Mercurial > public > ostc4
annotate Small_CPU/Src/compass.c @ 417:54a480c43e97 v1.5.2.beta release
1.5.2 beta with RTE 2.02
| author | heinrichsweikamp |
|---|---|
| date | Wed, 15 Jan 2020 13:41:01 +0100 |
| parents | f9458e979154 |
| children | 9eeab3fead8f |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file compass.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 27-March-2014 | |
| 6 * @version V0.2.0 | |
| 7 * @since 21-April-2016 | |
| 8 * @brief for Honeywell Compass and ST LSM303D | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 V0.1.0 09-March-2016 | |
| 15 V0.2.0 21-April-2016 Orientation fixed for LSM303D, | |
| 16 roll and pitch added to calibration output, | |
| 17 orientation double checked with datasheets and layout | |
| 18 as well as with value output during calibration | |
| 19 V0.2.1 19-May-2016 New date rate config and full-scale selection | |
| 20 | |
| 21 @endverbatim | |
| 22 ****************************************************************************** | |
| 23 * @attention | |
| 24 * | |
| 25 * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> | |
| 26 * | |
| 27 ****************************************************************************** | |
| 28 */ | |
| 29 | |
| 30 #include <math.h> | |
| 31 #include <string.h> | |
| 32 | |
| 33 #include "compass.h" | |
| 34 #include "compass_LSM303D.h" | |
| 35 | |
| 36 #include "i2c.h" | |
| 219 | 37 #include "spi.h" |
| 38 | 38 #include "RTE_FlashAccess.h" // to store compass_calib_data |
| 39 | |
| 40 #include "stm32f4xx_hal.h" | |
| 41 | |
|
410
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changeset
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42 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
|
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43 |
| 38 | 44 /// split byte to bits |
| 45 typedef struct{ | |
| 46 uint8_t bit0:1; ///< split byte to bits | |
| 47 uint8_t bit1:1; ///< split byte to bits | |
| 48 uint8_t bit2:1; ///< split byte to bits | |
| 49 uint8_t bit3:1; ///< split byte to bits | |
| 50 uint8_t bit4:1; ///< split byte to bits | |
| 51 uint8_t bit5:1; ///< split byte to bits | |
| 52 uint8_t bit6:1; ///< split byte to bits | |
| 53 uint8_t bit7:1; ///< split byte to bits | |
| 54 } ubit8_t; | |
| 55 | |
| 56 | |
| 57 /// split byte to bits | |
| 58 typedef union{ | |
| 59 ubit8_t ub; ///< split byte to bits | |
| 60 uint8_t uw; ///< split byte to bits | |
| 61 } bit8_Type; | |
| 62 | |
| 63 | |
| 64 /// split word to 2 bytes | |
| 65 typedef struct{ | |
| 66 uint8_t low; ///< split word to 2 bytes | |
| 67 uint8_t hi; ///< split word to 2 bytes | |
| 68 } two_byte; | |
| 69 | |
| 70 | |
| 71 /// split word to 2 bytes | |
| 72 typedef union{ | |
| 73 two_byte Byte; ///< split word to 2 bytes | |
| 74 uint16_t Word; ///< split word to 2 bytes | |
| 75 } tword; | |
| 76 | |
| 77 | |
| 78 /// split signed word to 2 bytes | |
| 79 typedef union{ | |
| 80 two_byte Byte; ///< split signed word to 2 bytes | |
| 81 int16_t Word; ///< split signed word to 2 bytes | |
| 82 } signed_tword; | |
| 83 | |
| 84 | |
| 85 /// split full32 to 2 words | |
| 86 typedef struct{ | |
| 87 uint16_t low16; ///< split word to 2 bytes | |
| 88 uint16_t hi16; ///< split word to 2 bytes | |
| 89 } two_word; | |
| 90 | |
| 91 typedef union{ | |
| 92 two_word Word16; ///< split word to 2 bytes | |
| 93 uint32_t Full32; ///< split word to 2 bytes | |
| 94 } tfull32; | |
| 95 | |
| 96 | |
| 97 /// crazy compass calibration stuff | |
| 98 typedef struct | |
| 99 { | |
| 100 unsigned short int compass_N; | |
| 101 float Su, Sv, Sw; | |
| 102 float Suu, Svv, Sww, Suv, Suw, Svw; | |
| 103 float Suuu, Svvv, Swww; | |
| 104 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
| 105 } SCompassCalib; | |
| 106 | |
| 107 | |
| 108 #define Q_PI (18000) | |
| 109 #define Q_PIO2 (9000) | |
| 110 | |
| 111 | |
| 112 | |
| 113 ////////////////////////////////////////////////////////////////////////////// | |
| 114 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
| 115 // | |
| 116 #define K1 (5701) // Needs K1/2**16 | |
| 117 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
| 118 #define K3 ( 446) // Needs K3/2**80 | |
| 119 | |
| 120 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
| 121 | |
| 122 typedef short int Int16; | |
| 123 typedef signed char Int8; | |
| 124 typedef Int16 Angle; | |
| 125 | |
| 126 | |
| 127 /// The (filtered) components of the magnetometer sensor | |
| 128 int16_t compass_DX_f; ///< output from sensor | |
| 129 int16_t compass_DY_f; ///< output from sensor | |
| 130 int16_t compass_DZ_f; ///< output from sensor | |
| 131 | |
| 132 | |
| 133 /// Found soft-iron calibration values, deduced from already filtered values | |
| 134 int16_t compass_CX_f; ///< calibration value | |
| 135 int16_t compass_CY_f; ///< calibration value | |
| 136 int16_t compass_CZ_f; ///< calibration value | |
| 137 | |
| 138 | |
| 139 /// The (filtered) components of the accelerometer sensor | |
| 140 int16_t accel_DX_f; ///< output from sensor | |
| 141 int16_t accel_DY_f; ///< output from sensor | |
| 142 int16_t accel_DZ_f; ///< output from sensor | |
| 143 | |
| 144 | |
| 145 /// The compass result values | |
| 146 float compass_heading; ///< the final result calculated in compass_calc() | |
| 147 float compass_roll; ///< the final result calculated in compass_calc() | |
| 148 float compass_pitch; ///< the final result calculated in compass_calc() | |
| 149 | |
| 150 | |
| 151 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
| 152 | |
| 357 | 153 uint8_t hardwareCompass = 0; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0) |
| 38 | 154 |
| 155 /// LSM303D variables | |
| 156 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 157 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 158 | |
| 159 | |
| 160 // struct accel_scale _accel_scale; | |
| 161 unsigned _accel_range_m_s2; | |
| 162 float _accel_range_scale; | |
| 163 unsigned _accel_samplerate; | |
| 164 unsigned _accel_onchip_filter_bandwith; | |
| 165 | |
| 166 // struct mag_scale _mag_scale; | |
| 167 unsigned _mag_range_ga; | |
| 168 float _mag_range_scale; | |
| 169 unsigned _mag_samplerate; | |
| 170 | |
| 171 // default scale factors | |
| 172 float _accel_scale_x_offset = 0.0f; | |
| 173 float _accel_scale_x_scale = 1.0f; | |
| 174 float _accel_scale_y_offset = 0.0f; | |
| 175 float _accel_scale_y_scale = 1.0f; | |
| 176 float _accel_scale_z_offset = 0.0f; | |
| 177 float _accel_scale_z_scale = 1.0f; | |
| 178 | |
| 179 float _mag_scale_x_offset = 0.0f; | |
| 180 float _mag_scale_x_scale = 1.0f; | |
| 181 float _mag_scale_y_offset = 0.0f; | |
| 182 float _mag_scale_y_scale = 1.0f; | |
| 183 float _mag_scale_z_offset = 0.0f; | |
| 184 float _mag_scale_z_scale = 1.0f; | |
| 185 | |
| 186 | |
| 187 /* External function prototypes ----------------------------------------------*/ | |
| 188 | |
| 189 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 190 | |
| 191 /* Private function prototypes -----------------------------------------------*/ | |
| 192 | |
| 193 void compass_reset_calibration(SCompassCalib *g); | |
| 194 void compass_add_calibration(SCompassCalib *g); | |
| 195 void compass_solve_calibration(SCompassCalib *g); | |
| 196 | |
| 197 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
| 198 void compass_sleep_HMC5883L(void); | |
| 199 void compass_read_HMC5883L(void); | |
| 200 | |
| 201 void accelerator_init_MMA8452Q(void); | |
| 202 void accelerator_sleep_MMA8452Q(void); | |
| 203 void acceleration_read_MMA8452Q(void); | |
| 204 | |
| 205 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
| 206 void compass_sleep_LSM303D(void); | |
| 207 void compass_read_LSM303D(void); | |
| 208 void acceleration_read_LSM303D(void); | |
| 209 | |
| 357 | 210 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain); |
| 211 void compass_sleep_LSM303AGR(void); | |
| 212 void compass_read_LSM303AGR(void); | |
| 213 void acceleration_read_LSM303AGR(void); | |
| 214 | |
| 38 | 215 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); |
| 216 int compass_calib_common(void); | |
| 217 | |
| 218 void compass_calc_roll_pitch_only(void); | |
| 219 | |
| 220 void rotate_mag_3f(float *x, float *y, float *z); | |
| 221 void rotate_accel_3f(float *x, float *y, float *z); | |
| 222 | |
| 223 | |
| 224 /* Exported functions --------------------------------------------------------*/ | |
| 225 | |
| 226 | |
| 227 // =============================================================================== | |
| 228 // compass_init | |
| 229 /// @brief This might be called several times with different gain values during calibration | |
| 230 /// On first call it figures out which hardware is integrated | |
| 231 /// | |
| 232 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
| 233 // =============================================================================== | |
| 234 | |
| 235 void compass_init(uint8_t fast, uint8_t gain) | |
| 236 { | |
| 237 | |
| 238 // don't call again with fast, gain in calib mode etc. | |
| 239 // if unknown | |
| 240 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
| 241 { | |
| 242 return; | |
| 243 } | |
| 244 | |
| 245 // old code but without else | |
| 246 if(hardwareCompass == 0) | |
| 247 { | |
| 248 uint8_t data = WHO_AM_I; | |
| 249 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 250 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 251 if(data == WHOIAM_VALUE_LSM303D) |
| 252 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 253 data = WHO_AM_I; |
| 254 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 255 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 256 if(data == WHOIAM_VALUE_LSM303AGR) |
| 257 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 258 } |
| 259 | |
| 180 | 260 /* No compass identified => Retry */ |
| 38 | 261 if(hardwareCompass == 0) |
| 262 { | |
| 263 uint8_t data = WHO_AM_I; | |
| 264 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 265 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 266 if(data == WHOIAM_VALUE_LSM303D) |
| 267 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 268 data = WHO_AM_I; |
| 269 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 270 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 271 if(data == WHOIAM_VALUE_LSM303AGR) |
| 272 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 273 } |
| 70 | 274 |
| 180 | 275 /* Assume that a HMC5883L is equipped by default if detection still failed */ |
| 38 | 276 if(hardwareCompass == 0) |
| 357 | 277 hardwareCompass = compass_generation1; //HMC5883L; |
| 38 | 278 |
| 279 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
| 280 | |
| 358 | 281 // test if both chips of the two-chip solution (gen 1) are present |
| 357 | 282 if(hardwareCompass == compass_generation1) // HMC5883L) |
| 38 | 283 { |
| 358 | 284 HAL_Delay(10); |
| 285 MX_I2C1_Init(); | |
| 38 | 286 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q |
| 287 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
| 288 if(resultOfOperationHMC_MMA == HAL_OK) | |
| 289 { | |
| 357 | 290 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it |
| 38 | 291 } |
| 292 else | |
| 293 { | |
| 294 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
| 295 } | |
| 296 } | |
| 297 | |
| 357 | 298 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 299 compass_init_LSM303D(fast, gain); |
| 357 | 300 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 301 compass_init_LSM303AGR(fast, gain); | |
| 302 if(hardwareCompass == compass_generation1) //HMC5883L) | |
| 38 | 303 compass_init_HMC5883L(fast, gain); |
| 304 | |
| 357 | 305 tfull32 dataBlock[4]; |
| 306 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK) | |
| 38 | 307 { |
| 308 compass_CX_f = dataBlock[0].Word16.low16; | |
| 309 compass_CY_f = dataBlock[0].Word16.hi16; | |
| 310 compass_CZ_f = dataBlock[1].Word16.low16; | |
| 311 } | |
| 312 | |
| 313 } | |
| 314 | |
| 315 | |
| 316 // =============================================================================== | |
| 317 // compass_calib | |
| 318 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
| 319 // =============================================================================== | |
| 320 int compass_calib(void) | |
| 321 { | |
| 357 | 322 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 323 { |
| 324 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
| 325 int out = compass_calib_common(); | |
| 326 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
| 327 return out; | |
| 328 } | |
| 329 else | |
| 357 | 330 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 331 { | |
| 332 return compass_calib_common(); | |
| 333 } | |
| 334 else | |
| 335 if(hardwareCompass == compass_generation3) //LSM303AGR) | |
| 38 | 336 { |
| 337 return compass_calib_common(); | |
| 338 } | |
| 339 else | |
| 340 { | |
| 341 return 0; // standard answer of compass_calib_common(); | |
| 342 } | |
| 343 | |
| 344 | |
| 345 } | |
| 346 | |
| 347 | |
| 348 // =============================================================================== | |
| 349 // compass_sleep | |
| 350 /// @brief low power mode | |
| 351 // =============================================================================== | |
| 352 void compass_sleep(void) | |
| 353 { | |
| 357 | 354 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 355 { |
| 356 compass_sleep_LSM303D(); | |
| 357 } | |
| 358 else | |
| 357 | 359 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 360 { |
| 361 compass_sleep_HMC5883L(); | |
| 362 } | |
| 363 } | |
| 364 | |
| 365 | |
| 366 // =============================================================================== | |
| 367 // compass_read | |
| 368 /// @brief reads magnetometer and accelerometer for LSM303D, | |
| 369 /// otherwise magnetometer only | |
| 370 // =============================================================================== | |
| 371 void compass_read(void) | |
| 372 { | |
| 357 | 373 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 374 compass_read_LSM303D(); |
| 357 | 375 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 376 compass_read_HMC5883L(); |
| 357 | 377 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 378 compass_read_LSM303AGR(); | |
| 379 | |
| 38 | 380 } |
| 381 | |
| 382 | |
| 383 // =============================================================================== | |
| 384 // accelerator_init | |
| 385 /// @brief empty for for LSM303D | |
| 386 // =============================================================================== | |
| 387 void accelerator_init(void) | |
| 388 { | |
| 357 | 389 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 390 accelerator_init_MMA8452Q(); |
| 391 } | |
| 392 | |
| 393 | |
| 394 // =============================================================================== | |
| 395 // accelerator_sleep | |
| 396 /// @brief empty for for LSM303D | |
| 397 // =============================================================================== | |
| 398 void accelerator_sleep(void) | |
| 399 { | |
| 357 | 400 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 401 accelerator_sleep_MMA8452Q(); |
| 402 } | |
| 403 | |
| 404 | |
| 405 // =============================================================================== | |
| 406 // acceleration_read | |
| 407 /// @brief empty for for LSM303D | |
| 408 // =============================================================================== | |
| 409 void acceleration_read(void) | |
| 410 { | |
| 357 | 411 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 412 acceleration_read_LSM303D(); |
| 357 | 413 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 414 acceleration_read_MMA8452Q(); |
| 357 | 415 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 416 acceleration_read_LSM303AGR(); | |
| 38 | 417 } |
| 418 | |
| 419 | |
| 420 /* Private functions ---------------------------------------------------------*/ | |
| 421 | |
| 422 // =============================================================================== | |
| 357 | 423 // LSM303AGR_read_reg |
| 424 // =============================================================================== | |
| 425 uint8_t LSM303AGR_read_reg(uint8_t addr) | |
| 426 { | |
| 427 uint8_t data; | |
| 428 | |
| 429 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1); | |
| 430 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1); | |
| 431 return data; | |
| 432 } | |
| 433 | |
| 434 | |
| 435 // =============================================================================== | |
| 436 // LSM303AGR_write_reg | |
| 437 // =============================================================================== | |
| 438 void LSM303AGR_write_reg(uint8_t addr, uint8_t value) | |
| 439 { | |
| 440 uint8_t data[2]; | |
| 441 | |
| 442 data[0] = addr; | |
| 443 data[1] = value; | |
| 444 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2); | |
| 445 } | |
| 446 | |
| 447 // =============================================================================== | |
| 448 // LSM303AGR_acc_write_reg | |
| 449 // =============================================================================== | |
| 450 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value) | |
| 451 { | |
| 452 uint8_t data[2]; | |
| 453 | |
| 454 data[0] = addr; | |
| 455 data[1] = value; | |
| 456 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2); | |
| 457 } | |
| 458 | |
| 459 | |
| 460 // =============================================================================== | |
| 461 // LSM303AGR_write_checked_reg | |
| 462 // =============================================================================== | |
| 463 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value) | |
| 464 { | |
| 465 LSM303AGR_write_reg(addr, value); | |
| 466 } | |
| 467 | |
| 468 // =============================================================================== | |
| 469 // LSM303AGR_acc_write_checked_reg | |
| 470 // =============================================================================== | |
| 471 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value) | |
| 472 { | |
| 473 LSM303AGR_acc_write_reg(addr, value); | |
| 474 } | |
| 475 | |
| 476 // =============================================================================== | |
| 38 | 477 // LSM303D_read_reg |
| 478 // =============================================================================== | |
| 479 uint8_t LSM303D_read_reg(uint8_t addr) | |
| 480 { | |
| 481 uint8_t data; | |
| 482 | |
| 483 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
| 484 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 485 return data; | |
| 486 } | |
| 487 | |
| 488 | |
| 489 // =============================================================================== | |
| 490 // LSM303D_write_reg | |
| 491 // =============================================================================== | |
| 492 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
| 493 { | |
| 494 uint8_t data[2]; | |
| 495 | |
| 496 /* enable accel*/ | |
| 497 data[0] = addr; | |
| 498 data[1] = value; | |
| 499 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 500 } | |
| 501 | |
| 502 | |
| 503 // =============================================================================== | |
| 504 // LSM303D_write_checked_reg | |
| 505 // =============================================================================== | |
| 506 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
| 507 { | |
| 508 LSM303D_write_reg(addr, value); | |
| 509 } | |
| 510 | |
| 511 | |
| 512 // =============================================================================== | |
| 513 // LSM303D_modify_reg | |
| 514 // =============================================================================== | |
| 515 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
| 516 { | |
| 517 uint8_t val; | |
| 518 | |
| 519 val = LSM303D_read_reg(reg); | |
| 520 val &= ~clearbits; | |
| 521 val |= setbits; | |
| 522 LSM303D_write_checked_reg(reg, val); | |
| 523 } | |
| 524 | |
| 525 // =============================================================================== | |
| 526 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
| 527 // =============================================================================== | |
| 528 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
| 529 { | |
| 530 uint8_t setbits = 0; | |
| 531 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
| 532 | |
| 533 if (bandwidth == 0) { | |
| 534 bandwidth = 773; | |
| 535 } | |
| 536 | |
| 537 if (bandwidth <= 50) { | |
| 538 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
| 539 _accel_onchip_filter_bandwith = 50; | |
| 540 | |
| 541 } else if (bandwidth <= 194) { | |
| 542 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
| 543 _accel_onchip_filter_bandwith = 194; | |
| 544 | |
| 545 } else if (bandwidth <= 362) { | |
| 546 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
| 547 _accel_onchip_filter_bandwith = 362; | |
| 548 | |
| 549 } else if (bandwidth <= 773) { | |
| 550 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
| 551 _accel_onchip_filter_bandwith = 773; | |
| 552 | |
| 553 } else { | |
| 554 return -1; | |
| 555 } | |
| 556 | |
| 557 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
| 558 | |
| 559 return 0; | |
| 560 } | |
| 561 | |
| 562 | |
| 563 // =============================================================================== | |
| 564 // LSM303D_accel_set_driver_lowpass_filter | |
| 565 // =============================================================================== | |
| 566 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
| 567 { | |
| 568 /* | |
| 569 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
| 570 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
| 571 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
| 572 */ | |
| 573 return 0; | |
| 574 } | |
| 575 | |
| 576 | |
| 577 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
| 578 // =============================================================================== | |
| 579 // rotate_mag_3f | |
| 580 /// @brief swap axis in convient way, by hw | |
| 581 /// @param *x raw input is set to *y input | |
| 582 /// @param *y raw input is set to -*x input | |
| 583 /// @param *z raw is not touched | |
| 584 // =============================================================================== | |
| 585 void rotate_mag_3f(float *x, float *y, float *z) | |
| 586 { | |
| 587 return; | |
| 588 /* | |
| 589 *x = *x; // HMC: *x = -*y | |
| 590 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
| 591 *z = *z; // HMC: *z = *z | |
| 592 */ | |
| 593 } | |
| 594 | |
| 595 | |
| 596 // =============================================================================== | |
| 597 // rotate_accel_3f | |
| 598 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
| 599 /// @param *x raw input, output is with sign change | |
| 600 /// @param *y raw input, output is with sign change | |
| 601 /// @param *z raw input, output is with sign change | |
| 602 // =============================================================================== | |
| 603 void rotate_accel_3f(float *x, float *y, float *z) | |
| 604 { | |
| 605 *x = -*x; | |
| 606 *y = -*y; | |
| 607 *z = -*z; | |
| 608 /* tested: | |
| 609 x = x, y =-y, z=-z: does not work with roll | |
| 610 x = x, y =y, z=-z: does not work with pitch | |
| 611 x = x, y =y, z=z: does not work at all | |
| 612 */ | |
| 613 } | |
| 614 | |
| 615 | |
| 616 // =============================================================================== | |
| 357 | 617 // compass_init_LSM303D |
| 38 | 618 /// This might be called several times with different gain values during calibration |
| 619 /// but gain change is not supported at the moment. | |
| 620 /// | |
| 621 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 622 // =============================================================================== | |
| 623 | |
| 624 //uint8_t testCompassLS303D[11]; | |
| 625 | |
| 626 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
| 627 { | |
| 628 if(fast == 0) | |
| 629 { | |
| 630 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 631 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
| 632 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 633 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 634 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 635 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
| 636 } | |
| 637 else | |
| 638 { | |
| 639 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 640 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
| 641 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 642 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 643 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 644 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
| 645 } | |
| 646 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
| 647 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
| 648 | |
| 649 return; | |
| 650 } | |
| 651 | |
| 652 | |
| 653 // =============================================================================== | |
| 654 // compass_sleep_LSM303D | |
| 357 | 655 // @brief Gen 2 chip |
| 38 | 656 // =============================================================================== |
| 657 void compass_sleep_LSM303D(void) | |
| 658 { | |
| 659 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
| 660 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
| 661 } | |
| 662 | |
| 663 | |
| 664 // =============================================================================== | |
| 665 // acceleration_read_LSM303D | |
| 357 | 666 // output is accel_DX_f, accel_DY_f, accel_DZ_f |
| 38 | 667 // =============================================================================== |
| 668 void acceleration_read_LSM303D(void) | |
| 669 { | |
| 670 uint8_t data; | |
| 671 float xraw_f, yraw_f, zraw_f; | |
| 672 float accel_report_x, accel_report_y, accel_report_z; | |
| 673 | |
| 674 memset(accDataBuffer,0,6); | |
| 675 | |
| 676 accel_DX_f = 0; | |
| 677 accel_DY_f = 0; | |
| 678 accel_DZ_f = 0; | |
| 679 | |
| 680 for(int i=0;i<6;i++) | |
| 681 { | |
| 682 data = ADDR_OUT_X_L_A + i; | |
| 683 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 684 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
| 685 } | |
| 686 | |
| 687 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 688 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 689 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 690 | |
| 691 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 692 | |
| 693 // mh | |
| 694 accel_report_x = xraw_f; | |
| 695 accel_report_y = yraw_f; | |
| 696 accel_report_z = zraw_f; | |
| 697 | |
| 698 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 699 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 700 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 701 } | |
| 702 | |
| 703 | |
| 704 // =============================================================================== | |
| 705 // compass_read_LSM303D | |
| 706 /// | |
| 707 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 708 // =============================================================================== | |
| 709 void compass_read_LSM303D(void) | |
| 710 { | |
| 711 uint8_t data; | |
| 712 // float xraw_f, yraw_f, zraw_f; | |
| 713 // float mag_report_x, mag_report_y, mag_report_z; | |
| 714 | |
| 715 memset(magDataBuffer,0,6); | |
| 716 | |
| 717 compass_DX_f = 0; | |
| 718 compass_DY_f = 0; | |
| 719 compass_DZ_f = 0; | |
| 720 | |
| 721 for(int i=0;i<6;i++) | |
| 722 { | |
| 723 data = ADDR_OUT_X_L_M + i; | |
| 724 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 725 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
| 726 } | |
| 727 | |
| 728 // mh 160620 flip x and y if flip display | |
| 729 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 730 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 731 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 732 // no rotation | |
| 733 return; | |
| 357 | 734 } |
| 735 | |
| 736 | |
| 737 // =============================================================================== | |
| 738 // compass_init_LSM303AGR | |
| 739 /// This might be called several times with different gain values during calibration | |
| 740 /// but gain change is not supported at the moment. | |
| 741 /// | |
| 742 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 743 // =============================================================================== | |
| 38 | 744 |
| 357 | 745 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain) |
| 746 { | |
| 747 if(fast == 0) | |
| 748 { | |
| 358 | 749 // init compass |
| 357 | 750 LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz |
| 751 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M | |
| 752 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 753 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 754 | |
| 755 // init accel (Same chip, but different address...) | |
| 756 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 757 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 758 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 759 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 760 LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 761 } |
| 762 else | |
| 763 { | |
| 358 | 764 // init compass |
| 765 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz | |
| 357 | 766 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M |
| 767 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 768 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 769 | |
| 770 // init accel (Same chip, but different address...) | |
| 771 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 772 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 773 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 774 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 775 LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 776 } |
| 777 | |
| 778 return; | |
| 779 } | |
| 780 | |
| 781 | |
| 782 // =============================================================================== | |
| 783 // compass_sleep_LSM303D | |
| 784 // @brief Gen 2 chip | |
| 785 // =============================================================================== | |
| 786 void compass_sleep_LSM303AGR(void) | |
| 787 { | |
| 788 LSM303AGR_write_checked_reg(0x60, 0x03); // | |
| 789 LSM303AGR_write_checked_reg(0x61, 0x04); // | |
| 790 LSM303AGR_write_checked_reg(0x62, 0x51); // | |
| 791 LSM303AGR_write_checked_reg(0x63, 0x00); // | |
| 792 | |
| 793 | |
| 794 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // | |
| 795 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // | |
| 796 } | |
| 797 | |
| 38 | 798 |
| 357 | 799 // =============================================================================== |
| 800 // acceleration_read_LSM303AGR | |
| 801 // output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 802 // =============================================================================== | |
| 803 void acceleration_read_LSM303AGR(void) | |
| 804 { | |
| 805 uint8_t data; | |
| 806 float xraw_f, yraw_f, zraw_f; | |
| 807 float accel_report_x, accel_report_y, accel_report_z; | |
| 808 | |
| 809 memset(accDataBuffer,0,6); | |
| 810 | |
| 811 accel_DX_f = 0; | |
| 812 accel_DY_f = 0; | |
| 813 accel_DZ_f = 0; | |
| 814 | |
| 815 for(int i=0;i<6;i++) | |
| 816 { | |
| 358 | 817 data = 0x28 + i; // OUT_X_L_A |
| 357 | 818 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); |
| 819 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1); | |
| 820 } | |
| 821 | |
| 822 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 823 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 824 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 825 | |
| 826 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 827 | |
| 828 // mh | |
| 829 accel_report_x = xraw_f; | |
| 830 accel_report_y = yraw_f; | |
| 358 | 831 accel_report_z = -zraw_f; // flip Z in gen 2 hardware |
| 357 | 832 |
| 833 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 834 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 835 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 836 } | |
| 837 | |
| 838 | |
| 839 // =============================================================================== | |
| 840 // compass_read_LSM303AGR | |
| 841 /// | |
| 842 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 843 // =============================================================================== | |
| 844 void compass_read_LSM303AGR(void) | |
| 845 { | |
| 846 uint8_t data; | |
| 847 // float xraw_f, yraw_f, zraw_f; | |
| 848 // float mag_report_x, mag_report_y, mag_report_z; | |
| 849 | |
| 850 memset(magDataBuffer,0,6); | |
| 851 | |
| 852 compass_DX_f = 0; | |
| 853 compass_DY_f = 0; | |
| 854 compass_DZ_f = 0; | |
| 855 | |
| 856 for(int i=0;i<6;i++) | |
| 857 { | |
| 858 data = 0x68 + i; // OUTX_L_REG_M | |
| 859 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1); | |
| 860 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1); | |
| 861 } | |
| 862 | |
| 863 // mh 160620 flip x and y if flip display | |
| 864 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 865 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 866 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 358 | 867 |
| 868 // align axis in gen 2 hardware | |
| 869 compass_DZ_f *= -1; | |
| 870 | |
| 357 | 871 return; |
| 38 | 872 } |
| 873 | |
| 874 | |
| 875 // -------------------------------------------------------------------------------- | |
| 876 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
| 877 // -------------------------------------------------------------------------------- | |
| 878 | |
| 879 // =============================================================================== | |
| 880 // compass_init_HMC5883L | |
| 881 /// @brief The horrible Honeywell compass chip | |
| 882 /// This might be called several times during calibration | |
| 883 /// | |
| 884 /// @param fast: 1 is fast mode, 0 is normal mode | |
| 885 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 886 // =============================================================================== | |
| 887 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
| 888 { | |
| 889 uint8_t write_buffer[4]; | |
| 890 | |
| 891 compass_gain = gain; | |
| 892 uint16_t length = 0; | |
| 893 write_buffer[0] = 0x00; // 00 = config Register A | |
| 894 | |
| 895 if( fast ) | |
| 896 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
| 897 else | |
| 898 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
| 899 | |
| 900 switch(gain) | |
| 901 { | |
| 902 case 7: | |
| 903 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
| 904 break; | |
| 905 case 6: | |
| 906 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
| 907 break; | |
| 908 case 5: | |
| 909 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
| 910 break; | |
| 911 case 4: | |
| 912 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
| 913 break; | |
| 914 case 3: | |
| 915 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
| 916 break; | |
| 917 case 2: | |
| 918 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
| 919 break; | |
| 920 case 1: | |
| 921 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
| 922 break; | |
| 923 case 0: | |
| 924 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
| 925 break; | |
| 926 } | |
| 927 write_buffer[3] = 0x00; // Mode: continuous mode | |
| 928 length = 4; | |
| 929 //hmc_twi_write(0); | |
| 930 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 931 } | |
| 932 | |
| 933 | |
| 934 | |
| 935 // =============================================================================== | |
| 936 // compass_sleep_HMC5883L | |
| 937 /// @brief Power-down mode for Honeywell compass chip | |
| 938 // =============================================================================== | |
| 939 void compass_sleep_HMC5883L(void) | |
| 940 { | |
| 941 uint8_t write_buffer[4]; | |
| 942 uint16_t length = 0; | |
| 943 | |
| 944 write_buffer[0] = 0x00; // 00 = config Register A | |
| 945 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
| 946 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
| 947 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
| 948 length = 4; | |
| 949 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 950 } | |
| 951 | |
| 952 | |
| 953 // =============================================================================== | |
| 954 // accelerator_init_MMA8452Q | |
| 955 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
| 956 // =============================================================================== | |
| 957 void accelerator_init_MMA8452Q(void) | |
| 958 { | |
| 959 uint8_t write_buffer[4]; | |
| 960 uint16_t length = 0; | |
| 961 //HAL_Delay(1); | |
| 962 //return; | |
| 963 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
| 964 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
| 965 length = 2; | |
| 966 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 967 //HAL_Delay(1); | |
| 968 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 969 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
| 970 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
| 971 length = 3; | |
| 972 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 973 | |
| 974 //HAL_Delay(1); | |
| 975 //hw_delay_us(100); | |
| 976 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 977 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
| 978 length = 2; | |
| 979 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 980 /* | |
| 981 HAL_Delay(6); | |
| 982 compass_read(); | |
| 983 HAL_Delay(1); | |
| 984 acceleration_read(); | |
| 985 | |
| 986 compass_calc(); | |
| 987 */ | |
| 988 } | |
| 989 | |
| 990 | |
| 991 // =============================================================================== | |
| 992 // accelerator_sleep_MMA8452Q | |
| 993 /// @brief compass_sleep_HMC5883L | |
| 994 // =============================================================================== | |
| 995 void accelerator_sleep_MMA8452Q(void) | |
| 996 { | |
| 997 uint16_t length = 0; | |
| 998 uint8_t write_buffer[4]; | |
| 999 | |
| 1000 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 1001 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
| 1002 length = 2; | |
| 1003 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 1004 } | |
| 1005 | |
| 1006 | |
| 1007 // =============================================================================== | |
| 1008 // compass_read_HMC5883L | |
| 1009 /// @brief The new ST 303D - get ALL data and store in static variables | |
| 1010 /// | |
| 1011 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1012 // =============================================================================== | |
| 1013 void compass_read_HMC5883L(void) | |
| 1014 { | |
| 1015 uint8_t buffer[20]; | |
| 1016 compass_DX_f = 0; | |
| 1017 compass_DY_f = 0; | |
| 1018 compass_DZ_f = 0; | |
| 1019 uint8_t length = 0; | |
| 1020 uint8_t read_buffer[6]; | |
| 1021 signed_tword data; | |
| 1022 for(int i = 0; i<6;i++) | |
| 1023 read_buffer[i] = 0; | |
| 1024 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
| 1025 length = 1; | |
| 1026 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
| 1027 length = 6; | |
| 1028 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
| 1029 | |
| 1030 | |
| 1031 data.Byte.hi = read_buffer[0]; | |
| 1032 data.Byte.low = read_buffer[1]; | |
| 1033 //Y = Z | |
| 1034 compass_DY_f = - data.Word; | |
| 1035 | |
| 1036 data.Byte.hi = read_buffer[2]; | |
| 1037 data.Byte.low = read_buffer[3]; | |
| 1038 compass_DZ_f = data.Word; | |
| 1039 | |
| 1040 data.Byte.hi = read_buffer[4]; | |
| 1041 data.Byte.low = read_buffer[5]; | |
| 1042 //X = -Y | |
| 1043 compass_DX_f = data.Word; | |
| 1044 } | |
| 1045 | |
| 1046 | |
| 1047 // =============================================================================== | |
| 1048 // acceleration_read_MMA8452Q | |
| 1049 /// @brief The old MMA8452Q used with the Honeywell compass | |
| 1050 /// get the acceleration data and store in static variables | |
| 1051 /// | |
| 1052 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1053 // =============================================================================== | |
| 1054 void acceleration_read_MMA8452Q(void) | |
| 1055 { | |
| 1056 uint8_t buffer[20]; | |
| 1057 accel_DX_f = 0; | |
| 1058 accel_DY_f = 0; | |
| 1059 accel_DZ_f = 0; | |
| 1060 uint8_t length = 0; | |
| 1061 // bit8_Type status ; | |
| 1062 uint8_t read_buffer[7]; | |
| 1063 signed_tword data; | |
| 1064 for(int i = 0; i<6;i++) | |
| 1065 read_buffer[i] = 0; | |
| 1066 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
| 1067 length = 1; | |
| 1068 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
| 1069 length = 7; | |
| 1070 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
| 1071 | |
| 1072 // status.uw = read_buffer[0]; | |
| 1073 data.Byte.hi = read_buffer[1]; | |
| 1074 data.Byte.low = read_buffer[2]; | |
| 1075 accel_DX_f =data.Word/16; | |
| 1076 data.Byte.hi = read_buffer[3]; | |
| 1077 data.Byte.low = read_buffer[4]; | |
| 1078 accel_DY_f =data.Word/16; | |
| 1079 data.Byte.hi = read_buffer[5]; | |
| 1080 data.Byte.low = read_buffer[6]; | |
| 1081 accel_DZ_f =data.Word/16; | |
| 1082 | |
| 1083 accel_DX_f *= -1; | |
| 1084 accel_DY_f *= -1; | |
| 1085 accel_DZ_f *= -1; | |
| 1086 } | |
| 1087 | |
| 1088 | |
| 1089 // =============================================================================== | |
| 1090 // compass_calc_roll_pitch_only | |
| 1091 /// @brief only the roll and pitch parts of compass_calc() | |
| 1092 /// | |
| 1093 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1094 /// output is compass_pitch and compass_roll | |
| 1095 // =============================================================================== | |
| 1096 void compass_calc_roll_pitch_only(void) | |
| 1097 { | |
| 1098 float sinPhi, cosPhi; | |
| 1099 float Phi, Teta; | |
| 1100 | |
| 1101 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1102 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1103 compass_roll = Phi * 180.0f /PI; | |
| 1104 sinPhi = sinf(Phi); | |
| 1105 cosPhi = cosf(Phi); | |
| 1106 | |
| 1107 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1108 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1109 compass_pitch = Teta * 180.0f /PI; | |
| 1110 } | |
| 1111 | |
| 1112 | |
| 1113 // =============================================================================== | |
| 1114 // compass_calc | |
| 1115 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1116 /// | |
| 1117 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1118 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1119 /// output is compass_heading, compass_pitch and compass_roll | |
| 1120 // =============================================================================== | |
| 1121 void compass_calc(void) | |
| 1122 { | |
| 1123 float sinPhi, cosPhi, sinTeta, cosTeta; | |
| 1124 float Phi, Teta, Psi; | |
| 1125 int16_t iBfx, iBfy; | |
| 1126 int16_t iBpx, iBpy, iBpz; | |
| 1127 | |
| 1128 //---- Make hard iron correction ----------------------------------------- | |
| 1129 // Measured magnetometer orientation, measured ok. | |
| 1130 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
| 1131 iBpx = compass_DX_f - compass_CX_f; // X | |
| 1132 iBpy = compass_DY_f - compass_CY_f; // Y | |
| 1133 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
| 1134 | |
| 1135 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1136 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
| 1137 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1138 compass_roll = Phi * 180.0f /PI; | |
| 1139 sinPhi = sinf(Phi); | |
| 1140 cosPhi = cosf(Phi); | |
| 1141 | |
| 1142 //---- rotate by roll angle (-Phi) --------------------------------------- | |
| 1143 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
| 1144 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
| 1145 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
| 1146 | |
| 1147 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1148 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
| 1149 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
| 1150 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1151 compass_pitch = Teta * 180.0f /PI; | |
| 1152 sinTeta = sinf(Teta); | |
| 1153 cosTeta = cosf(Teta); | |
| 1154 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
| 1155 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
| 1156 | |
| 1157 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
| 1158 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
| 1159 | |
| 1160 //---- Detect uncalibrated compass --------------------------------------- | |
| 1161 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
| 1162 { | |
| 1163 compass_heading = -1; | |
| 1164 return; | |
| 1165 } | |
| 1166 | |
| 1167 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
| 1168 // Result in degree (no need of 0.01 deg precision... | |
| 1169 Psi = atan2f(-iBfy,iBfx); | |
| 1170 compass_heading = Psi * 180.0f /PI; | |
| 1171 // Result in 0..360 range: | |
| 1172 if( compass_heading < 0 ) | |
| 1173 compass_heading += 360; | |
| 1174 } | |
| 1175 | |
| 1176 | |
| 1177 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1178 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1179 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1180 | |
| 1181 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
| 1182 | |
| 1183 // =============================================================================== | |
| 1184 // compass_reset_calibration | |
| 1185 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1186 /// | |
| 1187 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1188 /// | |
| 1189 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1190 /// all is set to zero here | |
| 1191 // =============================================================================== | |
| 1192 void compass_reset_calibration(SCompassCalib *g) | |
| 1193 { | |
| 1194 g->compass_N = 0; | |
| 1195 g->Su = g->Sv = g->Sw = 0.0; | |
| 1196 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
| 1197 g->Suuu = g->Svvv = g->Swww = 0.0; | |
| 1198 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
| 1199 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
| 1200 } | |
| 1201 | |
| 1202 | |
| 1203 // =============================================================================== | |
| 1204 // compass_add_calibration | |
| 1205 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1206 /// | |
| 1207 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1208 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1209 /// output is struct g | |
| 1210 /// | |
| 1211 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1212 // =============================================================================== | |
| 1213 void compass_add_calibration(SCompassCalib *g) | |
| 1214 { | |
| 1215 float u, v, w; | |
| 1216 | |
| 1217 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
| 1218 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
| 1219 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
| 1220 | |
| 1221 g->compass_N++; | |
| 1222 g->Su += u; | |
| 1223 g->Sv += v; | |
| 1224 g->Sw += w; | |
| 1225 g->Suv += u*v; | |
| 1226 g->Suw += u*w; | |
| 1227 g->Svw += v*w; | |
| 1228 g->Suu += u*u; | |
| 1229 g->Suuu += u*u*u; | |
| 1230 g->Suuv += v*u*u; | |
| 1231 g->Suuw += w*u*u; | |
| 1232 g->Svv += v*v; | |
| 1233 g->Svvv += v*v*v; | |
| 1234 g->Svvu += u*v*v; | |
| 1235 g->Svvw += w*v*v; | |
| 1236 g->Sww += w*w; | |
| 1237 g->Swww += w*w*w; | |
| 1238 g->Swwu += u*w*w; | |
| 1239 g->Swwv += v*w*w; | |
| 1240 } | |
| 1241 | |
| 1242 ////////////////////////////////////////////////////////////////////////////// | |
| 1243 | |
| 1244 // =============================================================================== | |
| 1245 // compass_solve_calibration | |
| 1246 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1247 /// | |
| 1248 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1249 /// output is struct g | |
| 1250 /// | |
| 1251 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1252 // =============================================================================== | |
| 1253 void compass_solve_calibration(SCompassCalib *g) | |
| 1254 { | |
| 1255 float yu, yv, yw; | |
| 1256 float delta; | |
| 1257 float uc, vc, wc; | |
| 1258 | |
| 1259 | |
| 1260 //---- Normalize partial sums -------------------------------------------- | |
| 1261 // | |
| 1262 // u, v, w should be centered on the mean value um, vm, wm: | |
| 1263 // x = u + um, with um = Sx/N | |
| 1264 // | |
| 1265 // So: | |
| 1266 // (u + um)**2 = u**2 + 2u*um + um**2 | |
| 1267 // Su = 0, um = Sx/N | |
| 1268 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
| 1269 // Suu = Sxx - Sx**2/N | |
| 1270 yu = g->Su/g->compass_N; | |
| 1271 yv = g->Sv/g->compass_N; | |
| 1272 yw = g->Sw/g->compass_N; | |
| 1273 | |
| 1274 g->Suu -= g->Su*yu; | |
| 1275 g->Svv -= g->Sv*yv; | |
| 1276 g->Sww -= g->Sw*yw; | |
| 1277 | |
| 1278 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
| 1279 // Sxy = Suv + N * um vm | |
| 1280 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
| 1281 g->Suv -= g->Su*yv; | |
| 1282 g->Suw -= g->Su*yw; | |
| 1283 g->Svw -= g->Sv*yw; | |
| 1284 | |
| 1285 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
| 1286 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
| 1287 // Su = 0, um = Sx/N: | |
| 1288 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
| 1289 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
| 1290 | |
| 1291 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
| 1292 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
| 1293 // | |
| 1294 // Su = 0, Sv = 0, vm = Sy/N: | |
| 1295 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
| 1296 // | |
| 1297 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
| 1298 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
| 1299 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
| 1300 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
| 1301 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
| 1302 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
| 1303 | |
| 1304 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
| 1305 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
| 1306 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
| 1307 | |
| 1308 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
| 1309 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
| 1310 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
| 1311 | |
| 1312 //---- Solve the system -------------------------------------------------- | |
| 1313 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
| 1314 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
| 1315 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
| 1316 // Note this is symetric, with a positiv diagonal, hence | |
| 1317 // it always have a uniq solution. | |
| 1318 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
| 1319 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
| 1320 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
| 1321 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1322 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1323 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
| 1324 | |
| 1325 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1326 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1327 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
| 1328 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
| 1329 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
| 1330 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
| 1331 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
| 1332 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
| 1333 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
| 1334 | |
| 1335 // Back to uncentered coordinates: | |
| 1336 // xc = um + uc | |
| 1337 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
| 1338 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
| 1339 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
| 1340 | |
| 1341 // Then save the new calibrated center: | |
| 1342 compass_CX_f = (short)(32768 * uc); | |
| 1343 compass_CY_f = (short)(32768 * vc); | |
| 1344 compass_CZ_f = (short)(32768 * wc); | |
| 1345 } | |
| 1346 | |
| 1347 | |
| 1348 // =============================================================================== | |
| 1349 // compass_calib | |
| 1350 /// @brief the main loop for calibration | |
| 1351 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1352 /// 160704 removed -4096 limit for LSM303D | |
| 1353 /// | |
| 1354 /// @return always 0 | |
| 1355 // =============================================================================== | |
| 1356 int compass_calib_common(void) | |
| 1357 { | |
|
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1358 SCompassCalib g; |
| 38 | 1359 |
| 1360 // Starts with no calibration at all: | |
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1361 compass_reset_calibration(&g); |
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1362 uint32_t tickstart = 0; |
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1363 tickstart = HAL_GetTick(); |
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1364 /* run calibration for one minute */ |
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1365 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000) |
| 38 | 1366 { |
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1367 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)) |
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1368 { |
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1369 HAL_Delay(1); |
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1370 } |
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1371 compass_read(); |
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1372 acceleration_read(); |
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1373 compass_calc_roll_pitch_only(); |
| 38 | 1374 |
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1375 if((hardwareCompass == compass_generation1 ) //HMC5883L) |
| 38 | 1376 &&((compass_DX_f == -4096) || |
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1377 (compass_DY_f == -4096) || |
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1378 (compass_DZ_f == -4096) )) |
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1379 { |
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1380 if(compass_gain == 0) |
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1381 return -1; |
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1382 compass_gain--; |
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1383 compass_init(1, compass_gain); |
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1384 compass_reset_calibration(&g); |
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1385 continue; |
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1386 } |
| 38 | 1387 |
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1388 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); |
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1389 compass_add_calibration(&g); |
| 104 | 1390 } |
| 38 | 1391 |
| 1392 compass_solve_calibration(&g); | |
| 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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f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1400 dataBlock[3].Full32 = 0x7FFFFFFF; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1401 BFA_writeDataBlock((uint32_t *)dataBlock); |
| 38 | 1402 |
|
410
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1403 return 0; |
| 38 | 1404 } |
| 1405 |