Main Calibration Tools

Calibrate and/or transform the potentiometer voltages from each gimbal.
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Functions
CalibrationData	calu_initCalibrationData ()
	Initializes a CalibrationData structure with default values.
int16_t	calu_imax (int16_t a, int16_t b)
	Returns the maximum of two int16_t values.
uint16_t	calu_rescale (int16_t input_voltage, int16_t input_center, int16_t input_range, int16_t output_center, int16_t output_range)
	Rescales an input voltage to a uint16_t output value.
void	calu_transform (CalibrationData cal, double v0, double v1, uint16_t *px, uint16_t *py)
	Transforms voltage values to pixel coordinates based on calibration data.
void	calu_update (CalibrationData *cal, uint8_t orientation)
	Updates the calibration data based on orientation.

Detailed Description

Calibrate and/or transform the potentiometer voltages from each gimbal.

Function Documentation

calu_imax()

int16_t calu_imax	(	int16_t	a,
		int16_t	b )

Returns the maximum of two int16_t values.

This function returns the maximum of two int16_t values.

Parameters

a	First int16_t value.
b	Second int16_t value.

Returns

The maximum of a and b.

calu_initCalibrationData()

CalibrationData calu_initCalibrationData

(

)

Initializes a CalibrationData structure with default values.

This function initializes a CalibrationData structure with default values for input transform, voltage range, voltage center, pixel range, and pixel center.

Returns

The initialized CalibrationData structure.

calu_rescale()

uint16_t calu_rescale	(	int16_t	input_voltage,
		int16_t	input_center,
		int16_t	input_range,
		int16_t	output_center,
		int16_t	output_range )

Rescales an input voltage to a uint16_t output value.

This function rescales an input voltage to a uint16_t output value based on input center, input range, output center, and output range.

Parameters

input_voltage	The input voltage value (mV) to be rescaled.
input_center	The center of the input range (mV).
input_range	The range of the input values (mV).
output_center	The center of the output range (pixels).
output_range	The range of the output values (pixels).

Returns

The rescaled uint16_t output value.

calu_transform()

void calu_transform	(	CalibrationData	cal,
		double	v0,
		double	v1,
		uint16_t *	px,
		uint16_t *	py )

Transforms voltage values to pixel coordinates based on calibration data.

This function transforms two voltage values to pixel coordinates using calibration data. It calculates the pixel coordinates (px, py) corresponding to the given voltage values (v0, v1) based on the calibration data (cal).

Parameters

cal	The CalibrationData structure containing calibration parameters.
v0	The first voltage value to transform.
v1	The second voltage value to transform.
px	Pointer to store the resulting pixel coordinate for the first voltage.
py	Pointer to store the resulting pixel coordinate for the second voltage.

calu_update()

void calu_update	(	CalibrationData *	cal,
		uint8_t	orientation )

Updates the calibration data based on orientation.

This function updates the calibration data based on the orientation provided. It updates the rotation matrix (R), sign values, and apparent center and range values of the calibration data structure (cal) according to the specified orientation.

Parameters

cal	Pointer to the CalibrationData structure to be updated.
orientation	The orientation value (0 or 1) to determine the update.