precisionAccelerometer.c File Reference

Implements accelerometer calibration routines. More...

#include <stdio.h>
#include "sensor_fusion.h"
#include "fusion.h"

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Functions
void	fInitializeAccelCalibration (struct AccelCalibration *pthisAccelCal, struct AccelBuffer *pthisAccelBuffer, volatile int8 *AccelCalPacketOn)
	Initialize the accelerometer calibration functions. More...
void	fUpdateAccelBuffer (struct AccelCalibration *pthisAccelCal, struct AccelBuffer *pthisAccelBuffer, struct AccelSensor *pthisAccel, volatile int8 *AccelCalPacketOn)
	Update the buffer used to store samples used for accelerometer calibration. More...
void	fInvertAccelCal (struct AccelSensor *pthisAccel, struct AccelCalibration *pthisAccelCal)
	function maps the accelerometer data fGs (g) onto precision calibrated and de-rotated data fGc (g), iGc (counts) More...
void	fRunAccelCalibration (struct AccelCalibration *pthisAccelCal, struct AccelBuffer *pthisAccelBuffer, struct AccelSensor *pthisAccel)
	function runs the precision accelerometer calibration More...
void	fComputeAccelCalibration4 (struct AccelBuffer *pthisAccelBuffer, struct AccelCalibration *pthisAccelCal, struct AccelSensor *pthisAccel)
	calculate the 4 element calibration from the available measurements More...
void	fComputeAccelCalibration7 (struct AccelBuffer *pthisAccelBuffer, struct AccelCalibration *pthisAccelCal, struct AccelSensor *pthisAccel)
	calculate the 7 element calibration from the available measurements More...
void	fComputeAccelCalibration10 (struct AccelBuffer *pthisAccelBuffer, struct AccelCalibration *pthisAccelCal, struct AccelSensor *pthisAccel)
	calculate the 10 element calibration from the available measurements More...

Detailed Description

Implements accelerometer calibration routines.

Definition in file precisionAccelerometer.c.

Function Documentation

fComputeAccelCalibration10()

void fComputeAccelCalibration10	(	struct AccelBuffer *	pthisAccelBuffer,
		struct AccelCalibration *	pthisAccelCal,
		struct AccelSensor *	pthisAccel
	)

calculate the 10 element calibration from the available measurements

Parameters

pthisAccelBuffer	Buffer of measurements used as input to the accel calibration functions
pthisAccelCal	Accelerometer calibration parameter structure
pthisAccel	Pointer to the accelerometer input/state structure

Definition at line 424 of file precisionAccelerometer.c.

References CHX, CHY, CHZ, f3x3matrixAeqInvSymB(), f3x3matrixAeqMinusA(), f3x3matrixDetA(), AccelCalibration::fA, fEigenCompute10(), AccelBuffer::fGsStored, AccelCalibration::finvA, AccelCalibration::finvW, AccelCalibration::fmatA, AccelCalibration::fmatB, AccelCalibration::fV, AccelCalibration::fvecA, AccelBuffer::iStoreFlags, and MAX_ACCEL_CAL_ORIENTATIONS.

Referenced by fRunAccelCalibration().

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fComputeAccelCalibration4()

void fComputeAccelCalibration4	(	struct AccelBuffer *	pthisAccelBuffer,
		struct AccelCalibration *	pthisAccelCal,
		struct AccelSensor *	pthisAccel
	)

calculate the 4 element calibration from the available measurements

Parameters

pthisAccelBuffer	Buffer of measurements used as input to the accel calibration functions
pthisAccelCal	Accelerometer calibration parameter structure
pthisAccel	Pointer to the accelerometer input/state structure

Definition at line 215 of file precisionAccelerometer.c.

References CHX, CHY, CHZ, AccelBuffer::fGsStored, AccelCalibration::finvW, AccelCalibration::fmatA, fmatrixAeqInvA(), AccelCalibration::fV, AccelCalibration::fvecA, AccelCalibration::fvecB, AccelBuffer::iStoreFlags, and MAX_ACCEL_CAL_ORIENTATIONS.

Referenced by fRunAccelCalibration().

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fComputeAccelCalibration7()

void fComputeAccelCalibration7	(	struct AccelBuffer *	pthisAccelBuffer,
		struct AccelCalibration *	pthisAccelCal,
		struct AccelSensor *	pthisAccel
	)

calculate the 7 element calibration from the available measurements

Parameters

pthisAccelBuffer	Buffer of measurements used as input to the accel calibration functions
pthisAccelCal	Accelerometer calibration parameter structure
pthisAccel	Pointer to the accelerometer input/state structure

Definition at line 330 of file precisionAccelerometer.c.

References CHX, CHY, CHZ, f3x3matrixAeqScalar(), fEigenCompute10(), AccelBuffer::fGsStored, AccelCalibration::finvW, AccelCalibration::fmatA, AccelCalibration::fmatB, AccelCalibration::fV, AccelCalibration::fvecA, AccelBuffer::iStoreFlags, and MAX_ACCEL_CAL_ORIENTATIONS.

Referenced by fRunAccelCalibration().

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fInitializeAccelCalibration()

void fInitializeAccelCalibration	(	struct AccelCalibration *	pthisAccelCal,
		struct AccelBuffer *	pthisAccelBuffer,
		volatile int8 *	AccelCalPacketOn
	)

Initialize the accelerometer calibration functions.

Parameters

pthisAccelCal	Accelerometer calibration parameter structure
pthisAccelBuffer	Buffer of measurements used as input to the accel calibration functions
AccelCalPacketOn	Used to coordinate calibration sample storage and communications

Definition at line 18 of file precisionAccelerometer.c.

References ACCEL_NVM_OFFSET, CALIBRATION_NVM_ADDR, CHX, CHY, CHZ, f3x3matrixAeqI(), AccelCalibration::finvW, AccelCalibration::fR0, AccelCalibration::fV, AccelBuffer::iStoreCounter, AccelBuffer::iStoreFlags, AccelBuffer::iStoreLocation, and MAX_ACCEL_CAL_ORIENTATIONS.

Referenced by DecodeCommandBytes(), and initializeFusionEngine().

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fInvertAccelCal()

void fInvertAccelCal	(	struct AccelSensor *	pthisAccel,
		struct AccelCalibration *	pthisAccelCal
	)

function maps the accelerometer data fGs (g) onto precision calibrated and de-rotated data fGc (g), iGc (counts)

Parameters

pthisAccel	Pointer to the accelerometer input/state structure
pthisAccelCal	Accelerometer calibration parameter structure

Definition at line 118 of file precisionAccelerometer.c.

References CHX, CHY, CHZ, AccelSensor::fGc, AccelSensor::fGs, AccelCalibration::finvW, AccelCalibration::fR0, AccelCalibration::fV, AccelSensor::iCountsPerg, and AccelSensor::iGc.

Referenced by initializeSensors().

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fRunAccelCalibration()

void fRunAccelCalibration	(	struct AccelCalibration *	pthisAccelCal,
		struct AccelBuffer *	pthisAccelBuffer,
		struct AccelSensor *	pthisAccel
	)

function runs the precision accelerometer calibration

Parameters

pthisAccelCal	Accelerometer calibration parameter structure
pthisAccelBuffer	Buffer of measurements used as input to the accel calibration functions
pthisAccel	Pointer to the accelerometer input/state structure

Definition at line 157 of file precisionAccelerometer.c.

References CHX, CHZ, f3DOFTiltAndroid(), f3DOFTiltNED(), f3DOFTiltWin8(), fComputeAccelCalibration10(), fComputeAccelCalibration4(), fComputeAccelCalibration7(), AccelBuffer::fGsStored, AccelCalibration::finvW, AccelCalibration::fR0, AccelCalibration::fV, fVeq3x3AxV(), AccelBuffer::iStoreFlags, and MAX_ACCEL_CAL_ORIENTATIONS.

Referenced by fUpdateAccelBuffer().

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fUpdateAccelBuffer()

void fUpdateAccelBuffer	(	struct AccelCalibration *	pthisAccelCal,
		struct AccelBuffer *	pthisAccelBuffer,
		struct AccelSensor *	pthisAccel,
		volatile int8 *	AccelCalPacketOn
	)

Update the buffer used to store samples used for accelerometer calibration.

Parameters

pthisAccelCal	Accelerometer calibration parameter structure
pthisAccelBuffer	Buffer of measurements used as input to the accel calibration functions
pthisAccel	Pointer to the accelerometer input/state structure
AccelCalPacketOn	Used to coordinate calibration sample storage and communications

Definition at line 66 of file precisionAccelerometer.c.

References ACCEL_CAL_AVERAGING_SECS, CHX, CHZ, AccelSensor::fGs, AccelBuffer::fGsStored, fRunAccelCalibration(), AccelBuffer::fSumGs, FUSION_HZ, AccelBuffer::iStoreCounter, AccelBuffer::iStoreFlags, and AccelBuffer::iStoreLocation.

Referenced by initializeSensors().

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