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annotate Small_CPU/Src/compass.c @ 525:1f557e5f4b5a
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| author | Ideenmodellierer |
|---|---|
| date | Sun, 13 Sep 2020 20:49:58 +0200 |
| parents | d9dbfa496f7e |
| children | 573a2bc796c8 |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file compass.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 27-March-2014 | |
| 6 * @version V0.2.0 | |
| 7 * @since 21-April-2016 | |
| 8 * @brief for Honeywell Compass and ST LSM303D | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 V0.1.0 09-March-2016 | |
| 15 V0.2.0 21-April-2016 Orientation fixed for LSM303D, | |
| 16 roll and pitch added to calibration output, | |
| 17 orientation double checked with datasheets and layout | |
| 18 as well as with value output during calibration | |
| 19 V0.2.1 19-May-2016 New date rate config and full-scale selection | |
| 20 | |
| 21 @endverbatim | |
| 22 ****************************************************************************** | |
| 23 * @attention | |
| 24 * | |
| 25 * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> | |
| 26 * | |
| 27 ****************************************************************************** | |
| 28 */ | |
| 29 | |
| 30 #include <math.h> | |
| 31 #include <string.h> | |
| 32 | |
| 33 #include "compass.h" | |
| 34 #include "compass_LSM303D.h" | |
| 35 | |
| 36 #include "i2c.h" | |
| 219 | 37 #include "spi.h" |
| 38 | 38 #include "RTE_FlashAccess.h" // to store compass_calib_data |
| 39 | |
| 40 #include "stm32f4xx_hal.h" | |
| 41 | |
|
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42 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
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43 |
| 38 | 44 /// split byte to bits |
| 45 typedef struct{ | |
| 46 uint8_t bit0:1; ///< split byte to bits | |
| 47 uint8_t bit1:1; ///< split byte to bits | |
| 48 uint8_t bit2:1; ///< split byte to bits | |
| 49 uint8_t bit3:1; ///< split byte to bits | |
| 50 uint8_t bit4:1; ///< split byte to bits | |
| 51 uint8_t bit5:1; ///< split byte to bits | |
| 52 uint8_t bit6:1; ///< split byte to bits | |
| 53 uint8_t bit7:1; ///< split byte to bits | |
| 54 } ubit8_t; | |
| 55 | |
| 56 | |
| 57 /// split byte to bits | |
| 58 typedef union{ | |
| 59 ubit8_t ub; ///< split byte to bits | |
| 60 uint8_t uw; ///< split byte to bits | |
| 61 } bit8_Type; | |
| 62 | |
| 63 | |
| 64 /// split word to 2 bytes | |
| 65 typedef struct{ | |
| 66 uint8_t low; ///< split word to 2 bytes | |
| 67 uint8_t hi; ///< split word to 2 bytes | |
| 68 } two_byte; | |
| 69 | |
| 70 | |
| 71 /// split word to 2 bytes | |
| 72 typedef union{ | |
| 73 two_byte Byte; ///< split word to 2 bytes | |
| 74 uint16_t Word; ///< split word to 2 bytes | |
| 75 } tword; | |
| 76 | |
| 77 | |
| 78 /// split signed word to 2 bytes | |
| 79 typedef union{ | |
| 80 two_byte Byte; ///< split signed word to 2 bytes | |
| 81 int16_t Word; ///< split signed word to 2 bytes | |
| 82 } signed_tword; | |
| 83 | |
| 84 | |
| 85 /// split full32 to 2 words | |
| 86 typedef struct{ | |
| 87 uint16_t low16; ///< split word to 2 bytes | |
| 88 uint16_t hi16; ///< split word to 2 bytes | |
| 89 } two_word; | |
| 90 | |
| 91 typedef union{ | |
| 92 two_word Word16; ///< split word to 2 bytes | |
| 93 uint32_t Full32; ///< split word to 2 bytes | |
| 94 } tfull32; | |
| 95 | |
| 96 | |
| 97 /// crazy compass calibration stuff | |
| 98 typedef struct | |
| 99 { | |
| 100 unsigned short int compass_N; | |
| 101 float Su, Sv, Sw; | |
| 102 float Suu, Svv, Sww, Suv, Suw, Svw; | |
| 103 float Suuu, Svvv, Swww; | |
| 104 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
| 105 } SCompassCalib; | |
| 106 | |
| 107 | |
| 108 #define Q_PI (18000) | |
| 109 #define Q_PIO2 (9000) | |
| 110 | |
| 111 | |
| 112 | |
| 113 ////////////////////////////////////////////////////////////////////////////// | |
| 114 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
| 115 // | |
| 116 #define K1 (5701) // Needs K1/2**16 | |
| 117 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
| 118 #define K3 ( 446) // Needs K3/2**80 | |
| 119 | |
| 120 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
| 121 | |
| 122 typedef short int Int16; | |
| 123 typedef signed char Int8; | |
| 124 typedef Int16 Angle; | |
| 125 | |
| 126 | |
| 127 /// The (filtered) components of the magnetometer sensor | |
| 128 int16_t compass_DX_f; ///< output from sensor | |
| 129 int16_t compass_DY_f; ///< output from sensor | |
| 130 int16_t compass_DZ_f; ///< output from sensor | |
| 131 | |
| 132 | |
| 133 /// Found soft-iron calibration values, deduced from already filtered values | |
| 134 int16_t compass_CX_f; ///< calibration value | |
| 135 int16_t compass_CY_f; ///< calibration value | |
| 136 int16_t compass_CZ_f; ///< calibration value | |
| 137 | |
| 138 | |
| 139 /// The (filtered) components of the accelerometer sensor | |
| 140 int16_t accel_DX_f; ///< output from sensor | |
| 141 int16_t accel_DY_f; ///< output from sensor | |
| 142 int16_t accel_DZ_f; ///< output from sensor | |
| 143 | |
| 144 | |
| 145 /// The compass result values | |
| 146 float compass_heading; ///< the final result calculated in compass_calc() | |
| 147 float compass_roll; ///< the final result calculated in compass_calc() | |
| 148 float compass_pitch; ///< the final result calculated in compass_calc() | |
| 149 | |
| 150 | |
| 151 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
| 152 | |
| 357 | 153 uint8_t hardwareCompass = 0; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0) |
| 38 | 154 |
| 155 /// LSM303D variables | |
| 156 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 157 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 158 | |
| 159 | |
| 160 // struct accel_scale _accel_scale; | |
| 161 unsigned _accel_range_m_s2; | |
| 162 float _accel_range_scale; | |
| 163 unsigned _accel_samplerate; | |
| 164 unsigned _accel_onchip_filter_bandwith; | |
| 165 | |
| 166 // struct mag_scale _mag_scale; | |
| 167 unsigned _mag_range_ga; | |
| 168 float _mag_range_scale; | |
| 169 unsigned _mag_samplerate; | |
| 170 | |
| 171 // default scale factors | |
| 172 float _accel_scale_x_offset = 0.0f; | |
| 173 float _accel_scale_x_scale = 1.0f; | |
| 174 float _accel_scale_y_offset = 0.0f; | |
| 175 float _accel_scale_y_scale = 1.0f; | |
| 176 float _accel_scale_z_offset = 0.0f; | |
| 177 float _accel_scale_z_scale = 1.0f; | |
| 178 | |
| 179 float _mag_scale_x_offset = 0.0f; | |
| 180 float _mag_scale_x_scale = 1.0f; | |
| 181 float _mag_scale_y_offset = 0.0f; | |
| 182 float _mag_scale_y_scale = 1.0f; | |
| 183 float _mag_scale_z_offset = 0.0f; | |
| 184 float _mag_scale_z_scale = 1.0f; | |
| 185 | |
| 186 | |
| 187 /* External function prototypes ----------------------------------------------*/ | |
| 188 | |
| 189 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 190 | |
| 191 /* Private function prototypes -----------------------------------------------*/ | |
| 192 | |
| 193 void compass_reset_calibration(SCompassCalib *g); | |
| 194 void compass_add_calibration(SCompassCalib *g); | |
| 195 void compass_solve_calibration(SCompassCalib *g); | |
| 196 | |
| 197 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
| 198 void compass_sleep_HMC5883L(void); | |
| 199 void compass_read_HMC5883L(void); | |
| 200 | |
| 201 void accelerator_init_MMA8452Q(void); | |
| 202 void accelerator_sleep_MMA8452Q(void); | |
| 203 void acceleration_read_MMA8452Q(void); | |
| 204 | |
| 205 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
| 206 void compass_sleep_LSM303D(void); | |
| 207 void compass_read_LSM303D(void); | |
| 208 void acceleration_read_LSM303D(void); | |
| 209 | |
| 357 | 210 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain); |
| 211 void compass_sleep_LSM303AGR(void); | |
| 212 void compass_read_LSM303AGR(void); | |
| 213 void acceleration_read_LSM303AGR(void); | |
| 214 | |
| 38 | 215 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); |
| 216 int compass_calib_common(void); | |
| 217 | |
| 218 void compass_calc_roll_pitch_only(void); | |
| 219 | |
| 220 void rotate_mag_3f(float *x, float *y, float *z); | |
| 221 void rotate_accel_3f(float *x, float *y, float *z); | |
| 222 | |
| 223 | |
| 224 /* Exported functions --------------------------------------------------------*/ | |
| 225 | |
| 226 | |
| 227 // =============================================================================== | |
| 228 // compass_init | |
| 229 /// @brief This might be called several times with different gain values during calibration | |
| 230 /// On first call it figures out which hardware is integrated | |
| 231 /// | |
| 232 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
| 233 // =============================================================================== | |
| 234 | |
| 235 void compass_init(uint8_t fast, uint8_t gain) | |
| 236 { | |
| 237 | |
| 238 // don't call again with fast, gain in calib mode etc. | |
| 239 // if unknown | |
| 240 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
| 241 { | |
| 242 return; | |
| 243 } | |
| 244 | |
| 245 // old code but without else | |
| 246 if(hardwareCompass == 0) | |
| 247 { | |
| 248 uint8_t data = WHO_AM_I; | |
| 249 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 250 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 251 if(data == WHOIAM_VALUE_LSM303D) |
| 252 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 253 data = WHO_AM_I; |
| 254 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 255 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 256 if(data == WHOIAM_VALUE_LSM303AGR) |
| 257 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 258 } |
| 259 | |
| 180 | 260 /* No compass identified => Retry */ |
| 38 | 261 if(hardwareCompass == 0) |
| 262 { | |
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263 I2C_DeInit(); |
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264 HAL_Delay(100); |
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265 MX_I2C1_Init(); |
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266 HAL_Delay(100); |
| 38 | 267 uint8_t data = WHO_AM_I; |
| 268 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 269 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 270 if(data == WHOIAM_VALUE_LSM303D) |
| 271 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 272 data = WHO_AM_I; |
| 273 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 274 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 275 if(data == WHOIAM_VALUE_LSM303AGR) |
| 276 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 277 } |
| 70 | 278 |
| 180 | 279 /* Assume that a HMC5883L is equipped by default if detection still failed */ |
| 38 | 280 if(hardwareCompass == 0) |
| 357 | 281 hardwareCompass = compass_generation1; //HMC5883L; |
| 38 | 282 |
| 283 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
| 284 | |
| 358 | 285 // test if both chips of the two-chip solution (gen 1) are present |
| 357 | 286 if(hardwareCompass == compass_generation1) // HMC5883L) |
| 38 | 287 { |
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288 HAL_Delay(100); |
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289 I2C_DeInit(); |
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290 HAL_Delay(100); |
| 358 | 291 MX_I2C1_Init(); |
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292 HAL_Delay(100); |
| 38 | 293 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q |
| 294 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
| 295 if(resultOfOperationHMC_MMA == HAL_OK) | |
| 296 { | |
| 357 | 297 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it |
| 38 | 298 } |
| 299 else | |
| 300 { | |
| 301 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
| 302 } | |
| 303 } | |
| 304 | |
| 357 | 305 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 306 compass_init_LSM303D(fast, gain); |
| 357 | 307 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 308 compass_init_LSM303AGR(fast, gain); | |
| 309 if(hardwareCompass == compass_generation1) //HMC5883L) | |
| 38 | 310 compass_init_HMC5883L(fast, gain); |
| 311 | |
| 357 | 312 tfull32 dataBlock[4]; |
| 313 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK) | |
| 38 | 314 { |
| 315 compass_CX_f = dataBlock[0].Word16.low16; | |
| 316 compass_CY_f = dataBlock[0].Word16.hi16; | |
| 317 compass_CZ_f = dataBlock[1].Word16.low16; | |
| 318 } | |
| 319 | |
| 320 } | |
| 321 | |
| 322 | |
| 323 // =============================================================================== | |
| 324 // compass_calib | |
| 325 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
| 326 // =============================================================================== | |
| 327 int compass_calib(void) | |
| 328 { | |
| 357 | 329 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 330 { |
| 331 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
| 332 int out = compass_calib_common(); | |
| 333 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
| 334 return out; | |
| 335 } | |
| 336 else | |
| 357 | 337 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 338 { | |
| 339 return compass_calib_common(); | |
| 340 } | |
| 341 else | |
| 342 if(hardwareCompass == compass_generation3) //LSM303AGR) | |
| 38 | 343 { |
| 344 return compass_calib_common(); | |
| 345 } | |
| 346 else | |
| 347 { | |
| 348 return 0; // standard answer of compass_calib_common(); | |
| 349 } | |
| 350 | |
| 351 | |
| 352 } | |
| 353 | |
| 354 | |
| 355 // =============================================================================== | |
| 356 // compass_sleep | |
| 357 /// @brief low power mode | |
| 358 // =============================================================================== | |
| 359 void compass_sleep(void) | |
| 360 { | |
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361 if(hardwareCompass == compass_generation2) //LSM303D |
| 38 | 362 compass_sleep_LSM303D(); |
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363 if(hardwareCompass == compass_generation1) //HMC5883L |
| 38 | 364 compass_sleep_HMC5883L(); |
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365 if(hardwareCompass == compass_generation3) //LSM303AGR |
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366 compass_sleep_LSM303AGR(); |
| 38 | 367 } |
| 368 | |
| 369 | |
| 370 // =============================================================================== | |
| 371 // compass_read | |
| 372 /// @brief reads magnetometer and accelerometer for LSM303D, | |
| 373 /// otherwise magnetometer only | |
| 374 // =============================================================================== | |
| 375 void compass_read(void) | |
| 376 { | |
| 357 | 377 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 378 compass_read_LSM303D(); |
| 357 | 379 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 380 compass_read_HMC5883L(); |
| 357 | 381 if(hardwareCompass == compass_generation3) //LSM303AGR) |
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382 compass_read_LSM303AGR(); |
| 357 | 383 |
| 38 | 384 } |
| 385 | |
| 386 | |
| 387 // =============================================================================== | |
| 388 // accelerator_init | |
| 389 /// @brief empty for for LSM303D | |
| 390 // =============================================================================== | |
| 391 void accelerator_init(void) | |
| 392 { | |
| 357 | 393 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 394 accelerator_init_MMA8452Q(); |
| 395 } | |
| 396 | |
| 397 | |
| 398 // =============================================================================== | |
| 399 // accelerator_sleep | |
| 400 /// @brief empty for for LSM303D | |
| 401 // =============================================================================== | |
| 402 void accelerator_sleep(void) | |
| 403 { | |
| 357 | 404 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 405 accelerator_sleep_MMA8452Q(); |
| 406 } | |
| 407 | |
| 408 | |
| 409 // =============================================================================== | |
| 410 // acceleration_read | |
| 411 /// @brief empty for for LSM303D | |
| 412 // =============================================================================== | |
| 413 void acceleration_read(void) | |
| 414 { | |
| 357 | 415 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 416 acceleration_read_LSM303D(); |
| 357 | 417 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 418 acceleration_read_MMA8452Q(); |
| 357 | 419 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 420 acceleration_read_LSM303AGR(); | |
| 38 | 421 } |
| 422 | |
| 423 | |
| 424 /* Private functions ---------------------------------------------------------*/ | |
| 425 | |
| 426 // =============================================================================== | |
| 357 | 427 // LSM303AGR_read_reg |
| 428 // =============================================================================== | |
| 429 uint8_t LSM303AGR_read_reg(uint8_t addr) | |
| 430 { | |
| 431 uint8_t data; | |
| 432 | |
| 433 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1); | |
| 434 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1); | |
| 435 return data; | |
| 436 } | |
| 437 | |
| 438 | |
| 439 // =============================================================================== | |
| 440 // LSM303AGR_write_reg | |
| 441 // =============================================================================== | |
| 442 void LSM303AGR_write_reg(uint8_t addr, uint8_t value) | |
| 443 { | |
| 444 uint8_t data[2]; | |
| 445 | |
| 446 data[0] = addr; | |
| 447 data[1] = value; | |
| 448 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2); | |
| 449 } | |
| 450 | |
| 451 // =============================================================================== | |
| 452 // LSM303AGR_acc_write_reg | |
| 453 // =============================================================================== | |
| 454 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value) | |
| 455 { | |
| 456 uint8_t data[2]; | |
| 457 | |
| 458 data[0] = addr; | |
| 459 data[1] = value; | |
| 460 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2); | |
| 461 } | |
| 462 | |
| 463 | |
| 464 // =============================================================================== | |
| 465 // LSM303AGR_write_checked_reg | |
| 466 // =============================================================================== | |
| 467 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value) | |
| 468 { | |
| 469 LSM303AGR_write_reg(addr, value); | |
| 470 } | |
| 471 | |
| 472 // =============================================================================== | |
| 473 // LSM303AGR_acc_write_checked_reg | |
| 474 // =============================================================================== | |
| 475 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value) | |
| 476 { | |
| 477 LSM303AGR_acc_write_reg(addr, value); | |
| 478 } | |
| 479 | |
| 480 // =============================================================================== | |
| 38 | 481 // LSM303D_read_reg |
| 482 // =============================================================================== | |
| 483 uint8_t LSM303D_read_reg(uint8_t addr) | |
| 484 { | |
| 485 uint8_t data; | |
| 486 | |
| 487 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
| 488 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 489 return data; | |
| 490 } | |
| 491 | |
| 492 | |
| 493 // =============================================================================== | |
| 494 // LSM303D_write_reg | |
| 495 // =============================================================================== | |
| 496 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
| 497 { | |
| 498 uint8_t data[2]; | |
| 499 | |
| 500 /* enable accel*/ | |
| 501 data[0] = addr; | |
| 502 data[1] = value; | |
| 503 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 504 } | |
| 505 | |
| 506 | |
| 507 // =============================================================================== | |
| 508 // LSM303D_write_checked_reg | |
| 509 // =============================================================================== | |
| 510 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
| 511 { | |
| 512 LSM303D_write_reg(addr, value); | |
| 513 } | |
| 514 | |
| 515 | |
| 516 // =============================================================================== | |
| 517 // LSM303D_modify_reg | |
| 518 // =============================================================================== | |
| 519 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
| 520 { | |
| 521 uint8_t val; | |
| 522 | |
| 523 val = LSM303D_read_reg(reg); | |
| 524 val &= ~clearbits; | |
| 525 val |= setbits; | |
| 526 LSM303D_write_checked_reg(reg, val); | |
| 527 } | |
| 528 | |
| 529 // =============================================================================== | |
| 530 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
| 531 // =============================================================================== | |
| 532 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
| 533 { | |
| 534 uint8_t setbits = 0; | |
| 535 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
| 536 | |
| 537 if (bandwidth == 0) { | |
| 538 bandwidth = 773; | |
| 539 } | |
| 540 | |
| 541 if (bandwidth <= 50) { | |
| 542 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
| 543 _accel_onchip_filter_bandwith = 50; | |
| 544 | |
| 545 } else if (bandwidth <= 194) { | |
| 546 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
| 547 _accel_onchip_filter_bandwith = 194; | |
| 548 | |
| 549 } else if (bandwidth <= 362) { | |
| 550 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
| 551 _accel_onchip_filter_bandwith = 362; | |
| 552 | |
| 553 } else if (bandwidth <= 773) { | |
| 554 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
| 555 _accel_onchip_filter_bandwith = 773; | |
| 556 | |
| 557 } else { | |
| 558 return -1; | |
| 559 } | |
| 560 | |
| 561 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
| 562 | |
| 563 return 0; | |
| 564 } | |
| 565 | |
| 566 | |
| 567 // =============================================================================== | |
| 568 // LSM303D_accel_set_driver_lowpass_filter | |
| 569 // =============================================================================== | |
| 570 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
| 571 { | |
| 572 /* | |
| 573 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
| 574 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
| 575 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
| 576 */ | |
| 577 return 0; | |
| 578 } | |
| 579 | |
| 580 | |
| 581 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
| 582 // =============================================================================== | |
| 583 // rotate_mag_3f | |
| 584 /// @brief swap axis in convient way, by hw | |
| 585 /// @param *x raw input is set to *y input | |
| 586 /// @param *y raw input is set to -*x input | |
| 587 /// @param *z raw is not touched | |
| 588 // =============================================================================== | |
| 589 void rotate_mag_3f(float *x, float *y, float *z) | |
| 590 { | |
| 591 return; | |
| 592 /* | |
| 593 *x = *x; // HMC: *x = -*y | |
| 594 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
| 595 *z = *z; // HMC: *z = *z | |
| 596 */ | |
| 597 } | |
| 598 | |
| 599 | |
| 600 // =============================================================================== | |
| 601 // rotate_accel_3f | |
| 602 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
| 603 /// @param *x raw input, output is with sign change | |
| 604 /// @param *y raw input, output is with sign change | |
| 605 /// @param *z raw input, output is with sign change | |
| 606 // =============================================================================== | |
| 607 void rotate_accel_3f(float *x, float *y, float *z) | |
| 608 { | |
| 609 *x = -*x; | |
| 610 *y = -*y; | |
| 611 *z = -*z; | |
| 612 /* tested: | |
| 613 x = x, y =-y, z=-z: does not work with roll | |
| 614 x = x, y =y, z=-z: does not work with pitch | |
| 615 x = x, y =y, z=z: does not work at all | |
| 616 */ | |
| 617 } | |
| 618 | |
| 619 | |
| 620 // =============================================================================== | |
| 357 | 621 // compass_init_LSM303D |
| 38 | 622 /// This might be called several times with different gain values during calibration |
| 623 /// but gain change is not supported at the moment. | |
| 624 /// | |
| 625 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 626 // =============================================================================== | |
| 627 | |
| 628 //uint8_t testCompassLS303D[11]; | |
| 629 | |
| 630 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
| 631 { | |
| 632 if(fast == 0) | |
| 633 { | |
| 634 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 635 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
| 636 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 637 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 638 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 639 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
| 640 } | |
| 641 else | |
| 642 { | |
| 643 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 644 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
| 645 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 646 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 647 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 648 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
| 649 } | |
| 650 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
| 651 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
| 652 | |
| 653 return; | |
| 654 } | |
| 655 | |
| 656 | |
| 657 // =============================================================================== | |
| 658 // compass_sleep_LSM303D | |
| 357 | 659 // @brief Gen 2 chip |
| 38 | 660 // =============================================================================== |
| 661 void compass_sleep_LSM303D(void) | |
| 662 { | |
| 663 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
| 664 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
| 665 } | |
| 666 | |
| 667 | |
| 668 // =============================================================================== | |
| 669 // acceleration_read_LSM303D | |
| 357 | 670 // output is accel_DX_f, accel_DY_f, accel_DZ_f |
| 38 | 671 // =============================================================================== |
| 672 void acceleration_read_LSM303D(void) | |
| 673 { | |
| 674 uint8_t data; | |
| 675 float xraw_f, yraw_f, zraw_f; | |
| 676 float accel_report_x, accel_report_y, accel_report_z; | |
| 677 | |
| 678 memset(accDataBuffer,0,6); | |
| 679 | |
| 680 accel_DX_f = 0; | |
| 681 accel_DY_f = 0; | |
| 682 accel_DZ_f = 0; | |
| 683 | |
| 684 for(int i=0;i<6;i++) | |
| 685 { | |
| 686 data = ADDR_OUT_X_L_A + i; | |
| 687 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 688 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
| 689 } | |
| 690 | |
| 691 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 692 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 693 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 694 | |
| 695 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 696 | |
| 697 // mh | |
| 698 accel_report_x = xraw_f; | |
| 699 accel_report_y = yraw_f; | |
| 700 accel_report_z = zraw_f; | |
| 701 | |
| 702 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 703 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 704 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 705 } | |
| 706 | |
| 707 | |
| 708 // =============================================================================== | |
| 709 // compass_read_LSM303D | |
| 710 /// | |
| 711 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 712 // =============================================================================== | |
| 713 void compass_read_LSM303D(void) | |
| 714 { | |
| 715 uint8_t data; | |
| 716 // float xraw_f, yraw_f, zraw_f; | |
| 717 // float mag_report_x, mag_report_y, mag_report_z; | |
| 718 | |
| 719 memset(magDataBuffer,0,6); | |
| 720 | |
| 721 compass_DX_f = 0; | |
| 722 compass_DY_f = 0; | |
| 723 compass_DZ_f = 0; | |
| 724 | |
| 725 for(int i=0;i<6;i++) | |
| 726 { | |
| 727 data = ADDR_OUT_X_L_M + i; | |
| 728 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 729 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
| 730 } | |
| 731 | |
| 732 // mh 160620 flip x and y if flip display | |
| 733 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 734 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 735 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 736 // no rotation | |
| 737 return; | |
| 357 | 738 } |
| 739 | |
| 740 | |
| 741 // =============================================================================== | |
| 742 // compass_init_LSM303AGR | |
| 743 /// This might be called several times with different gain values during calibration | |
| 744 /// but gain change is not supported at the moment. | |
| 745 /// | |
| 746 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 747 // =============================================================================== | |
| 38 | 748 |
| 357 | 749 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain) |
| 750 { | |
| 751 if(fast == 0) | |
| 752 { | |
| 358 | 753 // init compass |
| 357 | 754 LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz |
| 755 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M | |
| 756 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 757 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 758 | |
| 759 // init accel (Same chip, but different address...) | |
| 760 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 761 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 762 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 763 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 764 LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 765 } |
| 766 else | |
| 767 { | |
| 358 | 768 // init compass |
| 769 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz | |
| 357 | 770 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M |
| 771 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 772 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 773 | |
| 774 // init accel (Same chip, but different address...) | |
| 775 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 776 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 777 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 778 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 779 LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 780 } |
| 781 | |
| 782 return; | |
| 783 } | |
| 784 | |
| 785 | |
| 786 // =============================================================================== | |
| 787 // compass_sleep_LSM303D | |
| 788 // @brief Gen 2 chip | |
| 789 // =============================================================================== | |
| 790 void compass_sleep_LSM303AGR(void) | |
| 791 { | |
| 792 LSM303AGR_write_checked_reg(0x60, 0x03); // | |
| 793 LSM303AGR_write_checked_reg(0x61, 0x04); // | |
| 794 LSM303AGR_write_checked_reg(0x62, 0x51); // | |
| 795 LSM303AGR_write_checked_reg(0x63, 0x00); // | |
| 796 | |
| 797 | |
| 798 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // | |
| 799 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // | |
| 800 } | |
| 801 | |
| 38 | 802 |
| 357 | 803 // =============================================================================== |
| 804 // acceleration_read_LSM303AGR | |
| 805 // output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 806 // =============================================================================== | |
| 807 void acceleration_read_LSM303AGR(void) | |
| 808 { | |
| 809 uint8_t data; | |
| 810 float xraw_f, yraw_f, zraw_f; | |
| 811 float accel_report_x, accel_report_y, accel_report_z; | |
| 812 | |
| 813 memset(accDataBuffer,0,6); | |
| 814 | |
| 815 accel_DX_f = 0; | |
| 816 accel_DY_f = 0; | |
| 817 accel_DZ_f = 0; | |
| 818 | |
| 819 for(int i=0;i<6;i++) | |
| 820 { | |
| 358 | 821 data = 0x28 + i; // OUT_X_L_A |
| 357 | 822 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); |
| 823 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1); | |
| 824 } | |
| 825 | |
| 826 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 827 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 828 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 829 | |
| 830 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 831 | |
| 832 // mh | |
| 833 accel_report_x = xraw_f; | |
| 834 accel_report_y = yraw_f; | |
| 358 | 835 accel_report_z = -zraw_f; // flip Z in gen 2 hardware |
| 357 | 836 |
| 837 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 838 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 839 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 840 } | |
| 841 | |
| 842 | |
| 843 // =============================================================================== | |
| 844 // compass_read_LSM303AGR | |
| 845 /// | |
| 846 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 847 // =============================================================================== | |
| 848 void compass_read_LSM303AGR(void) | |
| 849 { | |
| 850 uint8_t data; | |
| 851 // float xraw_f, yraw_f, zraw_f; | |
| 852 // float mag_report_x, mag_report_y, mag_report_z; | |
| 853 | |
| 854 memset(magDataBuffer,0,6); | |
| 855 | |
| 856 compass_DX_f = 0; | |
| 857 compass_DY_f = 0; | |
| 858 compass_DZ_f = 0; | |
| 859 | |
| 860 for(int i=0;i<6;i++) | |
| 861 { | |
| 862 data = 0x68 + i; // OUTX_L_REG_M | |
| 863 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1); | |
| 864 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1); | |
| 865 } | |
| 866 | |
| 867 // mh 160620 flip x and y if flip display | |
| 868 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 869 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 870 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 358 | 871 |
| 872 // align axis in gen 2 hardware | |
| 873 compass_DZ_f *= -1; | |
| 874 | |
| 357 | 875 return; |
| 38 | 876 } |
| 877 | |
| 878 | |
| 879 // -------------------------------------------------------------------------------- | |
| 880 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
| 881 // -------------------------------------------------------------------------------- | |
| 882 | |
| 883 // =============================================================================== | |
| 884 // compass_init_HMC5883L | |
| 885 /// @brief The horrible Honeywell compass chip | |
| 886 /// This might be called several times during calibration | |
| 887 /// | |
| 888 /// @param fast: 1 is fast mode, 0 is normal mode | |
| 889 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 890 // =============================================================================== | |
| 891 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
| 892 { | |
| 893 uint8_t write_buffer[4]; | |
| 894 | |
| 895 compass_gain = gain; | |
| 896 uint16_t length = 0; | |
| 897 write_buffer[0] = 0x00; // 00 = config Register A | |
| 898 | |
| 899 if( fast ) | |
| 900 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
| 901 else | |
| 902 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
| 903 | |
| 904 switch(gain) | |
| 905 { | |
| 906 case 7: | |
| 907 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
| 908 break; | |
| 909 case 6: | |
| 910 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
| 911 break; | |
| 912 case 5: | |
| 913 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
| 914 break; | |
| 915 case 4: | |
| 916 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
| 917 break; | |
| 918 case 3: | |
| 919 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
| 920 break; | |
| 921 case 2: | |
| 922 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
| 923 break; | |
| 924 case 1: | |
| 925 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
| 926 break; | |
| 927 case 0: | |
| 928 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
| 929 break; | |
| 930 } | |
| 931 write_buffer[3] = 0x00; // Mode: continuous mode | |
| 932 length = 4; | |
| 933 //hmc_twi_write(0); | |
| 934 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 935 } | |
| 936 | |
| 937 | |
| 938 | |
| 939 // =============================================================================== | |
| 940 // compass_sleep_HMC5883L | |
| 941 /// @brief Power-down mode for Honeywell compass chip | |
| 942 // =============================================================================== | |
| 943 void compass_sleep_HMC5883L(void) | |
| 944 { | |
| 945 uint8_t write_buffer[4]; | |
| 946 uint16_t length = 0; | |
| 947 | |
| 948 write_buffer[0] = 0x00; // 00 = config Register A | |
| 949 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
| 950 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
| 951 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
| 952 length = 4; | |
| 953 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 954 } | |
| 955 | |
| 956 | |
| 957 // =============================================================================== | |
| 958 // accelerator_init_MMA8452Q | |
| 959 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
| 960 // =============================================================================== | |
| 961 void accelerator_init_MMA8452Q(void) | |
| 962 { | |
| 963 uint8_t write_buffer[4]; | |
| 964 uint16_t length = 0; | |
| 965 //HAL_Delay(1); | |
| 966 //return; | |
| 967 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
| 968 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
| 969 length = 2; | |
| 970 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 971 //HAL_Delay(1); | |
| 972 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 973 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
| 974 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
| 975 length = 3; | |
| 976 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 977 | |
| 978 //HAL_Delay(1); | |
| 979 //hw_delay_us(100); | |
| 980 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 981 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
| 982 length = 2; | |
| 983 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 984 /* | |
| 985 HAL_Delay(6); | |
| 986 compass_read(); | |
| 987 HAL_Delay(1); | |
| 988 acceleration_read(); | |
| 989 | |
| 990 compass_calc(); | |
| 991 */ | |
| 992 } | |
| 993 | |
| 994 | |
| 995 // =============================================================================== | |
| 996 // accelerator_sleep_MMA8452Q | |
| 997 /// @brief compass_sleep_HMC5883L | |
| 998 // =============================================================================== | |
| 999 void accelerator_sleep_MMA8452Q(void) | |
| 1000 { | |
| 1001 uint16_t length = 0; | |
| 1002 uint8_t write_buffer[4]; | |
| 1003 | |
| 1004 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 1005 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
| 1006 length = 2; | |
| 1007 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 1008 } | |
| 1009 | |
| 1010 | |
| 1011 // =============================================================================== | |
| 1012 // compass_read_HMC5883L | |
| 1013 /// @brief The new ST 303D - get ALL data and store in static variables | |
| 1014 /// | |
| 1015 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1016 // =============================================================================== | |
| 1017 void compass_read_HMC5883L(void) | |
| 1018 { | |
| 1019 uint8_t buffer[20]; | |
| 1020 compass_DX_f = 0; | |
| 1021 compass_DY_f = 0; | |
| 1022 compass_DZ_f = 0; | |
| 1023 uint8_t length = 0; | |
| 1024 uint8_t read_buffer[6]; | |
| 1025 signed_tword data; | |
| 1026 for(int i = 0; i<6;i++) | |
| 1027 read_buffer[i] = 0; | |
| 1028 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
| 1029 length = 1; | |
| 1030 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
| 1031 length = 6; | |
| 1032 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
| 1033 | |
| 1034 | |
| 1035 data.Byte.hi = read_buffer[0]; | |
| 1036 data.Byte.low = read_buffer[1]; | |
| 1037 //Y = Z | |
| 1038 compass_DY_f = - data.Word; | |
| 1039 | |
| 1040 data.Byte.hi = read_buffer[2]; | |
| 1041 data.Byte.low = read_buffer[3]; | |
| 1042 compass_DZ_f = data.Word; | |
| 1043 | |
| 1044 data.Byte.hi = read_buffer[4]; | |
| 1045 data.Byte.low = read_buffer[5]; | |
| 1046 //X = -Y | |
| 1047 compass_DX_f = data.Word; | |
| 1048 } | |
| 1049 | |
| 1050 | |
| 1051 // =============================================================================== | |
| 1052 // acceleration_read_MMA8452Q | |
| 1053 /// @brief The old MMA8452Q used with the Honeywell compass | |
| 1054 /// get the acceleration data and store in static variables | |
| 1055 /// | |
| 1056 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1057 // =============================================================================== | |
| 1058 void acceleration_read_MMA8452Q(void) | |
| 1059 { | |
| 1060 uint8_t buffer[20]; | |
| 1061 accel_DX_f = 0; | |
| 1062 accel_DY_f = 0; | |
| 1063 accel_DZ_f = 0; | |
| 1064 uint8_t length = 0; | |
| 1065 // bit8_Type status ; | |
| 1066 uint8_t read_buffer[7]; | |
| 1067 signed_tword data; | |
| 1068 for(int i = 0; i<6;i++) | |
| 1069 read_buffer[i] = 0; | |
| 1070 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
| 1071 length = 1; | |
| 1072 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
| 1073 length = 7; | |
| 1074 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
| 1075 | |
| 1076 // status.uw = read_buffer[0]; | |
| 1077 data.Byte.hi = read_buffer[1]; | |
| 1078 data.Byte.low = read_buffer[2]; | |
| 1079 accel_DX_f =data.Word/16; | |
| 1080 data.Byte.hi = read_buffer[3]; | |
| 1081 data.Byte.low = read_buffer[4]; | |
| 1082 accel_DY_f =data.Word/16; | |
| 1083 data.Byte.hi = read_buffer[5]; | |
| 1084 data.Byte.low = read_buffer[6]; | |
| 1085 accel_DZ_f =data.Word/16; | |
| 1086 | |
| 1087 accel_DX_f *= -1; | |
| 1088 accel_DY_f *= -1; | |
| 1089 accel_DZ_f *= -1; | |
| 1090 } | |
| 1091 | |
| 1092 | |
| 1093 // =============================================================================== | |
| 1094 // compass_calc_roll_pitch_only | |
| 1095 /// @brief only the roll and pitch parts of compass_calc() | |
| 1096 /// | |
| 1097 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1098 /// output is compass_pitch and compass_roll | |
| 1099 // =============================================================================== | |
| 1100 void compass_calc_roll_pitch_only(void) | |
| 1101 { | |
| 1102 float sinPhi, cosPhi; | |
| 1103 float Phi, Teta; | |
| 1104 | |
| 1105 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1106 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1107 compass_roll = Phi * 180.0f /PI; | |
| 1108 sinPhi = sinf(Phi); | |
| 1109 cosPhi = cosf(Phi); | |
| 1110 | |
| 1111 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1112 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1113 compass_pitch = Teta * 180.0f /PI; | |
| 1114 } | |
| 1115 | |
| 1116 | |
| 1117 // =============================================================================== | |
| 1118 // compass_calc | |
| 1119 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1120 /// | |
| 1121 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1122 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1123 /// output is compass_heading, compass_pitch and compass_roll | |
| 1124 // =============================================================================== | |
| 1125 void compass_calc(void) | |
| 1126 { | |
| 1127 float sinPhi, cosPhi, sinTeta, cosTeta; | |
| 1128 float Phi, Teta, Psi; | |
| 1129 int16_t iBfx, iBfy; | |
| 1130 int16_t iBpx, iBpy, iBpz; | |
| 1131 | |
| 1132 //---- Make hard iron correction ----------------------------------------- | |
| 1133 // Measured magnetometer orientation, measured ok. | |
| 1134 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
| 1135 iBpx = compass_DX_f - compass_CX_f; // X | |
| 1136 iBpy = compass_DY_f - compass_CY_f; // Y | |
| 1137 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
| 1138 | |
| 1139 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1140 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
| 1141 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1142 compass_roll = Phi * 180.0f /PI; | |
| 1143 sinPhi = sinf(Phi); | |
| 1144 cosPhi = cosf(Phi); | |
| 1145 | |
| 1146 //---- rotate by roll angle (-Phi) --------------------------------------- | |
| 1147 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
| 1148 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
| 1149 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
| 1150 | |
| 1151 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1152 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
| 1153 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
| 1154 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1155 compass_pitch = Teta * 180.0f /PI; | |
| 1156 sinTeta = sinf(Teta); | |
| 1157 cosTeta = cosf(Teta); | |
| 1158 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
| 1159 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
| 1160 | |
| 1161 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
| 1162 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
| 1163 | |
| 1164 //---- Detect uncalibrated compass --------------------------------------- | |
| 1165 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
| 1166 { | |
| 1167 compass_heading = -1; | |
| 1168 return; | |
| 1169 } | |
| 1170 | |
| 1171 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
| 1172 // Result in degree (no need of 0.01 deg precision... | |
| 1173 Psi = atan2f(-iBfy,iBfx); | |
| 1174 compass_heading = Psi * 180.0f /PI; | |
| 1175 // Result in 0..360 range: | |
| 1176 if( compass_heading < 0 ) | |
| 1177 compass_heading += 360; | |
| 1178 } | |
| 1179 | |
| 1180 | |
| 1181 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1182 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1183 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1184 | |
| 1185 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
| 1186 | |
| 1187 // =============================================================================== | |
| 1188 // compass_reset_calibration | |
| 1189 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1190 /// | |
| 1191 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1192 /// | |
| 1193 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1194 /// all is set to zero here | |
| 1195 // =============================================================================== | |
| 1196 void compass_reset_calibration(SCompassCalib *g) | |
| 1197 { | |
| 1198 g->compass_N = 0; | |
| 1199 g->Su = g->Sv = g->Sw = 0.0; | |
| 1200 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
| 1201 g->Suuu = g->Svvv = g->Swww = 0.0; | |
| 1202 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
| 1203 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
| 1204 } | |
| 1205 | |
| 1206 | |
| 1207 // =============================================================================== | |
| 1208 // compass_add_calibration | |
| 1209 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1210 /// | |
| 1211 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1212 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1213 /// output is struct g | |
| 1214 /// | |
| 1215 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1216 // =============================================================================== | |
| 1217 void compass_add_calibration(SCompassCalib *g) | |
| 1218 { | |
| 1219 float u, v, w; | |
| 1220 | |
| 1221 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
| 1222 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
| 1223 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
| 1224 | |
| 1225 g->compass_N++; | |
| 1226 g->Su += u; | |
| 1227 g->Sv += v; | |
| 1228 g->Sw += w; | |
| 1229 g->Suv += u*v; | |
| 1230 g->Suw += u*w; | |
| 1231 g->Svw += v*w; | |
| 1232 g->Suu += u*u; | |
| 1233 g->Suuu += u*u*u; | |
| 1234 g->Suuv += v*u*u; | |
| 1235 g->Suuw += w*u*u; | |
| 1236 g->Svv += v*v; | |
| 1237 g->Svvv += v*v*v; | |
| 1238 g->Svvu += u*v*v; | |
| 1239 g->Svvw += w*v*v; | |
| 1240 g->Sww += w*w; | |
| 1241 g->Swww += w*w*w; | |
| 1242 g->Swwu += u*w*w; | |
| 1243 g->Swwv += v*w*w; | |
| 1244 } | |
| 1245 | |
| 1246 ////////////////////////////////////////////////////////////////////////////// | |
| 1247 | |
| 1248 // =============================================================================== | |
| 1249 // compass_solve_calibration | |
| 1250 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1251 /// | |
| 1252 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1253 /// output is struct g | |
| 1254 /// | |
| 1255 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1256 // =============================================================================== | |
| 1257 void compass_solve_calibration(SCompassCalib *g) | |
| 1258 { | |
| 1259 float yu, yv, yw; | |
| 1260 float delta; | |
| 1261 float uc, vc, wc; | |
| 1262 | |
| 1263 | |
| 1264 //---- Normalize partial sums -------------------------------------------- | |
| 1265 // | |
| 1266 // u, v, w should be centered on the mean value um, vm, wm: | |
| 1267 // x = u + um, with um = Sx/N | |
| 1268 // | |
| 1269 // So: | |
| 1270 // (u + um)**2 = u**2 + 2u*um + um**2 | |
| 1271 // Su = 0, um = Sx/N | |
| 1272 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
| 1273 // Suu = Sxx - Sx**2/N | |
| 1274 yu = g->Su/g->compass_N; | |
| 1275 yv = g->Sv/g->compass_N; | |
| 1276 yw = g->Sw/g->compass_N; | |
| 1277 | |
| 1278 g->Suu -= g->Su*yu; | |
| 1279 g->Svv -= g->Sv*yv; | |
| 1280 g->Sww -= g->Sw*yw; | |
| 1281 | |
| 1282 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
| 1283 // Sxy = Suv + N * um vm | |
| 1284 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
| 1285 g->Suv -= g->Su*yv; | |
| 1286 g->Suw -= g->Su*yw; | |
| 1287 g->Svw -= g->Sv*yw; | |
| 1288 | |
| 1289 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
| 1290 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
| 1291 // Su = 0, um = Sx/N: | |
| 1292 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
| 1293 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
| 1294 | |
| 1295 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
| 1296 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
| 1297 // | |
| 1298 // Su = 0, Sv = 0, vm = Sy/N: | |
| 1299 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
| 1300 // | |
| 1301 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
| 1302 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
| 1303 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
| 1304 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
| 1305 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
| 1306 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
| 1307 | |
| 1308 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
| 1309 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
| 1310 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
| 1311 | |
| 1312 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
| 1313 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
| 1314 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
| 1315 | |
| 1316 //---- Solve the system -------------------------------------------------- | |
| 1317 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
| 1318 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
| 1319 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
| 1320 // Note this is symetric, with a positiv diagonal, hence | |
| 1321 // it always have a uniq solution. | |
| 1322 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
| 1323 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
| 1324 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
| 1325 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1326 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1327 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
| 1328 | |
| 1329 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1330 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1331 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
| 1332 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
| 1333 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
| 1334 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
| 1335 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
| 1336 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
| 1337 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
| 1338 | |
| 1339 // Back to uncentered coordinates: | |
| 1340 // xc = um + uc | |
| 1341 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
| 1342 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
| 1343 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
| 1344 | |
| 1345 // Then save the new calibrated center: | |
| 1346 compass_CX_f = (short)(32768 * uc); | |
| 1347 compass_CY_f = (short)(32768 * vc); | |
| 1348 compass_CZ_f = (short)(32768 * wc); | |
| 1349 } | |
| 1350 | |
| 1351 | |
| 1352 // =============================================================================== | |
| 1353 // compass_calib | |
| 1354 /// @brief the main loop for calibration | |
| 1355 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1356 /// 160704 removed -4096 limit for LSM303D | |
| 1357 /// | |
| 1358 /// @return always 0 | |
| 1359 // =============================================================================== | |
| 1360 int compass_calib_common(void) | |
| 1361 { | |
|
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1362 SCompassCalib g; |
| 38 | 1363 |
| 1364 // Starts with no calibration at all: | |
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1365 compass_reset_calibration(&g); |
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1366 uint32_t tickstart = 0; |
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1367 tickstart = HAL_GetTick(); |
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1368 /* run calibration for one minute */ |
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1369 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000) |
| 38 | 1370 { |
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1371 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)) |
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1372 { |
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1373 HAL_Delay(1); |
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1374 } |
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1375 compass_read(); |
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1376 acceleration_read(); |
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1377 compass_calc_roll_pitch_only(); |
| 38 | 1378 |
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1379 if((hardwareCompass == compass_generation1 ) //HMC5883L) |
| 38 | 1380 &&((compass_DX_f == -4096) || |
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1381 (compass_DY_f == -4096) || |
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1382 (compass_DZ_f == -4096) )) |
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1383 { |
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1384 if(compass_gain == 0) |
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1385 return -1; |
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1386 compass_gain--; |
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1387 compass_init(1, compass_gain); |
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1388 compass_reset_calibration(&g); |
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1389 continue; |
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1390 } |
| 38 | 1391 |
|
410
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1392 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); |
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1393 compass_add_calibration(&g); |
| 104 | 1394 } |
| 38 | 1395 |
| 1396 compass_solve_calibration(&g); | |
| 1397 | |
|
410
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1398 tfull32 dataBlock[4]; |
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1399 dataBlock[0].Word16.low16 = compass_CX_f; |
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1400 dataBlock[0].Word16.hi16 = compass_CY_f; |
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1401 dataBlock[1].Word16.low16 = compass_CZ_f; |
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1402 dataBlock[1].Word16.hi16 = 0xFFFF; |
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1403 dataBlock[2].Full32 = 0x7FFFFFFF; |
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1404 dataBlock[3].Full32 = 0x7FFFFFFF; |
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1405 BFA_writeDataBlock((uint32_t *)dataBlock); |
| 38 | 1406 |
|
410
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1407 return 0; |
| 38 | 1408 } |
| 1409 |