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//*****************************************************************************
//
// 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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