibration().

MAGBUFFSIZEX

#define MAGBUFFSIZEX   14

x dimension in magnetometer buffer (12x24 equals 288 elements)

Definition at line 53 of file magnetic.h.

Referenced by CreateAndSendPackets(), fComputeMagCalibration10(), fComputeMagCalibration4(), fComputeMagCalibration7(), fInitializeMagCalibration(), fRunMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), fUpdateMagCalibration7Slice(), and iUpdateMagBuffer().

MAGBUFFSIZEY

#define MAGBUFFSIZEY   (2 * MAGBUFFSIZEX)

y dimension in magnetometer buffer (12x24 equals 288 elements)

Definition at line 54 of file magnetic.h.

Referenced by CreateAndSendPackets(), fComputeMagCalibration10(), fComputeMagCalibration4(), fComputeMagCalibration7(), fInitializeMagCalibration(), fRunMagCalibration(), fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), fUpdateMagCalibration7Slice(), and iUpdateMagBuffer().

MAXBFITUT

#define MAXBFITUT   90.0F

maximum acceptable geomagnetic field B (uT) for valid calibration

Definition at line 61 of file magnetic.h.

Referenced by fRunMagCalibration().

MAXMEASUREMENTS

#define MAXMEASUREMENTS   360

maximum number of measurements used for calibration

Definition at line 58 of file magnetic.h.

Referenced by iUpdateMagBuffer().

MESHDELTACOUNTS

#define MESHDELTACOUNTS   50

magnetic buffer mesh spacing in counts (here 5uT)

Definition at line 63 of file magnetic.h.

Referenced by iUpdateMagBuffer().

MINBFITUT

#define MINBFITUT   10.0F

minimum acceptable geomagnetic field B (uT) for valid calibration

Definition at line 60 of file magnetic.h.

Referenced by fRunMagCalibration().

MINMEASUREMENTS10CAL

#define MINMEASUREMENTS10CAL   330

minimum number of measurements for 10 element calibration

Definition at line 57 of file magnetic.h.

Referenced by fRunMagCalibration().

MINMEASUREMENTS4CAL

#define MINMEASUREMENTS4CAL   110

minimum number of measurements for 4 element calibration

Definition at line 55 of file magnetic.h.

Referenced by fRunMagCalibration().

MINMEASUREMENTS7CAL

#define MINMEASUREMENTS7CAL   220

minimum number of measurements for 7 element calibration

Definition at line 56 of file magnetic.h.

Referenced by fRunMagCalibration().

Function Documentation

fInitializeMagCalibration()

void fInitializeMagCalibration	(	struct MagCalibration *	pthisMagCal,
		struct MagBuffer *	pthisMagBuffer
	)

Definition at line 50 of file magnetic.c.

References CALIBRATION_NVM_ADDR, CHX, CHY, CHZ, DEFAULTB, f3x3matrixAeqI(), MagCalibration::fB, MagCalibration::fBSq, MagCalibration::fFitErrorpc, MagCalibration::finvW, MagCalibration::fV, MagCalibration::i10ElementSolverTried, MagCalibration::i4ElementSolverTried, MagCalibration::i7ElementSolverTried, MagCalibration::iCalInProgress, MagCalibration::iInitiateMagCal, MagBuffer::iMagBufferCount, MagCalibration::iMagBufferReadOnly, MagBuffer::index, MagCalibration::iNewCalibrationAvailable, MagCalibration::iValidMagCal, MAG_NVM_OFFSET, MAGBUFFSIZEX, MAGBUFFSIZEY, PI, and MagBuffer::tanarray.

Referenced by DecodeCommandBytes(), and initializeFusionEngine().

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fInvertMagCal()

void fInvertMagCal	(	struct MagSensor *	pthisMag,
		struct MagCalibration *	pthisMagCal
	)

Definition at line 311 of file magnetic.c.

References CHX, CHY, CHZ, MagSensor::fBc, MagSensor::fBs, MagSensor::fCountsPeruT, MagCalibration::finvW, MagCalibration::fV, and MagSensor::iBc.

Referenced by processMagData().

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fRunMagCalibration()

void fRunMagCalibration	(	struct MagCalibration *	pthisMagCal,
		struct MagBuffer *	pthisMagBuffer,
		struct MagSensor *	pthisMag,
		int32_t	loopcounter
	)

Definition at line 339 of file magnetic.c.

References CAL_INTERVAL_SECS, CHX, CHZ, MagCalibration::fB, MagCalibration::fBSq, MagCalibration::fFitErrorpc, MagCalibration::finvW, FITERRORAGINGSECS, MagCalibration::ftrB, MagCalibration::ftrFitErrorpc, MagCalibration::ftrinvW, MagCalibration::ftrV, fUpdateMagCalibration10Slice(), fUpdateMagCalibration4Slice(), fUpdateMagCalibration7Slice(), FUSION_HZ, MagCalibration::fV, MagCalibration::i10ElementSolverTried, MagCalibration::i4ElementSolverTried, MagCalibration::i7ElementSolverTried, MagCalibration::iCalInProgress, MagCalibration::iInitiateMagCal, MagBuffer::iMagBufferCount, MagBuffer::index, MagCalibration::iNewCalibrationAvailable, MagCalibration::iValidMagCal, MAGBUFFSIZEX, MAGBUFFSIZEY, MAXBFITUT, MINBFITUT, MINMEASUREMENTS10CAL, MINMEASUREMENTS4CAL, and MINMEASUREMENTS7CAL.

Referenced by processMagData().

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fUpdateMagCalibration10()

void fUpdateMagCalibration10	(	struct MagCalibration *	pthisMagCal,
		struct MagBuffer *	pthisMagBuffer,
		struct MagSensor *	pthisMag
	)

fUpdateMagCalibration10Slice()

void fUpdateMagCalibration10Slice	(	struct MagCalibration *	pthisMagCal,
		struct MagBuffer *	pthisMagBuffer,
		struct MagSensor *	pthisMag
	)

Definition at line 987 of file magnetic.c.

References CHX, CHY, CHZ, f3x3matrixAeqAxScalar(), f3x3matrixAeqInvSymB(), f3x3matrixAeqMinusA(), f3x3matrixDetA(), MagCalibration::fA, fComputeEigSlice(), MagCalibration::finvA, MagCalibration::fmatA, MagCalibration::fmatB, MagCalibration::ftrB, MagCalibration::ftrFitErrorpc, MagCalibration::ftrinvW, MagCalibration::ftrV, MagSensor::fuTPerCount, MagCalibration::fvecA, MagBuffer::iBs, MagCalibration::iCalInProgress, MagCalibration::iInitiateMagCal, MagBuffer::iMagBufferCount, MagCalibration::iMagBufferReadOnly, MagCalibration::iMeanBs, MagBuffer::index, MagCalibration::iNewCalibrationAvailable, MagCalibration::iSumBs, MagCalibration::itimeslice, MAGBUFFSIZEX, MAGBUFFSIZEY, MATRIX_10_SIZE, and ONETHIRD.

Referenced by fRunMagCalibration().

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fUpdateMagCalibration4()

void fUpdateMagCalibration4	(	struct MagCalibration *	pthisMagCal,
		struct MagBuffer *	pthisMagBuffer,
		struct MagSensor *	pthisMag
	)

fUpdateMagCalibration4Slice()

void fUpdateMagCalibration4Slice	(	struct MagCalibration *	pthisMagCal,
		struct MagBuffer *	pthisMagBuffer,
		struct MagSensor *	pthisMag
	)

Definition at line 469 of file magnetic.c.

References CHX, CHY, CHZ, f3x3matrixAeqI(), MagCalibration::fmatA, MagCalibration::fmatB, fmatrixAeqInvA(), MagCalibration::ftrB, MagCalibration::ftrFitErrorpc, MagCalibration::ftrinvW, MagCalibration::ftrV, MagSensor::fuTPerCount, MagCalibration::fvecA, MagCalibration::fvecB, MagCalibration::fYTY, MagBuffer::iBs, MagCalibration::iCalInProgress, MagCalibration::iInitiateMagCal, MagBuffer::iMagBufferCount, MagCalibration::iMagBufferReadOnly, MagCalibration::iMeanBs, MagBuffer::index, MagCalibration::iNewCalibrationAvailable, MagCalibration::iSumBs, MagCalibration::itimeslice, MAGBUFFSIZEX, and MAGBUFFSIZEY.

Referenced by fRunMagCalibration().

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fUpdateMagCalibration7()

void fUpdateMagCalibration7	(	struct MagCalibration *	pthisMagCal,
		struct MagBuffer *	pthisMagBuffer,
		struct MagSensor *	pthisMag
	)

fUpdateMagCalibration7Slice()

void fUpdateMagCalibration7Slice	(	struct MagCalibration *	pthisMagCal,
		struct MagBuffer *	pthisMagBuffer,
		struct MagSensor *	pthisMag
	)

Definition at line 700 of file magnetic.c.

References CHX, CHY, CHZ, MagCalibration::fA, fComputeEigSlice(), MagCalibration::fmatA, MagCalibration::fmatB, MagCalibration::ftrB, MagCalibration::ftrFitErrorpc, MagCalibration::ftrinvW, MagCalibration::ftrV, MagSensor::fuTPerCount, MagCalibration::fvecA, MagBuffer::iBs, MagCalibration::iCalInProgress, MagCalibration::iInitiateMagCal, MagBuffer::iMagBufferCount, MagCalibration::iMagBufferReadOnly, MagCalibration::iMeanBs, MagBuffer::index, MagCalibration::iNewCalibrationAvailable, MagCalibration::iSumBs, MagCalibration::itimeslice, MAGBUFFSIZEX, MAGBUFFSIZEY, MATRIX_7_SIZE, and ONETHIRD.

Referenced by fRunMagCalibration().

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iUpdateMagBuffer()

void iUpdateMagBuffer	(	struct MagBuffer *	pthisMagBuffer,
		struct MagSensor *	pthisMag,
		int32_t	loopcounter
	)

Definition at line 117 of file magnetic.c.

References CHX, CHY, CHZ, MagSensor::iBc, MagBuffer::iBs, MagSensor::iBs, MagBuffer::iMagBufferCount, MagBuffer::index, MAGBUFFSIZEX, MAGBUFFSIZEY, MAXMEASUREMENTS, MESHDELTACOUNTS, and MagBuffer::tanarray.

Referenced by processMagData().

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