annotate Small_CPU/Src/compass.c @ 474:4be72d55b09a Improve_Button_Sleep

Added error detection for reading of ADC values in sleep mode: ADC value were used for pressure calculation without making sure that the I2C operations used for reading the values were called successfully. As result a invalid pressure could be calculated causing the OSTC to wakeup or (worstcase) to enter dive mode. To avoid this the return values are now evaluated and pressure calculation is only done if I2C signaled no error during transmission
author ideenmodellierer
date Tue, 12 May 2020 22:42:52 +0200
parents f9458e979154
children 9eeab3fead8f
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1 /**
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2 ******************************************************************************
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3 * @file compass.c
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4 * @author heinrichs weikamp gmbh
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5 * @date 27-March-2014
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6 * @version V0.2.0
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7 * @since 21-April-2016
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8 * @brief for Honeywell Compass and ST LSM303D
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9 *
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10 @verbatim
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11 ==============================================================================
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12 ##### How to use #####
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13 ==============================================================================
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14 V0.1.0 09-March-2016
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15 V0.2.0 21-April-2016 Orientation fixed for LSM303D,
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16 roll and pitch added to calibration output,
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17 orientation double checked with datasheets and layout
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18 as well as with value output during calibration
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19 V0.2.1 19-May-2016 New date rate config and full-scale selection
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20
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21 @endverbatim
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22 ******************************************************************************
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23 * @attention
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24 *
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25 * <h2><center>&copy; COPYRIGHT(c) 2016 heinrichs weikamp</center></h2>
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26 *
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27 ******************************************************************************
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28 */
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29
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30 #include <math.h>
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31 #include <string.h>
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32
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33 #include "compass.h"
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34 #include "compass_LSM303D.h"
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35
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36 #include "i2c.h"
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f9b17e898a7a Resolved some minor warnings
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37 #include "spi.h"
38
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38 #include "RTE_FlashAccess.h" // to store compass_calib_data
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39
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40 #include "stm32f4xx_hal.h"
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41
410
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42 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow);
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43
38
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44 /// split byte to bits
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45 typedef struct{
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46 uint8_t bit0:1; ///< split byte to bits
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47 uint8_t bit1:1; ///< split byte to bits
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48 uint8_t bit2:1; ///< split byte to bits
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49 uint8_t bit3:1; ///< split byte to bits
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50 uint8_t bit4:1; ///< split byte to bits
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51 uint8_t bit5:1; ///< split byte to bits
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52 uint8_t bit6:1; ///< split byte to bits
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53 uint8_t bit7:1; ///< split byte to bits
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54 } ubit8_t;
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55
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56
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57 /// split byte to bits
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58 typedef union{
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59 ubit8_t ub; ///< split byte to bits
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60 uint8_t uw; ///< split byte to bits
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61 } bit8_Type;
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62
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63
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64 /// split word to 2 bytes
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65 typedef struct{
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66 uint8_t low; ///< split word to 2 bytes
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67 uint8_t hi; ///< split word to 2 bytes
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68 } two_byte;
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70
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71 /// split word to 2 bytes
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72 typedef union{
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73 two_byte Byte; ///< split word to 2 bytes
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74 uint16_t Word; ///< split word to 2 bytes
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75 } tword;
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76
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77
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78 /// split signed word to 2 bytes
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79 typedef union{
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80 two_byte Byte; ///< split signed word to 2 bytes
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81 int16_t Word; ///< split signed word to 2 bytes
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82 } signed_tword;
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83
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84
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85 /// split full32 to 2 words
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86 typedef struct{
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87 uint16_t low16; ///< split word to 2 bytes
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88 uint16_t hi16; ///< split word to 2 bytes
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89 } two_word;
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90
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91 typedef union{
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92 two_word Word16; ///< split word to 2 bytes
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93 uint32_t Full32; ///< split word to 2 bytes
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94 } tfull32;
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95
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96
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97 /// crazy compass calibration stuff
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98 typedef struct
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99 {
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100 unsigned short int compass_N;
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101 float Su, Sv, Sw;
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102 float Suu, Svv, Sww, Suv, Suw, Svw;
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103 float Suuu, Svvv, Swww;
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104 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv;
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105 } SCompassCalib;
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106
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107
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108 #define Q_PI (18000)
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109 #define Q_PIO2 (9000)
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110
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111
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112
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113 //////////////////////////////////////////////////////////////////////////////
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114 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error
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115 //
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116 #define K1 (5701) // Needs K1/2**16
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117 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV
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118 #define K3 ( 446) // Needs K3/2**80
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119
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120 const float PI = 3.14159265; ///< pi, used in compass_calc()
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121
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122 typedef short int Int16;
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123 typedef signed char Int8;
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124 typedef Int16 Angle;
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125
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126
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127 /// The (filtered) components of the magnetometer sensor
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128 int16_t compass_DX_f; ///< output from sensor
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129 int16_t compass_DY_f; ///< output from sensor
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130 int16_t compass_DZ_f; ///< output from sensor
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131
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132
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133 /// Found soft-iron calibration values, deduced from already filtered values
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134 int16_t compass_CX_f; ///< calibration value
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135 int16_t compass_CY_f; ///< calibration value
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136 int16_t compass_CZ_f; ///< calibration value
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137
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138
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139 /// The (filtered) components of the accelerometer sensor
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140 int16_t accel_DX_f; ///< output from sensor
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141 int16_t accel_DY_f; ///< output from sensor
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142 int16_t accel_DZ_f; ///< output from sensor
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143
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144
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145 /// The compass result values
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146 float compass_heading; ///< the final result calculated in compass_calc()
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147 float compass_roll; ///< the final result calculated in compass_calc()
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148 float compass_pitch; ///< the final result calculated in compass_calc()
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149
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150
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151 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration
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152
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153 uint8_t hardwareCompass = 0; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0)
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154
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155 /// LSM303D variables
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156 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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157 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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158
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159
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160 // struct accel_scale _accel_scale;
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161 unsigned _accel_range_m_s2;
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162 float _accel_range_scale;
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163 unsigned _accel_samplerate;
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164 unsigned _accel_onchip_filter_bandwith;
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165
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166 // struct mag_scale _mag_scale;
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167 unsigned _mag_range_ga;
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168 float _mag_range_scale;
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169 unsigned _mag_samplerate;
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170
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171 // default scale factors
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172 float _accel_scale_x_offset = 0.0f;
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173 float _accel_scale_x_scale = 1.0f;
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174 float _accel_scale_y_offset = 0.0f;
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175 float _accel_scale_y_scale = 1.0f;
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176 float _accel_scale_z_offset = 0.0f;
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177 float _accel_scale_z_scale = 1.0f;
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178
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179 float _mag_scale_x_offset = 0.0f;
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180 float _mag_scale_x_scale = 1.0f;
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181 float _mag_scale_y_offset = 0.0f;
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182 float _mag_scale_y_scale = 1.0f;
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183 float _mag_scale_z_offset = 0.0f;
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184 float _mag_scale_z_scale = 1.0f;
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185
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186
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187 /* External function prototypes ----------------------------------------------*/
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188
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189 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz);
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190
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191 /* Private function prototypes -----------------------------------------------*/
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192
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193 void compass_reset_calibration(SCompassCalib *g);
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194 void compass_add_calibration(SCompassCalib *g);
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195 void compass_solve_calibration(SCompassCalib *g);
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196
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197 void compass_init_HMC5883L(uint8_t fast, uint8_t gain);
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198 void compass_sleep_HMC5883L(void);
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199 void compass_read_HMC5883L(void);
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200
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201 void accelerator_init_MMA8452Q(void);
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202 void accelerator_sleep_MMA8452Q(void);
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203 void acceleration_read_MMA8452Q(void);
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204
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205 void compass_init_LSM303D(uint8_t fast, uint8_t gain);
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206 void compass_sleep_LSM303D(void);
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207 void compass_read_LSM303D(void);
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208 void acceleration_read_LSM303D(void);
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209
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210 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain);
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211 void compass_sleep_LSM303AGR(void);
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212 void compass_read_LSM303AGR(void);
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213 void acceleration_read_LSM303AGR(void);
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214
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215 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
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216 int compass_calib_common(void);
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217
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218 void compass_calc_roll_pitch_only(void);
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219
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220 void rotate_mag_3f(float *x, float *y, float *z);
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221 void rotate_accel_3f(float *x, float *y, float *z);
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222
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223
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224 /* Exported functions --------------------------------------------------------*/
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225
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226
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227 // ===============================================================================
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228 // compass_init
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229 /// @brief This might be called several times with different gain values during calibration
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230 /// On first call it figures out which hardware is integrated
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231 ///
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232 /// @param gain: 7 is max gain, compass_calib() might reduce it
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233 // ===============================================================================
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234
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235 void compass_init(uint8_t fast, uint8_t gain)
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236 {
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237
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238 // don't call again with fast, gain in calib mode etc.
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239 // if unknown
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240 if(hardwareCompass == COMPASS_NOT_RECOGNIZED)
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241 {
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242 return;
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243 }
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244
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245 // old code but without else
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246 if(hardwareCompass == 0)
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247 {
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248 uint8_t data = WHO_AM_I;
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249 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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250 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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251 if(data == WHOIAM_VALUE_LSM303D)
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252 hardwareCompass = compass_generation2; //LSM303D;
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253 data = WHO_AM_I;
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254 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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255 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1);
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256 if(data == WHOIAM_VALUE_LSM303AGR)
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257 hardwareCompass = compass_generation3; //LSM303AGR;
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258 }
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259
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260 /* No compass identified => Retry */
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261 if(hardwareCompass == 0)
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262 {
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263 uint8_t data = WHO_AM_I;
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264 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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265 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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266 if(data == WHOIAM_VALUE_LSM303D)
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267 hardwareCompass = compass_generation2; //LSM303D;
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268 data = WHO_AM_I;
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269 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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270 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1);
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271 if(data == WHOIAM_VALUE_LSM303AGR)
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272 hardwareCompass = compass_generation3; //LSM303AGR;
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273 }
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274
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275 /* Assume that a HMC5883L is equipped by default if detection still failed */
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276 if(hardwareCompass == 0)
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277 hardwareCompass = compass_generation1; //HMC5883L;
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278
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279 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT;
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280
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281 // test if both chips of the two-chip solution (gen 1) are present
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282 if(hardwareCompass == compass_generation1) // HMC5883L)
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283 {
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284 HAL_Delay(10);
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285 MX_I2C1_Init();
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286 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q
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287 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1);
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288 if(resultOfOperationHMC_MMA == HAL_OK)
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289 {
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290 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it
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291 }
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292 else
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293 {
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294 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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295 }
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296 }
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297
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298 if(hardwareCompass == compass_generation2) //LSM303D)
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299 compass_init_LSM303D(fast, gain);
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300 if(hardwareCompass == compass_generation3) //LSM303AGR)
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301 compass_init_LSM303AGR(fast, gain);
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302 if(hardwareCompass == compass_generation1) //HMC5883L)
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303 compass_init_HMC5883L(fast, gain);
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304
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305 tfull32 dataBlock[4];
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306 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK)
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307 {
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308 compass_CX_f = dataBlock[0].Word16.low16;
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309 compass_CY_f = dataBlock[0].Word16.hi16;
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310 compass_CZ_f = dataBlock[1].Word16.low16;
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311 }
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312
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313 }
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314
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315
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316 // ===============================================================================
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317 // compass_calib
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318 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D
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319 // ===============================================================================
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320 int compass_calib(void)
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321 {
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322 if(hardwareCompass == compass_generation2) //LSM303D)
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323 {
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324 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773);
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325 int out = compass_calib_common();
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326 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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327 return out;
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328 }
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329 else
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330 if(hardwareCompass == compass_generation1) //HMC5883L)
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331 {
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332 return compass_calib_common();
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333 }
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334 else
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335 if(hardwareCompass == compass_generation3) //LSM303AGR)
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336 {
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337 return compass_calib_common();
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338 }
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339 else
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340 {
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341 return 0; // standard answer of compass_calib_common();
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342 }
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343
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344
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345 }
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346
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347
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348 // ===============================================================================
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349 // compass_sleep
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350 /// @brief low power mode
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351 // ===============================================================================
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352 void compass_sleep(void)
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353 {
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354 if(hardwareCompass == compass_generation2) //LSM303D)
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355 {
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356 compass_sleep_LSM303D();
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357 }
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358 else
357
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359 if(hardwareCompass == compass_generation1) //HMC5883L)
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360 {
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361 compass_sleep_HMC5883L();
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362 }
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363 }
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364
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365
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366 // ===============================================================================
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367 // compass_read
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368 /// @brief reads magnetometer and accelerometer for LSM303D,
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369 /// otherwise magnetometer only
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370 // ===============================================================================
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371 void compass_read(void)
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372 {
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373 if(hardwareCompass == compass_generation2) //LSM303D)
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374 compass_read_LSM303D();
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375 if(hardwareCompass == compass_generation1) //HMC5883L)
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376 compass_read_HMC5883L();
357
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377 if(hardwareCompass == compass_generation3) //LSM303AGR)
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378 compass_read_LSM303AGR();
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379
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380 }
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381
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382
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383 // ===============================================================================
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384 // accelerator_init
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385 /// @brief empty for for LSM303D
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386 // ===============================================================================
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387 void accelerator_init(void)
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388 {
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389 if(hardwareCompass == compass_generation1) //HMC5883L)
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390 accelerator_init_MMA8452Q();
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391 }
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392
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393
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394 // ===============================================================================
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395 // accelerator_sleep
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396 /// @brief empty for for LSM303D
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397 // ===============================================================================
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398 void accelerator_sleep(void)
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399 {
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400 if(hardwareCompass == compass_generation1) //HMC5883L)
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401 accelerator_sleep_MMA8452Q();
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402 }
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403
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404
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405 // ===============================================================================
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406 // acceleration_read
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407 /// @brief empty for for LSM303D
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408 // ===============================================================================
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409 void acceleration_read(void)
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410 {
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411 if(hardwareCompass == compass_generation2) //LSM303D)
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412 acceleration_read_LSM303D();
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413 if(hardwareCompass == compass_generation1) //HMC5883L)
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414 acceleration_read_MMA8452Q();
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415 if(hardwareCompass == compass_generation3) //LSM303AGR)
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416 acceleration_read_LSM303AGR();
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417 }
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418
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419
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420 /* Private functions ---------------------------------------------------------*/
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421
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422 // ===============================================================================
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423 // LSM303AGR_read_reg
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424 // ===============================================================================
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425 uint8_t LSM303AGR_read_reg(uint8_t addr)
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426 {
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427 uint8_t data;
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428
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429 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1);
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430 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1);
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431 return data;
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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_reg
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437 // ===============================================================================
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438 void LSM303AGR_write_reg(uint8_t addr, uint8_t value)
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439 {
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440 uint8_t data[2];
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441
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442 data[0] = addr;
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443 data[1] = value;
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444 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2);
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445 }
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446
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447 // ===============================================================================
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448 // LSM303AGR_acc_write_reg
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449 // ===============================================================================
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450 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value)
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451 {
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452 uint8_t data[2];
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453
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454 data[0] = addr;
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455 data[1] = value;
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456 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2);
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457 }
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458
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459
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460 // ===============================================================================
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461 // LSM303AGR_write_checked_reg
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462 // ===============================================================================
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463 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value)
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464 {
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465 LSM303AGR_write_reg(addr, value);
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466 }
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467
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468 // ===============================================================================
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469 // LSM303AGR_acc_write_checked_reg
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470 // ===============================================================================
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471 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value)
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472 {
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473 LSM303AGR_acc_write_reg(addr, value);
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474 }
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475
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476 // ===============================================================================
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477 // LSM303D_read_reg
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478 // ===============================================================================
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479 uint8_t LSM303D_read_reg(uint8_t addr)
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480 {
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481 uint8_t data;
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482
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483 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1);
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484 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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485 return data;
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486 }
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487
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488
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489 // ===============================================================================
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490 // LSM303D_write_reg
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491 // ===============================================================================
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492 void LSM303D_write_reg(uint8_t addr, uint8_t value)
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493 {
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494 uint8_t data[2];
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495
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496 /* enable accel*/
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497 data[0] = addr;
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498 data[1] = value;
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499 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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500 }
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501
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502
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503 // ===============================================================================
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504 // LSM303D_write_checked_reg
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505 // ===============================================================================
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506 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value)
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507 {
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508 LSM303D_write_reg(addr, value);
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509 }
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510
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511
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512 // ===============================================================================
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513 // LSM303D_modify_reg
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514 // ===============================================================================
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515 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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516 {
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517 uint8_t val;
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518
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519 val = LSM303D_read_reg(reg);
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520 val &= ~clearbits;
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521 val |= setbits;
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522 LSM303D_write_checked_reg(reg, val);
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523 }
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524
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525 // ===============================================================================
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526 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth
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527 // ===============================================================================
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528 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
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529 {
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530 uint8_t setbits = 0;
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531 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
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532
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533 if (bandwidth == 0) {
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534 bandwidth = 773;
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535 }
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536
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537 if (bandwidth <= 50) {
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538 setbits |= REG2_AA_FILTER_BW_50HZ_A;
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539 _accel_onchip_filter_bandwith = 50;
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540
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541 } else if (bandwidth <= 194) {
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542 setbits |= REG2_AA_FILTER_BW_194HZ_A;
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543 _accel_onchip_filter_bandwith = 194;
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544
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545 } else if (bandwidth <= 362) {
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546 setbits |= REG2_AA_FILTER_BW_362HZ_A;
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547 _accel_onchip_filter_bandwith = 362;
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548
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549 } else if (bandwidth <= 773) {
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550 setbits |= REG2_AA_FILTER_BW_773HZ_A;
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551 _accel_onchip_filter_bandwith = 773;
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552
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553 } else {
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554 return -1;
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555 }
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556
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557 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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558
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559 return 0;
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560 }
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561
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562
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563 // ===============================================================================
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564 // LSM303D_accel_set_driver_lowpass_filter
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565 // ===============================================================================
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566 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
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567 {
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568 /*
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569 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth);
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570 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth);
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571 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth);
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572 */
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573 return 0;
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574 }
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575
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576
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577 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt
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578 // ===============================================================================
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579 // rotate_mag_3f
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580 /// @brief swap axis in convient way, by hw
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581 /// @param *x raw input is set to *y input
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582 /// @param *y raw input is set to -*x input
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583 /// @param *z raw is not touched
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584 // ===============================================================================
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585 void rotate_mag_3f(float *x, float *y, float *z)
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586 {
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587 return;
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588 /*
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589 *x = *x; // HMC: *x = -*y
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590 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y
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591 *z = *z; // HMC: *z = *z
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592 */
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593 }
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594
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595
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596 // ===============================================================================
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597 // rotate_accel_3f
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598 /// @brief swap axis in convient way, by hw, same as MMA8452Q
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599 /// @param *x raw input, output is with sign change
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600 /// @param *y raw input, output is with sign change
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601 /// @param *z raw input, output is with sign change
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602 // ===============================================================================
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603 void rotate_accel_3f(float *x, float *y, float *z)
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604 {
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605 *x = -*x;
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606 *y = -*y;
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607 *z = -*z;
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608 /* tested:
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609 x = x, y =-y, z=-z: does not work with roll
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610 x = x, y =y, z=-z: does not work with pitch
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611 x = x, y =y, z=z: does not work at all
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612 */
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613 }
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614
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615
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616 // ===============================================================================
357
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617 // compass_init_LSM303D
38
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618 /// This might be called several times with different gain values during calibration
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619 /// but gain change is not supported at the moment.
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620 ///
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621 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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622 // ===============================================================================
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623
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624 //uint8_t testCompassLS303D[11];
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625
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626 void compass_init_LSM303D(uint8_t fast, uint8_t gain)
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627 {
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628 if(fast == 0)
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629 {
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630 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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631 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2
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632 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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633 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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634 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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635 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4
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636 }
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637 else
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638 {
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639 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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640 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
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641 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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642 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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643 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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644 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz
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645 }
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646 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
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647 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
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648
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649 return;
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650 }
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651
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652
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653 // ===============================================================================
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654 // compass_sleep_LSM303D
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655 // @brief Gen 2 chip
38
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656 // ===============================================================================
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657 void compass_sleep_LSM303D(void)
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658 {
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659 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode
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660 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode
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661 }
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662
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663
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664 // ===============================================================================
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665 // acceleration_read_LSM303D
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666 // output is accel_DX_f, accel_DY_f, accel_DZ_f
38
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667 // ===============================================================================
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668 void acceleration_read_LSM303D(void)
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669 {
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670 uint8_t data;
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671 float xraw_f, yraw_f, zraw_f;
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672 float accel_report_x, accel_report_y, accel_report_z;
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673
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674 memset(accDataBuffer,0,6);
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675
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676 accel_DX_f = 0;
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677 accel_DY_f = 0;
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678 accel_DZ_f = 0;
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679
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680 for(int i=0;i<6;i++)
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681 {
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682 data = ADDR_OUT_X_L_A + i;
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683 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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684 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1);
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685 }
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686
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687 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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688 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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689 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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690
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691 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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692
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693 // mh
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694 accel_report_x = xraw_f;
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695 accel_report_y = yraw_f;
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696 accel_report_z = zraw_f;
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697
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698 accel_DX_f = ((int16_t)(accel_report_x));
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699 accel_DY_f = ((int16_t)(accel_report_y));
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700 accel_DZ_f = ((int16_t)(accel_report_z));
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701 }
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702
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703
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704 // ===============================================================================
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705 // compass_read_LSM303D
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706 ///
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707 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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708 // ===============================================================================
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709 void compass_read_LSM303D(void)
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710 {
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711 uint8_t data;
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712 // float xraw_f, yraw_f, zraw_f;
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713 // float mag_report_x, mag_report_y, mag_report_z;
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714
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715 memset(magDataBuffer,0,6);
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716
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717 compass_DX_f = 0;
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718 compass_DY_f = 0;
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719 compass_DZ_f = 0;
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720
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721 for(int i=0;i<6;i++)
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722 {
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723 data = ADDR_OUT_X_L_M + i;
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724 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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725 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
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726 }
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727
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728 // mh 160620 flip x and y if flip display
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729 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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730 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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731 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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732 // no rotation
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733 return;
357
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734 }
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735
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736
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737 // ===============================================================================
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738 // compass_init_LSM303AGR
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739 /// This might be called several times with different gain values during calibration
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740 /// but gain change is not supported at the moment.
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741 ///
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742 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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743 // ===============================================================================
38
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744
357
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745 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain)
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746 {
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747 if(fast == 0)
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748 {
358
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749 // init compass
357
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750 LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz
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751 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M
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752 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M
358
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753 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M
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754
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755 // init accel (Same chip, but different address...)
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756 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
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757 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON)
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758 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A
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759 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A
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760 LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled
357
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761 }
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762 else
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763 {
358
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764 // init compass
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765 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz
357
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766 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M
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767 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M
358
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768 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M
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769
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770 // init accel (Same chip, but different address...)
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771 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
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772 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON)
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773 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A
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774 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A
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775 LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled
357
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776 }
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777
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778 return;
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779 }
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780
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781
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782 // ===============================================================================
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783 // compass_sleep_LSM303D
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784 // @brief Gen 2 chip
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785 // ===============================================================================
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786 void compass_sleep_LSM303AGR(void)
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787 {
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788 LSM303AGR_write_checked_reg(0x60, 0x03); //
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789 LSM303AGR_write_checked_reg(0x61, 0x04); //
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790 LSM303AGR_write_checked_reg(0x62, 0x51); //
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791 LSM303AGR_write_checked_reg(0x63, 0x00); //
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792
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793
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794 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); //
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795 LSM303AGR_acc_write_checked_reg(0x20, 0x00); //
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796 }
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797
38
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798
357
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799 // ===============================================================================
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800 // acceleration_read_LSM303AGR
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801 // output is accel_DX_f, accel_DY_f, accel_DZ_f
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802 // ===============================================================================
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803 void acceleration_read_LSM303AGR(void)
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804 {
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805 uint8_t data;
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806 float xraw_f, yraw_f, zraw_f;
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807 float accel_report_x, accel_report_y, accel_report_z;
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808
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809 memset(accDataBuffer,0,6);
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810
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811 accel_DX_f = 0;
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812 accel_DY_f = 0;
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813 accel_DZ_f = 0;
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814
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815 for(int i=0;i<6;i++)
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816 {
358
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817 data = 0x28 + i; // OUT_X_L_A
357
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818 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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819 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1);
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820 }
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821
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822 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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823 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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824 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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825
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826 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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827
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828 // mh
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829 accel_report_x = xraw_f;
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830 accel_report_y = yraw_f;
358
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831 accel_report_z = -zraw_f; // flip Z in gen 2 hardware
357
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832
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833 accel_DX_f = ((int16_t)(accel_report_x));
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834 accel_DY_f = ((int16_t)(accel_report_y));
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835 accel_DZ_f = ((int16_t)(accel_report_z));
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836 }
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837
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838
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839 // ===============================================================================
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840 // compass_read_LSM303AGR
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841 ///
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842 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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843 // ===============================================================================
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844 void compass_read_LSM303AGR(void)
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845 {
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846 uint8_t data;
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847 // float xraw_f, yraw_f, zraw_f;
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848 // float mag_report_x, mag_report_y, mag_report_z;
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849
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850 memset(magDataBuffer,0,6);
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851
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852 compass_DX_f = 0;
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853 compass_DY_f = 0;
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854 compass_DZ_f = 0;
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855
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856 for(int i=0;i<6;i++)
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857 {
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858 data = 0x68 + i; // OUTX_L_REG_M
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859 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1);
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860 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1);
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861 }
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862
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863 // mh 160620 flip x and y if flip display
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864 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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865 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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866 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
358
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867
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868 // align axis in gen 2 hardware
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869 compass_DZ_f *= -1;
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870
357
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871 return;
38
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872 }
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873
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874
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875 // --------------------------------------------------------------------------------
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876 // ----------EARLIER COMPONENTS ---------------------------------------------------
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877 // --------------------------------------------------------------------------------
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878
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879 // ===============================================================================
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880 // compass_init_HMC5883L
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881 /// @brief The horrible Honeywell compass chip
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882 /// This might be called several times during calibration
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883 ///
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884 /// @param fast: 1 is fast mode, 0 is normal mode
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885 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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886 // ===============================================================================
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887 void compass_init_HMC5883L(uint8_t fast, uint8_t gain)
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888 {
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889 uint8_t write_buffer[4];
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890
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891 compass_gain = gain;
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892 uint16_t length = 0;
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893 write_buffer[0] = 0x00; // 00 = config Register A
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894
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895 if( fast )
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896 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged
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897 else
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898 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged
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899
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900 switch(gain)
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901 {
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902 case 7:
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903 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain
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904 break;
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905 case 6:
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906 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain
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907 break;
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908 case 5:
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909 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain
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910 break;
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911 case 4:
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912 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain
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913 break;
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914 case 3:
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915 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain
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916 break;
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917 case 2:
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918 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain
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919 break;
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920 case 1:
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921 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain
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922 break;
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923 case 0:
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924 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain
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925 break;
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926 }
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927 write_buffer[3] = 0x00; // Mode: continuous mode
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928 length = 4;
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929 //hmc_twi_write(0);
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930 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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931 }
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932
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933
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934
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935 // ===============================================================================
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936 // compass_sleep_HMC5883L
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937 /// @brief Power-down mode for Honeywell compass chip
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938 // ===============================================================================
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939 void compass_sleep_HMC5883L(void)
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940 {
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941 uint8_t write_buffer[4];
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942 uint16_t length = 0;
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943
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944 write_buffer[0] = 0x00; // 00 = config Register A
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945 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA
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946 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB
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947 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode
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948 length = 4;
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949 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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950 }
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951
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952
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953 // ===============================================================================
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954 // accelerator_init_MMA8452Q
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955 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass
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956 // ===============================================================================
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957 void accelerator_init_MMA8452Q(void)
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958 {
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959 uint8_t write_buffer[4];
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960 uint16_t length = 0;
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961 //HAL_Delay(1);
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962 //return;
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963 write_buffer[0] = 0x0E; // XYZ_DATA_CFG
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964 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range
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965 length = 2;
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966 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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967 //HAL_Delay(1);
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968 write_buffer[0] = 0x2A; // CTRL_REG1
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969 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode
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970 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode
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971 length = 3;
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972 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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973
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974 //HAL_Delay(1);
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975 //hw_delay_us(100);
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976 write_buffer[0] = 0x2A; // CTRL_REG1
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977 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode
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978 length = 2;
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979 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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980 /*
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981 HAL_Delay(6);
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982 compass_read();
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983 HAL_Delay(1);
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984 acceleration_read();
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985
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986 compass_calc();
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987 */
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988 }
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989
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990
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991 // ===============================================================================
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992 // accelerator_sleep_MMA8452Q
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993 /// @brief compass_sleep_HMC5883L
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994 // ===============================================================================
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995 void accelerator_sleep_MMA8452Q(void)
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996 {
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997 uint16_t length = 0;
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998 uint8_t write_buffer[4];
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999
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1000 write_buffer[0] = 0x2A; // CTRL_REG1
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1001 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode
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1002 length = 2;
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1003 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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1004 }
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1005
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1006
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1007 // ===============================================================================
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1008 // compass_read_HMC5883L
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1009 /// @brief The new ST 303D - get ALL data and store in static variables
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1010 ///
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1011 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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1012 // ===============================================================================
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1013 void compass_read_HMC5883L(void)
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1014 {
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1015 uint8_t buffer[20];
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1016 compass_DX_f = 0;
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1017 compass_DY_f = 0;
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1018 compass_DZ_f = 0;
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1019 uint8_t length = 0;
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1020 uint8_t read_buffer[6];
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1021 signed_tword data;
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1022 for(int i = 0; i<6;i++)
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1023 read_buffer[i] = 0;
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1024 buffer[0] = 0x03; // 03 = Data Output X MSB Register
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1025 length = 1;
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1026 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length);
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1027 length = 6;
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1028 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length);
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1029
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1030
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1031 data.Byte.hi = read_buffer[0];
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1032 data.Byte.low = read_buffer[1];
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1033 //Y = Z
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1034 compass_DY_f = - data.Word;
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1035
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1036 data.Byte.hi = read_buffer[2];
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1037 data.Byte.low = read_buffer[3];
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1038 compass_DZ_f = data.Word;
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1039
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1040 data.Byte.hi = read_buffer[4];
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1041 data.Byte.low = read_buffer[5];
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1042 //X = -Y
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1043 compass_DX_f = data.Word;
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1044 }
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1045
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1046
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1047 // ===============================================================================
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1048 // acceleration_read_MMA8452Q
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1049 /// @brief The old MMA8452Q used with the Honeywell compass
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1050 /// get the acceleration data and store in static variables
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1051 ///
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1052 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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1053 // ===============================================================================
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1054 void acceleration_read_MMA8452Q(void)
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1055 {
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1056 uint8_t buffer[20];
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1057 accel_DX_f = 0;
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diff changeset
1058 accel_DY_f = 0;
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parents:
diff changeset
1059 accel_DZ_f = 0;
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parents:
diff changeset
1060 uint8_t length = 0;
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parents:
diff changeset
1061 // bit8_Type status ;
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parents:
diff changeset
1062 uint8_t read_buffer[7];
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parents:
diff changeset
1063 signed_tword data;
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parents:
diff changeset
1064 for(int i = 0; i<6;i++)
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parents:
diff changeset
1065 read_buffer[i] = 0;
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parents:
diff changeset
1066 buffer[0] = 0x00; // 03 = Data Output X MSB Register
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parents:
diff changeset
1067 length = 1;
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diff changeset
1068 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length);
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diff changeset
1069 length = 7;
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diff changeset
1070 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length);
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diff changeset
1071
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diff changeset
1072 // status.uw = read_buffer[0];
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diff changeset
1073 data.Byte.hi = read_buffer[1];
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parents:
diff changeset
1074 data.Byte.low = read_buffer[2];
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diff changeset
1075 accel_DX_f =data.Word/16;
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parents:
diff changeset
1076 data.Byte.hi = read_buffer[3];
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diff changeset
1077 data.Byte.low = read_buffer[4];
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diff changeset
1078 accel_DY_f =data.Word/16;
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diff changeset
1079 data.Byte.hi = read_buffer[5];
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diff changeset
1080 data.Byte.low = read_buffer[6];
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diff changeset
1081 accel_DZ_f =data.Word/16;
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1082
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diff changeset
1083 accel_DX_f *= -1;
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diff changeset
1084 accel_DY_f *= -1;
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diff changeset
1085 accel_DZ_f *= -1;
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diff changeset
1086 }
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diff changeset
1087
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1088
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1089 // ===============================================================================
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diff changeset
1090 // compass_calc_roll_pitch_only
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diff changeset
1091 /// @brief only the roll and pitch parts of compass_calc()
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diff changeset
1092 ///
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1093 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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1094 /// output is compass_pitch and compass_roll
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1095 // ===============================================================================
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1096 void compass_calc_roll_pitch_only(void)
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diff changeset
1097 {
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diff changeset
1098 float sinPhi, cosPhi;
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diff changeset
1099 float Phi, Teta;
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1100
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1101 //---- Calculate sine and cosine of roll angle Phi -----------------------
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1102 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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diff changeset
1103 compass_roll = Phi * 180.0f /PI;
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diff changeset
1104 sinPhi = sinf(Phi);
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diff changeset
1105 cosPhi = cosf(Phi);
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diff changeset
1106
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diff changeset
1107 //---- calculate sin and cosine of pitch angle Theta ---------------------
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diff changeset
1108 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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diff changeset
1109 compass_pitch = Teta * 180.0f /PI;
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diff changeset
1110 }
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diff changeset
1111
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diff changeset
1112
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1113 // ===============================================================================
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parents:
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1114 // compass_calc
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heinrichsweikamp
parents:
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1115 /// @brief all the fancy stuff first implemented in OSTC3
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parents:
diff changeset
1116 ///
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diff changeset
1117 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
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1118 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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1119 /// output is compass_heading, compass_pitch and compass_roll
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diff changeset
1120 // ===============================================================================
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diff changeset
1121 void compass_calc(void)
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1122 {
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diff changeset
1123 float sinPhi, cosPhi, sinTeta, cosTeta;
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1124 float Phi, Teta, Psi;
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diff changeset
1125 int16_t iBfx, iBfy;
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diff changeset
1126 int16_t iBpx, iBpy, iBpz;
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diff changeset
1127
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parents:
diff changeset
1128 //---- Make hard iron correction -----------------------------------------
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parents:
diff changeset
1129 // Measured magnetometer orientation, measured ok.
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parents:
diff changeset
1130 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation.
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diff changeset
1131 iBpx = compass_DX_f - compass_CX_f; // X
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diff changeset
1132 iBpy = compass_DY_f - compass_CY_f; // Y
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diff changeset
1133 iBpz = compass_DZ_f - compass_CZ_f; // Z
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diff changeset
1134
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parents:
diff changeset
1135 //---- Calculate sine and cosine of roll angle Phi -----------------------
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1136 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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diff changeset
1137 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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diff changeset
1138 compass_roll = Phi * 180.0f /PI;
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diff changeset
1139 sinPhi = sinf(Phi);
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diff changeset
1140 cosPhi = cosf(Phi);
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parents:
diff changeset
1141
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parents:
diff changeset
1142 //---- rotate by roll angle (-Phi) ---------------------------------------
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diff changeset
1143 iBfy = iBpy * cosPhi - iBpz * sinPhi;
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diff changeset
1144 iBpz = iBpy * sinPhi + iBpz * cosPhi;
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parents:
diff changeset
1145 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos);
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parents:
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1146
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1147 //---- calculate sin and cosine of pitch angle Theta ---------------------
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diff changeset
1148 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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parents:
diff changeset
1149 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421
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diff changeset
1150 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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diff changeset
1151 compass_pitch = Teta * 180.0f /PI;
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diff changeset
1152 sinTeta = sinf(Teta);
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diff changeset
1153 cosTeta = cosf(Teta);
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parents:
diff changeset
1154 /* correct cosine if pitch not in range -90 to 90 degrees */
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diff changeset
1155 if( cosTeta < 0 ) cosTeta = -cosTeta;
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diff changeset
1156
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parents:
diff changeset
1157 ///---- de-rotate by pitch angle Theta -----------------------------------
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diff changeset
1158 iBfx = iBpx * cosTeta + iBpz * sinTeta;
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diff changeset
1159
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parents:
diff changeset
1160 //---- Detect uncalibrated compass ---------------------------------------
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diff changeset
1161 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f )
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parents:
diff changeset
1162 {
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diff changeset
1163 compass_heading = -1;
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parents:
diff changeset
1164 return;
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diff changeset
1165 }
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heinrichsweikamp
parents:
diff changeset
1166
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parents:
diff changeset
1167 //---- calculate current yaw = e-compass angle Psi -----------------------
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parents:
diff changeset
1168 // Result in degree (no need of 0.01 deg precision...
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diff changeset
1169 Psi = atan2f(-iBfy,iBfx);
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diff changeset
1170 compass_heading = Psi * 180.0f /PI;
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parents:
diff changeset
1171 // Result in 0..360 range:
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heinrichsweikamp
parents:
diff changeset
1172 if( compass_heading < 0 )
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diff changeset
1173 compass_heading += 360;
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parents:
diff changeset
1174 }
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parents:
diff changeset
1175
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diff changeset
1176
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1177 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1178 // // - Calibration - ///////////////////////////////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1179 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1180
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parents:
diff changeset
1181 /* can be lost during sleep as those are reset with compass_reset_calibration() */
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diff changeset
1182
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parents:
diff changeset
1183 // ===============================================================================
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parents:
diff changeset
1184 // compass_reset_calibration
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heinrichsweikamp
parents:
diff changeset
1185 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1186 ///
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diff changeset
1187 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1188 ///
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diff changeset
1189 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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diff changeset
1190 /// all is set to zero here
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1191 // ===============================================================================
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1192 void compass_reset_calibration(SCompassCalib *g)
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parents:
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1193 {
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parents:
diff changeset
1194 g->compass_N = 0;
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parents:
diff changeset
1195 g->Su = g->Sv = g->Sw = 0.0;
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diff changeset
1196 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0;
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parents:
diff changeset
1197 g->Suuu = g->Svvv = g->Swww = 0.0;
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diff changeset
1198 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0;
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1199 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0;
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1200 }
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1201
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1202
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1203 // ===============================================================================
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parents:
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1204 // compass_add_calibration
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heinrichsweikamp
parents:
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1205 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1206 ///
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heinrichsweikamp
parents:
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1207 /// input is compass_DX_f, compass_DY_f, compass_DZ_f
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1208 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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1209 /// output is struct g
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heinrichsweikamp
parents:
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1210 ///
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1211 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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parents:
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1212 // ===============================================================================
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1213 void compass_add_calibration(SCompassCalib *g)
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parents:
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1214 {
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parents:
diff changeset
1215 float u, v, w;
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diff changeset
1216
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1217 u = (compass_DX_f - compass_CX_f) / 32768.0f;
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parents:
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1218 v = (compass_DY_f - compass_CY_f) / 32768.0f;
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1219 w = (compass_DZ_f - compass_CZ_f) / 32768.0f;
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diff changeset
1220
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1221 g->compass_N++;
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parents:
diff changeset
1222 g->Su += u;
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diff changeset
1223 g->Sv += v;
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parents:
diff changeset
1224 g->Sw += w;
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heinrichsweikamp
parents:
diff changeset
1225 g->Suv += u*v;
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heinrichsweikamp
parents:
diff changeset
1226 g->Suw += u*w;
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parents:
diff changeset
1227 g->Svw += v*w;
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heinrichsweikamp
parents:
diff changeset
1228 g->Suu += u*u;
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heinrichsweikamp
parents:
diff changeset
1229 g->Suuu += u*u*u;
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heinrichsweikamp
parents:
diff changeset
1230 g->Suuv += v*u*u;
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heinrichsweikamp
parents:
diff changeset
1231 g->Suuw += w*u*u;
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heinrichsweikamp
parents:
diff changeset
1232 g->Svv += v*v;
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heinrichsweikamp
parents:
diff changeset
1233 g->Svvv += v*v*v;
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parents:
diff changeset
1234 g->Svvu += u*v*v;
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parents:
diff changeset
1235 g->Svvw += w*v*v;
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heinrichsweikamp
parents:
diff changeset
1236 g->Sww += w*w;
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heinrichsweikamp
parents:
diff changeset
1237 g->Swww += w*w*w;
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heinrichsweikamp
parents:
diff changeset
1238 g->Swwu += u*w*w;
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heinrichsweikamp
parents:
diff changeset
1239 g->Swwv += v*w*w;
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heinrichsweikamp
parents:
diff changeset
1240 }
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heinrichsweikamp
parents:
diff changeset
1241
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heinrichsweikamp
parents:
diff changeset
1242 //////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1243
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heinrichsweikamp
parents:
diff changeset
1244 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1245 // compass_solve_calibration
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heinrichsweikamp
parents:
diff changeset
1246 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1247 ///
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heinrichsweikamp
parents:
diff changeset
1248 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1249 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1250 ///
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heinrichsweikamp
parents:
diff changeset
1251 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1252 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1253 void compass_solve_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1254 {
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parents:
diff changeset
1255 float yu, yv, yw;
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heinrichsweikamp
parents:
diff changeset
1256 float delta;
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heinrichsweikamp
parents:
diff changeset
1257 float uc, vc, wc;
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heinrichsweikamp
parents:
diff changeset
1258
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heinrichsweikamp
parents:
diff changeset
1259
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heinrichsweikamp
parents:
diff changeset
1260 //---- Normalize partial sums --------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1261 //
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heinrichsweikamp
parents:
diff changeset
1262 // u, v, w should be centered on the mean value um, vm, wm:
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heinrichsweikamp
parents:
diff changeset
1263 // x = u + um, with um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1264 //
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heinrichsweikamp
parents:
diff changeset
1265 // So:
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heinrichsweikamp
parents:
diff changeset
1266 // (u + um)**2 = u**2 + 2u*um + um**2
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heinrichsweikamp
parents:
diff changeset
1267 // Su = 0, um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1268 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1269 // Suu = Sxx - Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1270 yu = g->Su/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1271 yv = g->Sv/g->compass_N;
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parents:
diff changeset
1272 yw = g->Sw/g->compass_N;
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parents:
diff changeset
1273
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parents:
diff changeset
1274 g->Suu -= g->Su*yu;
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heinrichsweikamp
parents:
diff changeset
1275 g->Svv -= g->Sv*yv;
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heinrichsweikamp
parents:
diff changeset
1276 g->Sww -= g->Sw*yw;
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parents:
diff changeset
1277
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heinrichsweikamp
parents:
diff changeset
1278 // (u + um)(v + vm) = uv + u vm + v um + um vm
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heinrichsweikamp
parents:
diff changeset
1279 // Sxy = Suv + N * um vm
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heinrichsweikamp
parents:
diff changeset
1280 // Suv = Sxy - N * (Sx/N)(Sy/N);
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heinrichsweikamp
parents:
diff changeset
1281 g->Suv -= g->Su*yv;
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heinrichsweikamp
parents:
diff changeset
1282 g->Suw -= g->Su*yw;
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heinrichsweikamp
parents:
diff changeset
1283 g->Svw -= g->Sv*yw;
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parents:
diff changeset
1284
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heinrichsweikamp
parents:
diff changeset
1285 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3
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heinrichsweikamp
parents:
diff changeset
1286 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3
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heinrichsweikamp
parents:
diff changeset
1287 // Su = 0, um = Sx/N:
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heinrichsweikamp
parents:
diff changeset
1288 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3
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heinrichsweikamp
parents:
diff changeset
1289 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2
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heinrichsweikamp
parents:
diff changeset
1290
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heinrichsweikamp
parents:
diff changeset
1291 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm)
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heinrichsweikamp
parents:
diff changeset
1292 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm)
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heinrichsweikamp
parents:
diff changeset
1293 //
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heinrichsweikamp
parents:
diff changeset
1294 // Su = 0, Sv = 0, vm = Sy/N:
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heinrichsweikamp
parents:
diff changeset
1295 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm
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heinrichsweikamp
parents:
diff changeset
1296 //
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heinrichsweikamp
parents:
diff changeset
1297 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy
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heinrichsweikamp
parents:
diff changeset
1298 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N
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heinrichsweikamp
parents:
diff changeset
1299 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1300 g->Suuu -= (3*g->Suu + g->Su*yu)*yu;
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parents:
diff changeset
1301 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu;
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heinrichsweikamp
parents:
diff changeset
1302 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu;
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heinrichsweikamp
parents:
diff changeset
1303
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parents:
diff changeset
1304 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv;
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heinrichsweikamp
parents:
diff changeset
1305 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv;
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heinrichsweikamp
parents:
diff changeset
1306 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv;
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heinrichsweikamp
parents:
diff changeset
1307
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parents:
diff changeset
1308 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw;
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heinrichsweikamp
parents:
diff changeset
1309 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw;
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heinrichsweikamp
parents:
diff changeset
1310 g->Swww -= (3*g->Sww + g->Sw*yw)*yw;
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heinrichsweikamp
parents:
diff changeset
1311
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heinrichsweikamp
parents:
diff changeset
1312 //---- Solve the system --------------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1313 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2
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heinrichsweikamp
parents:
diff changeset
1314 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2
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heinrichsweikamp
parents:
diff changeset
1315 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2
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heinrichsweikamp
parents:
diff changeset
1316 // Note this is symetric, with a positiv diagonal, hence
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heinrichsweikamp
parents:
diff changeset
1317 // it always have a uniq solution.
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heinrichsweikamp
parents:
diff changeset
1318 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu);
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heinrichsweikamp
parents:
diff changeset
1319 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv);
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heinrichsweikamp
parents:
diff changeset
1320 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww);
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heinrichsweikamp
parents:
diff changeset
1321 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1322 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1323 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw);
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heinrichsweikamp
parents:
diff changeset
1324
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heinrichsweikamp
parents:
diff changeset
1325 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1326 - yv * (g->Suv * g->Sww - g->Svw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1327 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1328 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1329 - g->Suv * ( yu * g->Sww - yw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1330 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1331 wc = (g->Suu * (g->Svv * yw - g->Svw * yv )
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heinrichsweikamp
parents:
diff changeset
1332 - g->Suv * (g->Suv * yw - g->Svw * yu )
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heinrichsweikamp
parents:
diff changeset
1333 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta;
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heinrichsweikamp
parents:
diff changeset
1334
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heinrichsweikamp
parents:
diff changeset
1335 // Back to uncentered coordinates:
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heinrichsweikamp
parents:
diff changeset
1336 // xc = um + uc
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heinrichsweikamp
parents:
diff changeset
1337 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc;
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heinrichsweikamp
parents:
diff changeset
1338 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1339 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1340
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heinrichsweikamp
parents:
diff changeset
1341 // Then save the new calibrated center:
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heinrichsweikamp
parents:
diff changeset
1342 compass_CX_f = (short)(32768 * uc);
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heinrichsweikamp
parents:
diff changeset
1343 compass_CY_f = (short)(32768 * vc);
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heinrichsweikamp
parents:
diff changeset
1344 compass_CZ_f = (short)(32768 * wc);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1345 }
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heinrichsweikamp
parents:
diff changeset
1346
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heinrichsweikamp
parents:
diff changeset
1347
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heinrichsweikamp
parents:
diff changeset
1348 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1349 // compass_calib
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heinrichsweikamp
parents:
diff changeset
1350 /// @brief the main loop for calibration
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heinrichsweikamp
parents:
diff changeset
1351 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1352 /// 160704 removed -4096 limit for LSM303D
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heinrichsweikamp
parents:
diff changeset
1353 ///
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heinrichsweikamp
parents:
diff changeset
1354 /// @return always 0
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heinrichsweikamp
parents:
diff changeset
1355 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1356 int compass_calib_common(void)
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heinrichsweikamp
parents:
diff changeset
1357 {
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1358 SCompassCalib g;
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1359
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1360 // Starts with no calibration at all:
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1361 compass_reset_calibration(&g);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1362 uint32_t tickstart = 0;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1363 tickstart = HAL_GetTick();
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1364 /* run calibration for one minute */
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1365 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1366 {
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1367 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000))
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1368 {
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1369 HAL_Delay(1);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1370 }
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1371 compass_read();
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1372 acceleration_read();
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1373 compass_calc_roll_pitch_only();
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1374
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1375 if((hardwareCompass == compass_generation1 ) //HMC5883L)
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1376 &&((compass_DX_f == -4096) ||
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1377 (compass_DY_f == -4096) ||
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1378 (compass_DZ_f == -4096) ))
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1379 {
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1380 if(compass_gain == 0)
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1381 return -1;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1382 compass_gain--;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1383 compass_init(1, compass_gain);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1384 compass_reset_calibration(&g);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1385 continue;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1386 }
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1387
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1388 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1389 compass_add_calibration(&g);
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1390 }
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1391
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
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1392 compass_solve_calibration(&g);
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1393
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1394 tfull32 dataBlock[4];
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1395 dataBlock[0].Word16.low16 = compass_CX_f;
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1396 dataBlock[0].Word16.hi16 = compass_CY_f;
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1397 dataBlock[1].Word16.low16 = compass_CZ_f;
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1398 dataBlock[1].Word16.hi16 = 0xFFFF;
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1399 dataBlock[2].Full32 = 0x7FFFFFFF;
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1400 dataBlock[3].Full32 = 0x7FFFFFFF;
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1401 BFA_writeDataBlock((uint32_t *)dataBlock);
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1402
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1403 return 0;
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1404 }
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1405