annotate Small_CPU/Src/compass.c @ 711:34eb693720eb

Development bugfix number of spare bytes in setting structure
author Ideenmodellierer
date Tue, 08 Nov 2022 22:16:56 +0100
parents 08af5d707c5a
children
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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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37 #include "spi.h"
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38 #include "scheduler.h"
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39 #include "RTE_FlashAccess.h" // to store compass_calib_data
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40
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41 #include "stm32f4xx_hal.h"
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42
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43 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow);
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44 extern SGlobal global;
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46
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47 /// crazy compass calibration stuff
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48 typedef struct
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49 {
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50 unsigned short int compass_N;
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51 float Su, Sv, Sw;
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52 float Suu, Svv, Sww, Suv, Suw, Svw;
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53 float Suuu, Svvv, Swww;
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54 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv;
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55 } SCompassCalib;
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56
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57
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58 #define Q_PI (18000)
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59 #define Q_PIO2 (9000)
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60
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63 //////////////////////////////////////////////////////////////////////////////
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64 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error
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65 //
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66 #define K1 (5701) // Needs K1/2**16
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67 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV
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68 #define K3 ( 446) // Needs K3/2**80
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69
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70 const float PI = 3.14159265; ///< pi, used in compass_calc()
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71
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72 typedef short int Int16;
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73 typedef signed char Int8;
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74 typedef Int16 Angle;
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75
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76
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77 /// The (filtered) components of the magnetometer sensor
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78 int16_t compass_DX_f; ///< output from sensor
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79 int16_t compass_DY_f; ///< output from sensor
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80 int16_t compass_DZ_f; ///< output from sensor
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81
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82
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83 /// Found soft-iron calibration values, deduced from already filtered values
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84 int16_t compass_CX_f; ///< calibration value
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85 int16_t compass_CY_f; ///< calibration value
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86 int16_t compass_CZ_f; ///< calibration value
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87
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88
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89 /// The (filtered) components of the accelerometer sensor
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90 int16_t accel_DX_f; ///< output from sensor
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91 int16_t accel_DY_f; ///< output from sensor
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92 int16_t accel_DZ_f; ///< output from sensor
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93
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94
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95 /// The compass result values
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96 float compass_heading; ///< the final result calculated in compass_calc()
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97 float compass_roll; ///< the final result calculated in compass_calc()
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98 float compass_pitch; ///< the final result calculated in compass_calc()
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99
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100
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101 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration
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102
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103 uint8_t hardwareCompass = compass_generation_undef; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0)
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104
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105 /// LSM303D variables
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106 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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107 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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108
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109
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110 // struct accel_scale _accel_scale;
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111 unsigned _accel_range_m_s2;
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112 float _accel_range_scale;
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113 unsigned _accel_samplerate;
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114 unsigned _accel_onchip_filter_bandwith;
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115
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116 // struct mag_scale _mag_scale;
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117 unsigned _mag_range_ga;
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118 float _mag_range_scale;
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119 unsigned _mag_samplerate;
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120
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121 // default scale factors
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122 float _accel_scale_x_offset = 0.0f;
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123 float _accel_scale_x_scale = 1.0f;
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124 float _accel_scale_y_offset = 0.0f;
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125 float _accel_scale_y_scale = 1.0f;
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126 float _accel_scale_z_offset = 0.0f;
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127 float _accel_scale_z_scale = 1.0f;
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128
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129 float _mag_scale_x_offset = 0.0f;
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130 float _mag_scale_x_scale = 1.0f;
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131 float _mag_scale_y_offset = 0.0f;
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132 float _mag_scale_y_scale = 1.0f;
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133 float _mag_scale_z_offset = 0.0f;
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134 float _mag_scale_z_scale = 1.0f;
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135
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136
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137 /* External function prototypes ----------------------------------------------*/
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138
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139 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz);
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140
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141 /* Private function prototypes -----------------------------------------------*/
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142
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143 void compass_reset_calibration(SCompassCalib *g);
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144 void compass_add_calibration(SCompassCalib *g);
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145 void compass_solve_calibration(SCompassCalib *g);
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146
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147 void compass_init_HMC5883L(uint8_t fast, uint8_t gain);
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148 void compass_sleep_HMC5883L(void);
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149 void compass_read_HMC5883L(void);
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150
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151 void accelerator_init_MMA8452Q(void);
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152 void accelerator_sleep_MMA8452Q(void);
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153 void acceleration_read_MMA8452Q(void);
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154
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155 void compass_init_LSM303D(uint8_t fast, uint8_t gain);
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156 void compass_sleep_LSM303D(void);
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157 void compass_read_LSM303D(void);
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158 void acceleration_read_LSM303D(void);
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159
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160 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain);
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161 void compass_sleep_LSM303AGR(void);
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162 void compass_read_LSM303AGR(void);
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163 void acceleration_read_LSM303AGR(void);
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164
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165 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
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166 int compass_calib_common(void);
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167
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168 void compass_calc_roll_pitch_only(void);
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169
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170 void rotate_mag_3f(float *x, float *y, float *z);
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171 void rotate_accel_3f(float *x, float *y, float *z);
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172
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173
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174 /* Exported functions --------------------------------------------------------*/
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175
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176
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177 // ===============================================================================
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178 // compass_init
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179 /// @brief This might be called several times with different gain values during calibration
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180 /// On first call it figures out which hardware is integrated
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181 ///
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182 /// @param gain: 7 is max gain, compass_calib() might reduce it
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183 // ===============================================================================
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184
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185 void compass_init(uint8_t fast, uint8_t gain)
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186 {
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187
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188 // don't call again with fast, gain in calib mode etc.
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189 // if unknown
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190 if(hardwareCompass == COMPASS_NOT_RECOGNIZED)
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191 {
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192 return;
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193 }
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194
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195 if(hardwareCompass == compass_generation_undef) /* check if compass had been detected before */
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196 {
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197 tfull32 dataBlock[4];
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198 if(BFA_readLastDataBlock(dataBlock) == BFA_OK)
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199 {
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200 if(dataBlock[3].Word16.hi16 == BFA_calc_Block_Checksum(dataBlock))
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201 {
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202 compass_CX_f = dataBlock[0].Word16.low16;
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203 compass_CY_f = dataBlock[0].Word16.hi16;
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204 compass_CZ_f = dataBlock[1].Word16.low16;
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205 hardwareCompass = dataBlock[1].Word16.hi16;
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206 if(hardwareCompass >= compass_generation_future) /* no generation stored (including COMPASS_NOT_RECOGNIZED) */
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207 {
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208 hardwareCompass = compass_generation_undef;
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209 }
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210 }
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211 }
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212 }
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213
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214 // old code but without else
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215 if(hardwareCompass == compass_generation_undef)
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216 {
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217 uint8_t data = WHO_AM_I;
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218 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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219 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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220 if(data == WHOIAM_VALUE_LSM303D)
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221 hardwareCompass = compass_generation2; //LSM303D;
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222 data = WHO_AM_I;
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223 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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224 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1);
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225 if(data == WHOIAM_VALUE_LSM303AGR)
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226 hardwareCompass = compass_generation3; //LSM303AGR;
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227 }
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228
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229 /* No compass identified => Retry */
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230 if(hardwareCompass == compass_generation_undef)
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231 {
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232 I2C_DeInit();
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233 HAL_Delay(100);
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234 MX_I2C1_Init();
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235 HAL_Delay(100);
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236 uint8_t data = WHO_AM_I;
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237 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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238 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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239 if(data == WHOIAM_VALUE_LSM303D)
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240 {
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241 hardwareCompass = compass_generation2; //LSM303D;
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242 }
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243 else
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244 {
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245 data = WHO_AM_I;
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246 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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247 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1);
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248 if(data == WHOIAM_VALUE_LSM303AGR)
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249 hardwareCompass = compass_generation3; //LSM303AGR;
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250 }
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251 }
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252
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253 /* Assume that a HMC5883L is equipped by default if detection still failed */
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254 if(hardwareCompass == compass_generation_undef)
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255 hardwareCompass = compass_generation1; //HMC5883L;
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256
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257 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT;
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258
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259 // test if both chips of the two-chip solution (gen 1) are present
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260 if(hardwareCompass == compass_generation1) // HMC5883L)
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261 {
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262 HAL_Delay(100);
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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);
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267 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q
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268 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1);
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269 if(resultOfOperationHMC_MMA == HAL_OK)
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270 {
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271 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it
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272 }
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273 else
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274 {
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275 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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276 }
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277 }
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278
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279 if(hardwareCompass == compass_generation2) //LSM303D)
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280 compass_init_LSM303D(fast, gain);
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281 if(hardwareCompass == compass_generation3) //LSM303AGR)
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282 compass_init_LSM303AGR(fast, gain);
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283 if(hardwareCompass == compass_generation1) //HMC5883L)
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284 compass_init_HMC5883L(fast, gain);
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285
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286 if(global.deviceDataSendToMaster.hw_Info.compass == 0)
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287 {
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288 global.deviceDataSendToMaster.hw_Info.compass = hardwareCompass;
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289 global.deviceDataSendToMaster.hw_Info.checkCompass = 1;
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290 }
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291 }
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292
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293
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294 // ===============================================================================
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295 // compass_calib
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296 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D
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297 // ===============================================================================
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298 int compass_calib(void)
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299 {
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300 if(hardwareCompass == compass_generation2) //LSM303D)
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301 {
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302 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773);
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303 int out = compass_calib_common();
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304 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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305 return out;
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306 }
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307 else
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308 if(hardwareCompass == compass_generation1) //HMC5883L)
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309 {
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310 return compass_calib_common();
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311 }
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312 else
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313 if(hardwareCompass == compass_generation3) //LSM303AGR)
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314 {
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315 return compass_calib_common();
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316 }
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317 else
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318 {
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319 return 0; // standard answer of compass_calib_common();
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320 }
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321
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322
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323 }
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324
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325
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326 // ===============================================================================
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327 // compass_sleep
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328 /// @brief low power mode
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329 // ===============================================================================
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330 void compass_sleep(void)
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331 {
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332 if(hardwareCompass == compass_generation2) //LSM303D
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333 compass_sleep_LSM303D();
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334 if(hardwareCompass == compass_generation1) //HMC5883L
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335 compass_sleep_HMC5883L();
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336 if(hardwareCompass == compass_generation3) //LSM303AGR
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337 compass_sleep_LSM303AGR();
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338 }
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339
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340
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341 // ===============================================================================
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342 // compass_read
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343 /// @brief reads magnetometer and accelerometer for LSM303D,
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344 /// otherwise magnetometer only
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345 // ===============================================================================
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346 void compass_read(void)
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347 {
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348 if(hardwareCompass == compass_generation2) //LSM303D)
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349 compass_read_LSM303D();
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350 if(hardwareCompass == compass_generation1) //HMC5883L)
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351 compass_read_HMC5883L();
357
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352 if(hardwareCompass == compass_generation3) //LSM303AGR)
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353 compass_read_LSM303AGR();
357
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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 // ===============================================================================
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359 // accelerator_init
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360 /// @brief empty for for LSM303D
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361 // ===============================================================================
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362 void accelerator_init(void)
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363 {
357
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364 if(hardwareCompass == compass_generation1) //HMC5883L)
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365 accelerator_init_MMA8452Q();
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366 }
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367
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368
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369 // ===============================================================================
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370 // accelerator_sleep
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371 /// @brief empty for for LSM303D
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372 // ===============================================================================
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373 void accelerator_sleep(void)
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374 {
357
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375 if(hardwareCompass == compass_generation1) //HMC5883L)
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376 accelerator_sleep_MMA8452Q();
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377 }
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378
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379
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380 // ===============================================================================
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381 // acceleration_read
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382 /// @brief empty for for LSM303D
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383 // ===============================================================================
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384 void acceleration_read(void)
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385 {
357
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386 if(hardwareCompass == compass_generation2) //LSM303D)
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387 acceleration_read_LSM303D();
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388 if(hardwareCompass == compass_generation1) //HMC5883L)
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389 acceleration_read_MMA8452Q();
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390 if(hardwareCompass == compass_generation3) //LSM303AGR)
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391 acceleration_read_LSM303AGR();
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392 }
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393
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394
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395 /* Private functions ---------------------------------------------------------*/
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396
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397 // ===============================================================================
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398 // LSM303AGR_read_reg
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399 // ===============================================================================
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400 uint8_t LSM303AGR_read_reg(uint8_t addr)
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401 {
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402 uint8_t data;
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403
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404 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1);
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405 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1);
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406 return data;
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407 }
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408
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409
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410 // ===============================================================================
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411 // LSM303AGR_write_reg
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412 // ===============================================================================
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413 void LSM303AGR_write_reg(uint8_t addr, uint8_t value)
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414 {
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415 uint8_t data[2];
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416
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417 data[0] = addr;
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418 data[1] = value;
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419 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2);
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420 }
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421
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422 // ===============================================================================
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423 // LSM303AGR_acc_write_reg
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424 // ===============================================================================
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425 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value)
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426 {
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427 uint8_t data[2];
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428
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429 data[0] = addr;
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430 data[1] = value;
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431 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2);
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432 }
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433
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434
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435 // ===============================================================================
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436 // LSM303AGR_write_checked_reg
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437 // ===============================================================================
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438 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value)
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439 {
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440 LSM303AGR_write_reg(addr, value);
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441 }
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442
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443 // ===============================================================================
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444 // LSM303AGR_acc_write_checked_reg
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445 // ===============================================================================
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446 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value)
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447 {
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448 LSM303AGR_acc_write_reg(addr, value);
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449 }
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450
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451 // ===============================================================================
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452 // LSM303D_read_reg
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453 // ===============================================================================
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454 uint8_t LSM303D_read_reg(uint8_t addr)
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455 {
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456 uint8_t data;
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457
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458 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1);
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459 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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460 return data;
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461 }
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462
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463
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464 // ===============================================================================
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465 // LSM303D_write_reg
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466 // ===============================================================================
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467 void LSM303D_write_reg(uint8_t addr, uint8_t value)
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468 {
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469 uint8_t data[2];
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470
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471 /* enable accel*/
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472 data[0] = addr;
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473 data[1] = value;
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474 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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475 }
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476
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477
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478 // ===============================================================================
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479 // LSM303D_write_checked_reg
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480 // ===============================================================================
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481 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value)
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482 {
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483 LSM303D_write_reg(addr, value);
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484 }
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485
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486
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487 // ===============================================================================
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488 // LSM303D_modify_reg
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489 // ===============================================================================
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490 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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491 {
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492 uint8_t val;
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493
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494 val = LSM303D_read_reg(reg);
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495 val &= ~clearbits;
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496 val |= setbits;
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497 LSM303D_write_checked_reg(reg, val);
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498 }
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499
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500 // ===============================================================================
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501 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth
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502 // ===============================================================================
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503 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
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504 {
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505 uint8_t setbits = 0;
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506 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
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507
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508 if (bandwidth == 0) {
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509 bandwidth = 773;
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510 }
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511
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512 if (bandwidth <= 50) {
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513 setbits |= REG2_AA_FILTER_BW_50HZ_A;
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514 _accel_onchip_filter_bandwith = 50;
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515
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516 } else if (bandwidth <= 194) {
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517 setbits |= REG2_AA_FILTER_BW_194HZ_A;
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518 _accel_onchip_filter_bandwith = 194;
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519
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520 } else if (bandwidth <= 362) {
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521 setbits |= REG2_AA_FILTER_BW_362HZ_A;
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522 _accel_onchip_filter_bandwith = 362;
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523
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524 } else if (bandwidth <= 773) {
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525 setbits |= REG2_AA_FILTER_BW_773HZ_A;
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526 _accel_onchip_filter_bandwith = 773;
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527
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528 } else {
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529 return -1;
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530 }
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531
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532 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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533
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534 return 0;
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535 }
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536
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537
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538 // ===============================================================================
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539 // LSM303D_accel_set_driver_lowpass_filter
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540 // ===============================================================================
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541 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
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542 {
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543 /*
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544 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth);
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545 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth);
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546 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth);
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547 */
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548 return 0;
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549 }
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550
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551
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552 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt
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553 // ===============================================================================
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554 // rotate_mag_3f
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555 /// @brief swap axis in convient way, by hw
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556 /// @param *x raw input is set to *y input
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557 /// @param *y raw input is set to -*x input
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558 /// @param *z raw is not touched
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559 // ===============================================================================
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560 void rotate_mag_3f(float *x, float *y, float *z)
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561 {
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562 return;
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563 /*
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564 *x = *x; // HMC: *x = -*y
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565 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y
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566 *z = *z; // HMC: *z = *z
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567 */
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568 }
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569
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570
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571 // ===============================================================================
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572 // rotate_accel_3f
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573 /// @brief swap axis in convient way, by hw, same as MMA8452Q
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574 /// @param *x raw input, output is with sign change
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575 /// @param *y raw input, output is with sign change
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576 /// @param *z raw input, output is with sign change
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577 // ===============================================================================
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578 void rotate_accel_3f(float *x, float *y, float *z)
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579 {
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580 *x = -*x;
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581 *y = -*y;
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582 *z = -*z;
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583 /* tested:
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584 x = x, y =-y, z=-z: does not work with roll
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585 x = x, y =y, z=-z: does not work with pitch
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586 x = x, y =y, z=z: does not work at all
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587 */
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588 }
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589
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590
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591 // ===============================================================================
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592 // compass_init_LSM303D
38
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593 /// This might be called several times with different gain values during calibration
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594 /// but gain change is not supported at the moment.
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595 ///
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596 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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597 // ===============================================================================
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598
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599 //uint8_t testCompassLS303D[11];
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600
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601 void compass_init_LSM303D(uint8_t fast, uint8_t gain)
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602 {
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603 if(fast == 0)
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604 {
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605 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
580
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606 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 BDU and all axis
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607 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); // 50Hz anti alias filter
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608 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); // no interrupts
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609 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); // no interrupts
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610 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 High resolution
38
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611 }
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612 else
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613 {
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614 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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615 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
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616 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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617 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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618 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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619 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz
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620 }
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621 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
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622 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
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623
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624 return;
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625 }
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626
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627
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628 // ===============================================================================
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629 // compass_sleep_LSM303D
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630 // @brief Gen 2 chip
38
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631 // ===============================================================================
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632 void compass_sleep_LSM303D(void)
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633 {
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634 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode
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635 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode
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636 }
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637
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638
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639 // ===============================================================================
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640 // acceleration_read_LSM303D
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641 // output is accel_DX_f, accel_DY_f, accel_DZ_f
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642 // ===============================================================================
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643 void acceleration_read_LSM303D(void)
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644 {
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645 uint8_t data;
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646 float xraw_f, yraw_f, zraw_f;
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647 float accel_report_x, accel_report_y, accel_report_z;
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648
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649 memset(accDataBuffer,0,6);
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650
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651 accel_DX_f = 0;
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652 accel_DY_f = 0;
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653 accel_DZ_f = 0;
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654
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655 for(int i=0;i<6;i++)
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656 {
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657 data = ADDR_OUT_X_L_A + i;
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658 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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659 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1);
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660 }
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661
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662 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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663 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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664 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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665
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666 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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667
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668 // mh
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669 accel_report_x = xraw_f;
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670 accel_report_y = yraw_f;
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671 accel_report_z = zraw_f;
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672
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673 accel_DX_f = ((int16_t)(accel_report_x));
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674 accel_DY_f = ((int16_t)(accel_report_y));
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675 accel_DZ_f = ((int16_t)(accel_report_z));
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676 }
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677
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678
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679 // ===============================================================================
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680 // compass_read_LSM303D
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681 ///
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682 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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683 // ===============================================================================
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684 void compass_read_LSM303D(void)
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685 {
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686 uint8_t data;
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687 // float xraw_f, yraw_f, zraw_f;
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688 // float mag_report_x, mag_report_y, mag_report_z;
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689
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690 memset(magDataBuffer,0,6);
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691
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692 compass_DX_f = 0;
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693 compass_DY_f = 0;
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694 compass_DZ_f = 0;
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695
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696 for(int i=0;i<6;i++)
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697 {
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698 data = ADDR_OUT_X_L_M + i;
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699 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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700 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
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701 }
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702
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703 // mh 160620 flip x and y if flip display
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704 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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705 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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706 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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707 // no rotation
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708 return;
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709 }
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710
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711
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712 // ===============================================================================
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713 // compass_init_LSM303AGR
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714 /// This might be called several times with different gain values during calibration
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715 /// but gain change is not supported at the moment.
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716 ///
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717 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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718 // ===============================================================================
38
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719
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720 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain)
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721 {
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722 if(fast == 0)
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723 {
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724 // init compass
580
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725 LSM303AGR_write_checked_reg(0x60, 0x80); // CFG_REG_A_M 10Hz continuous measurement
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726 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M Enable offset cancellation and low pass filter
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727 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M Avoid incoherence (BDU)
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728 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M No interrupts
358
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729
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730 // init accel (Same chip, but different address...)
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731 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
580
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732 LSM303AGR_acc_write_checked_reg(0x20, 0x27); // CTRL_REG1_A (10Hz, x,y,z = ON, low power mode)
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733 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A (High pass filter normal mode)
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734 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A (no interrupts)
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735 LSM303AGR_acc_write_checked_reg(0x23, 0x88); // CTRL_REG4_A, High Resolution Mode enabled, enable BDU
357
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736 }
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737 else
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738 {
358
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739 // init compass
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740 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz
357
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741 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M
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742 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M
358
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743 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M
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744
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745 // init accel (Same chip, but different address...)
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746 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
580
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747 LSM303AGR_acc_write_checked_reg(0x20, 0x47); // CTRL_REG1_A (50Hz, x,y,z = ON)
358
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748 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A
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749 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A
580
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750 LSM303AGR_acc_write_checked_reg(0x23, 0x88); // CTRL_REG4_A, High Resolution Mode enabled
357
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751 }
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752
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753 return;
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754 }
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755
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756
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757 // ===============================================================================
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758 // compass_sleep_LSM303D
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759 // @brief Gen 2 chip
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760 // ===============================================================================
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761 void compass_sleep_LSM303AGR(void)
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762 {
580
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763 LSM303AGR_write_checked_reg(0x60, 0x13); // low power and idle mode
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764 LSM303AGR_write_checked_reg(0x61, 0x04); // pulse only at power on
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765 LSM303AGR_write_checked_reg(0x62, 0x51); // int mag pin used (?), BDU and DRDY is output
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766 LSM303AGR_write_checked_reg(0x63, 0x00); // no interrupts
357
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767
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768
580
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769 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // temperature off
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770 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // power down
357
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771 }
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772
38
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773
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774 // ===============================================================================
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775 // acceleration_read_LSM303AGR
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776 // output is accel_DX_f, accel_DY_f, accel_DZ_f
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777 // ===============================================================================
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778 void acceleration_read_LSM303AGR(void)
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779 {
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780 uint8_t data;
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781 float xraw_f, yraw_f, zraw_f;
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782 float accel_report_x, accel_report_y, accel_report_z;
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783
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784 memset(accDataBuffer,0,6);
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785
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786 accel_DX_f = 0;
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787 accel_DY_f = 0;
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788 accel_DZ_f = 0;
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789
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790 for(int i=0;i<6;i++)
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791 {
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792 data = 0x28 + i; // OUT_X_L_A
357
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793 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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794 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1);
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795 }
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796
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797 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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798 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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799 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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800
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801 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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802
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803 // mh
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804 accel_report_x = xraw_f;
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805 accel_report_y = yraw_f;
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806 accel_report_z = -zraw_f; // flip Z in gen 2 hardware
357
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807
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808 accel_DX_f = ((int16_t)(accel_report_x));
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809 accel_DY_f = ((int16_t)(accel_report_y));
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810 accel_DZ_f = ((int16_t)(accel_report_z));
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811 }
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812
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813
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814 // ===============================================================================
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815 // compass_read_LSM303AGR
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816 ///
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817 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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818 // ===============================================================================
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819 void compass_read_LSM303AGR(void)
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820 {
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821 uint8_t data;
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822 // float xraw_f, yraw_f, zraw_f;
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823 // float mag_report_x, mag_report_y, mag_report_z;
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824
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825 memset(magDataBuffer,0,6);
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826
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827 compass_DX_f = 0;
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828 compass_DY_f = 0;
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829 compass_DZ_f = 0;
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830
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831 for(int i=0;i<6;i++)
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832 {
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833 data = 0x68 + i; // OUTX_L_REG_M
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834 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1);
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835 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1);
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836 }
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837
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838 // mh 160620 flip x and y if flip display
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839 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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840 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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841 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
358
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842
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843 // align axis in gen 2 hardware
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844 compass_DZ_f *= -1;
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845
357
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846 return;
38
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847 }
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848
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849
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850 // --------------------------------------------------------------------------------
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851 // ----------EARLIER COMPONENTS ---------------------------------------------------
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852 // --------------------------------------------------------------------------------
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853
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854 // ===============================================================================
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855 // compass_init_HMC5883L
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856 /// @brief The horrible Honeywell compass chip
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857 /// This might be called several times during calibration
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858 ///
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859 /// @param fast: 1 is fast mode, 0 is normal mode
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860 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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861 // ===============================================================================
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862 void compass_init_HMC5883L(uint8_t fast, uint8_t gain)
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863 {
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864 uint8_t write_buffer[4];
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diff changeset
865
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diff changeset
866 compass_gain = gain;
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diff changeset
867 uint16_t length = 0;
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parents:
diff changeset
868 write_buffer[0] = 0x00; // 00 = config Register A
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parents:
diff changeset
869
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diff changeset
870 if( fast )
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diff changeset
871 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged
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diff changeset
872 else
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diff changeset
873 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged
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parents:
diff changeset
874
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parents:
diff changeset
875 switch(gain)
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diff changeset
876 {
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diff changeset
877 case 7:
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878 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain
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diff changeset
879 break;
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880 case 6:
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diff changeset
881 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain
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diff changeset
882 break;
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diff changeset
883 case 5:
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884 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain
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diff changeset
885 break;
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886 case 4:
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887 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain
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888 break;
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889 case 3:
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890 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain
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891 break;
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892 case 2:
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893 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain
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894 break;
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895 case 1:
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896 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain
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diff changeset
897 break;
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898 case 0:
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diff changeset
899 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain
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900 break;
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901 }
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902 write_buffer[3] = 0x00; // Mode: continuous mode
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903 length = 4;
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904 //hmc_twi_write(0);
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diff changeset
905 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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diff changeset
906 }
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diff changeset
907
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diff changeset
908
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909
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910 // ===============================================================================
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911 // compass_sleep_HMC5883L
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912 /// @brief Power-down mode for Honeywell compass chip
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diff changeset
913 // ===============================================================================
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diff changeset
914 void compass_sleep_HMC5883L(void)
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diff changeset
915 {
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diff changeset
916 uint8_t write_buffer[4];
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diff changeset
917 uint16_t length = 0;
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diff changeset
918
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diff changeset
919 write_buffer[0] = 0x00; // 00 = config Register A
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diff changeset
920 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA
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diff changeset
921 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB
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diff changeset
922 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode
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diff changeset
923 length = 4;
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diff changeset
924 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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diff changeset
925 }
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diff changeset
926
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diff changeset
927
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parents:
diff changeset
928 // ===============================================================================
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diff changeset
929 // accelerator_init_MMA8452Q
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diff changeset
930 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass
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diff changeset
931 // ===============================================================================
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diff changeset
932 void accelerator_init_MMA8452Q(void)
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diff changeset
933 {
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diff changeset
934 uint8_t write_buffer[4];
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diff changeset
935 uint16_t length = 0;
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parents:
diff changeset
936 //HAL_Delay(1);
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diff changeset
937 //return;
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diff changeset
938 write_buffer[0] = 0x0E; // XYZ_DATA_CFG
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parents:
diff changeset
939 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range
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parents:
diff changeset
940 length = 2;
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parents:
diff changeset
941 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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diff changeset
942 //HAL_Delay(1);
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diff changeset
943 write_buffer[0] = 0x2A; // CTRL_REG1
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diff changeset
944 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode
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diff changeset
945 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode
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diff changeset
946 length = 3;
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diff changeset
947 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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diff changeset
948
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diff changeset
949 //HAL_Delay(1);
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diff changeset
950 //hw_delay_us(100);
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diff changeset
951 write_buffer[0] = 0x2A; // CTRL_REG1
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diff changeset
952 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode
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953 length = 2;
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954 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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diff changeset
955 /*
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diff changeset
956 HAL_Delay(6);
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diff changeset
957 compass_read();
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958 HAL_Delay(1);
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diff changeset
959 acceleration_read();
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diff changeset
960
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parents:
diff changeset
961 compass_calc();
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diff changeset
962 */
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diff changeset
963 }
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parents:
diff changeset
964
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diff changeset
965
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diff changeset
966 // ===============================================================================
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diff changeset
967 // accelerator_sleep_MMA8452Q
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parents:
diff changeset
968 /// @brief compass_sleep_HMC5883L
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diff changeset
969 // ===============================================================================
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diff changeset
970 void accelerator_sleep_MMA8452Q(void)
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diff changeset
971 {
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diff changeset
972 uint16_t length = 0;
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parents:
diff changeset
973 uint8_t write_buffer[4];
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parents:
diff changeset
974
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diff changeset
975 write_buffer[0] = 0x2A; // CTRL_REG1
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parents:
diff changeset
976 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode
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parents:
diff changeset
977 length = 2;
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diff changeset
978 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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diff changeset
979 }
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parents:
diff changeset
980
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diff changeset
981
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diff changeset
982 // ===============================================================================
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diff changeset
983 // compass_read_HMC5883L
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diff changeset
984 /// @brief The new ST 303D - get ALL data and store in static variables
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parents:
diff changeset
985 ///
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diff changeset
986 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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diff changeset
987 // ===============================================================================
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diff changeset
988 void compass_read_HMC5883L(void)
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diff changeset
989 {
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diff changeset
990 uint8_t buffer[20];
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diff changeset
991 compass_DX_f = 0;
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diff changeset
992 compass_DY_f = 0;
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diff changeset
993 compass_DZ_f = 0;
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diff changeset
994 uint8_t length = 0;
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diff changeset
995 uint8_t read_buffer[6];
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diff changeset
996 signed_tword data;
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diff changeset
997 for(int i = 0; i<6;i++)
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diff changeset
998 read_buffer[i] = 0;
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diff changeset
999 buffer[0] = 0x03; // 03 = Data Output X MSB Register
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diff changeset
1000 length = 1;
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diff changeset
1001 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length);
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diff changeset
1002 length = 6;
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diff changeset
1003 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length);
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diff changeset
1004
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diff changeset
1005
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diff changeset
1006 data.Byte.hi = read_buffer[0];
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diff changeset
1007 data.Byte.low = read_buffer[1];
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diff changeset
1008 //Y = Z
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diff changeset
1009 compass_DY_f = - data.Word;
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diff changeset
1010
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diff changeset
1011 data.Byte.hi = read_buffer[2];
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diff changeset
1012 data.Byte.low = read_buffer[3];
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diff changeset
1013 compass_DZ_f = data.Word;
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diff changeset
1014
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diff changeset
1015 data.Byte.hi = read_buffer[4];
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diff changeset
1016 data.Byte.low = read_buffer[5];
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parents:
diff changeset
1017 //X = -Y
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diff changeset
1018 compass_DX_f = data.Word;
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diff changeset
1019 }
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diff changeset
1020
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diff changeset
1021
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1022 // ===============================================================================
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diff changeset
1023 // acceleration_read_MMA8452Q
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diff changeset
1024 /// @brief The old MMA8452Q used with the Honeywell compass
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diff changeset
1025 /// get the acceleration data and store in static variables
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parents:
diff changeset
1026 ///
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diff changeset
1027 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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parents:
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1028 // ===============================================================================
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1029 void acceleration_read_MMA8452Q(void)
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parents:
diff changeset
1030 {
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parents:
diff changeset
1031 uint8_t buffer[20];
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parents:
diff changeset
1032 accel_DX_f = 0;
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parents:
diff changeset
1033 accel_DY_f = 0;
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parents:
diff changeset
1034 accel_DZ_f = 0;
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diff changeset
1035 uint8_t length = 0;
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diff changeset
1036 // bit8_Type status ;
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diff changeset
1037 uint8_t read_buffer[7];
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diff changeset
1038 signed_tword data;
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parents:
diff changeset
1039 for(int i = 0; i<6;i++)
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heinrichsweikamp
parents:
diff changeset
1040 read_buffer[i] = 0;
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heinrichsweikamp
parents:
diff changeset
1041 buffer[0] = 0x00; // 03 = Data Output X MSB Register
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parents:
diff changeset
1042 length = 1;
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parents:
diff changeset
1043 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length);
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parents:
diff changeset
1044 length = 7;
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parents:
diff changeset
1045 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1046
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parents:
diff changeset
1047 // status.uw = read_buffer[0];
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parents:
diff changeset
1048 data.Byte.hi = read_buffer[1];
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parents:
diff changeset
1049 data.Byte.low = read_buffer[2];
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parents:
diff changeset
1050 accel_DX_f =data.Word/16;
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parents:
diff changeset
1051 data.Byte.hi = read_buffer[3];
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parents:
diff changeset
1052 data.Byte.low = read_buffer[4];
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parents:
diff changeset
1053 accel_DY_f =data.Word/16;
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parents:
diff changeset
1054 data.Byte.hi = read_buffer[5];
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parents:
diff changeset
1055 data.Byte.low = read_buffer[6];
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parents:
diff changeset
1056 accel_DZ_f =data.Word/16;
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diff changeset
1057
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diff changeset
1058 accel_DX_f *= -1;
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parents:
diff changeset
1059 accel_DY_f *= -1;
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diff changeset
1060 accel_DZ_f *= -1;
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diff changeset
1061 }
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heinrichsweikamp
parents:
diff changeset
1062
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1063
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1064 // ===============================================================================
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parents:
diff changeset
1065 // compass_calc_roll_pitch_only
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parents:
diff changeset
1066 /// @brief only the roll and pitch parts of compass_calc()
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heinrichsweikamp
parents:
diff changeset
1067 ///
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heinrichsweikamp
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diff changeset
1068 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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diff changeset
1069 /// output is compass_pitch and compass_roll
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parents:
diff changeset
1070 // ===============================================================================
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parents:
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1071 void compass_calc_roll_pitch_only(void)
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parents:
diff changeset
1072 {
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parents:
diff changeset
1073 float sinPhi, cosPhi;
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diff changeset
1074 float Phi, Teta;
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diff changeset
1075
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heinrichsweikamp
parents:
diff changeset
1076 //---- Calculate sine and cosine of roll angle Phi -----------------------
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diff changeset
1077 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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diff changeset
1078 compass_roll = Phi * 180.0f /PI;
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parents:
diff changeset
1079 sinPhi = sinf(Phi);
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diff changeset
1080 cosPhi = cosf(Phi);
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diff changeset
1081
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heinrichsweikamp
parents:
diff changeset
1082 //---- calculate sin and cosine of pitch angle Theta ---------------------
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diff changeset
1083 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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diff changeset
1084 compass_pitch = Teta * 180.0f /PI;
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parents:
diff changeset
1085 }
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heinrichsweikamp
parents:
diff changeset
1086
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heinrichsweikamp
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diff changeset
1087
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parents:
diff changeset
1088 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1089 // compass_calc
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heinrichsweikamp
parents:
diff changeset
1090 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1091 ///
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diff changeset
1092 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
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parents:
diff changeset
1093 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1094 /// output is compass_heading, compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1095 // ===============================================================================
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parents:
diff changeset
1096 void compass_calc(void)
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parents:
diff changeset
1097 {
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parents:
diff changeset
1098 float sinPhi, cosPhi, sinTeta, cosTeta;
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parents:
diff changeset
1099 float Phi, Teta, Psi;
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parents:
diff changeset
1100 int16_t iBfx, iBfy;
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parents:
diff changeset
1101 int16_t iBpx, iBpy, iBpz;
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diff changeset
1102
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heinrichsweikamp
parents:
diff changeset
1103 //---- Make hard iron correction -----------------------------------------
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parents:
diff changeset
1104 // Measured magnetometer orientation, measured ok.
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heinrichsweikamp
parents:
diff changeset
1105 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation.
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diff changeset
1106 iBpx = compass_DX_f - compass_CX_f; // X
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parents:
diff changeset
1107 iBpy = compass_DY_f - compass_CY_f; // Y
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parents:
diff changeset
1108 iBpz = compass_DZ_f - compass_CZ_f; // Z
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parents:
diff changeset
1109
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heinrichsweikamp
parents:
diff changeset
1110 //---- Calculate sine and cosine of roll angle Phi -----------------------
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parents:
diff changeset
1111 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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diff changeset
1112 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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parents:
diff changeset
1113 compass_roll = Phi * 180.0f /PI;
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diff changeset
1114 sinPhi = sinf(Phi);
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diff changeset
1115 cosPhi = cosf(Phi);
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parents:
diff changeset
1116
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heinrichsweikamp
parents:
diff changeset
1117 //---- rotate by roll angle (-Phi) ---------------------------------------
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parents:
diff changeset
1118 iBfy = iBpy * cosPhi - iBpz * sinPhi;
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parents:
diff changeset
1119 iBpz = iBpy * sinPhi + iBpz * cosPhi;
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parents:
diff changeset
1120 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos);
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parents:
diff changeset
1121
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diff changeset
1122 //---- calculate sin and cosine of pitch angle Theta ---------------------
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diff changeset
1123 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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parents:
diff changeset
1124 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421
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diff changeset
1125 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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diff changeset
1126 compass_pitch = Teta * 180.0f /PI;
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diff changeset
1127 sinTeta = sinf(Teta);
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diff changeset
1128 cosTeta = cosf(Teta);
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parents:
diff changeset
1129 /* correct cosine if pitch not in range -90 to 90 degrees */
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parents:
diff changeset
1130 if( cosTeta < 0 ) cosTeta = -cosTeta;
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diff changeset
1131
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parents:
diff changeset
1132 ///---- de-rotate by pitch angle Theta -----------------------------------
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diff changeset
1133 iBfx = iBpx * cosTeta + iBpz * sinTeta;
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diff changeset
1134
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parents:
diff changeset
1135 //---- Detect uncalibrated compass ---------------------------------------
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diff changeset
1136 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f )
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parents:
diff changeset
1137 {
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diff changeset
1138 compass_heading = -1;
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parents:
diff changeset
1139 return;
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diff changeset
1140 }
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heinrichsweikamp
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diff changeset
1141
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parents:
diff changeset
1142 //---- calculate current yaw = e-compass angle Psi -----------------------
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parents:
diff changeset
1143 // Result in degree (no need of 0.01 deg precision...
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1144 Psi = atan2f(-iBfy,iBfx);
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1145 compass_heading = Psi * 180.0f /PI;
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parents:
diff changeset
1146 // Result in 0..360 range:
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parents:
diff changeset
1147 if( compass_heading < 0 )
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1148 compass_heading += 360;
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parents:
diff changeset
1149 }
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heinrichsweikamp
parents:
diff changeset
1150
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diff changeset
1151
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parents:
diff changeset
1152 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1153 // // - Calibration - ///////////////////////////////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1154 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1155
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parents:
diff changeset
1156 /* can be lost during sleep as those are reset with compass_reset_calibration() */
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parents:
diff changeset
1157
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parents:
diff changeset
1158 // ===============================================================================
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parents:
diff changeset
1159 // compass_reset_calibration
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heinrichsweikamp
parents:
diff changeset
1160 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1161 ///
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parents:
diff changeset
1162 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1163 ///
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diff changeset
1164 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1165 /// all is set to zero here
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parents:
diff changeset
1166 // ===============================================================================
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parents:
diff changeset
1167 void compass_reset_calibration(SCompassCalib *g)
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parents:
diff changeset
1168 {
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parents:
diff changeset
1169 g->compass_N = 0;
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parents:
diff changeset
1170 g->Su = g->Sv = g->Sw = 0.0;
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diff changeset
1171 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0;
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diff changeset
1172 g->Suuu = g->Svvv = g->Swww = 0.0;
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diff changeset
1173 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0;
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1174 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0;
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heinrichsweikamp
parents:
diff changeset
1175 }
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heinrichsweikamp
parents:
diff changeset
1176
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1177
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1178 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1179 // compass_add_calibration
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heinrichsweikamp
parents:
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1180 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1181 ///
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heinrichsweikamp
parents:
diff changeset
1182 /// input is compass_DX_f, compass_DY_f, compass_DZ_f
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parents:
diff changeset
1183 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1184 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1185 ///
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heinrichsweikamp
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1186 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
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1187 // ===============================================================================
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parents:
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1188 void compass_add_calibration(SCompassCalib *g)
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parents:
diff changeset
1189 {
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parents:
diff changeset
1190 float u, v, w;
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parents:
diff changeset
1191
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1192 u = (compass_DX_f - compass_CX_f) / 32768.0f;
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parents:
diff changeset
1193 v = (compass_DY_f - compass_CY_f) / 32768.0f;
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parents:
diff changeset
1194 w = (compass_DZ_f - compass_CZ_f) / 32768.0f;
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heinrichsweikamp
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diff changeset
1195
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diff changeset
1196 g->compass_N++;
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parents:
diff changeset
1197 g->Su += u;
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parents:
diff changeset
1198 g->Sv += v;
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parents:
diff changeset
1199 g->Sw += w;
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parents:
diff changeset
1200 g->Suv += u*v;
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parents:
diff changeset
1201 g->Suw += u*w;
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parents:
diff changeset
1202 g->Svw += v*w;
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parents:
diff changeset
1203 g->Suu += u*u;
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parents:
diff changeset
1204 g->Suuu += u*u*u;
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parents:
diff changeset
1205 g->Suuv += v*u*u;
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parents:
diff changeset
1206 g->Suuw += w*u*u;
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parents:
diff changeset
1207 g->Svv += v*v;
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parents:
diff changeset
1208 g->Svvv += v*v*v;
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parents:
diff changeset
1209 g->Svvu += u*v*v;
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diff changeset
1210 g->Svvw += w*v*v;
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parents:
diff changeset
1211 g->Sww += w*w;
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parents:
diff changeset
1212 g->Swww += w*w*w;
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parents:
diff changeset
1213 g->Swwu += u*w*w;
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diff changeset
1214 g->Swwv += v*w*w;
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parents:
diff changeset
1215 }
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parents:
diff changeset
1216
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heinrichsweikamp
parents:
diff changeset
1217 //////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1218
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parents:
diff changeset
1219 // ===============================================================================
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parents:
diff changeset
1220 // compass_solve_calibration
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parents:
diff changeset
1221 /// @brief all the fancy stuff first implemented in OSTC3
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parents:
diff changeset
1222 ///
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parents:
diff changeset
1223 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1224 /// output is struct g
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parents:
diff changeset
1225 ///
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parents:
diff changeset
1226 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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parents:
diff changeset
1227 // ===============================================================================
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parents:
diff changeset
1228 void compass_solve_calibration(SCompassCalib *g)
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parents:
diff changeset
1229 {
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parents:
diff changeset
1230 float yu, yv, yw;
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parents:
diff changeset
1231 float delta;
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parents:
diff changeset
1232 float uc, vc, wc;
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parents:
diff changeset
1233
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parents:
diff changeset
1234
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parents:
diff changeset
1235 //---- Normalize partial sums --------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1236 //
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parents:
diff changeset
1237 // u, v, w should be centered on the mean value um, vm, wm:
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parents:
diff changeset
1238 // x = u + um, with um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1239 //
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parents:
diff changeset
1240 // So:
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parents:
diff changeset
1241 // (u + um)**2 = u**2 + 2u*um + um**2
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parents:
diff changeset
1242 // Su = 0, um = Sx/N
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parents:
diff changeset
1243 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1244 // Suu = Sxx - Sx**2/N
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parents:
diff changeset
1245 yu = g->Su/g->compass_N;
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parents:
diff changeset
1246 yv = g->Sv/g->compass_N;
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parents:
diff changeset
1247 yw = g->Sw/g->compass_N;
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parents:
diff changeset
1248
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parents:
diff changeset
1249 g->Suu -= g->Su*yu;
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parents:
diff changeset
1250 g->Svv -= g->Sv*yv;
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parents:
diff changeset
1251 g->Sww -= g->Sw*yw;
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parents:
diff changeset
1252
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parents:
diff changeset
1253 // (u + um)(v + vm) = uv + u vm + v um + um vm
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parents:
diff changeset
1254 // Sxy = Suv + N * um vm
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parents:
diff changeset
1255 // Suv = Sxy - N * (Sx/N)(Sy/N);
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parents:
diff changeset
1256 g->Suv -= g->Su*yv;
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parents:
diff changeset
1257 g->Suw -= g->Su*yw;
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parents:
diff changeset
1258 g->Svw -= g->Sv*yw;
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parents:
diff changeset
1259
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parents:
diff changeset
1260 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3
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parents:
diff changeset
1261 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3
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parents:
diff changeset
1262 // Su = 0, um = Sx/N:
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parents:
diff changeset
1263 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3
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parents:
diff changeset
1264 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2
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parents:
diff changeset
1265
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parents:
diff changeset
1266 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm)
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parents:
diff changeset
1267 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm)
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parents:
diff changeset
1268 //
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parents:
diff changeset
1269 // Su = 0, Sv = 0, vm = Sy/N:
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heinrichsweikamp
parents:
diff changeset
1270 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm
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heinrichsweikamp
parents:
diff changeset
1271 //
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parents:
diff changeset
1272 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy
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parents:
diff changeset
1273 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N
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heinrichsweikamp
parents:
diff changeset
1274 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N
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heinrichsweikamp
parents:
diff changeset
1275 g->Suuu -= (3*g->Suu + g->Su*yu)*yu;
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diff changeset
1276 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu;
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parents:
diff changeset
1277 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu;
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parents:
diff changeset
1278
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parents:
diff changeset
1279 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv;
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parents:
diff changeset
1280 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv;
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parents:
diff changeset
1281 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv;
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parents:
diff changeset
1282
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parents:
diff changeset
1283 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw;
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parents:
diff changeset
1284 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw;
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parents:
diff changeset
1285 g->Swww -= (3*g->Sww + g->Sw*yw)*yw;
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parents:
diff changeset
1286
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parents:
diff changeset
1287 //---- Solve the system --------------------------------------------------
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parents:
diff changeset
1288 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2
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parents:
diff changeset
1289 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2
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heinrichsweikamp
parents:
diff changeset
1290 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2
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heinrichsweikamp
parents:
diff changeset
1291 // Note this is symetric, with a positiv diagonal, hence
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heinrichsweikamp
parents:
diff changeset
1292 // it always have a uniq solution.
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parents:
diff changeset
1293 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu);
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parents:
diff changeset
1294 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv);
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parents:
diff changeset
1295 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww);
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parents:
diff changeset
1296 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw)
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parents:
diff changeset
1297 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw)
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parents:
diff changeset
1298 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw);
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parents:
diff changeset
1299
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parents:
diff changeset
1300 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw)
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parents:
diff changeset
1301 - yv * (g->Suv * g->Sww - g->Svw * g->Suw)
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parents:
diff changeset
1302 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1303 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1304 - g->Suv * ( yu * g->Sww - yw * g->Suw)
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parents:
diff changeset
1305 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1306 wc = (g->Suu * (g->Svv * yw - g->Svw * yv )
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heinrichsweikamp
parents:
diff changeset
1307 - g->Suv * (g->Suv * yw - g->Svw * yu )
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heinrichsweikamp
parents:
diff changeset
1308 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta;
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heinrichsweikamp
parents:
diff changeset
1309
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parents:
diff changeset
1310 // Back to uncentered coordinates:
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parents:
diff changeset
1311 // xc = um + uc
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parents:
diff changeset
1312 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc;
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parents:
diff changeset
1313 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc;
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parents:
diff changeset
1314 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc;
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parents:
diff changeset
1315
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parents:
diff changeset
1316 // Then save the new calibrated center:
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parents:
diff changeset
1317 compass_CX_f = (short)(32768 * uc);
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parents:
diff changeset
1318 compass_CY_f = (short)(32768 * vc);
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parents:
diff changeset
1319 compass_CZ_f = (short)(32768 * wc);
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heinrichsweikamp
parents:
diff changeset
1320 }
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heinrichsweikamp
parents:
diff changeset
1321
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parents:
diff changeset
1322
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parents:
diff changeset
1323 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1324 // compass_calib
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heinrichsweikamp
parents:
diff changeset
1325 /// @brief the main loop for calibration
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heinrichsweikamp
parents:
diff changeset
1326 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1327 /// 160704 removed -4096 limit for LSM303D
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heinrichsweikamp
parents:
diff changeset
1328 ///
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heinrichsweikamp
parents:
diff changeset
1329 /// @return always 0
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parents:
diff changeset
1330 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1331 int compass_calib_common(void)
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parents:
diff changeset
1332 {
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1333 SCompassCalib g;
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1334
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heinrichsweikamp
parents:
diff changeset
1335 // Starts with no calibration at all:
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1336 compass_reset_calibration(&g);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1337 uint32_t tickstart = 0;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1338 tickstart = HAL_GetTick();
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1339 /* run calibration for one minute */
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1340 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)
38
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heinrichsweikamp
parents:
diff changeset
1341 {
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1342 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000))
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1343 {
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1344 HAL_Delay(1);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1345 }
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1346 compass_read();
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1347 acceleration_read();
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1348 compass_calc_roll_pitch_only();
38
5f11787b4f42 include in ostc4 repository
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parents:
diff changeset
1349
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1350 if((hardwareCompass == compass_generation1 ) //HMC5883L)
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1351 &&((compass_DX_f == -4096) ||
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1352 (compass_DY_f == -4096) ||
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1353 (compass_DZ_f == -4096) ))
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1354 {
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1355 if(compass_gain == 0)
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1356 return -1;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1357 compass_gain--;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1358 compass_init(1, compass_gain);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1359 compass_reset_calibration(&g);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1360 continue;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1361 }
38
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heinrichsweikamp
parents:
diff changeset
1362
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1363 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1364 compass_add_calibration(&g);
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1365 }
38
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heinrichsweikamp
parents:
diff changeset
1366
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parents:
diff changeset
1367 compass_solve_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1368
571
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1369 if((hardwareCompass != compass_generation_undef) /* if compass is not know at this point in time storing data makes no sense */
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1370 && (hardwareCompass != COMPASS_NOT_RECOGNIZED))
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1371 {
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1372 tfull32 dataBlock[4];
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1373 dataBlock[0].Word16.low16 = compass_CX_f;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1374 dataBlock[0].Word16.hi16 = compass_CY_f;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1375 dataBlock[1].Word16.low16 = compass_CZ_f;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1376 dataBlock[1].Word16.hi16 = hardwareCompass;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1377 dataBlock[2].Full32 = 0x7FFFFFFF;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1378 dataBlock[3].Word16.low16 = 0xFFFF;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1379 dataBlock[3].Word16.hi16 = BFA_calc_Block_Checksum(dataBlock);
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1380 BFA_writeDataBlock(dataBlock);
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1381 }
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1382 return 0;
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1383 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1384