annotate Small_CPU/Inc/compass_LSM303D.h @ 173:05c770dc2911 max-depth

Bugfix: make max depth move with current depth (part 1) The display in dive mode of the max depth was updated before the actual depth, which looks very strange. The reason for this was conceptually simple. The depth value was averaged over a set of depth samples, but the current depth was only taken from the current sample. So, per definition, on an initial descend, the current depth is always bigger (deeper) than any average from previous shallower samples. This part 1 commit introduces a new function that is used immediate after reception of the new sample from the RTE. This function does the trivial average of a set of samples. Notice that also the surface and ambient mbar pressures are taken into account (which are used heavily over the entire code). This is a consistency thing. We should base any further calculation from the data presented in the UI, instead of presenting A, and use A' for further calculations. Signed-off-by: Jan Mulder <jlmulder@xs4all.nl>
author Jan Mulder <jlmulder@xs4all.nl>
date Mon, 11 Mar 2019 19:48:57 +0100
parents 5f11787b4f42
children c3d511365552
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38
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1 /**
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2 ******************************************************************************
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3 * @file compass_LSM303D.h
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4 * @author heinrichs weikamp gmbh, based on PX4 lsm303d.cpp
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5 * @date 15-March-2016
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6 * @version V0.1.0
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7 * @since 15-March-2016
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8 * @brief STMicroelectronics LSM303D accelerometer & magnetometer driver
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9 *
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10 @verbatim
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11 ==============================================================================
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12 ##### How to use #####
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13 ==============================================================================
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14 @endverbatim
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15 ******************************************************************************
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16 * @attention
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17 *
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18 * <h2><center>&copy; COPYRIGHT(c) 2016 heinrichs weikamp</center></h2>
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19 *
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20 ******************************************************************************
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21 */
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22
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23 /* Define to prevent recursive inclusion -------------------------------------*/
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24 #ifndef COMPASS_LSM303D_H
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25 #define COMPASS_LSM303D_H
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26
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27 /* Exported constants --------------------------------------------------------*/
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28
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29 #define WHO_AM_I 0x0F // device identification register - default value
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30 #define WHOIAM_VALUE (0x49) // Who Am I default value
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31
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32 #define ADDR_OUT_TEMP_L 0x05
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33 #define ADDR_OUT_TEMP_H 0x06
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34 #define ADDR_STATUS_M 0x07
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35 #define ADDR_OUT_X_L_M 0x08
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36 #define ADDR_OUT_X_H_M 0x09
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37 #define ADDR_OUT_Y_L_M 0x0A
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38 #define ADDR_OUT_Y_H_M 0x0B
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39 #define ADDR_OUT_Z_L_M 0x0C
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40 #define ADDR_OUT_Z_H_M 0x0D
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41
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42 #define ADDR_INT_CTRL_M 0x12
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43 #define ADDR_INT_SRC_M 0x13
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44
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45 #define ADDR_INT_THS_L_M 0x14
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46 #define ADDR_INT_THS_H_M 0x15
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47
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48 #define ADDR_OFFSET_X_L_M 0x16
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49 #define ADDR_OFFSET_X_H_M 0x17
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50 #define ADDR_OFFSET_Y_L_M 0x18
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51 #define ADDR_OFFSET_Y_H_M 0x19
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52 #define ADDR_OFFSET_Z_L_M 0x1a
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53 #define ADDR_OFFSET_Z_H_M 0x1b
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54
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55 #define ADDR_REFERENCE_X 0x1c
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56 #define ADDR_REFERENCE_Y 0x1d
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57 #define ADDR_REFERENCE_Z 0x1e
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58
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59 #define ADDR_STATUS_A 0x27
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60 #define ADDR_OUT_X_L_A 0x28
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61 #define ADDR_OUT_X_H_A 0x29
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62 #define ADDR_OUT_Y_L_A 0x2A
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63 #define ADDR_OUT_Y_H_A 0x2B
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64 #define ADDR_OUT_Z_L_A 0x2C
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65 #define ADDR_OUT_Z_H_A 0x2D
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66
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67 #define ADDR_CTRL_REG0 0x1F
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68 #define ADDR_CTRL_REG1 0x20
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69 #define ADDR_CTRL_REG2 0x21
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70 #define ADDR_CTRL_REG3 0x22
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71 #define ADDR_CTRL_REG4 0x23
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72 #define ADDR_CTRL_REG5 0x24
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73 #define ADDR_CTRL_REG6 0x25
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74 #define ADDR_CTRL_REG7 0x26
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75
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76 #define ADDR_FIFO_CTRL 0x2e
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77 #define ADDR_FIFO_SRC 0x2f
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78
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79 #define ADDR_IG_CFG1 0x30
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80 #define ADDR_IG_SRC1 0x31
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81 #define ADDR_IG_THS1 0x32
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82 #define ADDR_IG_DUR1 0x33
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83 #define ADDR_IG_CFG2 0x34
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84 #define ADDR_IG_SRC2 0x35
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85 #define ADDR_IG_THS2 0x36
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86 #define ADDR_IG_DUR2 0x37
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87 #define ADDR_CLICK_CFG 0x38
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88 #define ADDR_CLICK_SRC 0x39
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89 #define ADDR_CLICK_THS 0x3a
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90 #define ADDR_TIME_LIMIT 0x3b
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91 #define ADDR_TIME_LATENCY 0x3c
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92 #define ADDR_TIME_WINDOW 0x3d
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93 #define ADDR_ACT_THS 0x3e
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94 #define ADDR_ACT_DUR 0x3f
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95
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96 #define REG1_RATE_BITS_A ((1<<7) | (1<<6) | (1<<5) | (1<<4))
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97 #define REG1_POWERDOWN_A ((0<<7) | (0<<6) | (0<<5) | (0<<4))
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98 #define REG1_RATE_3_125HZ_A ((0<<7) | (0<<6) | (0<<5) | (1<<4))
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99 #define REG1_RATE_6_25HZ_A ((0<<7) | (0<<6) | (1<<5) | (0<<4))
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100 #define REG1_RATE_12_5HZ_A ((0<<7) | (0<<6) | (1<<5) | (1<<4))
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101 #define REG1_RATE_25HZ_A ((0<<7) | (1<<6) | (0<<5) | (0<<4))
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102 #define REG1_RATE_50HZ_A ((0<<7) | (1<<6) | (0<<5) | (1<<4))
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103 #define REG1_RATE_100HZ_A ((0<<7) | (1<<6) | (1<<5) | (0<<4))
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104 #define REG1_RATE_200HZ_A ((0<<7) | (1<<6) | (1<<5) | (1<<4))
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105 #define REG1_RATE_400HZ_A ((1<<7) | (0<<6) | (0<<5) | (0<<4))
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106 #define REG1_RATE_800HZ_A ((1<<7) | (0<<6) | (0<<5) | (1<<4))
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107 #define REG1_RATE_1600HZ_A ((1<<7) | (0<<6) | (1<<5) | (0<<4))
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108
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109 #define REG1_BDU_UPDATE (1<<3)
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110 #define REG1_Z_ENABLE_A (1<<2)
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111 #define REG1_Y_ENABLE_A (1<<1)
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112 #define REG1_X_ENABLE_A (1<<0)
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113
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114 #define REG2_ANTIALIAS_FILTER_BW_BITS_A ((1<<7) | (1<<6))
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115 #define REG2_AA_FILTER_BW_773HZ_A ((0<<7) | (0<<6))
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116 #define REG2_AA_FILTER_BW_194HZ_A ((0<<7) | (1<<6))
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117 #define REG2_AA_FILTER_BW_362HZ_A ((1<<7) | (0<<6))
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118 #define REG2_AA_FILTER_BW_50HZ_A ((1<<7) | (1<<6))
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119
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120 #define REG2_FULL_SCALE_BITS_A ((1<<5) | (1<<4) | (1<<3))
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121 #define REG2_FULL_SCALE_2G_A ((0<<5) | (0<<4) | (0<<3))
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122 #define REG2_FULL_SCALE_4G_A ((0<<5) | (0<<4) | (1<<3))
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123 #define REG2_FULL_SCALE_6G_A ((0<<5) | (1<<4) | (0<<3))
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124 #define REG2_FULL_SCALE_8G_A ((0<<5) | (1<<4) | (1<<3))
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125 #define REG2_FULL_SCALE_16G_A ((1<<5) | (0<<4) | (0<<3))
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126
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127 #define REG5_ENABLE_T (1<<7)
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128
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129 #define REG5_RES_HIGH_M ((1<<6) | (1<<5))
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130 #define REG5_RES_LOW_M ((0<<6) | (0<<5))
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131
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132 #define REG5_RATE_BITS_M ((1<<4) | (1<<3) | (1<<2))
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133 #define REG5_RATE_3_125HZ_M ((0<<4) | (0<<3) | (0<<2))
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134 #define REG5_RATE_6_25HZ_M ((0<<4) | (0<<3) | (1<<2))
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135 #define REG5_RATE_12_5HZ_M ((0<<4) | (1<<3) | (0<<2))
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136 #define REG5_RATE_25HZ_M ((0<<4) | (1<<3) | (1<<2))
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137 #define REG5_RATE_50HZ_M ((1<<4) | (0<<3) | (0<<2))
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138 #define REG5_RATE_100HZ_M ((1<<4) | (0<<3) | (1<<2))
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139 #define REG5_RATE_DO_NOT_USE_M ((1<<4) | (1<<3) | (0<<2))
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140
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141 #define REG6_FULL_SCALE_BITS_M ((1<<6) | (1<<5))
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142 #define REG6_FULL_SCALE_2GA_M ((0<<6) | (0<<5))
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143 #define REG6_FULL_SCALE_4GA_M ((0<<6) | (1<<5))
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144 #define REG6_FULL_SCALE_8GA_M ((1<<6) | (0<<5))
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145 #define REG6_FULL_SCALE_12GA_M ((1<<6) | (1<<5))
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146
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147 #define REG7_CONT_MODE_M ((0<<1) | (0<<0))
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148
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149 #define REG_STATUS_A_NEW_ZYXADA 0x08
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150
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151 #define INT_CTRL_M 0x12
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152 #define INT_SRC_M 0x13
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153
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154 /* default values for this device */
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155 #define LSM303D_ACCEL_DEFAULT_RANGE_G 2
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156 #define LSM303D_ACCEL_DEFAULT_RATE 10
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157
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158 #define LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ 50
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159 #define LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
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160 #define LSM303D_ACCEL_MAX_OUTPUT_RATE 280
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161
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162 #define LSM303D_MAG_DEFAULT_RANGE_GA 12
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163 #define LSM303D_MAG_DEFAULT_RATE 10
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164
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165 #define LSM303D_ONE_G 9.80665f
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166
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167
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168 #endif /* COMPASS_LSM303D_H */
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169
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170 /******************* (C) COPYRIGHT 2016 heinrichs weikamp *****END OF FILE****/