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828b55a735
Code for hard iron calibration: Every seconds (or faster if enough samples), find a sphere that fit the compass data. Based on Android code. BRANCH=smaug BUG=chrome-os-partner:39900 TEST=Check hard-iron bias is removed. Works better outside. Change-Id: Iab479d5113b6560b4f01b0fd87373d2eecdb9b54 Signed-off-by: Gwendal Grignou <gwendal@chromium.org> Reviewed-on: https://chromium-review.googlesource.com/299583 Reviewed-by: Anton Staaf <robotboy@chromium.org>
47 lines
1.0 KiB
C
47 lines
1.0 KiB
C
/* Copyright 2015 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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/* Online magnetometer calibration */
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#ifndef __CROS_EC_MAG_CAL_H
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#define __CROS_EC_MAG_CAL_H
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#include "math_util.h"
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#include "mat44.h"
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#include "vec4.h"
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#define MAG_CAL_MAX_SAMPLES 0xffff
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#define MAG_CAL_MIN_BATCH_WINDOW_US SECOND
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#define MAG_CAL_MIN_BATCH_SIZE 25 /* samples */
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struct mag_cal_t {
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/*
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* Matric for sphere fitting:
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* +----+----+----+----+
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* | xx | xy | xz | x |
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* +----+----+----+----+
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* | xy | yy | yz | y |
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* +----+----+----+----+
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* | xz | yz | zz | z |
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* +----+----+----+----+
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* | x | y | z | 1 |
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* +----+----+----+----+
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*/
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mat44_t acc;
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vec4_t acc_w;
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float radius;
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vector_3_t bias;
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/* number of samples needed to calibrate */
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uint16_t batch_size;
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uint16_t nsamples;
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};
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void init_mag_cal(struct mag_cal_t *moc);
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int mag_cal_update(struct mag_cal_t *moc, const vector_3_t v);
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#endif /* __CROS_EC_MAG_CAL_H */
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