diff options
| author | Yuval Adam <yuval@y3xz.com> | 2015-03-13 12:24:52 +0200 |
|---|---|---|
| committer | Yuval Adam <yuval@y3xz.com> | 2015-03-13 12:24:52 +0200 |
| commit | 4085ae3ddfbbf10c8ccbd3dccd43452c40a1fe40 (patch) | |
| tree | ac63581949a49511136e7e9e47d265bfb4119b26 /sensorlib/magneto.h | |
| parent | 788db64b8642bf31de6930d18a62177c64163ee0 (diff) | |
Add bootloader, nfclib and sensorlib
Diffstat (limited to 'sensorlib/magneto.h')
| -rw-r--r-- | sensorlib/magneto.h | 92 |
1 files changed, 92 insertions, 0 deletions
diff --git a/sensorlib/magneto.h b/sensorlib/magneto.h new file mode 100644 index 0000000..811491e --- /dev/null +++ b/sensorlib/magneto.h @@ -0,0 +1,92 @@ +//*****************************************************************************
+//
+// magneto.h - Prototypes for the functions that manipulate magnetometer
+// readings.
+//
+// Copyright (c) 2013-2014 Texas Instruments Incorporated. All rights reserved.
+// Software License Agreement
+//
+// Texas Instruments (TI) is supplying this software for use solely and
+// exclusively on TI's microcontroller products. The software is owned by
+// TI and/or its suppliers, and is protected under applicable copyright
+// laws. You may not combine this software with "viral" open-source
+// software in order to form a larger program.
+//
+// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
+// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
+// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
+// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
+// DAMAGES, FOR ANY REASON WHATSOEVER.
+//
+// This is part of revision 2.1.0.12573 of the Tiva Firmware Development Package.
+//
+//*****************************************************************************
+
+#ifndef __SENSORLIB_MAGNETO_H__
+#define __SENSORLIB_MAGNETO_H__
+
+//*****************************************************************************
+//
+// The structure that defines the internal state of the magnetometer hard and
+// soft iron compensation.
+//
+//*****************************************************************************
+typedef struct
+{
+ //
+ // The hard iron induced offset in the X axis of the magnetometer.
+ //
+ float fXOffset;
+
+ //
+ // The hard iron induced offset in the Y axis of the magnetometer.
+ //
+ float fYOffset;
+
+ //
+ // The hard iron induced offset in the Z axis of the magnetometer.
+ //
+ float fZOffset;
+
+ //
+ // The Z axis rotation required to align the major/minor axes of the
+ // ellipse in the X-Y plane with the X-Y axes, specified in radians.
+ //
+ float fXYAngle;
+
+ //
+ // The amount to scale the Y axis in order to turn the X-Y ellipse into a
+ // circle.
+ //
+ float fYRatio;
+
+ //
+ // The Y axis rotation required to align the major/minor axes of the
+ // ellipse in the X-Z plane with X-Z axes, specified in radians.
+ //
+ float fXZAngle;
+
+ //
+ // The amount to scale the Z axis in order to turn the X-Z ellipse into a
+ // circle.
+ //
+ float fZRatio;
+}
+tMagnetoCompensation;
+
+//*****************************************************************************
+//
+// Prototypes.
+//
+//*****************************************************************************
+extern void MagnetoCompensateInit(tMagnetoCompensation *psInst, float fXOffset,
+ float fYOffset, float fZOffset,
+ float fXYAngle, float fYRatio,
+ float fXZAngle, float fZRatio);
+extern void MagnetoCompensate(tMagnetoCompensation *psInst, float *pfMagnetoX,
+ float *pfMagnetoY, float *pfMagnetoZ);
+extern float MagnetoHeadingCompute(float fMagnetoX, float fMagnetoY,
+ float fMagnetoZ, float fRoll, float fPitch);
+
+#endif // __SENSORLIB_MAGNETO_H__
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