annotate Small_CPU/Src/compass.c @ 352:1f24022345d1 fix-merge-mess

Fix merge problem The merge in changeset 352 is simply wrong, so revert all changes made in that merge. Signed-off-by: Jan Mulder <jlmulder@xs4all.nl>
author Jan Mulder <jlmulder@xs4all.nl>
date Tue, 08 Oct 2019 16:35:45 +0200
parents 49f5db6139d5
children c3d511365552
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1 /**
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2 ******************************************************************************
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3 * @file compass.c
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4 * @author heinrichs weikamp gmbh
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5 * @date 27-March-2014
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6 * @version V0.2.0
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7 * @since 21-April-2016
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8 * @brief for Honeywell Compass and ST LSM303D
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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 V0.1.0 09-March-2016
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15 V0.2.0 21-April-2016 Orientation fixed for LSM303D,
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16 roll and pitch added to calibration output,
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17 orientation double checked with datasheets and layout
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18 as well as with value output during calibration
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19 V0.2.1 19-May-2016 New date rate config and full-scale selection
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20
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21 @endverbatim
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22 ******************************************************************************
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23 * @attention
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24 *
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25 * <h2><center>&copy; COPYRIGHT(c) 2016 heinrichs weikamp</center></h2>
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26 *
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27 ******************************************************************************
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28 */
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29
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30 #include <math.h>
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31 #include <string.h>
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32
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33 #include "compass.h"
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34 #include "compass_LSM303D.h"
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35
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36 #include "i2c.h"
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f9b17e898a7a Resolved some minor warnings
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37 #include "spi.h"
38
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38 #include "RTE_FlashAccess.h" // to store compass_calib_data
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39
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40 #include "stm32f4xx_hal.h"
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41
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42 #define TEST_IF_HMC5883L
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43 //#define COMPASS_DEACTIVATE
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44
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45 /// split byte to bits
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46 typedef struct{
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47 uint8_t bit0:1; ///< split byte to bits
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48 uint8_t bit1:1; ///< split byte to bits
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49 uint8_t bit2:1; ///< split byte to bits
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50 uint8_t bit3:1; ///< split byte to bits
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51 uint8_t bit4:1; ///< split byte to bits
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52 uint8_t bit5:1; ///< split byte to bits
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53 uint8_t bit6:1; ///< split byte to bits
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54 uint8_t bit7:1; ///< split byte to bits
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55 } ubit8_t;
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56
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57
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58 /// split byte to bits
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59 typedef union{
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60 ubit8_t ub; ///< split byte to bits
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61 uint8_t uw; ///< split byte to bits
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62 } bit8_Type;
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63
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64
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65 /// split word to 2 bytes
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66 typedef struct{
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67 uint8_t low; ///< split word to 2 bytes
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68 uint8_t hi; ///< split word to 2 bytes
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69 } two_byte;
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70
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71
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72 /// split word to 2 bytes
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73 typedef union{
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74 two_byte Byte; ///< split word to 2 bytes
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75 uint16_t Word; ///< split word to 2 bytes
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76 } tword;
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77
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78
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79 /// split signed word to 2 bytes
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80 typedef union{
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81 two_byte Byte; ///< split signed word to 2 bytes
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82 int16_t Word; ///< split signed word to 2 bytes
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83 } signed_tword;
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84
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85
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86 /// split full32 to 2 words
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87 typedef struct{
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88 uint16_t low16; ///< split word to 2 bytes
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89 uint16_t hi16; ///< split word to 2 bytes
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90 } two_word;
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91
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92 typedef union{
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93 two_word Word16; ///< split word to 2 bytes
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94 uint32_t Full32; ///< split word to 2 bytes
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95 } tfull32;
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96
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97
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98 /// crazy compass calibration stuff
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99 typedef struct
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100 {
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101 unsigned short int compass_N;
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102 float Su, Sv, Sw;
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103 float Suu, Svv, Sww, Suv, Suw, Svw;
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104 float Suuu, Svvv, Swww;
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105 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv;
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106 } SCompassCalib;
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107
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108
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109 #define Q_PI (18000)
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110 #define Q_PIO2 (9000)
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111
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112 #define HMC5883L (1) ///< id used with hardwareCompass
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113 #define LSM303D (2) ///< id used with hardwareCompass
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114 #define COMPASS_NOT_RECOGNIZED (4) ///< id used with hardwareCompass
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115
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116
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117 //////////////////////////////////////////////////////////////////////////////
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118 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error
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119 //
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120 #define K1 (5701) // Needs K1/2**16
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121 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV
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122 #define K3 ( 446) // Needs K3/2**80
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123
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124 const float PI = 3.14159265; ///< pi, used in compass_calc()
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125
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126 typedef short int Int16;
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127 typedef signed char Int8;
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128 typedef Int16 Angle;
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129
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130
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131 /// The (filtered) components of the magnetometer sensor
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132 int16_t compass_DX_f; ///< output from sensor
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133 int16_t compass_DY_f; ///< output from sensor
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134 int16_t compass_DZ_f; ///< output from sensor
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135
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136
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137 /// Found soft-iron calibration values, deduced from already filtered values
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138 int16_t compass_CX_f; ///< calibration value
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139 int16_t compass_CY_f; ///< calibration value
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140 int16_t compass_CZ_f; ///< calibration value
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141
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142
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143 /// The (filtered) components of the accelerometer sensor
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144 int16_t accel_DX_f; ///< output from sensor
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145 int16_t accel_DY_f; ///< output from sensor
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146 int16_t accel_DZ_f; ///< output from sensor
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147
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148
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149 /// The compass result values
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150 float compass_heading; ///< the final result calculated in compass_calc()
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151 float compass_roll; ///< the final result calculated in compass_calc()
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152 float compass_pitch; ///< the final result calculated in compass_calc()
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153
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154
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155 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration
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156
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157 uint8_t hardwareCompass = 0; ///< either HMC5883L or LSM303D or not defined yet ( = 0 )
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158
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159 /// LSM303D variables
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160 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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161 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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162
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163 //uint16_t velMag = 0;
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164 //uint16_t velAcc = 0;
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165
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166 //uint16_t magODR[] = {31,62,125,250,500,1000,2000};
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167 //uint16_t accODR[] = {0,31,62,125,250,500,1000,2000,4000,8000,16000};
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168 //uint8_t fastest = 10; //no sensor is the fastest
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169 //uint8_t datas1 = 0;
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170 //uint8_t zoffFlag = 0;
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171 //uint8_t sendFlag = 0;
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172
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173
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174 // all by pixhawk code:
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175
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176 // struct accel_scale _accel_scale;
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177 unsigned _accel_range_m_s2;
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178 float _accel_range_scale;
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179 unsigned _accel_samplerate;
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180 unsigned _accel_onchip_filter_bandwith;
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181
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182 // struct mag_scale _mag_scale;
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183 unsigned _mag_range_ga;
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184 float _mag_range_scale;
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185 unsigned _mag_samplerate;
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186
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187 // default scale factors
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188 float _accel_scale_x_offset = 0.0f;
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189 float _accel_scale_x_scale = 1.0f;
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190 float _accel_scale_y_offset = 0.0f;
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191 float _accel_scale_y_scale = 1.0f;
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192 float _accel_scale_z_offset = 0.0f;
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193 float _accel_scale_z_scale = 1.0f;
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194
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195 float _mag_scale_x_offset = 0.0f;
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196 float _mag_scale_x_scale = 1.0f;
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197 float _mag_scale_y_offset = 0.0f;
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198 float _mag_scale_y_scale = 1.0f;
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199 float _mag_scale_z_offset = 0.0f;
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200 float _mag_scale_z_scale = 1.0f;
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201
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202
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203 /* External function prototypes ----------------------------------------------*/
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204
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205 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz);
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206
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207 /* Private function prototypes -----------------------------------------------*/
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208
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209 void compass_reset_calibration(SCompassCalib *g);
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210 void compass_add_calibration(SCompassCalib *g);
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211 void compass_solve_calibration(SCompassCalib *g);
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212
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213 void compass_init_HMC5883L(uint8_t fast, uint8_t gain);
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214 void compass_sleep_HMC5883L(void);
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215 void compass_read_HMC5883L(void);
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216
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217 void accelerator_init_MMA8452Q(void);
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218 void accelerator_sleep_MMA8452Q(void);
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219 void acceleration_read_MMA8452Q(void);
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220
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221 void compass_init_LSM303D(uint8_t fast, uint8_t gain);
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222 void compass_sleep_LSM303D(void);
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223 void compass_read_LSM303D(void);
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224 void acceleration_read_LSM303D(void);
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225
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226 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
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227 int compass_calib_common(void);
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228
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229 void compass_calc_roll_pitch_only(void);
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230
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231 void rotate_mag_3f(float *x, float *y, float *z);
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232 void rotate_accel_3f(float *x, float *y, float *z);
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233
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234
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235 /* Exported functions --------------------------------------------------------*/
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236
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237
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238 // ===============================================================================
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239 // compass_init
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240 /// @brief This might be called several times with different gain values during calibration
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241 /// On first call it figures out which hardware is integrated
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242 ///
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243 /// @param gain: 7 is max gain, compass_calib() might reduce it
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244 // ===============================================================================
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245
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246 uint8_t testCompassTypeDebug = 0xFF;
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247
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248 void compass_init(uint8_t fast, uint8_t gain)
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249 {
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250 // quick off
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251 #ifdef COMPASS_DEACTIVATE
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252 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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253 #endif
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254
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255 // don't call again with fast, gain in calib mode etc.
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256 // if unknown
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257 if(hardwareCompass == COMPASS_NOT_RECOGNIZED)
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258 {
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259 return;
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260 }
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261
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262 // old code but without else
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263 if(hardwareCompass == 0)
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264 {
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265 uint8_t data = WHO_AM_I;
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266 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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267 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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268 if(data == WHOIAM_VALUE)
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269 hardwareCompass = LSM303D;
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270 else
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271 hardwareCompass = HMC5883L;
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272 }
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273
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274 /* No compass identified => Retry */
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275 if(hardwareCompass == 0)
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276 {
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277 uint8_t data = WHO_AM_I;
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278 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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279 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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280 if(data == WHOIAM_VALUE)
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281 hardwareCompass = LSM303D;
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282 else
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283 hardwareCompass = HMC5883L;
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284 }
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285
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286 /* Assume that a HMC5883L is equipped by default if detection still failed */
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287 if(hardwareCompass == 0)
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288 hardwareCompass = HMC5883L;
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289
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290 #ifdef TEST_IF_HMC5883L
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291 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT;
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292
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293 if(hardwareCompass == HMC5883L)
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294 {
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295 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q
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296 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1);
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297 if(resultOfOperationHMC_MMA == HAL_OK)
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298 {
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299 hardwareCompass = HMC5883L; // all fine, keep it
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300 }
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301 else
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302 {
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303 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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304 testCompassTypeDebug = 0xEC;
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305 }
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306 }
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307 #endif
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308
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309 if(hardwareCompass == LSM303D)
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310 {
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311 compass_init_LSM303D(fast, gain);
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312 }
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313 else
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314 if(hardwareCompass == HMC5883L)
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315 {
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316 compass_init_HMC5883L(fast, gain);
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317 }
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318
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319 tfull32 dataBlock[4];
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320 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK)
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321 {
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322 compass_CX_f = dataBlock[0].Word16.low16;
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323 compass_CY_f = dataBlock[0].Word16.hi16;
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324 compass_CZ_f = dataBlock[1].Word16.low16;
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325 }
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326
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327 }
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328
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329
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330 // ===============================================================================
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331 // compass_calib
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332 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D
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333 // ===============================================================================
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334 int compass_calib(void)
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335 {
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336 if(hardwareCompass == LSM303D)
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337 {
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338 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773);
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339 int out = compass_calib_common();
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340 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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341 return out;
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342 }
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343 else
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344 if(hardwareCompass == HMC5883L)
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345 {
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346 return compass_calib_common();
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347 }
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348 else
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349 {
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350 return 0; // standard answer of compass_calib_common();
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351 }
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352
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353
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354 }
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355
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356
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357 // ===============================================================================
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358 // compass_sleep
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359 /// @brief low power mode
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360 // ===============================================================================
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361 void compass_sleep(void)
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362 {
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363 if(hardwareCompass == LSM303D)
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364 {
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365 compass_sleep_LSM303D();
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366 }
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367 else
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368 if(hardwareCompass == HMC5883L)
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369 {
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370 compass_sleep_HMC5883L();
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371 }
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372 }
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373
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374
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375 // ===============================================================================
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376 // compass_read
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377 /// @brief reads magnetometer and accelerometer for LSM303D,
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378 /// otherwise magnetometer only
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379 // ===============================================================================
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380 void compass_read(void)
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381 {
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382 if(hardwareCompass == LSM303D)
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383 {
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384 compass_read_LSM303D();
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385 }
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386 else
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387 if(hardwareCompass == HMC5883L)
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388 {
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389 compass_read_HMC5883L();
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390 }
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391 }
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392
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393
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394 // ===============================================================================
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395 // accelerator_init
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396 /// @brief empty for for LSM303D
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397 // ===============================================================================
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398 void accelerator_init(void)
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399 {
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400 if(hardwareCompass == HMC5883L)
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401 accelerator_init_MMA8452Q();
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402 }
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403
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404
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405 // ===============================================================================
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406 // accelerator_sleep
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407 /// @brief empty for for LSM303D
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408 // ===============================================================================
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409 void accelerator_sleep(void)
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410 {
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411 if(hardwareCompass == HMC5883L)
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412 accelerator_sleep_MMA8452Q();
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413 }
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414
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415
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416 // ===============================================================================
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417 // acceleration_read
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418 /// @brief empty for for LSM303D
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419 // ===============================================================================
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420 void acceleration_read(void)
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421 {
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422 if(hardwareCompass == LSM303D)
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423 {
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424 acceleration_read_LSM303D();
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425 }
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426 else
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427 if(hardwareCompass == HMC5883L)
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428 {
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429 acceleration_read_MMA8452Q();
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430 }
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431 }
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432
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433
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434 /* Private functions ---------------------------------------------------------*/
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435
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436 // ===============================================================================
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437 // LSM303D_read_reg
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438 /// @brief tiny helpers by pixhawk
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439 // ===============================================================================
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440 uint8_t LSM303D_read_reg(uint8_t addr)
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441 {
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442 uint8_t data;
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443
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444 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1);
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445 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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446 return data;
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447 }
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448
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449
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450 // ===============================================================================
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451 // LSM303D_write_reg
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452 /// @brief tiny helpers by pixhawk
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453 // ===============================================================================
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454 void LSM303D_write_reg(uint8_t addr, uint8_t value)
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455 {
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456 uint8_t data[2];
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457
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458 /* enable accel*/
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459 data[0] = addr;
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460 data[1] = value;
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461 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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462 }
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463
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464
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465 // ===============================================================================
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466 // LSM303D_write_checked_reg
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467 /// @brief tiny helpers by pixhawk. This runs unchecked at the moment.
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468 // ===============================================================================
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469 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value)
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470 {
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471 LSM303D_write_reg(addr, value);
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472 }
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473
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474
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475 // ===============================================================================
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476 // LSM303D_modify_reg
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477 /// @brief tiny helpers by pixhawk
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478 // ===============================================================================
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479 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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480 {
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481 uint8_t val;
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482
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483 val = LSM303D_read_reg(reg);
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484 val &= ~clearbits;
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485 val |= setbits;
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486 LSM303D_write_checked_reg(reg, val);
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487 }
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488
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489 /*
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490 // ===============================================================================
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491 // LSM303D_accel_set_range
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492 /// @brief tiny helpers by pixhawk
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493 // ===============================================================================
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494 int LSM303D_accel_set_range(unsigned max_g)
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495 {
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496 uint8_t setbits = 0;
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497 uint8_t clearbits = REG2_FULL_SCALE_BITS_A;
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498 float new_scale_g_digit = 0.0f;
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499
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500 if (max_g == 0) {
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501 max_g = 16;
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502 }
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503
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504 if (max_g <= 2) {
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505 _accel_range_m_s2 = 2.0f * LSM303D_ONE_G;
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506 setbits |= REG2_FULL_SCALE_2G_A;
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507 new_scale_g_digit = 0.061e-3f;
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508
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509 } else if (max_g <= 4) {
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510 _accel_range_m_s2 = 4.0f * LSM303D_ONE_G;
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511 setbits |= REG2_FULL_SCALE_4G_A;
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512 new_scale_g_digit = 0.122e-3f;
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513
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514 } else if (max_g <= 6) {
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515 _accel_range_m_s2 = 6.0f * LSM303D_ONE_G;
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516 setbits |= REG2_FULL_SCALE_6G_A;
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517 new_scale_g_digit = 0.183e-3f;
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518
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519 } else if (max_g <= 8) {
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520 _accel_range_m_s2 = 8.0f * LSM303D_ONE_G;
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521 setbits |= REG2_FULL_SCALE_8G_A;
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522 new_scale_g_digit = 0.244e-3f;
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523
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524 } else if (max_g <= 16) {
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525 _accel_range_m_s2 = 16.0f * LSM303D_ONE_G;
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526 setbits |= REG2_FULL_SCALE_16G_A;
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527 new_scale_g_digit = 0.732e-3f;
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528
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529 } else {
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530 return -1;
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531 }
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532
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533 _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
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534
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535
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536 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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537
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538 return 0;
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539 }
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540 */
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541 /*
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542 // ===============================================================================
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543 // LSM303D_mag_set_range
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544 /// @brief tiny helpers by pixhawk
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545 // ===============================================================================
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546 int LSM303D_mag_set_range(unsigned max_ga)
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547 {
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548 uint8_t setbits = 0;
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549 uint8_t clearbits = REG6_FULL_SCALE_BITS_M;
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550 float new_scale_ga_digit = 0.0f;
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551
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552 if (max_ga == 0) {
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553 max_ga = 12;
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554 }
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555
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diff changeset
556 if (max_ga <= 2) {
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557 _mag_range_ga = 2;
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diff changeset
558 setbits |= REG6_FULL_SCALE_2GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
559 new_scale_ga_digit = 0.080e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
560
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
561 } else if (max_ga <= 4) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
562 _mag_range_ga = 4;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
563 setbits |= REG6_FULL_SCALE_4GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
564 new_scale_ga_digit = 0.160e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
565
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
566 } else if (max_ga <= 8) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
567 _mag_range_ga = 8;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
568 setbits |= REG6_FULL_SCALE_8GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
569 new_scale_ga_digit = 0.320e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
570
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
571 } else if (max_ga <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
572 _mag_range_ga = 12;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
573 setbits |= REG6_FULL_SCALE_12GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
574 new_scale_ga_digit = 0.479e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
575
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
576 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
577 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
578 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
579
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
580 _mag_range_scale = new_scale_ga_digit;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
581
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
582 LSM303D_modify_reg(ADDR_CTRL_REG6, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
583
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
584 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
585 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
586 */
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
587
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
588 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
589 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
590 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
591 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
592 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
593 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
594 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
595 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
596
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
597 if (bandwidth == 0) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
598 bandwidth = 773;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
599 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
600
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
601 if (bandwidth <= 50) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
602 setbits |= REG2_AA_FILTER_BW_50HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
603 _accel_onchip_filter_bandwith = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
604
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
605 } else if (bandwidth <= 194) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
606 setbits |= REG2_AA_FILTER_BW_194HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
607 _accel_onchip_filter_bandwith = 194;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
608
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
609 } else if (bandwidth <= 362) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
610 setbits |= REG2_AA_FILTER_BW_362HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
611 _accel_onchip_filter_bandwith = 362;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
612
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
613 } else if (bandwidth <= 773) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
614 setbits |= REG2_AA_FILTER_BW_773HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
615 _accel_onchip_filter_bandwith = 773;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
616
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
617 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
618 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
619 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
620
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
621 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
622
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
623 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
624 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
625
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
626
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
627 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
628 // LSM303D_accel_set_driver_lowpass_filter
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
629 /// @brief tiny helpers by pixhawk. This one is not used at the moment!
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
630 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
631 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
632 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
633 /*
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
634 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
635 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
636 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
637 */
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
638 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
639 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
640
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
641 /* unused 170821
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
642 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
643 // LSM303D_accel_set_samplerate
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
644 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
645 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
646 int LSM303D_accel_set_samplerate(unsigned frequency)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
647 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
648 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
649 uint8_t clearbits = REG1_RATE_BITS_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
650
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
651 // if (frequency == 0 || frequency == ACCEL_SAMPLERATE_DEFAULT) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
652 frequency = 1600;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
653 // }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
654
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
655 if (frequency <= 3) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
656 setbits |= REG1_RATE_3_125HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
657 _accel_samplerate = 3;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
658
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
659 } else if (frequency <= 6) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
660 setbits |= REG1_RATE_6_25HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
661 _accel_samplerate = 6;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
662
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
663 } else if (frequency <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
664 setbits |= REG1_RATE_12_5HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
665 _accel_samplerate = 12;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
666
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
667 } else if (frequency <= 25) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
668 setbits |= REG1_RATE_25HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
669 _accel_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
670
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
671 } else if (frequency <= 50) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
672 setbits |= REG1_RATE_50HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
673 _accel_samplerate = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
674
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
675 } else if (frequency <= 100) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
676 setbits |= REG1_RATE_100HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
677 _accel_samplerate = 100;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
678
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
679 } else if (frequency <= 200) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
680 setbits |= REG1_RATE_200HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
681 _accel_samplerate = 200;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
682
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
683 } else if (frequency <= 400) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
684 setbits |= REG1_RATE_400HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
685 _accel_samplerate = 400;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
686
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
687 } else if (frequency <= 800) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
688 setbits |= REG1_RATE_800HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
689 _accel_samplerate = 800;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
690
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
691 } else if (frequency <= 1600) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
692 setbits |= REG1_RATE_1600HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
693 _accel_samplerate = 1600;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
694
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
695 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
696 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
697 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
698
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
699 LSM303D_modify_reg(ADDR_CTRL_REG1, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
700 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
701 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
702 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
703 // LSM303D_mag_set_samplerate
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
704 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
705 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
706 int LSM303D_mag_set_samplerate(unsigned frequency)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
707 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
708 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
709 uint8_t clearbits = REG5_RATE_BITS_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
710
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
711 if (frequency == 0) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
712 frequency = 100;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
713 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
714
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
715 if (frequency <= 3) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
716 setbits |= REG5_RATE_3_125HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
717 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
718
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
719 } else if (frequency <= 6) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
720 setbits |= REG5_RATE_6_25HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
721 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
722
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
723 } else if (frequency <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
724 setbits |= REG5_RATE_12_5HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
725 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
726
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
727 } else if (frequency <= 25) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
728 setbits |= REG5_RATE_25HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
729 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
730
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
731 } else if (frequency <= 50) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
732 setbits |= REG5_RATE_50HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
733 _mag_samplerate = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
734
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
735 } else if (frequency <= 100) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
736 setbits |= REG5_RATE_100HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
737 _mag_samplerate = 100;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
738
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
739 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
740 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
741 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
742
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
743 LSM303D_modify_reg(ADDR_CTRL_REG5, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
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744 return 0;
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745 }
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parents:
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746 */
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parents:
diff changeset
747
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parents:
diff changeset
748
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diff changeset
749 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt
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750 // ===============================================================================
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751 // rotate_mag_3f
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752 /// @brief swap axis in convient way, by hw
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753 /// @param *x raw input is set to *y input
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754 /// @param *y raw input is set to -*x input
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diff changeset
755 /// @param *z raw is not touched
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756 // ===============================================================================
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757 void rotate_mag_3f(float *x, float *y, float *z)
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758 {
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759 return;
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760 /*
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761 *x = *x; // HMC: *x = -*y
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762 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y
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763 *z = *z; // HMC: *z = *z
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764 */
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765 }
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heinrichsweikamp
parents:
diff changeset
766
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767
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768 // ===============================================================================
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769 // rotate_accel_3f
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770 /// @brief swap axis in convient way, by hw, same as MMA8452Q
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771 /// @param *x raw input, output is with sign change
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772 /// @param *y raw input, output is with sign change
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773 /// @param *z raw input, output is with sign change
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774 // ===============================================================================
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775 void rotate_accel_3f(float *x, float *y, float *z)
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776 {
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777 *x = -*x;
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778 *y = -*y;
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779 *z = -*z;
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780 /* tested:
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781 x = x, y =-y, z=-z: does not work with roll
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782 x = x, y =y, z=-z: does not work with pitch
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783 x = x, y =y, z=z: does not work at all
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784 */
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785 }
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heinrichsweikamp
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diff changeset
786
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787
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788 // ===============================================================================
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789 // compass_init_LSM303D by PIXhawk (LSM303D::reset())
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790 // https://raw.githubusercontent.com/PX4/Firmware/master/src/drivers/lsm303d/lsm303d.cpp
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791 /// @brief The new ST 303D
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792 /// This might be called several times with different gain values during calibration
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793 /// but gain change is not supported at the moment.
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794 ///
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795 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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796 // ===============================================================================
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797
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798 //uint8_t testCompassLS303D[11];
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799
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800 void compass_init_LSM303D(uint8_t fast, uint8_t gain)
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801 {
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802 // matthias version 160620
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803 if(fast == 0)
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804 {
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805 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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806 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2
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807 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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808 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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809 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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810 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4
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811 }
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812 else
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813 {
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814 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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815 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
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816 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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817 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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818 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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819 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz
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820 }
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821 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
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822 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
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823
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824 /*
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825 uint8_t data;
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826 for(int i=0;i<11;i++)
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827 {
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828 data = ADDR_INT_THS_L_M + i;
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829 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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830 I2C_Master_Receive( DEVICE_COMPASS_303D, &testCompassLS303D[i], 1);
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831 }
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832 */
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833
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834 return;
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835 /*
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836 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); // modifies ADDR_CTRL_REG2
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837 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); // modifies ADDR_CTRL_REG1
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838
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839 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
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840 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
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841 */
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842
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843 /*
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844 // my stuff hw
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845 // enable accel
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846 LSM303D_write_checked_reg(ADDR_CTRL_REG1,
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847 REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A);
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diff changeset
848
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849 // enable mag
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850 LSM303D_write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
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851 LSM303D_write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T);
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852 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
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853 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
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diff changeset
854
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855 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
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856 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);
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857 LSM303D_accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ);
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858 //LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting
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859
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860 // we setup the anti-alias on-chip filter as 50Hz. We believe
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861 // this operates in the analog domain, and is critical for
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862 // anti-aliasing. The 2 pole software filter is designed to
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863 // operate in conjunction with this on-chip filter
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864 if(fast)
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865 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting
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866 else
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diff changeset
867 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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diff changeset
868
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869
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870 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
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871 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
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872 */
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873 }
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parents:
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874
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875
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876 // ===============================================================================
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diff changeset
877 // compass_sleep_LSM303D
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878 /// @brief The new compass chip, hopefully this works!
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879 // ===============================================================================
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880 void compass_sleep_LSM303D(void)
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881 {
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882 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode
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883 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode
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884 }
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885
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886
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887 // ===============================================================================
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888 // acceleration_read_LSM303D
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889 /// @brief The new LSM303D, code by pixhawk
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890 ///
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891 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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892 // ===============================================================================
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893 void acceleration_read_LSM303D(void)
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894 {
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diff changeset
895 uint8_t data;
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896 float xraw_f, yraw_f, zraw_f;
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897 float accel_report_x, accel_report_y, accel_report_z;
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diff changeset
898
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899 memset(accDataBuffer,0,6);
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diff changeset
900
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diff changeset
901 accel_DX_f = 0;
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902 accel_DY_f = 0;
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903 accel_DZ_f = 0;
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diff changeset
904
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905 for(int i=0;i<6;i++)
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906 {
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907 data = ADDR_OUT_X_L_A + i;
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908 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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diff changeset
909 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1);
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diff changeset
910 }
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diff changeset
911
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912 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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diff changeset
913 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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parents:
diff changeset
914 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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parents:
diff changeset
915
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parents:
diff changeset
916 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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parents:
diff changeset
917
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parents:
diff changeset
918 // mh
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parents:
diff changeset
919 accel_report_x = xraw_f;
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parents:
diff changeset
920 accel_report_y = yraw_f;
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parents:
diff changeset
921 accel_report_z = zraw_f;
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parents:
diff changeset
922
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parents:
diff changeset
923 // my stuff
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parents:
diff changeset
924 /*
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diff changeset
925 accel_report_x = ((xraw_f * _accel_range_scale) - _accel_scale_x_offset) * _accel_scale_x_scale;
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parents:
diff changeset
926 accel_report_y = ((yraw_f * _accel_range_scale) - _accel_scale_y_offset) * _accel_scale_y_scale;
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parents:
diff changeset
927 accel_report_z = ((zraw_f * _accel_range_scale) - _accel_scale_z_offset) * _accel_scale_z_scale;
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heinrichsweikamp
parents:
diff changeset
928 */
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parents:
diff changeset
929 accel_DX_f = ((int16_t)(accel_report_x));
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parents:
diff changeset
930 accel_DY_f = ((int16_t)(accel_report_y));
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diff changeset
931 accel_DZ_f = ((int16_t)(accel_report_z));
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parents:
diff changeset
932 }
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parents:
diff changeset
933 /* special code after accel_report_z = ...
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heinrichsweikamp
parents:
diff changeset
934 * prior to output
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heinrichsweikamp
parents:
diff changeset
935 // we have logs where the accelerometers get stuck at a fixed
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heinrichsweikamp
parents:
diff changeset
936 // large value. We want to detect this and mark the sensor as
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parents:
diff changeset
937 // being faulty
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parents:
diff changeset
938
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parents:
diff changeset
939 if (fabsf(_last_accel[0] - x_in_new) < 0.001f &&
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parents:
diff changeset
940 fabsf(_last_accel[1] - y_in_new) < 0.001f &&
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heinrichsweikamp
parents:
diff changeset
941 fabsf(_last_accel[2] - z_in_new) < 0.001f &&
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diff changeset
942 fabsf(x_in_new) > 20 &&
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parents:
diff changeset
943 fabsf(y_in_new) > 20 &&
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parents:
diff changeset
944 fabsf(z_in_new) > 20) {
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diff changeset
945 _constant_accel_count += 1;
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diff changeset
946
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diff changeset
947 } else {
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diff changeset
948 _constant_accel_count = 0;
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diff changeset
949 }
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diff changeset
950
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951 if (_constant_accel_count > 100) {
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diff changeset
952 // we've had 100 constant accel readings with large
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diff changeset
953 // values. The sensor is almost certainly dead. We
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diff changeset
954 // will raise the error_count so that the top level
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parents:
diff changeset
955 // flight code will know to avoid this sensor, but
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parents:
diff changeset
956 // we'll still give the data so that it can be logged
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parents:
diff changeset
957 // and viewed
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diff changeset
958 perf_count(_bad_values);
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diff changeset
959 _constant_accel_count = 0;
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diff changeset
960 }
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diff changeset
961
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parents:
diff changeset
962 _last_accel[0] = x_in_new;
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diff changeset
963 _last_accel[1] = y_in_new;
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diff changeset
964 _last_accel[2] = z_in_new;
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diff changeset
965
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diff changeset
966 accel_report.x = _accel_filter_x.apply(x_in_new);
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diff changeset
967 accel_report.y = _accel_filter_y.apply(y_in_new);
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diff changeset
968 accel_report.z = _accel_filter_z.apply(z_in_new);
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diff changeset
969
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diff changeset
970 math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
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diff changeset
971 math::Vector<3> aval_integrated;
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diff changeset
972
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diff changeset
973 bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
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diff changeset
974 accel_report.x_integral = aval_integrated(0);
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diff changeset
975 accel_report.y_integral = aval_integrated(1);
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diff changeset
976 accel_report.z_integral = aval_integrated(2);
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diff changeset
977 */
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parents:
diff changeset
978
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diff changeset
979
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980 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
981 // compass_read_LSM303D
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parents:
diff changeset
982 /// @brief The new LSM303D, code by pixhawk
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983 ///
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diff changeset
984 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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heinrichsweikamp
parents:
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985 // ===============================================================================
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diff changeset
986 void compass_read_LSM303D(void)
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987 {
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diff changeset
988 uint8_t data;
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989 // float xraw_f, yraw_f, zraw_f;
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990 // float mag_report_x, mag_report_y, mag_report_z;
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991
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992 memset(magDataBuffer,0,6);
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993
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diff changeset
994 compass_DX_f = 0;
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diff changeset
995 compass_DY_f = 0;
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diff changeset
996 compass_DZ_f = 0;
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diff changeset
997
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diff changeset
998 for(int i=0;i<6;i++)
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999 {
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diff changeset
1000 data = ADDR_OUT_X_L_M + i;
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diff changeset
1001 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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diff changeset
1002 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
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parents:
diff changeset
1003 }
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parents:
diff changeset
1004
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parents:
diff changeset
1005 // mh 160620 flip x and y if flip display
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diff changeset
1006 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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diff changeset
1007 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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diff changeset
1008 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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parents:
diff changeset
1009 // no rotation
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parents:
diff changeset
1010 return;
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heinrichsweikamp
parents:
diff changeset
1011 /*
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heinrichsweikamp
parents:
diff changeset
1012 // my stuff
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parents:
diff changeset
1013 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))) / 10) - 200;
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diff changeset
1014 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))) / 10) - 200;
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diff changeset
1015 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))) / 10) - 200;
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heinrichsweikamp
parents:
diff changeset
1016 */
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heinrichsweikamp
parents:
diff changeset
1017 // old
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parents:
diff changeset
1018 /*
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diff changeset
1019 xraw_f = ((float)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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diff changeset
1020 yraw_f = ((float)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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1021 zraw_f = ((float)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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diff changeset
1022
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parents:
diff changeset
1023 rotate_mag_3f(&xraw_f, &yraw_f, &zraw_f);
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parents:
diff changeset
1024
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parents:
diff changeset
1025 compass_DX_f = (int16_t)((xraw_f * 0.1f) - 200.0f);
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parents:
diff changeset
1026 compass_DY_f = (int16_t)((yraw_f * 0.1f) - 200.0f);
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parents:
diff changeset
1027 compass_DZ_f = (int16_t)((zraw_f * 0.1f) - 200.0f);
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heinrichsweikamp
parents:
diff changeset
1028 */
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parents:
diff changeset
1029 /*
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parents:
diff changeset
1030 mag_report_x = ((xraw_f * _mag_range_scale) - _mag_scale_x_offset) * _mag_scale_x_scale;
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heinrichsweikamp
parents:
diff changeset
1031 mag_report_y = ((yraw_f * _mag_range_scale) - _mag_scale_y_offset) * _mag_scale_y_scale;
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heinrichsweikamp
parents:
diff changeset
1032 mag_report_z = ((zraw_f * _mag_range_scale) - _mag_scale_z_offset) * _mag_scale_z_scale;
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heinrichsweikamp
parents:
diff changeset
1033
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diff changeset
1034 compass_DX_f = (int16_t)(mag_report_x * 1000.0f); // 1000.0 is just a wild guess by hw
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heinrichsweikamp
parents:
diff changeset
1035 compass_DY_f = (int16_t)(mag_report_y * 1000.0f);
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diff changeset
1036 compass_DZ_f = (int16_t)(mag_report_z * 1000.0f);
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parents:
diff changeset
1037 */
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diff changeset
1038 }
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heinrichsweikamp
parents:
diff changeset
1039
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diff changeset
1040
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parents:
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1041 // --------------------------------------------------------------------------------
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parents:
diff changeset
1042 // ----------EARLIER COMPONENTS ---------------------------------------------------
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parents:
diff changeset
1043 // --------------------------------------------------------------------------------
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diff changeset
1044
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parents:
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1045 // ===============================================================================
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parents:
diff changeset
1046 // compass_init_HMC5883L
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parents:
diff changeset
1047 /// @brief The horrible Honeywell compass chip
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parents:
diff changeset
1048 /// This might be called several times during calibration
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parents:
diff changeset
1049 ///
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parents:
diff changeset
1050 /// @param fast: 1 is fast mode, 0 is normal mode
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heinrichsweikamp
parents:
diff changeset
1051 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
parents:
diff changeset
1052 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1053 void compass_init_HMC5883L(uint8_t fast, uint8_t gain)
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heinrichsweikamp
parents:
diff changeset
1054 {
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diff changeset
1055 uint8_t write_buffer[4];
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parents:
diff changeset
1056
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parents:
diff changeset
1057 compass_gain = gain;
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parents:
diff changeset
1058 uint16_t length = 0;
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parents:
diff changeset
1059 write_buffer[0] = 0x00; // 00 = config Register A
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heinrichsweikamp
parents:
diff changeset
1060
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parents:
diff changeset
1061 if( fast )
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heinrichsweikamp
parents:
diff changeset
1062 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged
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heinrichsweikamp
parents:
diff changeset
1063 else
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parents:
diff changeset
1064 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged
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heinrichsweikamp
parents:
diff changeset
1065
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parents:
diff changeset
1066 switch(gain)
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heinrichsweikamp
parents:
diff changeset
1067 {
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heinrichsweikamp
parents:
diff changeset
1068 case 7:
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parents:
diff changeset
1069 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain
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heinrichsweikamp
parents:
diff changeset
1070 break;
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parents:
diff changeset
1071 case 6:
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parents:
diff changeset
1072 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain
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heinrichsweikamp
parents:
diff changeset
1073 break;
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diff changeset
1074 case 5:
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parents:
diff changeset
1075 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain
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heinrichsweikamp
parents:
diff changeset
1076 break;
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parents:
diff changeset
1077 case 4:
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parents:
diff changeset
1078 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain
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heinrichsweikamp
parents:
diff changeset
1079 break;
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diff changeset
1080 case 3:
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parents:
diff changeset
1081 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain
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parents:
diff changeset
1082 break;
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parents:
diff changeset
1083 case 2:
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parents:
diff changeset
1084 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain
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parents:
diff changeset
1085 break;
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parents:
diff changeset
1086 case 1:
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parents:
diff changeset
1087 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain
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parents:
diff changeset
1088 break;
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parents:
diff changeset
1089 case 0:
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diff changeset
1090 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain
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parents:
diff changeset
1091 break;
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parents:
diff changeset
1092 }
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parents:
diff changeset
1093 write_buffer[3] = 0x00; // Mode: continuous mode
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parents:
diff changeset
1094 length = 4;
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parents:
diff changeset
1095 //hmc_twi_write(0);
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parents:
diff changeset
1096 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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parents:
diff changeset
1097 }
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parents:
diff changeset
1098
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parents:
diff changeset
1099
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parents:
diff changeset
1100
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parents:
diff changeset
1101 // ===============================================================================
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parents:
diff changeset
1102 // compass_sleep_HMC5883L
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parents:
diff changeset
1103 /// @brief Power-down mode for Honeywell compass chip
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parents:
diff changeset
1104 // ===============================================================================
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diff changeset
1105 void compass_sleep_HMC5883L(void)
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diff changeset
1106 {
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parents:
diff changeset
1107 uint8_t write_buffer[4];
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parents:
diff changeset
1108 uint16_t length = 0;
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parents:
diff changeset
1109
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parents:
diff changeset
1110 write_buffer[0] = 0x00; // 00 = config Register A
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parents:
diff changeset
1111 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA
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parents:
diff changeset
1112 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB
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parents:
diff changeset
1113 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode
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parents:
diff changeset
1114 length = 4;
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parents:
diff changeset
1115 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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parents:
diff changeset
1116 }
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parents:
diff changeset
1117
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diff changeset
1118
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parents:
diff changeset
1119 // ===============================================================================
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parents:
diff changeset
1120 // accelerator_init_MMA8452Q
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parents:
diff changeset
1121 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass
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parents:
diff changeset
1122 // ===============================================================================
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diff changeset
1123 void accelerator_init_MMA8452Q(void)
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diff changeset
1124 {
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diff changeset
1125 uint8_t write_buffer[4];
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parents:
diff changeset
1126 uint16_t length = 0;
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parents:
diff changeset
1127 //HAL_Delay(1);
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parents:
diff changeset
1128 //return;
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diff changeset
1129 write_buffer[0] = 0x0E; // XYZ_DATA_CFG
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parents:
diff changeset
1130 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range
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parents:
diff changeset
1131 length = 2;
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parents:
diff changeset
1132 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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parents:
diff changeset
1133 //HAL_Delay(1);
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parents:
diff changeset
1134 write_buffer[0] = 0x2A; // CTRL_REG1
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parents:
diff changeset
1135 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode
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parents:
diff changeset
1136 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode
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parents:
diff changeset
1137 length = 3;
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parents:
diff changeset
1138 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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parents:
diff changeset
1139
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parents:
diff changeset
1140 //HAL_Delay(1);
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parents:
diff changeset
1141 //hw_delay_us(100);
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parents:
diff changeset
1142 write_buffer[0] = 0x2A; // CTRL_REG1
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parents:
diff changeset
1143 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode
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parents:
diff changeset
1144 length = 2;
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parents:
diff changeset
1145 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1146 /*
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parents:
diff changeset
1147 HAL_Delay(6);
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parents:
diff changeset
1148 compass_read();
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parents:
diff changeset
1149 HAL_Delay(1);
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parents:
diff changeset
1150 acceleration_read();
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diff changeset
1151
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parents:
diff changeset
1152 compass_calc();
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parents:
diff changeset
1153 */
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parents:
diff changeset
1154 }
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heinrichsweikamp
parents:
diff changeset
1155
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heinrichsweikamp
parents:
diff changeset
1156
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parents:
diff changeset
1157 // ===============================================================================
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parents:
diff changeset
1158 // accelerator_sleep_MMA8452Q
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parents:
diff changeset
1159 /// @brief compass_sleep_HMC5883L
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parents:
diff changeset
1160 // ===============================================================================
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parents:
diff changeset
1161 void accelerator_sleep_MMA8452Q(void)
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parents:
diff changeset
1162 {
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parents:
diff changeset
1163 uint16_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1164 uint8_t write_buffer[4];
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parents:
diff changeset
1165
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parents:
diff changeset
1166 write_buffer[0] = 0x2A; // CTRL_REG1
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parents:
diff changeset
1167 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode
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parents:
diff changeset
1168 length = 2;
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parents:
diff changeset
1169 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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parents:
diff changeset
1170 }
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parents:
diff changeset
1171
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heinrichsweikamp
parents:
diff changeset
1172
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parents:
diff changeset
1173 // ===============================================================================
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parents:
diff changeset
1174 // compass_read_HMC5883L
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parents:
diff changeset
1175 /// @brief The new ST 303D - get ALL data and store in static variables
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parents:
diff changeset
1176 ///
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diff changeset
1177 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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parents:
diff changeset
1178 // ===============================================================================
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parents:
diff changeset
1179 void compass_read_HMC5883L(void)
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parents:
diff changeset
1180 {
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parents:
diff changeset
1181 uint8_t buffer[20];
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parents:
diff changeset
1182 compass_DX_f = 0;
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parents:
diff changeset
1183 compass_DY_f = 0;
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heinrichsweikamp
parents:
diff changeset
1184 compass_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1185 uint8_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1186 uint8_t read_buffer[6];
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heinrichsweikamp
parents:
diff changeset
1187 signed_tword data;
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heinrichsweikamp
parents:
diff changeset
1188 for(int i = 0; i<6;i++)
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heinrichsweikamp
parents:
diff changeset
1189 read_buffer[i] = 0;
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heinrichsweikamp
parents:
diff changeset
1190 buffer[0] = 0x03; // 03 = Data Output X MSB Register
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heinrichsweikamp
parents:
diff changeset
1191 length = 1;
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heinrichsweikamp
parents:
diff changeset
1192 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length);
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parents:
diff changeset
1193 length = 6;
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parents:
diff changeset
1194 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1195
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parents:
diff changeset
1196
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parents:
diff changeset
1197 data.Byte.hi = read_buffer[0];
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heinrichsweikamp
parents:
diff changeset
1198 data.Byte.low = read_buffer[1];
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parents:
diff changeset
1199 //Y = Z
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parents:
diff changeset
1200 compass_DY_f = - data.Word;
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parents:
diff changeset
1201
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parents:
diff changeset
1202 data.Byte.hi = read_buffer[2];
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parents:
diff changeset
1203 data.Byte.low = read_buffer[3];
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parents:
diff changeset
1204 compass_DZ_f = data.Word;
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heinrichsweikamp
parents:
diff changeset
1205
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parents:
diff changeset
1206 data.Byte.hi = read_buffer[4];
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heinrichsweikamp
parents:
diff changeset
1207 data.Byte.low = read_buffer[5];
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heinrichsweikamp
parents:
diff changeset
1208 //X = -Y
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parents:
diff changeset
1209 compass_DX_f = data.Word;
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parents:
diff changeset
1210 }
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parents:
diff changeset
1211
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parents:
diff changeset
1212
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parents:
diff changeset
1213 // ===============================================================================
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parents:
diff changeset
1214 // acceleration_read_MMA8452Q
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parents:
diff changeset
1215 /// @brief The old MMA8452Q used with the Honeywell compass
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parents:
diff changeset
1216 /// get the acceleration data and store in static variables
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heinrichsweikamp
parents:
diff changeset
1217 ///
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heinrichsweikamp
parents:
diff changeset
1218 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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parents:
diff changeset
1219 // ===============================================================================
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parents:
diff changeset
1220 void acceleration_read_MMA8452Q(void)
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parents:
diff changeset
1221 {
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parents:
diff changeset
1222 uint8_t buffer[20];
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parents:
diff changeset
1223 accel_DX_f = 0;
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parents:
diff changeset
1224 accel_DY_f = 0;
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parents:
diff changeset
1225 accel_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1226 uint8_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1227 // bit8_Type status ;
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heinrichsweikamp
parents:
diff changeset
1228 uint8_t read_buffer[7];
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heinrichsweikamp
parents:
diff changeset
1229 signed_tword data;
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heinrichsweikamp
parents:
diff changeset
1230 for(int i = 0; i<6;i++)
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heinrichsweikamp
parents:
diff changeset
1231 read_buffer[i] = 0;
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heinrichsweikamp
parents:
diff changeset
1232 buffer[0] = 0x00; // 03 = Data Output X MSB Register
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heinrichsweikamp
parents:
diff changeset
1233 length = 1;
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parents:
diff changeset
1234 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length);
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heinrichsweikamp
parents:
diff changeset
1235 length = 7;
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parents:
diff changeset
1236 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1237
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parents:
diff changeset
1238 // status.uw = read_buffer[0];
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heinrichsweikamp
parents:
diff changeset
1239 data.Byte.hi = read_buffer[1];
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heinrichsweikamp
parents:
diff changeset
1240 data.Byte.low = read_buffer[2];
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parents:
diff changeset
1241 accel_DX_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1242 data.Byte.hi = read_buffer[3];
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heinrichsweikamp
parents:
diff changeset
1243 data.Byte.low = read_buffer[4];
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parents:
diff changeset
1244 accel_DY_f =data.Word/16;
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parents:
diff changeset
1245 data.Byte.hi = read_buffer[5];
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heinrichsweikamp
parents:
diff changeset
1246 data.Byte.low = read_buffer[6];
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heinrichsweikamp
parents:
diff changeset
1247 accel_DZ_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1248
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parents:
diff changeset
1249 accel_DX_f *= -1;
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heinrichsweikamp
parents:
diff changeset
1250 accel_DY_f *= -1;
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parents:
diff changeset
1251 accel_DZ_f *= -1;
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parents:
diff changeset
1252 }
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heinrichsweikamp
parents:
diff changeset
1253
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heinrichsweikamp
parents:
diff changeset
1254
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heinrichsweikamp
parents:
diff changeset
1255 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1256 // compass_calc_roll_pitch_only
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heinrichsweikamp
parents:
diff changeset
1257 /// @brief only the roll and pitch parts of compass_calc()
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heinrichsweikamp
parents:
diff changeset
1258 ///
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heinrichsweikamp
parents:
diff changeset
1259 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1260 /// output is compass_pitch and compass_roll
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1261 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1262 void compass_calc_roll_pitch_only(void)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1263 {
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heinrichsweikamp
parents:
diff changeset
1264 float sinPhi, cosPhi;
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heinrichsweikamp
parents:
diff changeset
1265 float Phi, Teta;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1266
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1267 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1268 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1269 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1270 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1271 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1272
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heinrichsweikamp
parents:
diff changeset
1273 //---- calculate sin and cosine of pitch angle Theta ---------------------
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1274 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1275 compass_pitch = Teta * 180.0f /PI;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1276 }
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heinrichsweikamp
parents:
diff changeset
1277
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1278
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heinrichsweikamp
parents:
diff changeset
1279 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1280 // compass_calc
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heinrichsweikamp
parents:
diff changeset
1281 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1282 ///
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heinrichsweikamp
parents:
diff changeset
1283 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1284 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1285 /// output is compass_heading, compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1286 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1287 void compass_calc(void)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1288 {
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heinrichsweikamp
parents:
diff changeset
1289 float sinPhi, cosPhi, sinTeta, cosTeta;
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heinrichsweikamp
parents:
diff changeset
1290 float Phi, Teta, Psi;
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heinrichsweikamp
parents:
diff changeset
1291 int16_t iBfx, iBfy;
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heinrichsweikamp
parents:
diff changeset
1292 int16_t iBpx, iBpy, iBpz;
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heinrichsweikamp
parents:
diff changeset
1293
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heinrichsweikamp
parents:
diff changeset
1294 //---- Make hard iron correction -----------------------------------------
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heinrichsweikamp
parents:
diff changeset
1295 // Measured magnetometer orientation, measured ok.
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heinrichsweikamp
parents:
diff changeset
1296 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation.
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heinrichsweikamp
parents:
diff changeset
1297 iBpx = compass_DX_f - compass_CX_f; // X
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heinrichsweikamp
parents:
diff changeset
1298 iBpy = compass_DY_f - compass_CY_f; // Y
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heinrichsweikamp
parents:
diff changeset
1299 iBpz = compass_DZ_f - compass_CZ_f; // Z
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heinrichsweikamp
parents:
diff changeset
1300
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heinrichsweikamp
parents:
diff changeset
1301 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1302 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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heinrichsweikamp
parents:
diff changeset
1303 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1304 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1305 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1306 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1307
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heinrichsweikamp
parents:
diff changeset
1308 //---- rotate by roll angle (-Phi) ---------------------------------------
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heinrichsweikamp
parents:
diff changeset
1309 iBfy = iBpy * cosPhi - iBpz * sinPhi;
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heinrichsweikamp
parents:
diff changeset
1310 iBpz = iBpy * sinPhi + iBpz * cosPhi;
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heinrichsweikamp
parents:
diff changeset
1311 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos);
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heinrichsweikamp
parents:
diff changeset
1312
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heinrichsweikamp
parents:
diff changeset
1313 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1314 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1315 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421
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heinrichsweikamp
parents:
diff changeset
1316 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1317 compass_pitch = Teta * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1318 sinTeta = sinf(Teta);
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heinrichsweikamp
parents:
diff changeset
1319 cosTeta = cosf(Teta);
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heinrichsweikamp
parents:
diff changeset
1320 /* correct cosine if pitch not in range -90 to 90 degrees */
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heinrichsweikamp
parents:
diff changeset
1321 if( cosTeta < 0 ) cosTeta = -cosTeta;
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heinrichsweikamp
parents:
diff changeset
1322
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heinrichsweikamp
parents:
diff changeset
1323 ///---- de-rotate by pitch angle Theta -----------------------------------
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heinrichsweikamp
parents:
diff changeset
1324 iBfx = iBpx * cosTeta + iBpz * sinTeta;
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heinrichsweikamp
parents:
diff changeset
1325
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heinrichsweikamp
parents:
diff changeset
1326 //---- Detect uncalibrated compass ---------------------------------------
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heinrichsweikamp
parents:
diff changeset
1327 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f )
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heinrichsweikamp
parents:
diff changeset
1328 {
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heinrichsweikamp
parents:
diff changeset
1329 compass_heading = -1;
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heinrichsweikamp
parents:
diff changeset
1330 return;
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heinrichsweikamp
parents:
diff changeset
1331 }
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heinrichsweikamp
parents:
diff changeset
1332
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heinrichsweikamp
parents:
diff changeset
1333 //---- calculate current yaw = e-compass angle Psi -----------------------
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heinrichsweikamp
parents:
diff changeset
1334 // Result in degree (no need of 0.01 deg precision...
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heinrichsweikamp
parents:
diff changeset
1335 Psi = atan2f(-iBfy,iBfx);
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heinrichsweikamp
parents:
diff changeset
1336 compass_heading = Psi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1337 // Result in 0..360 range:
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heinrichsweikamp
parents:
diff changeset
1338 if( compass_heading < 0 )
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heinrichsweikamp
parents:
diff changeset
1339 compass_heading += 360;
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heinrichsweikamp
parents:
diff changeset
1340 }
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heinrichsweikamp
parents:
diff changeset
1341
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heinrichsweikamp
parents:
diff changeset
1342
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heinrichsweikamp
parents:
diff changeset
1343 /*
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heinrichsweikamp
parents:
diff changeset
1344 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1345 // compass_calc_mini_during_calibration
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heinrichsweikamp
parents:
diff changeset
1346 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1347 ///
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heinrichsweikamp
parents:
diff changeset
1348 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1349 /// output is compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1350 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1351 void compass_calc_mini_during_calibration(void)
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heinrichsweikamp
parents:
diff changeset
1352 {
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heinrichsweikamp
parents:
diff changeset
1353 float sinPhi, cosPhi;
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heinrichsweikamp
parents:
diff changeset
1354 float Phi, Teta;
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heinrichsweikamp
parents:
diff changeset
1355
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heinrichsweikamp
parents:
diff changeset
1356 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1357 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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heinrichsweikamp
parents:
diff changeset
1358 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1359 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1360 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1361 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1362
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heinrichsweikamp
parents:
diff changeset
1363 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1364 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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heinrichsweikamp
parents:
diff changeset
1365 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1366 compass_pitch = Teta * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1367 }
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heinrichsweikamp
parents:
diff changeset
1368 */
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heinrichsweikamp
parents:
diff changeset
1369
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heinrichsweikamp
parents:
diff changeset
1370
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heinrichsweikamp
parents:
diff changeset
1371 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1372 // // - Calibration - ///////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1373 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1374
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heinrichsweikamp
parents:
diff changeset
1375 /* can be lost during sleep as those are reset with compass_reset_calibration() */
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heinrichsweikamp
parents:
diff changeset
1376
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heinrichsweikamp
parents:
diff changeset
1377 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1378 // compass_reset_calibration
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heinrichsweikamp
parents:
diff changeset
1379 /// @brief all the fancy stuff first implemented in OSTC3
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1380 ///
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heinrichsweikamp
parents:
diff changeset
1381 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1382 ///
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heinrichsweikamp
parents:
diff changeset
1383 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1384 /// all is set to zero here
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heinrichsweikamp
parents:
diff changeset
1385 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1386 void compass_reset_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1387 {
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heinrichsweikamp
parents:
diff changeset
1388 g->compass_N = 0;
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heinrichsweikamp
parents:
diff changeset
1389 g->Su = g->Sv = g->Sw = 0.0;
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heinrichsweikamp
parents:
diff changeset
1390 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0;
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heinrichsweikamp
parents:
diff changeset
1391 g->Suuu = g->Svvv = g->Swww = 0.0;
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heinrichsweikamp
parents:
diff changeset
1392 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0;
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heinrichsweikamp
parents:
diff changeset
1393 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0;
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heinrichsweikamp
parents:
diff changeset
1394 }
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heinrichsweikamp
parents:
diff changeset
1395
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heinrichsweikamp
parents:
diff changeset
1396
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heinrichsweikamp
parents:
diff changeset
1397 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1398 // compass_add_calibration
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heinrichsweikamp
parents:
diff changeset
1399 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1400 ///
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heinrichsweikamp
parents:
diff changeset
1401 /// input is compass_DX_f, compass_DY_f, compass_DZ_f
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heinrichsweikamp
parents:
diff changeset
1402 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1403 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1404 ///
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heinrichsweikamp
parents:
diff changeset
1405 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1406 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1407 void compass_add_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1408 {
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heinrichsweikamp
parents:
diff changeset
1409 float u, v, w;
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heinrichsweikamp
parents:
diff changeset
1410
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heinrichsweikamp
parents:
diff changeset
1411 u = (compass_DX_f - compass_CX_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1412 v = (compass_DY_f - compass_CY_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1413 w = (compass_DZ_f - compass_CZ_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1414
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heinrichsweikamp
parents:
diff changeset
1415 g->compass_N++;
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heinrichsweikamp
parents:
diff changeset
1416 g->Su += u;
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heinrichsweikamp
parents:
diff changeset
1417 g->Sv += v;
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heinrichsweikamp
parents:
diff changeset
1418 g->Sw += w;
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heinrichsweikamp
parents:
diff changeset
1419 g->Suv += u*v;
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heinrichsweikamp
parents:
diff changeset
1420 g->Suw += u*w;
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heinrichsweikamp
parents:
diff changeset
1421 g->Svw += v*w;
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heinrichsweikamp
parents:
diff changeset
1422 g->Suu += u*u;
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heinrichsweikamp
parents:
diff changeset
1423 g->Suuu += u*u*u;
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heinrichsweikamp
parents:
diff changeset
1424 g->Suuv += v*u*u;
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heinrichsweikamp
parents:
diff changeset
1425 g->Suuw += w*u*u;
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heinrichsweikamp
parents:
diff changeset
1426 g->Svv += v*v;
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heinrichsweikamp
parents:
diff changeset
1427 g->Svvv += v*v*v;
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heinrichsweikamp
parents:
diff changeset
1428 g->Svvu += u*v*v;
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heinrichsweikamp
parents:
diff changeset
1429 g->Svvw += w*v*v;
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heinrichsweikamp
parents:
diff changeset
1430 g->Sww += w*w;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1431 g->Swww += w*w*w;
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heinrichsweikamp
parents:
diff changeset
1432 g->Swwu += u*w*w;
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heinrichsweikamp
parents:
diff changeset
1433 g->Swwv += v*w*w;
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heinrichsweikamp
parents:
diff changeset
1434 }
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heinrichsweikamp
parents:
diff changeset
1435
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heinrichsweikamp
parents:
diff changeset
1436 //////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1437
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heinrichsweikamp
parents:
diff changeset
1438 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1439 // compass_solve_calibration
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heinrichsweikamp
parents:
diff changeset
1440 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1441 ///
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heinrichsweikamp
parents:
diff changeset
1442 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1443 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1444 ///
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heinrichsweikamp
parents:
diff changeset
1445 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1446 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1447 void compass_solve_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1448 {
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heinrichsweikamp
parents:
diff changeset
1449 float yu, yv, yw;
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heinrichsweikamp
parents:
diff changeset
1450 float delta;
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heinrichsweikamp
parents:
diff changeset
1451 float uc, vc, wc;
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heinrichsweikamp
parents:
diff changeset
1452
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heinrichsweikamp
parents:
diff changeset
1453
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heinrichsweikamp
parents:
diff changeset
1454 //---- Normalize partial sums --------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1455 //
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heinrichsweikamp
parents:
diff changeset
1456 // u, v, w should be centered on the mean value um, vm, wm:
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heinrichsweikamp
parents:
diff changeset
1457 // x = u + um, with um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1458 //
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heinrichsweikamp
parents:
diff changeset
1459 // So:
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heinrichsweikamp
parents:
diff changeset
1460 // (u + um)**2 = u**2 + 2u*um + um**2
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heinrichsweikamp
parents:
diff changeset
1461 // Su = 0, um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1462 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1463 // Suu = Sxx - Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1464 yu = g->Su/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1465 yv = g->Sv/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1466 yw = g->Sw/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1467
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heinrichsweikamp
parents:
diff changeset
1468 g->Suu -= g->Su*yu;
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heinrichsweikamp
parents:
diff changeset
1469 g->Svv -= g->Sv*yv;
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heinrichsweikamp
parents:
diff changeset
1470 g->Sww -= g->Sw*yw;
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parents:
diff changeset
1471
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heinrichsweikamp
parents:
diff changeset
1472 // (u + um)(v + vm) = uv + u vm + v um + um vm
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heinrichsweikamp
parents:
diff changeset
1473 // Sxy = Suv + N * um vm
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heinrichsweikamp
parents:
diff changeset
1474 // Suv = Sxy - N * (Sx/N)(Sy/N);
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heinrichsweikamp
parents:
diff changeset
1475 g->Suv -= g->Su*yv;
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heinrichsweikamp
parents:
diff changeset
1476 g->Suw -= g->Su*yw;
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heinrichsweikamp
parents:
diff changeset
1477 g->Svw -= g->Sv*yw;
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heinrichsweikamp
parents:
diff changeset
1478
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heinrichsweikamp
parents:
diff changeset
1479 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3
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heinrichsweikamp
parents:
diff changeset
1480 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3
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heinrichsweikamp
parents:
diff changeset
1481 // Su = 0, um = Sx/N:
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heinrichsweikamp
parents:
diff changeset
1482 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3
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heinrichsweikamp
parents:
diff changeset
1483 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2
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heinrichsweikamp
parents:
diff changeset
1484
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heinrichsweikamp
parents:
diff changeset
1485 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm)
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heinrichsweikamp
parents:
diff changeset
1486 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1487 //
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heinrichsweikamp
parents:
diff changeset
1488 // Su = 0, Sv = 0, vm = Sy/N:
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heinrichsweikamp
parents:
diff changeset
1489 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm
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heinrichsweikamp
parents:
diff changeset
1490 //
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heinrichsweikamp
parents:
diff changeset
1491 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1492 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1493 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1494 g->Suuu -= (3*g->Suu + g->Su*yu)*yu;
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heinrichsweikamp
parents:
diff changeset
1495 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1496 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu;
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heinrichsweikamp
parents:
diff changeset
1497
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parents:
diff changeset
1498 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv;
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heinrichsweikamp
parents:
diff changeset
1499 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv;
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parents:
diff changeset
1500 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv;
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heinrichsweikamp
parents:
diff changeset
1501
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parents:
diff changeset
1502 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw;
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heinrichsweikamp
parents:
diff changeset
1503 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1504 g->Swww -= (3*g->Sww + g->Sw*yw)*yw;
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heinrichsweikamp
parents:
diff changeset
1505
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heinrichsweikamp
parents:
diff changeset
1506 //---- Solve the system --------------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1507 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1508 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1509 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1510 // Note this is symetric, with a positiv diagonal, hence
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heinrichsweikamp
parents:
diff changeset
1511 // it always have a uniq solution.
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heinrichsweikamp
parents:
diff changeset
1512 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu);
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heinrichsweikamp
parents:
diff changeset
1513 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv);
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heinrichsweikamp
parents:
diff changeset
1514 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww);
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heinrichsweikamp
parents:
diff changeset
1515 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1516 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1517 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1518
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heinrichsweikamp
parents:
diff changeset
1519 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1520 - yv * (g->Suv * g->Sww - g->Svw * g->Suw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1521 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1522 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1523 - g->Suv * ( yu * g->Sww - yw * g->Suw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1524 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1525 wc = (g->Suu * (g->Svv * yw - g->Svw * yv )
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1526 - g->Suv * (g->Suv * yw - g->Svw * yu )
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1527 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1528
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heinrichsweikamp
parents:
diff changeset
1529 // Back to uncentered coordinates:
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heinrichsweikamp
parents:
diff changeset
1530 // xc = um + uc
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heinrichsweikamp
parents:
diff changeset
1531 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1532 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1533 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1534
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heinrichsweikamp
parents:
diff changeset
1535 // Then save the new calibrated center:
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heinrichsweikamp
parents:
diff changeset
1536 compass_CX_f = (short)(32768 * uc);
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heinrichsweikamp
parents:
diff changeset
1537 compass_CY_f = (short)(32768 * vc);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1538 compass_CZ_f = (short)(32768 * wc);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1539 }
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heinrichsweikamp
parents:
diff changeset
1540
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heinrichsweikamp
parents:
diff changeset
1541
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heinrichsweikamp
parents:
diff changeset
1542 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1543 // compass_calib
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heinrichsweikamp
parents:
diff changeset
1544 /// @brief the main loop for calibration
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1545 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1546 /// 160704 removed -4096 limit for LSM303D
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heinrichsweikamp
parents:
diff changeset
1547 ///
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heinrichsweikamp
parents:
diff changeset
1548 /// @return always 0
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heinrichsweikamp
parents:
diff changeset
1549 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1550 int compass_calib_common(void)
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heinrichsweikamp
parents:
diff changeset
1551 {
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heinrichsweikamp
parents:
diff changeset
1552 SCompassCalib g;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1553
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heinrichsweikamp
parents:
diff changeset
1554 // Starts with no calibration at all:
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heinrichsweikamp
parents:
diff changeset
1555 compass_reset_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1556
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heinrichsweikamp
parents:
diff changeset
1557 int64_t tickstart = 0;
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heinrichsweikamp
parents:
diff changeset
1558 uint32_t ticks = 0;
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heinrichsweikamp
parents:
diff changeset
1559 uint32_t lasttick = 0;
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heinrichsweikamp
parents:
diff changeset
1560 tickstart = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1561 // Eine Minute kalibrieren
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heinrichsweikamp
parents:
diff changeset
1562 while((ticks) < 60 * 1000)
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heinrichsweikamp
parents:
diff changeset
1563 {
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heinrichsweikamp
parents:
diff changeset
1564 compass_read();
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heinrichsweikamp
parents:
diff changeset
1565 acceleration_read();
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heinrichsweikamp
parents:
diff changeset
1566 compass_calc_roll_pitch_only();
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heinrichsweikamp
parents:
diff changeset
1567
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heinrichsweikamp
parents:
diff changeset
1568 if((hardwareCompass == HMC5883L)
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heinrichsweikamp
parents:
diff changeset
1569 &&((compass_DX_f == -4096) ||
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heinrichsweikamp
parents:
diff changeset
1570 (compass_DY_f == -4096) ||
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heinrichsweikamp
parents:
diff changeset
1571 (compass_DZ_f == -4096) ))
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heinrichsweikamp
parents:
diff changeset
1572 {
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heinrichsweikamp
parents:
diff changeset
1573 if(compass_gain == 0)
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heinrichsweikamp
parents:
diff changeset
1574 return -1;
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heinrichsweikamp
parents:
diff changeset
1575 compass_gain--;
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heinrichsweikamp
parents:
diff changeset
1576
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heinrichsweikamp
parents:
diff changeset
1577 compass_init(1, compass_gain);
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heinrichsweikamp
parents:
diff changeset
1578 compass_reset_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1579 //tickstart = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1580 continue;
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heinrichsweikamp
parents:
diff changeset
1581 }
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heinrichsweikamp
parents:
diff changeset
1582
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heinrichsweikamp
parents:
diff changeset
1583 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f);
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1584 compass_add_calibration(&g);
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1585 HAL_Delay(1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1586 lasttick = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1587 if(lasttick == 0)
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heinrichsweikamp
parents:
diff changeset
1588 {
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heinrichsweikamp
parents:
diff changeset
1589 tickstart = -ticks;
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heinrichsweikamp
parents:
diff changeset
1590 }
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1591 HAL_Delay(1);
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1592 ticks = lasttick - tickstart;
147
14e4c83a7559 Forward compass data during calibration mode
Ideenmodellierer
parents: 104
diff changeset
1593 SPI_Evaluate_RX_Data();
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1594 }
38
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parents:
diff changeset
1595
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parents:
diff changeset
1596 compass_solve_calibration(&g);
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parents:
diff changeset
1597
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parents:
diff changeset
1598 tfull32 dataBlock[4];
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parents:
diff changeset
1599 dataBlock[0].Word16.low16 = compass_CX_f;
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parents:
diff changeset
1600 dataBlock[0].Word16.hi16 = compass_CY_f;
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parents:
diff changeset
1601 dataBlock[1].Word16.low16 = compass_CZ_f;
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parents:
diff changeset
1602 dataBlock[1].Word16.hi16 = 0xFFFF;
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parents:
diff changeset
1603 dataBlock[2].Full32 = 0x7FFFFFFF;
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parents:
diff changeset
1604 dataBlock[3].Full32 = 0x7FFFFFFF;
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parents:
diff changeset
1605 BFA_writeDataBlock((uint32_t *)dataBlock);
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parents:
diff changeset
1606
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parents:
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1607 return 0;
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parents:
diff changeset
1608 }
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diff changeset
1609
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parents:
diff changeset
1610 // //////////////////////////// TEST CODE /////////////////////////////////////
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diff changeset
1611
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parents:
diff changeset
1612
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1613
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parents:
diff changeset
1614 //#include <QtDebug>
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parents:
diff changeset
1615 //#include <stdio.h>
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parents:
diff changeset
1616 //#include <math.h>
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parents:
diff changeset
1617 /*#include <stdlib.h>
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parents:
diff changeset
1618
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parents:
diff changeset
1619 short compass_DX_f, compass_DY_f, compass_DZ_f;
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parents:
diff changeset
1620 short compass_CX_f, compass_CY_f, compass_CZ_f;
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diff changeset
1621
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diff changeset
1622 inline float uniform(void) {
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parents:
diff changeset
1623 return (rand() & 0xFFFF) / 65536.0f;
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parents:
diff changeset
1624 }
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parents:
diff changeset
1625 inline float sqr(float x) {
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parents:
diff changeset
1626 return x*x;
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parents:
diff changeset
1627 }
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parents:
diff changeset
1628
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diff changeset
1629 static const float radius = 0.21f;
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parents:
diff changeset
1630 static const float cx = 0.79f, cy = -0.46f, cz = 0.24f;
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parents:
diff changeset
1631 // const float cx = 0, cy = 0, cz = 0;
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parents:
diff changeset
1632
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parents:
diff changeset
1633 float check_compass_calib(void)
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parents:
diff changeset
1634 {
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parents:
diff changeset
1635
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parents:
diff changeset
1636 // Starts with no calibration at all:
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parents:
diff changeset
1637 compass_CX_f = compass_CY_f = compass_CZ_f = 0;
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parents:
diff changeset
1638
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parents:
diff changeset
1639 // Try 10 recalibration passes:
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parents:
diff changeset
1640 for(int p=0; p<10; ++p)
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parents:
diff changeset
1641 {
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parents:
diff changeset
1642 compass_reset_calibration();
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parents:
diff changeset
1643
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heinrichsweikamp
parents:
diff changeset
1644 //---- Generates random points on a sphere -------------------------------
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parents:
diff changeset
1645 // of radius,center (cx, cy, cz):
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parents:
diff changeset
1646 for(int i=0; i<100; ++i)
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parents:
diff changeset
1647 {
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parents:
diff changeset
1648 float theta = uniform()*360.0f;
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parents:
diff changeset
1649 float phi = uniform()*180.0f - 90.0f;
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parents:
diff changeset
1650
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parents:
diff changeset
1651 float x = cx + radius * cosf(phi)*cosf(theta);
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parents:
diff changeset
1652 float y = cy + radius * cosf(phi)*sinf(theta);
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parents:
diff changeset
1653 float z = cz + radius * sinf(phi);
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parents:
diff changeset
1654
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parents:
diff changeset
1655 compass_DX_f = (short)(32768 * x);
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parents:
diff changeset
1656 compass_DY_f = (short)(32768 * y);
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parents:
diff changeset
1657 compass_DZ_f = (short)(32768 * z);
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parents:
diff changeset
1658 compass_add_calibration();
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parents:
diff changeset
1659 }
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parents:
diff changeset
1660
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parents:
diff changeset
1661 compass_solve_calibration();
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parents:
diff changeset
1662 //qDebug() << "Center ="
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heinrichsweikamp
parents:
diff changeset
1663 // << compass_CX_f/32768.0f
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parents:
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1664 // << compass_CY_f/32768.0f
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parents:
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1665 // << compass_CZ_f/32768.0f;
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parents:
diff changeset
1666
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parents:
diff changeset
1667 float r2 = sqr(compass_CX_f/32768.0f - cx)
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parents:
diff changeset
1668 + sqr(compass_CY_f/32768.0f - cy)
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parents:
diff changeset
1669 + sqr(compass_CZ_f/32768.0f - cz);
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parents:
diff changeset
1670 if( r2 > 0.01f*0.01f )
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parents:
diff changeset
1671 return sqrtf(r2);
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parents:
diff changeset
1672 }
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parents:
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1673 return 0;
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parents:
diff changeset
1674 }*/
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parents:
diff changeset
1675
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parents:
diff changeset
1676
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parents:
diff changeset
1677
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parents:
diff changeset
1678 /*
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parents:
diff changeset
1679 void compass_read_LSM303D_v3(void)
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parents:
diff changeset
1680 {
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parents:
diff changeset
1681 uint8_t data;
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heinrichsweikamp
parents:
diff changeset
1682
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parents:
diff changeset
1683 memset(magDataBuffer,0,6);
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parents:
diff changeset
1684
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parents:
diff changeset
1685 compass_DX_f = 0;
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parents:
diff changeset
1686 compass_DY_f = 0;
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parents:
diff changeset
1687 compass_DZ_f = 0;
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parents:
diff changeset
1688
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parents:
diff changeset
1689 //magnetometer multi read, order xl,xh, yl,yh, zl, zh
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parents:
diff changeset
1690 data = REG_MAG_DATA_ADDR;
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parents:
diff changeset
1691 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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parents:
diff changeset
1692 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6);
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parents:
diff changeset
1693
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parents:
diff changeset
1694 compass_DX_f = ((int16_t)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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parents:
diff changeset
1695 compass_DY_f = ((int16_t)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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parents:
diff changeset
1696 compass_DZ_f = ((int16_t)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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parents:
diff changeset
1697
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parents:
diff changeset
1698 // compass_DX_f = compass_DX_f * stat->sensitivity_mag;
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parents:
diff changeset
1699 // compass_DY_f = compass_DY_f * stat->sensitivity_mag;
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parents:
diff changeset
1700 // compass_DZ_f = compass_DZ_f * stat->sensitivity_mag;
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parents:
diff changeset
1701 }
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parents:
diff changeset
1702
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diff changeset
1703
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parents:
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1704 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1705 // compass_init_LSM303D by STMicroelectronics 2013 V1.0.5 2013/Oct/23
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parents:
diff changeset
1706 /// @brief The new ST 303D
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parents:
diff changeset
1707 /// This might be called several times with different gain values during calibration
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heinrichsweikamp
parents:
diff changeset
1708 ///
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parents:
diff changeset
1709 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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parents:
diff changeset
1710 // ===============================================================================
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parents:
diff changeset
1711
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parents:
diff changeset
1712 void compass_init_LSM303D_v3(uint8_t gain)
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parents:
diff changeset
1713 {
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parents:
diff changeset
1714 uint8_t data[10];
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parents:
diff changeset
1715
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heinrichsweikamp
parents:
diff changeset
1716 // CNTRL1
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heinrichsweikamp
parents:
diff changeset
1717 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz)
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heinrichsweikamp
parents:
diff changeset
1718 // 0xxx block data update off
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heinrichsweikamp
parents:
diff changeset
1719 // x111 enable all three axes
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heinrichsweikamp
parents:
diff changeset
1720
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heinrichsweikamp
parents:
diff changeset
1721 // CNTRL5
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heinrichsweikamp
parents:
diff changeset
1722 // 0xxx xxxx temp sensor off
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heinrichsweikamp
parents:
diff changeset
1723 // x00x xxxx magnetic resolution
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heinrichsweikamp
parents:
diff changeset
1724 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz))
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heinrichsweikamp
parents:
diff changeset
1725 // xxxx xx00 latch irq requests off
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parents:
diff changeset
1726
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heinrichsweikamp
parents:
diff changeset
1727 // CNTRL7
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heinrichsweikamp
parents:
diff changeset
1728 // 00xx high pass filter mode, 00 normal mode
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heinrichsweikamp
parents:
diff changeset
1729 // xx0x filter for acceleration data bypassed
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heinrichsweikamp
parents:
diff changeset
1730 // xxx0 temperature sensor mode only off
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heinrichsweikamp
parents:
diff changeset
1731 // x0xx magnetic data low-power mode off
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heinrichsweikamp
parents:
diff changeset
1732 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down)
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heinrichsweikamp
parents:
diff changeset
1733
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parents:
diff changeset
1734 data[0] = CNTRL0;
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heinrichsweikamp
parents:
diff changeset
1735 data[1] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1736 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
1737
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heinrichsweikamp
parents:
diff changeset
1738 // acc
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heinrichsweikamp
parents:
diff changeset
1739 data[0] = CNTRL1;
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heinrichsweikamp
parents:
diff changeset
1740 data[1] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1741 data[2] = 0x0F;
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heinrichsweikamp
parents:
diff changeset
1742 data[3] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1743 data[4] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1744 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5);
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heinrichsweikamp
parents:
diff changeset
1745
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heinrichsweikamp
parents:
diff changeset
1746 // mag
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heinrichsweikamp
parents:
diff changeset
1747 data[0] = CNTRL3;
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heinrichsweikamp
parents:
diff changeset
1748 data[1] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1749 data[2] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1750 data[3] = 0x18;
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heinrichsweikamp
parents:
diff changeset
1751 data[4] = 0x20;
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heinrichsweikamp
parents:
diff changeset
1752 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5);
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heinrichsweikamp
parents:
diff changeset
1753
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heinrichsweikamp
parents:
diff changeset
1754 data[0] = CNTRL7;
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heinrichsweikamp
parents:
diff changeset
1755 data[1] = ((MSMS_MASK & CONTINUOS_CONVERSION) |
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heinrichsweikamp
parents:
diff changeset
1756 ((~MSMS_MASK) & CNTRL7_RESUME_VALUE));
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heinrichsweikamp
parents:
diff changeset
1757 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
1758
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heinrichsweikamp
parents:
diff changeset
1759 HAL_Delay(100);
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heinrichsweikamp
parents:
diff changeset
1760 }
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heinrichsweikamp
parents:
diff changeset
1761
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heinrichsweikamp
parents:
diff changeset
1762
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heinrichsweikamp
parents:
diff changeset
1763 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1764 // compass_init_LSM303D by nordevx for arduion
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heinrichsweikamp
parents:
diff changeset
1765 /// @brief The new ST 303D
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heinrichsweikamp
parents:
diff changeset
1766 /// This might be called several times with different gain values during calibration
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heinrichsweikamp
parents:
diff changeset
1767 ///
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heinrichsweikamp
parents:
diff changeset
1768 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
parents:
diff changeset
1769 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1770 void compass_init_LSM303D_v2(uint8_t gain)
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1771 {
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1772 uint8_t data[2];
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1773
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1774 // CNTRL1
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1775 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz)
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1776 // 0xxx block data update off
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1777 // x111 enable all three axes
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1778
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1779 // CNTRL5
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1780 // 0xxx xxxx temp sensor off
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1781 // x00x xxxx magnetic resolution
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1782 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz))
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1783 // xxxx xx00 latch irq requests off
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1784
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1785 // CNTRL7
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1786 // 00xx high pass filter mode, 00 normal mode
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1787 // xx0x filter for acceleration data bypassed
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1788 // xxx0 temperature sensor mode only off
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1789 // x0xx magnetic data low-power mode off
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1790 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down)
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1791
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1792 data[0] = CNTRL1;
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1793 data[1] = 0x37; //0b 0011 0111
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1794 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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1795
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1796 data[0] = CNTRL5;
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1797 data[1] = 0x08; // 0b 0000 1000
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1798 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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1799
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1800 data[0] = CNTRL7;
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1801 data[1] = 0x00; // 0b 0000 0000
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1802 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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1803
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1804 HAL_Delay(100);
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1805 }
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1806
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1807
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1808 // ===============================================================================
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1809 // compass_init_LSM303D_v1 by ST lsm303d.c
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1810 /// @brief The new ST 303D
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1811 /// This might be called several times with different gain values during calibration
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1812 ///
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1813 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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1814 // ===============================================================================
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1815 void compass_init_LSM303D_v1(uint8_t gain)
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1816 {
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1817 uint8_t data;
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1818
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1819 compass_gain = gain;
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1820
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1821 memset(magDataBuffer,0,6);
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1822 memset(accDataBuffer,0,6);
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1823
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1824 data = CNTRL5;
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1825 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1826 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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1827 data = (data & 0x1c) >> 2;
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1828 velMag = magODR[data];
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1829
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1830 data = CNTRL1;
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1831 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1832 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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1833 data = (data & 0xf0) >> 4;
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1834 velAcc = accODR[data];
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1835
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1836 data = CNTRL7;
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1837 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1838 I2C_Master_Receive( DEVICE_COMPASS_303D, &datas1, 1);
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1839 datas1 = (datas1 & 0x02);
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1840
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1841 //if mag is not pd
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1842 //mag is bigger than gyro
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1843 if( (velMag < velAcc) || datas1 != 0 ) {
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1844 //acc is the biggest
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1845 fastest = ACC_IS_FASTEST;
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1846 }
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1847 else {
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1848 //acc is the biggest
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1849 fastest = MAG_IS_FASTEST;
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1850 }
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1851
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1852 zoffFlag = 1;
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1853
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1854 if( fastest == MAG_IS_FASTEST)
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1855 {
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1856 data = STATUS_REG_M;
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1857 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1858 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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1859
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1860 // if(ValBit(data, ZYXMDA)) {
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1861 sendFlag = 1;
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1862 // }
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1863
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1864 }
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1865 else if(fastest == ACC_IS_FASTEST)
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1866 {
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1867 data = STATUS_REG_A;
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1868 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1869 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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1870 // if(ValBit(data, DATAREADY_BIT)) {
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1871 sendFlag = 1;
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1872 // }
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1873 }
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1874 }
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1875
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1876 // ===============================================================================
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1877 // compass_read_LSM303D
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1878 /// @brief The new LSM303D :-)
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1879 ///
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1880 /// output is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
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1881 // ===============================================================================
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1882 void compass_read_LSM303D_v2(void)
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1883 {
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1884 uint8_t data;
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1885
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1886 memset(magDataBuffer,0,6);
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1887 memset(accDataBuffer,0,6);
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1888
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1889 compass_DX_f = 0;
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1890 compass_DY_f = 0;
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1891 compass_DZ_f = 0;
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1892
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1893 accel_DX_f = 0;
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1894 accel_DY_f = 0;
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1895 accel_DZ_f = 0;
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1896
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1897 //Accelerometer multi read, order xl,xh, yl,yh, zl, zh
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1898 data = REG_ACC_DATA_ADDR;
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1899 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1900 I2C_Master_Receive( DEVICE_COMPASS_303D, accDataBuffer, 6);
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1901
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1902 //magnetometer multi read, order xl,xh, yl,yh, zl, zh
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1903 data = OUT_X_L_M;
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1904 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1905 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6);
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1906
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1907 accel_DX_f = ((int16_t)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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1908 accel_DY_f = ((int16_t)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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1909 accel_DZ_f = ((int16_t)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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1910
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1911 // accel_DX_f = accel_DX_f * stat->sensitivity_acc;
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1912 // accel_DY_f = accel_DY_f * stat->sensitivity_acc;
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1913 // accel_DZ_f = accel_DZ_f * stat->sensitivity_acc;
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1914
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1915
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1916 compass_DX_f = magDataBuffer[1];
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1917 compass_DX_f *= 256;
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1918 compass_DX_f += magDataBuffer[0];
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1919
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1920 compass_DY_f = magDataBuffer[3];
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1921 compass_DY_f *= 256;
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1922 compass_DY_f += magDataBuffer[2];
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1923
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1924 compass_DY_f = magDataBuffer[5];
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1925 compass_DY_f *= 256;
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1926 compass_DY_f += magDataBuffer[4];
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1927
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1928 }
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1929
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1930
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1931 */
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1932