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eCompass API quick start
Alex.Hsieh
2016.11.10
V2.0.1
Outline
• eCompass API library
• PCB Sensor direction and coordinate system
• Sample code
• API Manual (chm)
• FAQ
eCompass API library & manual
• Check 5 files for eCompass API library
1) Sample code folder
2) Config.h
3) IST_LIB.h
4) IST_LIB.c
5) eCompass API.chm
eCompass API library
• Include 2 header file (.h) and 1 source file (.c) in
your project - Config.h / IST_LIB.h / IST_LIB.c
• Copy essential part from sample code - Main.c
PCB Sensor direction and coordinate system
• Change mag and acc sensor axis direction (x, y,
z) to fit coordinate system (N, E, U)
PCB Sensor direction
PCB Sensor direction and coordinate system
• Change sensor axis direction (x, y, z) to fit
coordinate system (N, E, U)
X
Y Z
X’
Y’Z’
X’ = -Y
Y’ = -X
Z’ = Z
X’
Y’Z’
X
Y Z
E
N
U
E
N
U
E
N
U
E
N
U
PCB Sensor direction and coordinate system
• Change mag sensor data (x, y, z) from LSB to
uT and axis direction • X’ = -Y * Mag_LSBtoUT
• Y’ = -X * Mag_LSBtoUT
• Z’ = Z * Mag_LSBtoUT
• Mag_LSBtoUT = 0.3
Sample code
• Steps
1) Copy sample code and enable the essential function
in your project
• Set_HeadingAngleEnable
• Set_MagAccuracyEnable
• Set_SingleCalibration / Set_DynamicCalibration
2) Input data need mag and acc data, if you don’t have
acc data, please input [0,0,9.8]
3) Check the input data axis direction to fit NEU
system
Sample code
• Include header file
Sample code
• Variable and compass API initialization (A and B
part.)
Sample code
• Variable and compass API initialization (A and B
part.)
Sample code
• Part B : isentek compass initialization stage
• ist8310_Init(); // init driver
• Set_HeadingAngleEnable(IST_TRUE);// if return Heading angle, it need acc
and mag sensor
• Set_MagAccuracyEnable(IST_TRUE);// if enable eCompass accuracy report -
return 0:unreliable 3:High 2:medum 1: low
• Set_SingleCalibration(IST_TRUE);// if enable single calibration right now
• Set_DynamicCalibration(IST_TRUE) ;// if enable continuous calibration
• Set_MagBias(Mag_IST8310_Bias);
// if you have last calibrated value and don't calibrate again, you can set by this
"Set_MagBias" function
// note : this setting dependent on your application, please check if you
applciation is suitable
Sample code
• Run process in while loop (C1-C6 part.)
Sample code
• Run process in while loop (C1-C6 part.)
Sample code
• Run process in while loop (C1 & C2 part.)
// C1. Get mag and acc data from driver and change the sensor value from LSB
to uT
ist8310_GetXYZ(MagXYZ);
for (int i = 0; i < 3; ++i) {
Mag_RawData[i] = (float)MagXYZ[i] * Mag_LSBtoUT;
}
// C2. Dependent on PCB layout, change the mag and acc direction to NEU (x =
east, y = west, z = up)
Mag_RawData[0] = Mag_RawData[0];
Mag_RawData[1] = -Mag_RawData[1];
Mag_RawData[2] = Mag_RawData[2];
AccData[0] = AccData[1];
AccData[1] = AccData[0];
AccData[2] = AccData[2]; PCB Sensor direction
Sample code
• Run process in while loop (C3-C4 part.)
// C3. Run Compass Process to get Calibrated Data
// Here, we use constant acc data input [0,0,9.8], also, acc data [0,0,1] is ok.
Process_RunCompass(Mag_RawData, AccData, Mag_CalibratedData);
// C4. Check Calibration Status
// Mag_CalibrationStatus : In calibration = 1, no = 0
// Get_MagBias : BiasX, BiasY, BiasZ, Radius
// Mag_GetIST8310_Bias element will have valid value after calibration,
// you can check the bias value to know process finish calibration.
Mag_CalibrationStatus = Get_CalibrationStatus();
Get_MagBias(Mag_GetIST8310_Bias);
Sample code
• Run process in while loop (C5-C6 part.)
// C5. Get Heading Angle
// Get_HeadingAngle return int type angle. 0 - 360 degree
// Get_HeadingAngle100 return int type angle . 0 - 36000 degree
// Therefore, we need to change angle type
Mag_HeadingAngle = (float)Get_HeadingAngle();
Mag_HeadingAngle_Int100 = 0.01f * ((float)Get_HeadingAngle100());
// C6. Get Mag Accuracy Status
// 0:unreliable 3:High 2:medum 1: low
Mag_Accurancy = Get_MagAccuracyStatus();
API Manual (chm)
• File list – inc – IST_LIB.h
API Manual (chm)
• Function list
API Manual (chm)
• Function detail
FAQ
• IST_A001 – What’s the LSB to uT?
• IST_A002 – Why do we change the axis of acc and mag sensor to
NEU system?
• IST_A003 – What’s the difference and priority between
Set_SingleCalibration and Set_DynamicCalibration API?
• IST_A004 – How to calibrate eCompass correctly?
• IST_A005 – What’s the definition for 0, 1, 2, 3 in accuracy report ?
• IST_A006 – What time do I use “Set_MagBias” function?

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[Isentek] eCompass API Quick Start

  • 1. eCompass API quick start Alex.Hsieh 2016.11.10 V2.0.1
  • 2. Outline • eCompass API library • PCB Sensor direction and coordinate system • Sample code • API Manual (chm) • FAQ
  • 3. eCompass API library & manual • Check 5 files for eCompass API library 1) Sample code folder 2) Config.h 3) IST_LIB.h 4) IST_LIB.c 5) eCompass API.chm
  • 4. eCompass API library • Include 2 header file (.h) and 1 source file (.c) in your project - Config.h / IST_LIB.h / IST_LIB.c • Copy essential part from sample code - Main.c
  • 5. PCB Sensor direction and coordinate system • Change mag and acc sensor axis direction (x, y, z) to fit coordinate system (N, E, U) PCB Sensor direction
  • 6. PCB Sensor direction and coordinate system • Change sensor axis direction (x, y, z) to fit coordinate system (N, E, U) X Y Z X’ Y’Z’ X’ = -Y Y’ = -X Z’ = Z X’ Y’Z’ X Y Z E N U E N U E N U E N U
  • 7. PCB Sensor direction and coordinate system • Change mag sensor data (x, y, z) from LSB to uT and axis direction • X’ = -Y * Mag_LSBtoUT • Y’ = -X * Mag_LSBtoUT • Z’ = Z * Mag_LSBtoUT • Mag_LSBtoUT = 0.3
  • 8. Sample code • Steps 1) Copy sample code and enable the essential function in your project • Set_HeadingAngleEnable • Set_MagAccuracyEnable • Set_SingleCalibration / Set_DynamicCalibration 2) Input data need mag and acc data, if you don’t have acc data, please input [0,0,9.8] 3) Check the input data axis direction to fit NEU system
  • 10. Sample code • Variable and compass API initialization (A and B part.)
  • 11. Sample code • Variable and compass API initialization (A and B part.)
  • 12. Sample code • Part B : isentek compass initialization stage • ist8310_Init(); // init driver • Set_HeadingAngleEnable(IST_TRUE);// if return Heading angle, it need acc and mag sensor • Set_MagAccuracyEnable(IST_TRUE);// if enable eCompass accuracy report - return 0:unreliable 3:High 2:medum 1: low • Set_SingleCalibration(IST_TRUE);// if enable single calibration right now • Set_DynamicCalibration(IST_TRUE) ;// if enable continuous calibration • Set_MagBias(Mag_IST8310_Bias); // if you have last calibrated value and don't calibrate again, you can set by this "Set_MagBias" function // note : this setting dependent on your application, please check if you applciation is suitable
  • 13. Sample code • Run process in while loop (C1-C6 part.)
  • 14. Sample code • Run process in while loop (C1-C6 part.)
  • 15. Sample code • Run process in while loop (C1 & C2 part.) // C1. Get mag and acc data from driver and change the sensor value from LSB to uT ist8310_GetXYZ(MagXYZ); for (int i = 0; i < 3; ++i) { Mag_RawData[i] = (float)MagXYZ[i] * Mag_LSBtoUT; } // C2. Dependent on PCB layout, change the mag and acc direction to NEU (x = east, y = west, z = up) Mag_RawData[0] = Mag_RawData[0]; Mag_RawData[1] = -Mag_RawData[1]; Mag_RawData[2] = Mag_RawData[2]; AccData[0] = AccData[1]; AccData[1] = AccData[0]; AccData[2] = AccData[2]; PCB Sensor direction
  • 16. Sample code • Run process in while loop (C3-C4 part.) // C3. Run Compass Process to get Calibrated Data // Here, we use constant acc data input [0,0,9.8], also, acc data [0,0,1] is ok. Process_RunCompass(Mag_RawData, AccData, Mag_CalibratedData); // C4. Check Calibration Status // Mag_CalibrationStatus : In calibration = 1, no = 0 // Get_MagBias : BiasX, BiasY, BiasZ, Radius // Mag_GetIST8310_Bias element will have valid value after calibration, // you can check the bias value to know process finish calibration. Mag_CalibrationStatus = Get_CalibrationStatus(); Get_MagBias(Mag_GetIST8310_Bias);
  • 17. Sample code • Run process in while loop (C5-C6 part.) // C5. Get Heading Angle // Get_HeadingAngle return int type angle. 0 - 360 degree // Get_HeadingAngle100 return int type angle . 0 - 36000 degree // Therefore, we need to change angle type Mag_HeadingAngle = (float)Get_HeadingAngle(); Mag_HeadingAngle_Int100 = 0.01f * ((float)Get_HeadingAngle100()); // C6. Get Mag Accuracy Status // 0:unreliable 3:High 2:medum 1: low Mag_Accurancy = Get_MagAccuracyStatus();
  • 18. API Manual (chm) • File list – inc – IST_LIB.h
  • 19. API Manual (chm) • Function list
  • 20. API Manual (chm) • Function detail
  • 21. FAQ • IST_A001 – What’s the LSB to uT? • IST_A002 – Why do we change the axis of acc and mag sensor to NEU system? • IST_A003 – What’s the difference and priority between Set_SingleCalibration and Set_DynamicCalibration API? • IST_A004 – How to calibrate eCompass correctly? • IST_A005 – What’s the definition for 0, 1, 2, 3 in accuracy report ? • IST_A006 – What time do I use “Set_MagBias” function?