Detecting sensor error

A method for detecting sensor error associated with magnetic sensing elements, the method comprising:

• receiving first sensor data from a first channel and second sensor data from a second channel, wherein the first channel is configured to process at least a first signal from a first magnetic sensing element of the magnetic sensing elements, and the second channel is configured to process at least a second signal from a second magnetic sensing element of the magnetic sensing elements, the second magnetic sensing element being oriented at an angle relative to the first magnetic sensing element;
• determining an angle based at least partly on the first sensor data and the second sensor data, wherein the first sensor data is associated with at least the first signal from the first magnetic sensing element, and wherein the second sensor data is associated with at least the second signal from the second magnetic sensing element;
• computing expected third sensor data based at least partly on the angle;
• and
• setting an error flag in response to detecting sensor error based at least partly on a comparison of the expected third sensor data with third sensor data from a third channel, wherein the third channel is configured to process the first signal from the first magnetic sensing element and the second signal from the second magnetic sensing element.

An apparatus for detecting sensor error, the apparatus comprising:

• magnetoresistive sensing elements comprising four half bridges, the four half bridges comprising a first group of two half bridges and a second group of two half bridges, wherein the first group of two half bridges is oriented at an angle relative to the second group of two half bridges;
• sensing channels comprising analog circuitry, the sensing channels being configured to process output signals from the four half bridges, and the sensing channels comprising a first output and a second output, wherein the first output is associated with a first combination of two of the output signals from the four half bridges, wherein the second output is associated with a second combination of two of the output signals of the four half bridges, and wherein the first combination and the second combination are different;
• and
• a processor in communication with the sensing channels, the processor configured to:
• determine a first magnetic field angle based on the first output of the sensing channels, wherein the first output of the sensing channels is associated with the first combination of two of the output signals of the four half bridges;
• determine a second magnetic field angle based on the second output of the sensing channels, wherein the second output of the sensing channels is associated with the second combination of two of the output signals of the four half bridges;
• and
• set an error flag in response to detecting that a difference between the first magnetic angle and the second magnetic angle satisfies a threshold.