annotate Small_CPU/Src/compass.c @ 439:5b4c78c36b04 v1.5.3 release

1.5.3 release
author heinrichsweikamp
date Thu, 27 Feb 2020 09:13:08 +0100
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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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
357
c3d511365552 Add Support for new end-2019 hardware:
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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();
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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
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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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1058 accel_DY_f = 0;
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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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parents:
diff changeset
1068 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length);
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parents:
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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parents:
diff changeset
1071
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diff changeset
1072 // status.uw = read_buffer[0];
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parents:
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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parents:
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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parents:
diff changeset
1077 data.Byte.low = read_buffer[4];
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parents:
diff changeset
1078 accel_DY_f =data.Word/16;
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parents:
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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diff changeset
1082
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diff changeset
1083 accel_DX_f *= -1;
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parents:
diff changeset
1084 accel_DY_f *= -1;
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diff changeset
1085 accel_DZ_f *= -1;
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parents:
diff changeset
1086 }
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parents:
diff changeset
1087
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diff changeset
1088
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1089 // ===============================================================================
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parents:
diff changeset
1090 // compass_calc_roll_pitch_only
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parents:
diff changeset
1091 /// @brief only the roll and pitch parts of compass_calc()
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parents:
diff changeset
1092 ///
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diff changeset
1093 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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diff changeset
1094 /// output is compass_pitch and compass_roll
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parents:
diff changeset
1095 // ===============================================================================
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diff changeset
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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diff changeset
1100
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parents:
diff changeset
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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parents:
diff changeset
1106
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parents:
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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parents:
diff changeset
1109 compass_pitch = Teta * 180.0f /PI;
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parents:
diff changeset
1110 }
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parents:
diff changeset
1111
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diff changeset
1112
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parents:
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1113 // ===============================================================================
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parents:
diff changeset
1114 // compass_calc
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heinrichsweikamp
parents:
diff changeset
1115 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1116 ///
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parents:
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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parents:
diff changeset
1118 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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parents:
diff changeset
1119 /// output is compass_heading, compass_pitch and compass_roll
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parents:
diff changeset
1120 // ===============================================================================
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diff changeset
1121 void compass_calc(void)
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diff changeset
1122 {
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diff changeset
1123 float sinPhi, cosPhi, sinTeta, cosTeta;
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parents:
diff changeset
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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heinrichsweikamp
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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parents:
diff changeset
1131 iBpx = compass_DX_f - compass_CX_f; // X
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parents:
diff changeset
1132 iBpy = compass_DY_f - compass_CY_f; // Y
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parents:
diff changeset
1133 iBpz = compass_DZ_f - compass_CZ_f; // Z
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parents:
diff changeset
1134
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parents:
diff changeset
1135 //---- Calculate sine and cosine of roll angle Phi -----------------------
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parents:
diff changeset
1136 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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parents:
diff changeset
1137 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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parents:
diff changeset
1138 compass_roll = Phi * 180.0f /PI;
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parents:
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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parents:
diff changeset
1143 iBfy = iBpy * cosPhi - iBpz * sinPhi;
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parents:
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:
diff changeset
1146
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parents:
diff changeset
1147 //---- calculate sin and cosine of pitch angle Theta ---------------------
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parents:
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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parents:
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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parents:
diff changeset
1155 if( cosTeta < 0 ) cosTeta = -cosTeta;
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parents:
diff changeset
1156
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parents:
diff changeset
1157 ///---- de-rotate by pitch angle Theta -----------------------------------
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parents:
diff changeset
1158 iBfx = iBpx * cosTeta + iBpz * sinTeta;
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parents:
diff changeset
1159
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parents:
diff changeset
1160 //---- Detect uncalibrated compass ---------------------------------------
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parents:
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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parents:
diff changeset
1169 Psi = atan2f(-iBfy,iBfx);
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parents:
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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heinrichsweikamp
parents:
diff changeset
1175
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diff changeset
1176
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parents:
diff changeset
1177 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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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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parents:
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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parents:
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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parents:
diff changeset
1189 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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parents:
diff changeset
1190 /// all is set to zero here
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1191 // ===============================================================================
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parents:
diff changeset
1192 void compass_reset_calibration(SCompassCalib *g)
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parents:
diff changeset
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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parents:
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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parents:
diff changeset
1198 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0;
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parents:
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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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heinrichsweikamp
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1201
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1202
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1203 // ===============================================================================
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parents:
diff changeset
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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parents:
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1208 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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parents:
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1209 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1210 ///
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1211 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
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1212 // ===============================================================================
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parents:
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1213 void compass_add_calibration(SCompassCalib *g)
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parents:
diff changeset
1214 {
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parents:
diff changeset
1215 float u, v, w;
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parents:
diff changeset
1216
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1217 u = (compass_DX_f - compass_CX_f) / 32768.0f;
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parents:
diff changeset
1218 v = (compass_DY_f - compass_CY_f) / 32768.0f;
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parents:
diff changeset
1219 w = (compass_DZ_f - compass_CZ_f) / 32768.0f;
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parents:
diff changeset
1220
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diff changeset
1221 g->compass_N++;
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parents:
diff changeset
1222 g->Su += u;
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parents:
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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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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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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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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parents:
diff changeset
1253 void compass_solve_calibration(SCompassCalib *g)
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parents:
diff changeset
1254 {
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parents:
diff changeset
1255 float yu, yv, yw;
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parents:
diff changeset
1256 float delta;
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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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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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parents:
diff changeset
1266 // (u + um)**2 = u**2 + 2u*um + um**2
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parents:
diff changeset
1267 // Su = 0, um = Sx/N
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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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parents:
diff changeset
1270 yu = g->Su/g->compass_N;
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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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parents:
diff changeset
1275 g->Svv -= g->Sv*yv;
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parents:
diff changeset
1276 g->Sww -= g->Sw*yw;
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parents:
diff changeset
1277
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parents:
diff changeset
1278 // (u + um)(v + vm) = uv + u vm + v um + um vm
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parents:
diff changeset
1279 // Sxy = Suv + N * um vm
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parents:
diff changeset
1280 // Suv = Sxy - N * (Sx/N)(Sy/N);
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parents:
diff changeset
1281 g->Suv -= g->Su*yv;
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parents:
diff changeset
1282 g->Suw -= g->Su*yw;
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parents:
diff changeset
1283 g->Svw -= g->Sv*yw;
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parents:
diff changeset
1284
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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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parents:
diff changeset
1287 // Su = 0, um = Sx/N:
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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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parents:
diff changeset
1290
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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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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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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
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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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parents:
diff changeset
1302 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu;
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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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parents:
diff changeset
1305 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv;
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parents:
diff changeset
1306 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv;
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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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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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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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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;
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heinrichsweikamp
parents:
diff changeset
1339 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc;
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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);
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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
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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
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heinrichsweikamp
parents:
diff changeset
1391
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heinrichsweikamp
parents:
diff changeset
1392 compass_solve_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1393
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1394 tfull32 dataBlock[4];
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1395 dataBlock[0].Word16.low16 = compass_CX_f;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1396 dataBlock[0].Word16.hi16 = compass_CY_f;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1397 dataBlock[1].Word16.low16 = compass_CZ_f;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1398 dataBlock[1].Word16.hi16 = 0xFFFF;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1399 dataBlock[2].Full32 = 0x7FFFFFFF;
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
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1402
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1403 return 0;
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1404 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1405