Mercurial > public > ostc4
annotate Small_CPU/Src/compass.c @ 195:05df3b395615
Merged in janlmulder/ostc4/div-fixes-cleanup-1 (pull request #7)
Bugfix: show proper dive mode (and misc. cleanup)
author | heinrichsweikamp <bitbucket@heinrichsweikamp.com> |
---|---|
date | Tue, 19 Mar 2019 15:43:38 +0000 |
parents | a61b46a5265b |
children | b95741467355 |
rev | line source |
---|---|
38 | 1 /** |
2 ****************************************************************************** | |
3 * @file compass.c | |
4 * @author heinrichs weikamp gmbh | |
5 * @date 27-March-2014 | |
6 * @version V0.2.0 | |
7 * @since 21-April-2016 | |
8 * @brief for Honeywell Compass and ST LSM303D | |
9 * | |
10 @verbatim | |
11 ============================================================================== | |
12 ##### How to use ##### | |
13 ============================================================================== | |
14 V0.1.0 09-March-2016 | |
15 V0.2.0 21-April-2016 Orientation fixed for LSM303D, | |
16 roll and pitch added to calibration output, | |
17 orientation double checked with datasheets and layout | |
18 as well as with value output during calibration | |
19 V0.2.1 19-May-2016 New date rate config and full-scale selection | |
20 | |
21 @endverbatim | |
22 ****************************************************************************** | |
23 * @attention | |
24 * | |
25 * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> | |
26 * | |
27 ****************************************************************************** | |
28 */ | |
29 | |
30 #include <math.h> | |
31 #include <string.h> | |
32 | |
33 #include "compass.h" | |
34 #include "compass_LSM303D.h" | |
35 #include "compass_LSM303DLHC.h" | |
36 | |
192
a61b46a5265b
cleanup: fix compiler warning
Jan Mulder <jlmulder@xs4all.nl>
parents:
183
diff
changeset
|
37 #include "spi.h" |
38 | 38 #include "i2c.h" |
39 #include "RTE_FlashAccess.h" // to store compass_calib_data | |
40 | |
41 #include "stm32f4xx_hal.h" | |
42 | |
43 #define TEST_IF_HMC5883L | |
44 //#define COMPASS_DEACTIVATE | |
45 | |
46 /// split byte to bits | |
47 typedef struct{ | |
48 uint8_t bit0:1; ///< split byte to bits | |
49 uint8_t bit1:1; ///< split byte to bits | |
50 uint8_t bit2:1; ///< split byte to bits | |
51 uint8_t bit3:1; ///< split byte to bits | |
52 uint8_t bit4:1; ///< split byte to bits | |
53 uint8_t bit5:1; ///< split byte to bits | |
54 uint8_t bit6:1; ///< split byte to bits | |
55 uint8_t bit7:1; ///< split byte to bits | |
56 } ubit8_t; | |
57 | |
58 | |
59 /// split byte to bits | |
60 typedef union{ | |
61 ubit8_t ub; ///< split byte to bits | |
62 uint8_t uw; ///< split byte to bits | |
63 } bit8_Type; | |
64 | |
65 | |
66 /// split word to 2 bytes | |
67 typedef struct{ | |
68 uint8_t low; ///< split word to 2 bytes | |
69 uint8_t hi; ///< split word to 2 bytes | |
70 } two_byte; | |
71 | |
72 | |
73 /// split word to 2 bytes | |
74 typedef union{ | |
75 two_byte Byte; ///< split word to 2 bytes | |
76 uint16_t Word; ///< split word to 2 bytes | |
77 } tword; | |
78 | |
79 | |
80 /// split signed word to 2 bytes | |
81 typedef union{ | |
82 two_byte Byte; ///< split signed word to 2 bytes | |
83 int16_t Word; ///< split signed word to 2 bytes | |
84 } signed_tword; | |
85 | |
86 | |
87 /// split full32 to 2 words | |
88 typedef struct{ | |
89 uint16_t low16; ///< split word to 2 bytes | |
90 uint16_t hi16; ///< split word to 2 bytes | |
91 } two_word; | |
92 | |
93 typedef union{ | |
94 two_word Word16; ///< split word to 2 bytes | |
95 uint32_t Full32; ///< split word to 2 bytes | |
96 } tfull32; | |
97 | |
98 | |
99 /// crazy compass calibration stuff | |
100 typedef struct | |
101 { | |
102 unsigned short int compass_N; | |
103 float Su, Sv, Sw; | |
104 float Suu, Svv, Sww, Suv, Suw, Svw; | |
105 float Suuu, Svvv, Swww; | |
106 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
107 } SCompassCalib; | |
108 | |
109 | |
110 #define Q_PI (18000) | |
111 #define Q_PIO2 (9000) | |
112 | |
113 #define HMC5883L (1) ///< id used with hardwareCompass | |
114 #define LSM303D (2) ///< id used with hardwareCompass | |
115 #define COMPASS_NOT_RECOGNIZED (4) ///< id used with hardwareCompass | |
116 | |
117 | |
118 ////////////////////////////////////////////////////////////////////////////// | |
119 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
120 // | |
121 #define K1 (5701) // Needs K1/2**16 | |
122 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
123 #define K3 ( 446) // Needs K3/2**80 | |
124 | |
125 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
126 | |
127 typedef short int Int16; | |
128 typedef signed char Int8; | |
129 typedef Int16 Angle; | |
130 | |
131 | |
132 /// The (filtered) components of the magnetometer sensor | |
133 int16_t compass_DX_f; ///< output from sensor | |
134 int16_t compass_DY_f; ///< output from sensor | |
135 int16_t compass_DZ_f; ///< output from sensor | |
136 | |
137 | |
138 /// Found soft-iron calibration values, deduced from already filtered values | |
139 int16_t compass_CX_f; ///< calibration value | |
140 int16_t compass_CY_f; ///< calibration value | |
141 int16_t compass_CZ_f; ///< calibration value | |
142 | |
143 | |
144 /// The (filtered) components of the accelerometer sensor | |
145 int16_t accel_DX_f; ///< output from sensor | |
146 int16_t accel_DY_f; ///< output from sensor | |
147 int16_t accel_DZ_f; ///< output from sensor | |
148 | |
149 | |
150 /// The compass result values | |
151 float compass_heading; ///< the final result calculated in compass_calc() | |
152 float compass_roll; ///< the final result calculated in compass_calc() | |
153 float compass_pitch; ///< the final result calculated in compass_calc() | |
154 | |
155 | |
156 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
157 | |
158 uint8_t hardwareCompass = 0; ///< either HMC5883L or LSM303D or not defined yet ( = 0 ) | |
159 | |
160 /// LSM303D variables | |
161 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
162 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
163 | |
164 //uint16_t velMag = 0; | |
165 //uint16_t velAcc = 0; | |
166 | |
167 //uint16_t magODR[] = {31,62,125,250,500,1000,2000}; | |
168 //uint16_t accODR[] = {0,31,62,125,250,500,1000,2000,4000,8000,16000}; | |
169 //uint8_t fastest = 10; //no sensor is the fastest | |
170 //uint8_t datas1 = 0; | |
171 //uint8_t zoffFlag = 0; | |
172 //uint8_t sendFlag = 0; | |
173 | |
174 | |
175 // all by pixhawk code: | |
176 | |
177 // struct accel_scale _accel_scale; | |
178 unsigned _accel_range_m_s2; | |
179 float _accel_range_scale; | |
180 unsigned _accel_samplerate; | |
181 unsigned _accel_onchip_filter_bandwith; | |
182 | |
183 // struct mag_scale _mag_scale; | |
184 unsigned _mag_range_ga; | |
185 float _mag_range_scale; | |
186 unsigned _mag_samplerate; | |
187 | |
188 // default scale factors | |
189 float _accel_scale_x_offset = 0.0f; | |
190 float _accel_scale_x_scale = 1.0f; | |
191 float _accel_scale_y_offset = 0.0f; | |
192 float _accel_scale_y_scale = 1.0f; | |
193 float _accel_scale_z_offset = 0.0f; | |
194 float _accel_scale_z_scale = 1.0f; | |
195 | |
196 float _mag_scale_x_offset = 0.0f; | |
197 float _mag_scale_x_scale = 1.0f; | |
198 float _mag_scale_y_offset = 0.0f; | |
199 float _mag_scale_y_scale = 1.0f; | |
200 float _mag_scale_z_offset = 0.0f; | |
201 float _mag_scale_z_scale = 1.0f; | |
202 | |
203 | |
204 /* External function prototypes ----------------------------------------------*/ | |
205 | |
206 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
207 | |
208 /* Private function prototypes -----------------------------------------------*/ | |
209 | |
210 void compass_reset_calibration(SCompassCalib *g); | |
211 void compass_add_calibration(SCompassCalib *g); | |
212 void compass_solve_calibration(SCompassCalib *g); | |
213 | |
214 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
215 void compass_sleep_HMC5883L(void); | |
216 void compass_read_HMC5883L(void); | |
217 | |
218 void accelerator_init_MMA8452Q(void); | |
219 void accelerator_sleep_MMA8452Q(void); | |
220 void acceleration_read_MMA8452Q(void); | |
221 | |
222 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
223 void compass_sleep_LSM303D(void); | |
224 void compass_read_LSM303D(void); | |
225 void acceleration_read_LSM303D(void); | |
226 | |
227 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); | |
228 int compass_calib_common(void); | |
229 | |
230 void compass_calc_roll_pitch_only(void); | |
231 | |
232 void rotate_mag_3f(float *x, float *y, float *z); | |
233 void rotate_accel_3f(float *x, float *y, float *z); | |
234 | |
235 | |
236 /* Exported functions --------------------------------------------------------*/ | |
237 | |
238 | |
239 // =============================================================================== | |
240 // compass_init | |
241 /// @brief This might be called several times with different gain values during calibration | |
242 /// On first call it figures out which hardware is integrated | |
243 /// | |
244 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
245 // =============================================================================== | |
246 | |
247 uint8_t testCompassTypeDebug = 0xFF; | |
248 | |
249 void compass_init(uint8_t fast, uint8_t gain) | |
250 { | |
251 // quick off | |
252 #ifdef COMPASS_DEACTIVATE | |
253 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
254 #endif | |
255 | |
256 // don't call again with fast, gain in calib mode etc. | |
257 // if unknown | |
258 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
259 { | |
260 return; | |
261 } | |
262 | |
263 // old code but without else | |
264 if(hardwareCompass == 0) | |
265 { | |
266 uint8_t data = WHO_AM_I; | |
267 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
268 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
269 if(data == WHOIAM_VALUE) | |
270 hardwareCompass = LSM303D; | |
70 | 271 else |
272 hardwareCompass = HMC5883L; | |
38 | 273 } |
274 | |
180 | 275 /* No compass identified => Retry */ |
38 | 276 if(hardwareCompass == 0) |
277 { | |
278 uint8_t data = WHO_AM_I; | |
279 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
280 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
281 if(data == WHOIAM_VALUE) | |
282 hardwareCompass = LSM303D; | |
283 else | |
284 hardwareCompass = HMC5883L; | |
285 } | |
70 | 286 |
180 | 287 /* Assume that a HMC5883L is equipped by default if detection still failed */ |
38 | 288 if(hardwareCompass == 0) |
289 hardwareCompass = HMC5883L; | |
290 | |
291 #ifdef TEST_IF_HMC5883L | |
292 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
293 | |
294 if(hardwareCompass == HMC5883L) | |
295 { | |
296 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q | |
297 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
298 if(resultOfOperationHMC_MMA == HAL_OK) | |
299 { | |
300 hardwareCompass = HMC5883L; // all fine, keep it | |
301 } | |
302 else | |
303 { | |
304 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
305 testCompassTypeDebug = 0xEC; | |
306 } | |
307 } | |
308 #endif | |
309 | |
310 if(hardwareCompass == LSM303D) | |
311 { | |
312 compass_init_LSM303D(fast, gain); | |
313 } | |
314 else | |
315 if(hardwareCompass == HMC5883L) | |
316 { | |
317 compass_init_HMC5883L(fast, gain); | |
318 } | |
319 | |
320 tfull32 dataBlock[4]; | |
321 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK) | |
322 { | |
323 compass_CX_f = dataBlock[0].Word16.low16; | |
324 compass_CY_f = dataBlock[0].Word16.hi16; | |
325 compass_CZ_f = dataBlock[1].Word16.low16; | |
326 } | |
327 | |
328 } | |
329 | |
330 | |
331 // =============================================================================== | |
332 // compass_calib | |
333 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
334 // =============================================================================== | |
335 int compass_calib(void) | |
336 { | |
337 if(hardwareCompass == LSM303D) | |
338 { | |
339 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
340 int out = compass_calib_common(); | |
341 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
342 return out; | |
343 } | |
344 else | |
345 if(hardwareCompass == HMC5883L) | |
346 { | |
347 return compass_calib_common(); | |
348 } | |
349 else | |
350 { | |
351 return 0; // standard answer of compass_calib_common(); | |
352 } | |
353 | |
354 | |
355 } | |
356 | |
357 | |
358 // =============================================================================== | |
359 // compass_sleep | |
360 /// @brief low power mode | |
361 // =============================================================================== | |
362 void compass_sleep(void) | |
363 { | |
364 if(hardwareCompass == LSM303D) | |
365 { | |
366 compass_sleep_LSM303D(); | |
367 } | |
368 else | |
369 if(hardwareCompass == HMC5883L) | |
370 { | |
371 compass_sleep_HMC5883L(); | |
372 } | |
373 } | |
374 | |
375 | |
376 // =============================================================================== | |
377 // compass_read | |
378 /// @brief reads magnetometer and accelerometer for LSM303D, | |
379 /// otherwise magnetometer only | |
380 // =============================================================================== | |
381 void compass_read(void) | |
382 { | |
383 if(hardwareCompass == LSM303D) | |
384 { | |
385 compass_read_LSM303D(); | |
386 } | |
387 else | |
388 if(hardwareCompass == HMC5883L) | |
389 { | |
390 compass_read_HMC5883L(); | |
391 } | |
392 } | |
393 | |
394 | |
395 // =============================================================================== | |
396 // accelerator_init | |
397 /// @brief empty for for LSM303D | |
398 // =============================================================================== | |
399 void accelerator_init(void) | |
400 { | |
401 if(hardwareCompass == HMC5883L) | |
402 accelerator_init_MMA8452Q(); | |
403 } | |
404 | |
405 | |
406 // =============================================================================== | |
407 // accelerator_sleep | |
408 /// @brief empty for for LSM303D | |
409 // =============================================================================== | |
410 void accelerator_sleep(void) | |
411 { | |
412 if(hardwareCompass == HMC5883L) | |
413 accelerator_sleep_MMA8452Q(); | |
414 } | |
415 | |
416 | |
417 // =============================================================================== | |
418 // acceleration_read | |
419 /// @brief empty for for LSM303D | |
420 // =============================================================================== | |
421 void acceleration_read(void) | |
422 { | |
423 if(hardwareCompass == LSM303D) | |
424 { | |
425 acceleration_read_LSM303D(); | |
426 } | |
427 else | |
428 if(hardwareCompass == HMC5883L) | |
429 { | |
430 acceleration_read_MMA8452Q(); | |
431 } | |
432 } | |
433 | |
434 | |
435 /* Private functions ---------------------------------------------------------*/ | |
436 | |
437 // =============================================================================== | |
438 // LSM303D_read_reg | |
439 /// @brief tiny helpers by pixhawk | |
440 // =============================================================================== | |
441 uint8_t LSM303D_read_reg(uint8_t addr) | |
442 { | |
443 uint8_t data; | |
444 | |
445 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
446 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
447 return data; | |
448 } | |
449 | |
450 | |
451 // =============================================================================== | |
452 // LSM303D_write_reg | |
453 /// @brief tiny helpers by pixhawk | |
454 // =============================================================================== | |
455 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
456 { | |
457 uint8_t data[2]; | |
458 | |
459 /* enable accel*/ | |
460 data[0] = addr; | |
461 data[1] = value; | |
462 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
463 } | |
464 | |
465 | |
466 // =============================================================================== | |
467 // LSM303D_write_checked_reg | |
468 /// @brief tiny helpers by pixhawk. This runs unchecked at the moment. | |
469 // =============================================================================== | |
470 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
471 { | |
472 LSM303D_write_reg(addr, value); | |
473 } | |
474 | |
475 | |
476 // =============================================================================== | |
477 // LSM303D_modify_reg | |
478 /// @brief tiny helpers by pixhawk | |
479 // =============================================================================== | |
480 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
481 { | |
482 uint8_t val; | |
483 | |
484 val = LSM303D_read_reg(reg); | |
485 val &= ~clearbits; | |
486 val |= setbits; | |
487 LSM303D_write_checked_reg(reg, val); | |
488 } | |
489 | |
490 /* | |
491 // =============================================================================== | |
492 // LSM303D_accel_set_range | |
493 /// @brief tiny helpers by pixhawk | |
494 // =============================================================================== | |
495 int LSM303D_accel_set_range(unsigned max_g) | |
496 { | |
497 uint8_t setbits = 0; | |
498 uint8_t clearbits = REG2_FULL_SCALE_BITS_A; | |
499 float new_scale_g_digit = 0.0f; | |
500 | |
501 if (max_g == 0) { | |
502 max_g = 16; | |
503 } | |
504 | |
505 if (max_g <= 2) { | |
506 _accel_range_m_s2 = 2.0f * LSM303D_ONE_G; | |
507 setbits |= REG2_FULL_SCALE_2G_A; | |
508 new_scale_g_digit = 0.061e-3f; | |
509 | |
510 } else if (max_g <= 4) { | |
511 _accel_range_m_s2 = 4.0f * LSM303D_ONE_G; | |
512 setbits |= REG2_FULL_SCALE_4G_A; | |
513 new_scale_g_digit = 0.122e-3f; | |
514 | |
515 } else if (max_g <= 6) { | |
516 _accel_range_m_s2 = 6.0f * LSM303D_ONE_G; | |
517 setbits |= REG2_FULL_SCALE_6G_A; | |
518 new_scale_g_digit = 0.183e-3f; | |
519 | |
520 } else if (max_g <= 8) { | |
521 _accel_range_m_s2 = 8.0f * LSM303D_ONE_G; | |
522 setbits |= REG2_FULL_SCALE_8G_A; | |
523 new_scale_g_digit = 0.244e-3f; | |
524 | |
525 } else if (max_g <= 16) { | |
526 _accel_range_m_s2 = 16.0f * LSM303D_ONE_G; | |
527 setbits |= REG2_FULL_SCALE_16G_A; | |
528 new_scale_g_digit = 0.732e-3f; | |
529 | |
530 } else { | |
531 return -1; | |
532 } | |
533 | |
534 _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G; | |
535 | |
536 | |
537 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
538 | |
539 return 0; | |
540 } | |
541 */ | |
542 /* | |
543 // =============================================================================== | |
544 // LSM303D_mag_set_range | |
545 /// @brief tiny helpers by pixhawk | |
546 // =============================================================================== | |
547 int LSM303D_mag_set_range(unsigned max_ga) | |
548 { | |
549 uint8_t setbits = 0; | |
550 uint8_t clearbits = REG6_FULL_SCALE_BITS_M; | |
551 float new_scale_ga_digit = 0.0f; | |
552 | |
553 if (max_ga == 0) { | |
554 max_ga = 12; | |
555 } | |
556 | |
557 if (max_ga <= 2) { | |
558 _mag_range_ga = 2; | |
559 setbits |= REG6_FULL_SCALE_2GA_M; | |
560 new_scale_ga_digit = 0.080e-3f; | |
561 | |
562 } else if (max_ga <= 4) { | |
563 _mag_range_ga = 4; | |
564 setbits |= REG6_FULL_SCALE_4GA_M; | |
565 new_scale_ga_digit = 0.160e-3f; | |
566 | |
567 } else if (max_ga <= 8) { | |
568 _mag_range_ga = 8; | |
569 setbits |= REG6_FULL_SCALE_8GA_M; | |
570 new_scale_ga_digit = 0.320e-3f; | |
571 | |
572 } else if (max_ga <= 12) { | |
573 _mag_range_ga = 12; | |
574 setbits |= REG6_FULL_SCALE_12GA_M; | |
575 new_scale_ga_digit = 0.479e-3f; | |
576 | |
577 } else { | |
578 return -1; | |
579 } | |
580 | |
581 _mag_range_scale = new_scale_ga_digit; | |
582 | |
583 LSM303D_modify_reg(ADDR_CTRL_REG6, clearbits, setbits); | |
584 | |
585 return 0; | |
586 } | |
587 */ | |
588 | |
589 // =============================================================================== | |
590 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
591 /// @brief tiny helpers by pixhawk | |
592 // =============================================================================== | |
593 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
594 { | |
595 uint8_t setbits = 0; | |
596 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
597 | |
598 if (bandwidth == 0) { | |
599 bandwidth = 773; | |
600 } | |
601 | |
602 if (bandwidth <= 50) { | |
603 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
604 _accel_onchip_filter_bandwith = 50; | |
605 | |
606 } else if (bandwidth <= 194) { | |
607 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
608 _accel_onchip_filter_bandwith = 194; | |
609 | |
610 } else if (bandwidth <= 362) { | |
611 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
612 _accel_onchip_filter_bandwith = 362; | |
613 | |
614 } else if (bandwidth <= 773) { | |
615 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
616 _accel_onchip_filter_bandwith = 773; | |
617 | |
618 } else { | |
619 return -1; | |
620 } | |
621 | |
622 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
623 | |
624 return 0; | |
625 } | |
626 | |
627 | |
628 // =============================================================================== | |
629 // LSM303D_accel_set_driver_lowpass_filter | |
630 /// @brief tiny helpers by pixhawk. This one is not used at the moment! | |
631 // =============================================================================== | |
632 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
633 { | |
634 /* | |
635 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
636 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
637 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
638 */ | |
639 return 0; | |
640 } | |
641 | |
642 /* unused 170821 | |
643 // =============================================================================== | |
644 // LSM303D_accel_set_samplerate | |
645 /// @brief tiny helpers by pixhawk | |
646 // =============================================================================== | |
647 int LSM303D_accel_set_samplerate(unsigned frequency) | |
648 { | |
649 uint8_t setbits = 0; | |
650 uint8_t clearbits = REG1_RATE_BITS_A; | |
651 | |
652 // if (frequency == 0 || frequency == ACCEL_SAMPLERATE_DEFAULT) { | |
653 frequency = 1600; | |
654 // } | |
655 | |
656 if (frequency <= 3) { | |
657 setbits |= REG1_RATE_3_125HZ_A; | |
658 _accel_samplerate = 3; | |
659 | |
660 } else if (frequency <= 6) { | |
661 setbits |= REG1_RATE_6_25HZ_A; | |
662 _accel_samplerate = 6; | |
663 | |
664 } else if (frequency <= 12) { | |
665 setbits |= REG1_RATE_12_5HZ_A; | |
666 _accel_samplerate = 12; | |
667 | |
668 } else if (frequency <= 25) { | |
669 setbits |= REG1_RATE_25HZ_A; | |
670 _accel_samplerate = 25; | |
671 | |
672 } else if (frequency <= 50) { | |
673 setbits |= REG1_RATE_50HZ_A; | |
674 _accel_samplerate = 50; | |
675 | |
676 } else if (frequency <= 100) { | |
677 setbits |= REG1_RATE_100HZ_A; | |
678 _accel_samplerate = 100; | |
679 | |
680 } else if (frequency <= 200) { | |
681 setbits |= REG1_RATE_200HZ_A; | |
682 _accel_samplerate = 200; | |
683 | |
684 } else if (frequency <= 400) { | |
685 setbits |= REG1_RATE_400HZ_A; | |
686 _accel_samplerate = 400; | |
687 | |
688 } else if (frequency <= 800) { | |
689 setbits |= REG1_RATE_800HZ_A; | |
690 _accel_samplerate = 800; | |
691 | |
692 } else if (frequency <= 1600) { | |
693 setbits |= REG1_RATE_1600HZ_A; | |
694 _accel_samplerate = 1600; | |
695 | |
696 } else { | |
697 return -1; | |
698 } | |
699 | |
700 LSM303D_modify_reg(ADDR_CTRL_REG1, clearbits, setbits); | |
701 return 0; | |
702 } | |
703 // =============================================================================== | |
704 // LSM303D_mag_set_samplerate | |
705 /// @brief tiny helpers by pixhawk | |
706 // =============================================================================== | |
707 int LSM303D_mag_set_samplerate(unsigned frequency) | |
708 { | |
709 uint8_t setbits = 0; | |
710 uint8_t clearbits = REG5_RATE_BITS_M; | |
711 | |
712 if (frequency == 0) { | |
713 frequency = 100; | |
714 } | |
715 | |
716 if (frequency <= 3) { | |
717 setbits |= REG5_RATE_3_125HZ_M; | |
718 _mag_samplerate = 25; | |
719 | |
720 } else if (frequency <= 6) { | |
721 setbits |= REG5_RATE_6_25HZ_M; | |
722 _mag_samplerate = 25; | |
723 | |
724 } else if (frequency <= 12) { | |
725 setbits |= REG5_RATE_12_5HZ_M; | |
726 _mag_samplerate = 25; | |
727 | |
728 } else if (frequency <= 25) { | |
729 setbits |= REG5_RATE_25HZ_M; | |
730 _mag_samplerate = 25; | |
731 | |
732 } else if (frequency <= 50) { | |
733 setbits |= REG5_RATE_50HZ_M; | |
734 _mag_samplerate = 50; | |
735 | |
736 } else if (frequency <= 100) { | |
737 setbits |= REG5_RATE_100HZ_M; | |
738 _mag_samplerate = 100; | |
739 | |
740 } else { | |
741 return -1; | |
742 } | |
743 | |
744 LSM303D_modify_reg(ADDR_CTRL_REG5, clearbits, setbits); | |
745 return 0; | |
746 } | |
747 */ | |
748 | |
749 | |
750 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
751 // =============================================================================== | |
752 // rotate_mag_3f | |
753 /// @brief swap axis in convient way, by hw | |
754 /// @param *x raw input is set to *y input | |
755 /// @param *y raw input is set to -*x input | |
756 /// @param *z raw is not touched | |
757 // =============================================================================== | |
758 void rotate_mag_3f(float *x, float *y, float *z) | |
759 { | |
760 return; | |
761 /* | |
762 *x = *x; // HMC: *x = -*y | |
763 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
764 *z = *z; // HMC: *z = *z | |
765 */ | |
766 } | |
767 | |
768 | |
769 // =============================================================================== | |
770 // rotate_accel_3f | |
771 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
772 /// @param *x raw input, output is with sign change | |
773 /// @param *y raw input, output is with sign change | |
774 /// @param *z raw input, output is with sign change | |
775 // =============================================================================== | |
776 void rotate_accel_3f(float *x, float *y, float *z) | |
777 { | |
778 *x = -*x; | |
779 *y = -*y; | |
780 *z = -*z; | |
781 /* tested: | |
782 x = x, y =-y, z=-z: does not work with roll | |
783 x = x, y =y, z=-z: does not work with pitch | |
784 x = x, y =y, z=z: does not work at all | |
785 */ | |
786 } | |
787 | |
788 | |
789 // =============================================================================== | |
790 // compass_init_LSM303D by PIXhawk (LSM303D::reset()) | |
791 // https://raw.githubusercontent.com/PX4/Firmware/master/src/drivers/lsm303d/lsm303d.cpp | |
792 /// @brief The new ST 303D | |
793 /// This might be called several times with different gain values during calibration | |
794 /// but gain change is not supported at the moment. | |
795 /// | |
796 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
797 // =============================================================================== | |
798 | |
799 //uint8_t testCompassLS303D[11]; | |
800 | |
801 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
802 { | |
803 // matthias version 160620 | |
804 if(fast == 0) | |
805 { | |
806 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
807 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
808 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
809 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
810 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
811 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
812 } | |
813 else | |
814 { | |
815 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
816 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
817 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
818 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
819 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
820 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
821 } | |
822 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
823 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
824 | |
825 /* | |
826 uint8_t data; | |
827 for(int i=0;i<11;i++) | |
828 { | |
829 data = ADDR_INT_THS_L_M + i; | |
830 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
831 I2C_Master_Receive( DEVICE_COMPASS_303D, &testCompassLS303D[i], 1); | |
832 } | |
833 */ | |
834 | |
835 return; | |
836 /* | |
837 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); // modifies ADDR_CTRL_REG2 | |
838 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); // modifies ADDR_CTRL_REG1 | |
839 | |
840 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA); | |
841 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE); | |
842 */ | |
843 | |
844 /* | |
845 // my stuff hw | |
846 // enable accel | |
847 LSM303D_write_checked_reg(ADDR_CTRL_REG1, | |
848 REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A); | |
849 | |
850 // enable mag | |
851 LSM303D_write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); | |
852 LSM303D_write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T); | |
853 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1 | |
854 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2 | |
855 | |
856 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); | |
857 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); | |
858 LSM303D_accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ); | |
859 //LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting | |
860 | |
861 // we setup the anti-alias on-chip filter as 50Hz. We believe | |
862 // this operates in the analog domain, and is critical for | |
863 // anti-aliasing. The 2 pole software filter is designed to | |
864 // operate in conjunction with this on-chip filter | |
865 if(fast) | |
866 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting | |
867 else | |
868 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
869 | |
870 | |
871 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA); | |
872 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE); | |
873 */ | |
874 } | |
875 | |
876 | |
877 // =============================================================================== | |
878 // compass_sleep_LSM303D | |
879 /// @brief The new compass chip, hopefully this works! | |
880 // =============================================================================== | |
881 void compass_sleep_LSM303D(void) | |
882 { | |
883 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
884 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
885 } | |
886 | |
887 | |
888 // =============================================================================== | |
889 // acceleration_read_LSM303D | |
890 /// @brief The new LSM303D, code by pixhawk | |
891 /// | |
892 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
893 // =============================================================================== | |
894 void acceleration_read_LSM303D(void) | |
895 { | |
896 uint8_t data; | |
897 float xraw_f, yraw_f, zraw_f; | |
898 float accel_report_x, accel_report_y, accel_report_z; | |
899 | |
900 memset(accDataBuffer,0,6); | |
901 | |
902 accel_DX_f = 0; | |
903 accel_DY_f = 0; | |
904 accel_DZ_f = 0; | |
905 | |
906 for(int i=0;i<6;i++) | |
907 { | |
908 data = ADDR_OUT_X_L_A + i; | |
909 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
910 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
911 } | |
912 | |
913 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
914 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
915 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
916 | |
917 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
918 | |
919 // mh | |
920 accel_report_x = xraw_f; | |
921 accel_report_y = yraw_f; | |
922 accel_report_z = zraw_f; | |
923 | |
924 // my stuff | |
925 /* | |
926 accel_report_x = ((xraw_f * _accel_range_scale) - _accel_scale_x_offset) * _accel_scale_x_scale; | |
927 accel_report_y = ((yraw_f * _accel_range_scale) - _accel_scale_y_offset) * _accel_scale_y_scale; | |
928 accel_report_z = ((zraw_f * _accel_range_scale) - _accel_scale_z_offset) * _accel_scale_z_scale; | |
929 */ | |
930 accel_DX_f = ((int16_t)(accel_report_x)); | |
931 accel_DY_f = ((int16_t)(accel_report_y)); | |
932 accel_DZ_f = ((int16_t)(accel_report_z)); | |
933 } | |
934 /* special code after accel_report_z = ... | |
935 * prior to output | |
936 // we have logs where the accelerometers get stuck at a fixed | |
937 // large value. We want to detect this and mark the sensor as | |
938 // being faulty | |
939 | |
940 if (fabsf(_last_accel[0] - x_in_new) < 0.001f && | |
941 fabsf(_last_accel[1] - y_in_new) < 0.001f && | |
942 fabsf(_last_accel[2] - z_in_new) < 0.001f && | |
943 fabsf(x_in_new) > 20 && | |
944 fabsf(y_in_new) > 20 && | |
945 fabsf(z_in_new) > 20) { | |
946 _constant_accel_count += 1; | |
947 | |
948 } else { | |
949 _constant_accel_count = 0; | |
950 } | |
951 | |
952 if (_constant_accel_count > 100) { | |
953 // we've had 100 constant accel readings with large | |
954 // values. The sensor is almost certainly dead. We | |
955 // will raise the error_count so that the top level | |
956 // flight code will know to avoid this sensor, but | |
957 // we'll still give the data so that it can be logged | |
958 // and viewed | |
959 perf_count(_bad_values); | |
960 _constant_accel_count = 0; | |
961 } | |
962 | |
963 _last_accel[0] = x_in_new; | |
964 _last_accel[1] = y_in_new; | |
965 _last_accel[2] = z_in_new; | |
966 | |
967 accel_report.x = _accel_filter_x.apply(x_in_new); | |
968 accel_report.y = _accel_filter_y.apply(y_in_new); | |
969 accel_report.z = _accel_filter_z.apply(z_in_new); | |
970 | |
971 math::Vector<3> aval(x_in_new, y_in_new, z_in_new); | |
972 math::Vector<3> aval_integrated; | |
973 | |
974 bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt); | |
975 accel_report.x_integral = aval_integrated(0); | |
976 accel_report.y_integral = aval_integrated(1); | |
977 accel_report.z_integral = aval_integrated(2); | |
978 */ | |
979 | |
980 | |
981 // =============================================================================== | |
982 // compass_read_LSM303D | |
983 /// @brief The new LSM303D, code by pixhawk | |
984 /// | |
985 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
986 // =============================================================================== | |
987 void compass_read_LSM303D(void) | |
988 { | |
989 uint8_t data; | |
990 // float xraw_f, yraw_f, zraw_f; | |
991 // float mag_report_x, mag_report_y, mag_report_z; | |
992 | |
993 memset(magDataBuffer,0,6); | |
994 | |
995 compass_DX_f = 0; | |
996 compass_DY_f = 0; | |
997 compass_DZ_f = 0; | |
998 | |
999 for(int i=0;i<6;i++) | |
1000 { | |
1001 data = ADDR_OUT_X_L_M + i; | |
1002 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
1003 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
1004 } | |
1005 | |
1006 // mh 160620 flip x and y if flip display | |
1007 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
1008 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
1009 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
1010 // no rotation | |
1011 return; | |
1012 /* | |
1013 // my stuff | |
1014 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))) / 10) - 200; | |
1015 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))) / 10) - 200; | |
1016 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))) / 10) - 200; | |
1017 */ | |
1018 // old | |
1019 /* | |
1020 xraw_f = ((float)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
1021 yraw_f = ((float)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
1022 zraw_f = ((float)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
1023 | |
1024 rotate_mag_3f(&xraw_f, &yraw_f, &zraw_f); | |
1025 | |
1026 compass_DX_f = (int16_t)((xraw_f * 0.1f) - 200.0f); | |
1027 compass_DY_f = (int16_t)((yraw_f * 0.1f) - 200.0f); | |
1028 compass_DZ_f = (int16_t)((zraw_f * 0.1f) - 200.0f); | |
1029 */ | |
1030 /* | |
1031 mag_report_x = ((xraw_f * _mag_range_scale) - _mag_scale_x_offset) * _mag_scale_x_scale; | |
1032 mag_report_y = ((yraw_f * _mag_range_scale) - _mag_scale_y_offset) * _mag_scale_y_scale; | |
1033 mag_report_z = ((zraw_f * _mag_range_scale) - _mag_scale_z_offset) * _mag_scale_z_scale; | |
1034 | |
1035 compass_DX_f = (int16_t)(mag_report_x * 1000.0f); // 1000.0 is just a wild guess by hw | |
1036 compass_DY_f = (int16_t)(mag_report_y * 1000.0f); | |
1037 compass_DZ_f = (int16_t)(mag_report_z * 1000.0f); | |
1038 */ | |
1039 } | |
1040 | |
1041 | |
1042 // -------------------------------------------------------------------------------- | |
1043 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
1044 // -------------------------------------------------------------------------------- | |
1045 | |
1046 // =============================================================================== | |
1047 // compass_init_HMC5883L | |
1048 /// @brief The horrible Honeywell compass chip | |
1049 /// This might be called several times during calibration | |
1050 /// | |
1051 /// @param fast: 1 is fast mode, 0 is normal mode | |
1052 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
1053 // =============================================================================== | |
1054 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
1055 { | |
1056 uint8_t write_buffer[4]; | |
1057 | |
1058 compass_gain = gain; | |
1059 uint16_t length = 0; | |
1060 write_buffer[0] = 0x00; // 00 = config Register A | |
1061 | |
1062 if( fast ) | |
1063 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
1064 else | |
1065 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
1066 | |
1067 switch(gain) | |
1068 { | |
1069 case 7: | |
1070 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
1071 break; | |
1072 case 6: | |
1073 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
1074 break; | |
1075 case 5: | |
1076 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
1077 break; | |
1078 case 4: | |
1079 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
1080 break; | |
1081 case 3: | |
1082 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
1083 break; | |
1084 case 2: | |
1085 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
1086 break; | |
1087 case 1: | |
1088 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
1089 break; | |
1090 case 0: | |
1091 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
1092 break; | |
1093 } | |
1094 write_buffer[3] = 0x00; // Mode: continuous mode | |
1095 length = 4; | |
1096 //hmc_twi_write(0); | |
1097 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
1098 } | |
1099 | |
1100 | |
1101 | |
1102 // =============================================================================== | |
1103 // compass_sleep_HMC5883L | |
1104 /// @brief Power-down mode for Honeywell compass chip | |
1105 // =============================================================================== | |
1106 void compass_sleep_HMC5883L(void) | |
1107 { | |
1108 uint8_t write_buffer[4]; | |
1109 uint16_t length = 0; | |
1110 | |
1111 write_buffer[0] = 0x00; // 00 = config Register A | |
1112 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
1113 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
1114 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
1115 length = 4; | |
1116 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
1117 } | |
1118 | |
1119 | |
1120 // =============================================================================== | |
1121 // accelerator_init_MMA8452Q | |
1122 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
1123 // =============================================================================== | |
1124 void accelerator_init_MMA8452Q(void) | |
1125 { | |
1126 uint8_t write_buffer[4]; | |
1127 uint16_t length = 0; | |
1128 //HAL_Delay(1); | |
1129 //return; | |
1130 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
1131 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
1132 length = 2; | |
1133 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
1134 //HAL_Delay(1); | |
1135 write_buffer[0] = 0x2A; // CTRL_REG1 | |
1136 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
1137 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
1138 length = 3; | |
1139 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
1140 | |
1141 //HAL_Delay(1); | |
1142 //hw_delay_us(100); | |
1143 write_buffer[0] = 0x2A; // CTRL_REG1 | |
1144 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
1145 length = 2; | |
1146 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
1147 /* | |
1148 HAL_Delay(6); | |
1149 compass_read(); | |
1150 HAL_Delay(1); | |
1151 acceleration_read(); | |
1152 | |
1153 compass_calc(); | |
1154 */ | |
1155 } | |
1156 | |
1157 | |
1158 // =============================================================================== | |
1159 // accelerator_sleep_MMA8452Q | |
1160 /// @brief compass_sleep_HMC5883L | |
1161 // =============================================================================== | |
1162 void accelerator_sleep_MMA8452Q(void) | |
1163 { | |
1164 uint16_t length = 0; | |
1165 uint8_t write_buffer[4]; | |
1166 | |
1167 write_buffer[0] = 0x2A; // CTRL_REG1 | |
1168 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
1169 length = 2; | |
1170 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
1171 } | |
1172 | |
1173 | |
1174 // =============================================================================== | |
1175 // compass_read_HMC5883L | |
1176 /// @brief The new ST 303D - get ALL data and store in static variables | |
1177 /// | |
1178 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
1179 // =============================================================================== | |
1180 void compass_read_HMC5883L(void) | |
1181 { | |
1182 uint8_t buffer[20]; | |
1183 compass_DX_f = 0; | |
1184 compass_DY_f = 0; | |
1185 compass_DZ_f = 0; | |
1186 uint8_t length = 0; | |
1187 uint8_t read_buffer[6]; | |
1188 signed_tword data; | |
1189 for(int i = 0; i<6;i++) | |
1190 read_buffer[i] = 0; | |
1191 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
1192 length = 1; | |
1193 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
1194 length = 6; | |
1195 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
1196 | |
1197 | |
1198 data.Byte.hi = read_buffer[0]; | |
1199 data.Byte.low = read_buffer[1]; | |
1200 //Y = Z | |
1201 compass_DY_f = - data.Word; | |
1202 | |
1203 data.Byte.hi = read_buffer[2]; | |
1204 data.Byte.low = read_buffer[3]; | |
1205 compass_DZ_f = data.Word; | |
1206 | |
1207 data.Byte.hi = read_buffer[4]; | |
1208 data.Byte.low = read_buffer[5]; | |
1209 //X = -Y | |
1210 compass_DX_f = data.Word; | |
1211 } | |
1212 | |
1213 | |
1214 // =============================================================================== | |
1215 // acceleration_read_MMA8452Q | |
1216 /// @brief The old MMA8452Q used with the Honeywell compass | |
1217 /// get the acceleration data and store in static variables | |
1218 /// | |
1219 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
1220 // =============================================================================== | |
1221 void acceleration_read_MMA8452Q(void) | |
1222 { | |
1223 uint8_t buffer[20]; | |
1224 accel_DX_f = 0; | |
1225 accel_DY_f = 0; | |
1226 accel_DZ_f = 0; | |
1227 uint8_t length = 0; | |
1228 // bit8_Type status ; | |
1229 uint8_t read_buffer[7]; | |
1230 signed_tword data; | |
1231 for(int i = 0; i<6;i++) | |
1232 read_buffer[i] = 0; | |
1233 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
1234 length = 1; | |
1235 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
1236 length = 7; | |
1237 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
1238 | |
1239 // status.uw = read_buffer[0]; | |
1240 data.Byte.hi = read_buffer[1]; | |
1241 data.Byte.low = read_buffer[2]; | |
1242 accel_DX_f =data.Word/16; | |
1243 data.Byte.hi = read_buffer[3]; | |
1244 data.Byte.low = read_buffer[4]; | |
1245 accel_DY_f =data.Word/16; | |
1246 data.Byte.hi = read_buffer[5]; | |
1247 data.Byte.low = read_buffer[6]; | |
1248 accel_DZ_f =data.Word/16; | |
1249 | |
1250 accel_DX_f *= -1; | |
1251 accel_DY_f *= -1; | |
1252 accel_DZ_f *= -1; | |
1253 } | |
1254 | |
1255 | |
1256 // =============================================================================== | |
1257 // compass_calc_roll_pitch_only | |
1258 /// @brief only the roll and pitch parts of compass_calc() | |
1259 /// | |
1260 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
1261 /// output is compass_pitch and compass_roll | |
1262 // =============================================================================== | |
1263 void compass_calc_roll_pitch_only(void) | |
1264 { | |
1265 float sinPhi, cosPhi; | |
1266 float Phi, Teta; | |
1267 | |
1268 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
1269 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
1270 compass_roll = Phi * 180.0f /PI; | |
1271 sinPhi = sinf(Phi); | |
1272 cosPhi = cosf(Phi); | |
1273 | |
1274 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
1275 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
1276 compass_pitch = Teta * 180.0f /PI; | |
1277 } | |
1278 | |
1279 | |
1280 // =============================================================================== | |
1281 // compass_calc | |
1282 /// @brief all the fancy stuff first implemented in OSTC3 | |
1283 /// | |
1284 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
1285 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
1286 /// output is compass_heading, compass_pitch and compass_roll | |
1287 // =============================================================================== | |
1288 void compass_calc(void) | |
1289 { | |
1290 float sinPhi, cosPhi, sinTeta, cosTeta; | |
1291 float Phi, Teta, Psi; | |
1292 int16_t iBfx, iBfy; | |
1293 int16_t iBpx, iBpy, iBpz; | |
1294 | |
1295 //---- Make hard iron correction ----------------------------------------- | |
1296 // Measured magnetometer orientation, measured ok. | |
1297 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
1298 iBpx = compass_DX_f - compass_CX_f; // X | |
1299 iBpy = compass_DY_f - compass_CY_f; // Y | |
1300 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
1301 | |
1302 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
1303 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
1304 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
1305 compass_roll = Phi * 180.0f /PI; | |
1306 sinPhi = sinf(Phi); | |
1307 cosPhi = cosf(Phi); | |
1308 | |
1309 //---- rotate by roll angle (-Phi) --------------------------------------- | |
1310 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
1311 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
1312 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
1313 | |
1314 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
1315 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
1316 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
1317 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
1318 compass_pitch = Teta * 180.0f /PI; | |
1319 sinTeta = sinf(Teta); | |
1320 cosTeta = cosf(Teta); | |
1321 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
1322 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
1323 | |
1324 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
1325 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
1326 | |
1327 //---- Detect uncalibrated compass --------------------------------------- | |
1328 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
1329 { | |
1330 compass_heading = -1; | |
1331 return; | |
1332 } | |
1333 | |
1334 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
1335 // Result in degree (no need of 0.01 deg precision... | |
1336 Psi = atan2f(-iBfy,iBfx); | |
1337 compass_heading = Psi * 180.0f /PI; | |
1338 // Result in 0..360 range: | |
1339 if( compass_heading < 0 ) | |
1340 compass_heading += 360; | |
1341 } | |
1342 | |
1343 | |
1344 /* | |
1345 // =============================================================================== | |
1346 // compass_calc_mini_during_calibration | |
1347 /// @brief all the fancy stuff first implemented in OSTC3 | |
1348 /// | |
1349 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
1350 /// output is compass_pitch and compass_roll | |
1351 // =============================================================================== | |
1352 void compass_calc_mini_during_calibration(void) | |
1353 { | |
1354 float sinPhi, cosPhi; | |
1355 float Phi, Teta; | |
1356 | |
1357 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
1358 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
1359 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
1360 compass_roll = Phi * 180.0f /PI; | |
1361 sinPhi = sinf(Phi); | |
1362 cosPhi = cosf(Phi); | |
1363 | |
1364 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
1365 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
1366 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
1367 compass_pitch = Teta * 180.0f /PI; | |
1368 } | |
1369 */ | |
1370 | |
1371 | |
1372 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
1373 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
1374 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
1375 | |
1376 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
1377 | |
1378 // =============================================================================== | |
1379 // compass_reset_calibration | |
1380 /// @brief all the fancy stuff first implemented in OSTC3 | |
1381 /// | |
1382 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
1383 /// | |
1384 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
1385 /// all is set to zero here | |
1386 // =============================================================================== | |
1387 void compass_reset_calibration(SCompassCalib *g) | |
1388 { | |
1389 g->compass_N = 0; | |
1390 g->Su = g->Sv = g->Sw = 0.0; | |
1391 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
1392 g->Suuu = g->Svvv = g->Swww = 0.0; | |
1393 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
1394 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
1395 } | |
1396 | |
1397 | |
1398 // =============================================================================== | |
1399 // compass_add_calibration | |
1400 /// @brief all the fancy stuff first implemented in OSTC3 | |
1401 /// | |
1402 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
1403 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
1404 /// output is struct g | |
1405 /// | |
1406 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
1407 // =============================================================================== | |
1408 void compass_add_calibration(SCompassCalib *g) | |
1409 { | |
1410 float u, v, w; | |
1411 | |
1412 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
1413 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
1414 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
1415 | |
1416 g->compass_N++; | |
1417 g->Su += u; | |
1418 g->Sv += v; | |
1419 g->Sw += w; | |
1420 g->Suv += u*v; | |
1421 g->Suw += u*w; | |
1422 g->Svw += v*w; | |
1423 g->Suu += u*u; | |
1424 g->Suuu += u*u*u; | |
1425 g->Suuv += v*u*u; | |
1426 g->Suuw += w*u*u; | |
1427 g->Svv += v*v; | |
1428 g->Svvv += v*v*v; | |
1429 g->Svvu += u*v*v; | |
1430 g->Svvw += w*v*v; | |
1431 g->Sww += w*w; | |
1432 g->Swww += w*w*w; | |
1433 g->Swwu += u*w*w; | |
1434 g->Swwv += v*w*w; | |
1435 } | |
1436 | |
1437 ////////////////////////////////////////////////////////////////////////////// | |
1438 | |
1439 // =============================================================================== | |
1440 // compass_solve_calibration | |
1441 /// @brief all the fancy stuff first implemented in OSTC3 | |
1442 /// | |
1443 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
1444 /// output is struct g | |
1445 /// | |
1446 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
1447 // =============================================================================== | |
1448 void compass_solve_calibration(SCompassCalib *g) | |
1449 { | |
1450 float yu, yv, yw; | |
1451 float delta; | |
1452 float uc, vc, wc; | |
1453 | |
1454 | |
1455 //---- Normalize partial sums -------------------------------------------- | |
1456 // | |
1457 // u, v, w should be centered on the mean value um, vm, wm: | |
1458 // x = u + um, with um = Sx/N | |
1459 // | |
1460 // So: | |
1461 // (u + um)**2 = u**2 + 2u*um + um**2 | |
1462 // Su = 0, um = Sx/N | |
1463 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
1464 // Suu = Sxx - Sx**2/N | |
1465 yu = g->Su/g->compass_N; | |
1466 yv = g->Sv/g->compass_N; | |
1467 yw = g->Sw/g->compass_N; | |
1468 | |
1469 g->Suu -= g->Su*yu; | |
1470 g->Svv -= g->Sv*yv; | |
1471 g->Sww -= g->Sw*yw; | |
1472 | |
1473 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
1474 // Sxy = Suv + N * um vm | |
1475 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
1476 g->Suv -= g->Su*yv; | |
1477 g->Suw -= g->Su*yw; | |
1478 g->Svw -= g->Sv*yw; | |
1479 | |
1480 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
1481 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
1482 // Su = 0, um = Sx/N: | |
1483 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
1484 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
1485 | |
1486 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
1487 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
1488 // | |
1489 // Su = 0, Sv = 0, vm = Sy/N: | |
1490 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
1491 // | |
1492 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
1493 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
1494 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
1495 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
1496 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
1497 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
1498 | |
1499 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
1500 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
1501 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
1502 | |
1503 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
1504 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
1505 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
1506 | |
1507 //---- Solve the system -------------------------------------------------- | |
1508 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
1509 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
1510 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
1511 // Note this is symetric, with a positiv diagonal, hence | |
1512 // it always have a uniq solution. | |
1513 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
1514 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
1515 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
1516 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
1517 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
1518 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
1519 | |
1520 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
1521 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
1522 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
1523 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
1524 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
1525 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
1526 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
1527 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
1528 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
1529 | |
1530 // Back to uncentered coordinates: | |
1531 // xc = um + uc | |
1532 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
1533 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
1534 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
1535 | |
1536 // Then save the new calibrated center: | |
1537 compass_CX_f = (short)(32768 * uc); | |
1538 compass_CY_f = (short)(32768 * vc); | |
1539 compass_CZ_f = (short)(32768 * wc); | |
1540 } | |
1541 | |
1542 | |
1543 // =============================================================================== | |
1544 // compass_calib | |
1545 /// @brief the main loop for calibration | |
1546 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
1547 /// 160704 removed -4096 limit for LSM303D | |
1548 /// | |
1549 /// @return always 0 | |
1550 // =============================================================================== | |
1551 int compass_calib_common(void) | |
1552 { | |
1553 SCompassCalib g; | |
1554 | |
1555 // Starts with no calibration at all: | |
1556 compass_reset_calibration(&g); | |
1557 | |
1558 int64_t tickstart = 0; | |
1559 uint32_t ticks = 0; | |
1560 uint32_t lasttick = 0; | |
1561 tickstart = HAL_GetTick(); | |
1562 // Eine Minute kalibrieren | |
1563 while((ticks) < 60 * 1000) | |
1564 { | |
1565 compass_read(); | |
1566 acceleration_read(); | |
1567 compass_calc_roll_pitch_only(); | |
1568 | |
1569 if((hardwareCompass == HMC5883L) | |
1570 &&((compass_DX_f == -4096) || | |
1571 (compass_DY_f == -4096) || | |
1572 (compass_DZ_f == -4096) )) | |
1573 { | |
1574 if(compass_gain == 0) | |
1575 return -1; | |
1576 compass_gain--; | |
1577 | |
1578 compass_init(1, compass_gain); | |
1579 compass_reset_calibration(&g); | |
1580 //tickstart = HAL_GetTick(); | |
1581 continue; | |
1582 } | |
1583 | |
1584 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); | |
104 | 1585 compass_add_calibration(&g); |
38 | 1586 HAL_Delay(1); |
1587 lasttick = HAL_GetTick(); | |
1588 if(lasttick == 0) | |
1589 { | |
1590 tickstart = -ticks; | |
1591 } | |
104 | 1592 HAL_Delay(1); |
38 | 1593 ticks = lasttick - tickstart; |
147
14e4c83a7559
Forward compass data during calibration mode
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104
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1594 SPI_Evaluate_RX_Data(); |
104 | 1595 } |
38 | 1596 |
1597 compass_solve_calibration(&g); | |
1598 | |
1599 tfull32 dataBlock[4]; | |
1600 dataBlock[0].Word16.low16 = compass_CX_f; | |
1601 dataBlock[0].Word16.hi16 = compass_CY_f; | |
1602 dataBlock[1].Word16.low16 = compass_CZ_f; | |
1603 dataBlock[1].Word16.hi16 = 0xFFFF; | |
1604 dataBlock[2].Full32 = 0x7FFFFFFF; | |
1605 dataBlock[3].Full32 = 0x7FFFFFFF; | |
1606 BFA_writeDataBlock((uint32_t *)dataBlock); | |
1607 | |
1608 return 0; | |
1609 } | |
1610 | |
1611 // //////////////////////////// TEST CODE ///////////////////////////////////// | |
1612 | |
1613 | |
1614 | |
1615 //#include <QtDebug> | |
1616 //#include <stdio.h> | |
1617 //#include <math.h> | |
1618 /*#include <stdlib.h> | |
1619 | |
1620 short compass_DX_f, compass_DY_f, compass_DZ_f; | |
1621 short compass_CX_f, compass_CY_f, compass_CZ_f; | |
1622 | |
1623 inline float uniform(void) { | |
1624 return (rand() & 0xFFFF) / 65536.0f; | |
1625 } | |
1626 inline float sqr(float x) { | |
1627 return x*x; | |
1628 } | |
1629 | |
1630 static const float radius = 0.21f; | |
1631 static const float cx = 0.79f, cy = -0.46f, cz = 0.24f; | |
1632 // const float cx = 0, cy = 0, cz = 0; | |
1633 | |
1634 float check_compass_calib(void) | |
1635 { | |
1636 | |
1637 // Starts with no calibration at all: | |
1638 compass_CX_f = compass_CY_f = compass_CZ_f = 0; | |
1639 | |
1640 // Try 10 recalibration passes: | |
1641 for(int p=0; p<10; ++p) | |
1642 { | |
1643 compass_reset_calibration(); | |
1644 | |
1645 //---- Generates random points on a sphere ------------------------------- | |
1646 // of radius,center (cx, cy, cz): | |
1647 for(int i=0; i<100; ++i) | |
1648 { | |
1649 float theta = uniform()*360.0f; | |
1650 float phi = uniform()*180.0f - 90.0f; | |
1651 | |
1652 float x = cx + radius * cosf(phi)*cosf(theta); | |
1653 float y = cy + radius * cosf(phi)*sinf(theta); | |
1654 float z = cz + radius * sinf(phi); | |
1655 | |
1656 compass_DX_f = (short)(32768 * x); | |
1657 compass_DY_f = (short)(32768 * y); | |
1658 compass_DZ_f = (short)(32768 * z); | |
1659 compass_add_calibration(); | |
1660 } | |
1661 | |
1662 compass_solve_calibration(); | |
1663 //qDebug() << "Center =" | |
1664 // << compass_CX_f/32768.0f | |
1665 // << compass_CY_f/32768.0f | |
1666 // << compass_CZ_f/32768.0f; | |
1667 | |
1668 float r2 = sqr(compass_CX_f/32768.0f - cx) | |
1669 + sqr(compass_CY_f/32768.0f - cy) | |
1670 + sqr(compass_CZ_f/32768.0f - cz); | |
1671 if( r2 > 0.01f*0.01f ) | |
1672 return sqrtf(r2); | |
1673 } | |
1674 return 0; | |
1675 }*/ | |
1676 | |
1677 | |
1678 | |
1679 /* | |
1680 void compass_read_LSM303D_v3(void) | |
1681 { | |
1682 uint8_t data; | |
1683 | |
1684 memset(magDataBuffer,0,6); | |
1685 | |
1686 compass_DX_f = 0; | |
1687 compass_DY_f = 0; | |
1688 compass_DZ_f = 0; | |
1689 | |
1690 //magnetometer multi read, order xl,xh, yl,yh, zl, zh | |
1691 data = REG_MAG_DATA_ADDR; | |
1692 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
1693 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6); | |
1694 | |
1695 compass_DX_f = ((int16_t)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
1696 compass_DY_f = ((int16_t)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
1697 compass_DZ_f = ((int16_t)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
1698 | |
1699 // compass_DX_f = compass_DX_f * stat->sensitivity_mag; | |
1700 // compass_DY_f = compass_DY_f * stat->sensitivity_mag; | |
1701 // compass_DZ_f = compass_DZ_f * stat->sensitivity_mag; | |
1702 } | |
1703 | |
1704 | |
1705 // =============================================================================== | |
1706 // compass_init_LSM303D by STMicroelectronics 2013 V1.0.5 2013/Oct/23 | |
1707 /// @brief The new ST 303D | |
1708 /// This might be called several times with different gain values during calibration | |
1709 /// | |
1710 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
1711 // =============================================================================== | |
1712 | |
1713 void compass_init_LSM303D_v3(uint8_t gain) | |
1714 { | |
1715 uint8_t data[10]; | |
1716 | |
1717 // CNTRL1 | |
1718 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz) | |
1719 // 0xxx block data update off | |
1720 // x111 enable all three axes | |
1721 | |
1722 // CNTRL5 | |
1723 // 0xxx xxxx temp sensor off | |
1724 // x00x xxxx magnetic resolution | |
1725 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz)) | |
1726 // xxxx xx00 latch irq requests off | |
1727 | |
1728 // CNTRL7 | |
1729 // 00xx high pass filter mode, 00 normal mode | |
1730 // xx0x filter for acceleration data bypassed | |
1731 // xxx0 temperature sensor mode only off | |
1732 // x0xx magnetic data low-power mode off | |
1733 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down) | |
1734 | |
1735 data[0] = CNTRL0; | |
1736 data[1] = 0x00; | |
1737 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
1738 | |
1739 // acc | |
1740 data[0] = CNTRL1; | |
1741 data[1] = 0x00; | |
1742 data[2] = 0x0F; | |
1743 data[3] = 0x00; | |
1744 data[4] = 0x00; | |
1745 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5); | |
1746 | |
1747 // mag | |
1748 data[0] = CNTRL3; | |
1749 data[1] = 0x00; | |
1750 data[2] = 0x00; | |
1751 data[3] = 0x18; | |
1752 data[4] = 0x20; | |
1753 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5); | |
1754 | |
1755 data[0] = CNTRL7; | |
1756 data[1] = ((MSMS_MASK & CONTINUOS_CONVERSION) | | |
1757 ((~MSMS_MASK) & CNTRL7_RESUME_VALUE)); | |
1758 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
1759 | |
1760 HAL_Delay(100); | |
1761 } | |
1762 | |
1763 | |
1764 // =============================================================================== | |
1765 // compass_init_LSM303D by nordevx for arduion | |
1766 /// @brief The new ST 303D | |
1767 /// This might be called several times with different gain values during calibration | |
1768 /// | |
1769 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
1770 // =============================================================================== | |
1771 void compass_init_LSM303D_v2(uint8_t gain) | |
1772 { | |
1773 uint8_t data[2]; | |
1774 | |
1775 // CNTRL1 | |
1776 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz) | |
1777 // 0xxx block data update off | |
1778 // x111 enable all three axes | |
1779 | |
1780 // CNTRL5 | |
1781 // 0xxx xxxx temp sensor off | |
1782 // x00x xxxx magnetic resolution | |
1783 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz)) | |
1784 // xxxx xx00 latch irq requests off | |
1785 | |
1786 // CNTRL7 | |
1787 // 00xx high pass filter mode, 00 normal mode | |
1788 // xx0x filter for acceleration data bypassed | |
1789 // xxx0 temperature sensor mode only off | |
1790 // x0xx magnetic data low-power mode off | |
1791 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down) | |
1792 | |
1793 data[0] = CNTRL1; | |
1794 data[1] = 0x37; //0b 0011 0111 | |
1795 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
1796 | |
1797 data[0] = CNTRL5; | |
1798 data[1] = 0x08; // 0b 0000 1000 | |
1799 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
1800 | |
1801 data[0] = CNTRL7; | |
1802 data[1] = 0x00; // 0b 0000 0000 | |
1803 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
1804 | |
1805 HAL_Delay(100); | |
1806 } | |
1807 | |
1808 | |
1809 // =============================================================================== | |
1810 // compass_init_LSM303D_v1 by ST lsm303d.c | |
1811 /// @brief The new ST 303D | |
1812 /// This might be called several times with different gain values during calibration | |
1813 /// | |
1814 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
1815 // =============================================================================== | |
1816 void compass_init_LSM303D_v1(uint8_t gain) | |
1817 { | |
1818 uint8_t data; | |
1819 | |
1820 compass_gain = gain; | |
1821 | |
1822 memset(magDataBuffer,0,6); | |
1823 memset(accDataBuffer,0,6); | |
1824 | |
1825 data = CNTRL5; | |
1826 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
1827 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
1828 data = (data & 0x1c) >> 2; | |
1829 velMag = magODR[data]; | |
1830 | |
1831 data = CNTRL1; | |
1832 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
1833 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
1834 data = (data & 0xf0) >> 4; | |
1835 velAcc = accODR[data]; | |
1836 | |
1837 data = CNTRL7; | |
1838 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
1839 I2C_Master_Receive( DEVICE_COMPASS_303D, &datas1, 1); | |
1840 datas1 = (datas1 & 0x02); | |
1841 | |
1842 //if mag is not pd | |
1843 //mag is bigger than gyro | |
1844 if( (velMag < velAcc) || datas1 != 0 ) { | |
1845 //acc is the biggest | |
1846 fastest = ACC_IS_FASTEST; | |
1847 } | |
1848 else { | |
1849 //acc is the biggest | |
1850 fastest = MAG_IS_FASTEST; | |
1851 } | |
1852 | |
1853 zoffFlag = 1; | |
1854 | |
1855 if( fastest == MAG_IS_FASTEST) | |
1856 { | |
1857 data = STATUS_REG_M; | |
1858 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
1859 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
1860 | |
1861 // if(ValBit(data, ZYXMDA)) { | |
1862 sendFlag = 1; | |
1863 // } | |
1864 | |
1865 } | |
1866 else if(fastest == ACC_IS_FASTEST) | |
1867 { | |
1868 data = STATUS_REG_A; | |
1869 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
1870 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
1871 // if(ValBit(data, DATAREADY_BIT)) { | |
1872 sendFlag = 1; | |
1873 // } | |
1874 } | |
1875 } | |
1876 | |
1877 // =============================================================================== | |
1878 // compass_read_LSM303D | |
1879 /// @brief The new LSM303D :-) | |
1880 /// | |
1881 /// output is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
1882 // =============================================================================== | |
1883 void compass_read_LSM303D_v2(void) | |
1884 { | |
1885 uint8_t data; | |
1886 | |
1887 memset(magDataBuffer,0,6); | |
1888 memset(accDataBuffer,0,6); | |
1889 | |
1890 compass_DX_f = 0; | |
1891 compass_DY_f = 0; | |
1892 compass_DZ_f = 0; | |
1893 | |
1894 accel_DX_f = 0; | |
1895 accel_DY_f = 0; | |
1896 accel_DZ_f = 0; | |
1897 | |
1898 //Accelerometer multi read, order xl,xh, yl,yh, zl, zh | |
1899 data = REG_ACC_DATA_ADDR; | |
1900 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
1901 I2C_Master_Receive( DEVICE_COMPASS_303D, accDataBuffer, 6); | |
1902 | |
1903 //magnetometer multi read, order xl,xh, yl,yh, zl, zh | |
1904 data = OUT_X_L_M; | |
1905 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
1906 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6); | |
1907 | |
1908 accel_DX_f = ((int16_t)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
1909 accel_DY_f = ((int16_t)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
1910 accel_DZ_f = ((int16_t)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
1911 | |
1912 // accel_DX_f = accel_DX_f * stat->sensitivity_acc; | |
1913 // accel_DY_f = accel_DY_f * stat->sensitivity_acc; | |
1914 // accel_DZ_f = accel_DZ_f * stat->sensitivity_acc; | |
1915 | |
1916 | |
1917 compass_DX_f = magDataBuffer[1]; | |
1918 compass_DX_f *= 256; | |
1919 compass_DX_f += magDataBuffer[0]; | |
1920 | |
1921 compass_DY_f = magDataBuffer[3]; | |
1922 compass_DY_f *= 256; | |
1923 compass_DY_f += magDataBuffer[2]; | |
1924 | |
1925 compass_DY_f = magDataBuffer[5]; | |
1926 compass_DY_f *= 256; | |
1927 compass_DY_f += magDataBuffer[4]; | |
1928 | |
1929 } | |
1930 | |
1931 | |
1932 */ | |
1933 |