calibration.h File Reference

#include "../communication/communication.h"

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Macros
#define	SUCCESS   1
#define	FAILURE   -1
#define	ACC_BIAS_X   19.2
#define	ACC_BIAS_Y   6.024
#define	ACC_BIAS_Z   -18.97
#define	ACC_FS_X   262.82
#define	ACC_FS_Y   262.15
#define	ACC_FS_Z   252.20
#define	MAG_BIAS_X   -143
#define	MAG_BIAS_Y   -101
#define	MAG_BIAS_Z   3
#define	MAG_FS_X   177
#define	MAG_FS_Y   139
#define	MAG_FS_Z   85
#define	GYR_BIAS_X   -60.9046
#define	GYR_BIAS_Y   40.9062
#define	GYR_BIAS_Z   0.8769
#define	GYR_FS_X   0.001214142
#define	GYR_FS_Y   0.001214142
#define	GYR_FS_Z   0.001214142
#define	ENC_FS   0.08789062
#define	ENC_MAX   4096

Functions
void	calibrate_all (IMU_DATA_STRUCT *imu_data)
	Calibrate all sensors. More...
void	calibrate_imu (IMU_DATA_STRUCT *imu_data)
	Calibrate imu sensors. More...
void	calibrate_enc (ENC_DATA_STRUCT *enc_data)
	Calibrate encoder to return values in the rage of 0 to 90. More...

Macro Definition Documentation

#define ACC_BIAS_X   19.2

Definition at line 15 of file calibration.h.

Referenced by calibrate_imu().

#define ACC_BIAS_Y   6.024

Definition at line 16 of file calibration.h.

Referenced by calibrate_imu().

#define ACC_BIAS_Z   -18.97

Definition at line 17 of file calibration.h.

Referenced by calibrate_imu().

#define ACC_FS_X   262.82

Definition at line 18 of file calibration.h.

Referenced by calibrate_imu().

#define ACC_FS_Y   262.15

Definition at line 19 of file calibration.h.

Referenced by calibrate_imu().

#define ACC_FS_Z   252.20

Definition at line 20 of file calibration.h.

Referenced by calibrate_imu().

#define ENC_FS   0.08789062

Definition at line 38 of file calibration.h.

Referenced by calibrate_enc().

#define ENC_MAX   4096

Definition at line 39 of file calibration.h.

Referenced by calibrate_enc().

#define FAILURE   -1

Definition at line 7 of file calibration.h.

Referenced by acc_init(), acc_read_all_data(), acc_write_reg(), actuate(), devices_init(), enc_read_pos(), enc_wait_for_ack(), enc_zero_set(), gpio_read(), gpio_write(), gyr_read_all_data(), gyr_write_reg(), mag_read_all_data(), main(), read_all_data(), and ui_update().

#define GYR_BIAS_X   -60.9046

Definition at line 30 of file calibration.h.

Referenced by calibrate_imu().

#define GYR_BIAS_Y   40.9062

Definition at line 31 of file calibration.h.

Referenced by calibrate_imu().

#define GYR_BIAS_Z   0.8769

Definition at line 32 of file calibration.h.

Referenced by calibrate_imu().

#define GYR_FS_X   0.001214142

Definition at line 33 of file calibration.h.

Referenced by calibrate_imu().

#define GYR_FS_Y   0.001214142

Definition at line 34 of file calibration.h.

Referenced by calibrate_imu().

#define GYR_FS_Z   0.001214142

Definition at line 35 of file calibration.h.

Referenced by calibrate_imu().

#define MAG_BIAS_X   -143

Definition at line 22 of file calibration.h.

Referenced by calibrate_imu().

#define MAG_BIAS_Y   -101

Definition at line 23 of file calibration.h.

Referenced by calibrate_imu().

#define MAG_BIAS_Z   3

Definition at line 24 of file calibration.h.

Referenced by calibrate_imu().

#define MAG_FS_X   177

Definition at line 25 of file calibration.h.

Referenced by calibrate_imu().

#define MAG_FS_Y   139

Definition at line 26 of file calibration.h.

Referenced by calibrate_imu().

#define MAG_FS_Z   85

Definition at line 27 of file calibration.h.

Referenced by calibrate_imu().

#define SUCCESS   1

Definition at line 6 of file calibration.h.

Referenced by acc_init(), acc_read_all_data(), acc_write_reg(), actuate(), control_task(), devices_close(), devices_init(), enc_read_pos(), enc_wait_for_ack(), enc_zero_set(), get_time(), gpio_f_write(), gpio_write(), gyr_read_all_data(), gyr_write_reg(), mag_read_all_data(), main(), periodic_task_1(), periodic_task_2(), read_all_data(), reset_timer(), ui_close(), ui_eff_data(), ui_enc_data(), ui_imu_data(), ui_init(), ui_menu(), ui_mra_data(), ui_overview_data(), ui_task(), and ui_update().

Function Documentation

void calibrate_enc

(

ENC_DATA_STRUCT *

enc_data

)

Calibrate encoder to return values in the rage of 0 to 90.

Definition at line 33 of file calibration.c.

                                             {
  enc_data->calib.position = ((ENC_MAX - enc_data->position)/ENC_FS);
}