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[Energia Library] Matrix for LaunchPad, FraunchPad and StellarPad


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Please find the port of a matrix library from Arduino.

 

I tested the library on the LaunchPad MSP430G2553, FraunchPad MSP430FR5739 and StellarPad LM4F120H5QR.

 

 

 

Created by Charlie Matlack on 12/18/10. Changed name.
Original code by RobH45345 on Arduino Forums, taken from unknown source.
  
Rei Vilo - Feb 04, 2013 - Revised library with examples
Rei Vilo - Jan 26, 2013 - Initial port to Energia
Rei Vilo - Feb 04, 2013 - Revised library with examples
 

 

Includes an example for the calibration of the FraunchPad accelerometer.

MatrixMath_Distribution.zip


*** 
FraunchPad ADXL335 accelerometer 
All measures are in g. 
Press PUSH2 when invited by ... 

Present the accelerometer as indicated... 
flat ... -0.01 -0.07 1.07 1.00 
reverse ... -0.02 -0.07 -0.97 1.00 
right ... 1.00 -0.09 0.08 1.00 
left ... -1.03 -0.04 -0.06 1.00 
up ... -0.12 -1.12 0.03 1.00 
down ... 0.03 0.98 0.03 1.00 

2. Gains and offsets calculation 
Wt 
Wt*W 
(Wt*W)^-1 
(Wt*W)^-1 * Wt 
(Wt*W)^-1 * Wt * Y 

3. Results 
Output> gX gY gZ 
x gain -0.03 0.98 -0.07 
y gain -0.95 -0.07 0.00 
z gain -0.00 -0.00 0.98 
offset -0.07 0.02 -0.03 

// Formulas 
gX = x/-39.28 + y/-1.05 + z/-344.39 + 1/-14.90; 
gY = x/1.02 + y/-14.61 + z/-223.73 + 1/53.06; 
gZ = x/-14.99 + y/333.11 + z/1.02 + 1/-34.13; 

4. Tests 
... 
Input raw g -0.02 -0.08 1.02 
Calculated g 0.01 0.00 0.97 
... 
Input raw g -0.05 -0.17 1.17 
Calculated g 0.09 -0.02 1.12 
... 
Input raw g -0.02 -0.07 1.02 
Calculated g -0.00 -0.00 0.97 
... 
Input raw g -0.04 -0.16 1.14 
Calculated g 0.08 -0.01 1.09 
... 
Input raw g -0.02 -0.08 1.02 
Calculated g 0.01 0.00 0.97 
...
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