precisionAccelerometer.h

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/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * Copyright 2016-2017 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef PRECISIONACCELEROMETER_H
#define PRECISIONACCELEROMETER_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stdint.h>
 
#define ACCEL_CAL_AVERAGING_SECS    2       
#define MAX_ACCEL_CAL_ORIENTATIONS  12      
 
typedef struct 
{
    float fGsStored[MAX_ACCEL_CAL_ORIENTATIONS][3]; 
    float fSumGs[3];                
    int16_t iStoreCounter;              
    int16_t iStoreLocation;             
    int16_t iStoreFlags;                
} AccelBuffer;
 
typedef struct 
{
    // start of elements stored in flash memory
    float fV[3];                    
    float finvW[3][3];              
    float fR0[3][3];                
    // end of elements stored in flash memory
    float fmatA[10][10];                    
    float fmatB[10][10];                    
    float fvecA[10];                
    float fvecB[4];                 
    float fA[3][3];                 
    float finvA[3][3];              
} AccelCalibration;
 
struct AccelSensor;  // actual typedef is located in sensor_fusion_types.h
 
// function prototypes for functions in precisionAcclerometer.c
void fInitializeAccelCalibration(
    AccelCalibration *pthisAccelCal,             
    AccelBuffer *pthisAccelBuffer,               
    volatile int8_t *AccelCalPacketOn                   
);
void fUpdateAccelBuffer(
    AccelCalibration *pthisAccelCal,             
    AccelBuffer *pthisAccelBuffer,               
    struct AccelSensor* pthisAccel,                     
    volatile int8_t *AccelCalPacketOn                   
);
void fInvertAccelCal(
    struct AccelSensor *pthisAccel,                     
    AccelCalibration *pthisAccelCal              
);
void fRunAccelCalibration(
    AccelCalibration *pthisAccelCal,             
    AccelBuffer *pthisAccelBuffer,               
    struct AccelSensor* pthisAccel                      
);
void fComputeAccelCalibration4(
    AccelBuffer *pthisAccelBuffer,               
    AccelCalibration *pthisAccelCal,             
    struct AccelSensor* pthisAccel                      
);
void fComputeAccelCalibration7(
    AccelBuffer *pthisAccelBuffer,               
    AccelCalibration *pthisAccelCal,             
    struct AccelSensor* pthisAccel                      
);
void fComputeAccelCalibration10(
    AccelBuffer *pthisAccelBuffer,               
    AccelCalibration *pthisAccelCal,             
    struct AccelSensor* pthisAccel                      
);
 
#ifdef __cplusplus
}
#endif
 
#endif // PRECISIONACCELEROMETER_H