magnetic.h

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/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * Copyright 2016-2017 NXP
 * Copyright 2020 Bjarne Hansen
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef MAGNETIC_H
#define MAGNETIC_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifndef F_USING_MAG
#define F_USING_MAG 0x0002  // normally should be defined in build.h
#endif
 
#if F_USING_MAG
#define MAGBUFFSIZEX 14             
#define MAGBUFFSIZEY (2 * MAGBUFFSIZEX)     
#define MINMEASUREMENTS4CAL 110         
#define MINMEASUREMENTS7CAL 220         
#define MINMEASUREMENTS10CAL 330        
#define MAXMEASUREMENTS 360         
#define CAL_INTERVAL_SECS 300           
#define MINBFITUT 10.0F             
#define MAXBFITUT 90.0F             
#define FITERRORAGINGSECS 86400.0F      
#define MESHDELTACOUNTS 50          
#define DEFAULTB 50.0F              
 
struct MagBuffer
{
    int16_t iBs[3][MAGBUFFSIZEX][MAGBUFFSIZEY];     
    int32_t index[MAGBUFFSIZEX][MAGBUFFSIZEY];      
    int16_t tanarray[MAGBUFFSIZEX - 1];         
    int16_t iMagBufferCount;                
};
 
struct MagCalibration
{
    // start of elements stored to flash memory on Save (16 * 4 = 64 bytes)
    float fV[3];                    
    float finvW[3][3];              
    float fB;                   
    float fBSq;                 
    float fFitErrorpc;              
    int32_t iValidMagCal;               
    // end of elements stored to flash memory
    // start of working elements not stored to flash memory
    float ftrV[3];                  
    float ftrinvW[3][3];                    
    float ftrB;                 
    float ftrFitErrorpc;                    
    float fA[3][3];                 
    float finvA[3][3];              
    float fmatA[10][10];                    
    float fmatB[10][10];                    
    float fvecA[10];                
    float fvecB[4];                 
    float fYTY;                 
    int32_t iSumBs[3];              
    int32_t iMeanBs[3];             
    int32_t itimeslice;             
    int8_t iCalInProgress;                  
    int8_t iNewCalibrationAvailable;            
    int8_t iInitiateMagCal;                 
    int8_t iMagBufferReadOnly;              
    int8_t i4ElementSolverTried;                
    int8_t i7ElementSolverTried;                
    int8_t i10ElementSolverTried;               
};
 
 
struct MagSensor;  // actual typedef is located in sensor_fusion_types.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);
#else    // if F_USING_MAG
struct MagBuffer
{
    void *placeholder;
};
 
struct MagCalibration
{
    void *placeholder;
};
#endif   // if F_USING_MAG
 
#ifdef __cplusplus
}
#endif
 
 
#endif   // #ifndef MAGNETIC_H