annotate Small_CPU/Src/compass.c @ 240:625d20070261 div-fixes-5

Improvement SPI stability/recoverability The core part of this commit comes from careful code reading. The core is the swap of Scheduler_Request_sync_with_SPI(SPI_SYNC_METHOD_SOFT) and SPI_Start_single_TxRx_with_Master(). This code is sitting in an if-clause that is triggered on SPI comms failure. Instead of blindly trying to communicate again (which will very likely fail again), first try to reset the comms link, and then try to communicate again. That simply makes more sense in this case. This is heavily tested, on 2 simple dives, and 5 very long deco schedules from the simulator (10+ hour deco's), and a lot of small simulated dives (upto 2h runtime). Of all these tests, only one long session failed after 9 out of 11h runtime. Analyzing that one failure, suggests that the RTE is looping in some error handler, which (obviously) results in a SPI comms failure as a result. I consider this not part of this change. Additionally, some more cleanup is done in this code. Signed-off-by: Jan Mulder <jlmulder@xs4all.nl>
author Jan Mulder <jlmulder@xs4all.nl>
date Mon, 08 Apr 2019 11:49:13 +0200
parents f9b17e898a7a
children 49f5db6139d5
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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 #include "compass_LSM303DLHC.h"
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36
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37 #include "i2c.h"
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f9b17e898a7a Resolved some minor warnings
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38 #include "spi.h"
38
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39 #include "RTE_FlashAccess.h" // to store compass_calib_data
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40
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41 #include "stm32f4xx_hal.h"
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42
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43 #define TEST_IF_HMC5883L
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44 //#define COMPASS_DEACTIVATE
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45
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46 /// split byte to bits
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47 typedef struct{
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48 uint8_t bit0:1; ///< split byte to bits
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49 uint8_t bit1:1; ///< split byte to bits
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50 uint8_t bit2:1; ///< split byte to bits
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51 uint8_t bit3:1; ///< split byte to bits
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52 uint8_t bit4:1; ///< split byte to bits
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53 uint8_t bit5:1; ///< split byte to bits
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54 uint8_t bit6:1; ///< split byte to bits
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55 uint8_t bit7:1; ///< split byte to bits
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56 } ubit8_t;
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57
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58
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59 /// split byte to bits
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60 typedef union{
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61 ubit8_t ub; ///< split byte to bits
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62 uint8_t uw; ///< split byte to bits
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63 } bit8_Type;
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64
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65
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66 /// split word to 2 bytes
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67 typedef struct{
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68 uint8_t low; ///< split word to 2 bytes
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69 uint8_t hi; ///< split word to 2 bytes
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70 } two_byte;
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71
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72
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73 /// split word to 2 bytes
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74 typedef union{
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75 two_byte Byte; ///< split word to 2 bytes
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76 uint16_t Word; ///< split word to 2 bytes
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77 } tword;
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78
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79
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80 /// split signed word to 2 bytes
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81 typedef union{
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82 two_byte Byte; ///< split signed word to 2 bytes
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83 int16_t Word; ///< split signed word to 2 bytes
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84 } signed_tword;
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85
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86
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87 /// split full32 to 2 words
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88 typedef struct{
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89 uint16_t low16; ///< split word to 2 bytes
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90 uint16_t hi16; ///< split word to 2 bytes
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91 } two_word;
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92
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93 typedef union{
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94 two_word Word16; ///< split word to 2 bytes
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95 uint32_t Full32; ///< split word to 2 bytes
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96 } tfull32;
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97
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98
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99 /// crazy compass calibration stuff
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100 typedef struct
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101 {
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102 unsigned short int compass_N;
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103 float Su, Sv, Sw;
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104 float Suu, Svv, Sww, Suv, Suw, Svw;
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105 float Suuu, Svvv, Swww;
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106 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv;
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107 } SCompassCalib;
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108
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109
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110 #define Q_PI (18000)
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111 #define Q_PIO2 (9000)
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112
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113 #define HMC5883L (1) ///< id used with hardwareCompass
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114 #define LSM303D (2) ///< id used with hardwareCompass
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115 #define COMPASS_NOT_RECOGNIZED (4) ///< id used with hardwareCompass
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116
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117
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118 //////////////////////////////////////////////////////////////////////////////
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119 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error
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120 //
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121 #define K1 (5701) // Needs K1/2**16
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122 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV
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123 #define K3 ( 446) // Needs K3/2**80
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124
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125 const float PI = 3.14159265; ///< pi, used in compass_calc()
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126
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127 typedef short int Int16;
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128 typedef signed char Int8;
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129 typedef Int16 Angle;
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130
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131
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132 /// The (filtered) components of the magnetometer sensor
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133 int16_t compass_DX_f; ///< output from sensor
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134 int16_t compass_DY_f; ///< output from sensor
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135 int16_t compass_DZ_f; ///< output from sensor
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136
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137
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138 /// Found soft-iron calibration values, deduced from already filtered values
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139 int16_t compass_CX_f; ///< calibration value
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140 int16_t compass_CY_f; ///< calibration value
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141 int16_t compass_CZ_f; ///< calibration value
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142
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143
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144 /// The (filtered) components of the accelerometer sensor
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145 int16_t accel_DX_f; ///< output from sensor
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146 int16_t accel_DY_f; ///< output from sensor
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147 int16_t accel_DZ_f; ///< output from sensor
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148
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149
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150 /// The compass result values
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151 float compass_heading; ///< the final result calculated in compass_calc()
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152 float compass_roll; ///< the final result calculated in compass_calc()
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153 float compass_pitch; ///< the final result calculated in compass_calc()
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154
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155
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156 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration
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157
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158 uint8_t hardwareCompass = 0; ///< either HMC5883L or LSM303D or not defined yet ( = 0 )
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159
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160 /// LSM303D variables
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161 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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162 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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163
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164 //uint16_t velMag = 0;
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165 //uint16_t velAcc = 0;
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166
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167 //uint16_t magODR[] = {31,62,125,250,500,1000,2000};
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168 //uint16_t accODR[] = {0,31,62,125,250,500,1000,2000,4000,8000,16000};
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169 //uint8_t fastest = 10; //no sensor is the fastest
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170 //uint8_t datas1 = 0;
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171 //uint8_t zoffFlag = 0;
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172 //uint8_t sendFlag = 0;
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173
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174
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175 // all by pixhawk code:
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176
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177 // struct accel_scale _accel_scale;
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178 unsigned _accel_range_m_s2;
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179 float _accel_range_scale;
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180 unsigned _accel_samplerate;
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181 unsigned _accel_onchip_filter_bandwith;
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182
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183 // struct mag_scale _mag_scale;
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184 unsigned _mag_range_ga;
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185 float _mag_range_scale;
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186 unsigned _mag_samplerate;
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187
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188 // default scale factors
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189 float _accel_scale_x_offset = 0.0f;
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190 float _accel_scale_x_scale = 1.0f;
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191 float _accel_scale_y_offset = 0.0f;
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192 float _accel_scale_y_scale = 1.0f;
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193 float _accel_scale_z_offset = 0.0f;
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194 float _accel_scale_z_scale = 1.0f;
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195
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196 float _mag_scale_x_offset = 0.0f;
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197 float _mag_scale_x_scale = 1.0f;
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198 float _mag_scale_y_offset = 0.0f;
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199 float _mag_scale_y_scale = 1.0f;
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200 float _mag_scale_z_offset = 0.0f;
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201 float _mag_scale_z_scale = 1.0f;
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202
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203
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204 /* External function prototypes ----------------------------------------------*/
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205
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206 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz);
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207
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208 /* Private function prototypes -----------------------------------------------*/
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209
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210 void compass_reset_calibration(SCompassCalib *g);
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211 void compass_add_calibration(SCompassCalib *g);
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212 void compass_solve_calibration(SCompassCalib *g);
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213
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214 void compass_init_HMC5883L(uint8_t fast, uint8_t gain);
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215 void compass_sleep_HMC5883L(void);
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216 void compass_read_HMC5883L(void);
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217
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218 void accelerator_init_MMA8452Q(void);
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219 void accelerator_sleep_MMA8452Q(void);
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220 void acceleration_read_MMA8452Q(void);
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221
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222 void compass_init_LSM303D(uint8_t fast, uint8_t gain);
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223 void compass_sleep_LSM303D(void);
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224 void compass_read_LSM303D(void);
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225 void acceleration_read_LSM303D(void);
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226
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227 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
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228 int compass_calib_common(void);
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229
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230 void compass_calc_roll_pitch_only(void);
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231
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232 void rotate_mag_3f(float *x, float *y, float *z);
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233 void rotate_accel_3f(float *x, float *y, float *z);
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234
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235
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236 /* Exported functions --------------------------------------------------------*/
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237
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238
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239 // ===============================================================================
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240 // compass_init
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241 /// @brief This might be called several times with different gain values during calibration
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242 /// On first call it figures out which hardware is integrated
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243 ///
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244 /// @param gain: 7 is max gain, compass_calib() might reduce it
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245 // ===============================================================================
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246
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247 uint8_t testCompassTypeDebug = 0xFF;
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248
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249 void compass_init(uint8_t fast, uint8_t gain)
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250 {
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251 // quick off
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252 #ifdef COMPASS_DEACTIVATE
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253 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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254 #endif
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255
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256 // don't call again with fast, gain in calib mode etc.
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257 // if unknown
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258 if(hardwareCompass == COMPASS_NOT_RECOGNIZED)
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259 {
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260 return;
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261 }
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262
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263 // old code but without else
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264 if(hardwareCompass == 0)
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265 {
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266 uint8_t data = WHO_AM_I;
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267 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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268 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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269 if(data == WHOIAM_VALUE)
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270 hardwareCompass = LSM303D;
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271 else
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272 hardwareCompass = HMC5883L;
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273 }
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274
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275 /* No compass identified => Retry */
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276 if(hardwareCompass == 0)
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277 {
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278 uint8_t data = WHO_AM_I;
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279 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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280 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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281 if(data == WHOIAM_VALUE)
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282 hardwareCompass = LSM303D;
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283 else
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284 hardwareCompass = HMC5883L;
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285 }
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286
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287 /* Assume that a HMC5883L is equipped by default if detection still failed */
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288 if(hardwareCompass == 0)
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289 hardwareCompass = HMC5883L;
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290
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291 #ifdef TEST_IF_HMC5883L
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292 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT;
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293
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294 if(hardwareCompass == HMC5883L)
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295 {
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296 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q
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297 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1);
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298 if(resultOfOperationHMC_MMA == HAL_OK)
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299 {
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300 hardwareCompass = HMC5883L; // all fine, keep it
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301 }
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302 else
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303 {
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304 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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305 testCompassTypeDebug = 0xEC;
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306 }
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307 }
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308 #endif
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309
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310 if(hardwareCompass == LSM303D)
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311 {
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312 compass_init_LSM303D(fast, gain);
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313 }
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314 else
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315 if(hardwareCompass == HMC5883L)
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316 {
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317 compass_init_HMC5883L(fast, gain);
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318 }
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319
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320 tfull32 dataBlock[4];
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321 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK)
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322 {
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323 compass_CX_f = dataBlock[0].Word16.low16;
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324 compass_CY_f = dataBlock[0].Word16.hi16;
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325 compass_CZ_f = dataBlock[1].Word16.low16;
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326 }
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327
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328 }
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329
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330
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331 // ===============================================================================
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332 // compass_calib
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333 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D
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334 // ===============================================================================
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335 int compass_calib(void)
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336 {
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337 if(hardwareCompass == LSM303D)
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338 {
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339 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773);
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340 int out = compass_calib_common();
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341 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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342 return out;
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343 }
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344 else
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345 if(hardwareCompass == HMC5883L)
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346 {
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347 return compass_calib_common();
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348 }
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349 else
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350 {
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351 return 0; // standard answer of compass_calib_common();
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352 }
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353
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354
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355 }
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356
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357
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358 // ===============================================================================
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359 // compass_sleep
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360 /// @brief low power mode
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361 // ===============================================================================
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362 void compass_sleep(void)
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363 {
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364 if(hardwareCompass == LSM303D)
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365 {
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366 compass_sleep_LSM303D();
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367 }
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368 else
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369 if(hardwareCompass == HMC5883L)
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370 {
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371 compass_sleep_HMC5883L();
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372 }
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373 }
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374
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375
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376 // ===============================================================================
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377 // compass_read
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378 /// @brief reads magnetometer and accelerometer for LSM303D,
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379 /// otherwise magnetometer only
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380 // ===============================================================================
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381 void compass_read(void)
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382 {
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383 if(hardwareCompass == LSM303D)
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384 {
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385 compass_read_LSM303D();
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386 }
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387 else
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388 if(hardwareCompass == HMC5883L)
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389 {
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390 compass_read_HMC5883L();
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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 // ===============================================================================
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396 // accelerator_init
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397 /// @brief empty for for LSM303D
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398 // ===============================================================================
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399 void accelerator_init(void)
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400 {
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401 if(hardwareCompass == HMC5883L)
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402 accelerator_init_MMA8452Q();
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403 }
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404
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405
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406 // ===============================================================================
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407 // accelerator_sleep
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408 /// @brief empty for for LSM303D
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409 // ===============================================================================
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410 void accelerator_sleep(void)
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411 {
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412 if(hardwareCompass == HMC5883L)
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413 accelerator_sleep_MMA8452Q();
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414 }
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415
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416
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417 // ===============================================================================
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418 // acceleration_read
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419 /// @brief empty for for LSM303D
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420 // ===============================================================================
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421 void acceleration_read(void)
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422 {
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423 if(hardwareCompass == LSM303D)
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424 {
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425 acceleration_read_LSM303D();
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426 }
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427 else
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428 if(hardwareCompass == HMC5883L)
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429 {
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430 acceleration_read_MMA8452Q();
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431 }
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432 }
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433
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434
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435 /* Private functions ---------------------------------------------------------*/
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436
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437 // ===============================================================================
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438 // LSM303D_read_reg
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439 /// @brief tiny helpers by pixhawk
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440 // ===============================================================================
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441 uint8_t LSM303D_read_reg(uint8_t addr)
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442 {
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443 uint8_t data;
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444
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445 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1);
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446 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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447 return data;
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448 }
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449
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450
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451 // ===============================================================================
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452 // LSM303D_write_reg
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453 /// @brief tiny helpers by pixhawk
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454 // ===============================================================================
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455 void LSM303D_write_reg(uint8_t addr, uint8_t value)
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456 {
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457 uint8_t data[2];
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458
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459 /* enable accel*/
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460 data[0] = addr;
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461 data[1] = value;
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462 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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463 }
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464
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465
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466 // ===============================================================================
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467 // LSM303D_write_checked_reg
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468 /// @brief tiny helpers by pixhawk. This runs unchecked at the moment.
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469 // ===============================================================================
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470 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value)
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471 {
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472 LSM303D_write_reg(addr, value);
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473 }
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474
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475
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476 // ===============================================================================
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477 // LSM303D_modify_reg
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478 /// @brief tiny helpers by pixhawk
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479 // ===============================================================================
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480 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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481 {
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482 uint8_t val;
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483
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484 val = LSM303D_read_reg(reg);
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485 val &= ~clearbits;
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486 val |= setbits;
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487 LSM303D_write_checked_reg(reg, val);
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488 }
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489
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490 /*
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491 // ===============================================================================
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492 // LSM303D_accel_set_range
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493 /// @brief tiny helpers by pixhawk
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494 // ===============================================================================
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495 int LSM303D_accel_set_range(unsigned max_g)
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496 {
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497 uint8_t setbits = 0;
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498 uint8_t clearbits = REG2_FULL_SCALE_BITS_A;
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499 float new_scale_g_digit = 0.0f;
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500
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501 if (max_g == 0) {
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502 max_g = 16;
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503 }
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504
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505 if (max_g <= 2) {
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506 _accel_range_m_s2 = 2.0f * LSM303D_ONE_G;
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507 setbits |= REG2_FULL_SCALE_2G_A;
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508 new_scale_g_digit = 0.061e-3f;
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509
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510 } else if (max_g <= 4) {
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511 _accel_range_m_s2 = 4.0f * LSM303D_ONE_G;
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512 setbits |= REG2_FULL_SCALE_4G_A;
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513 new_scale_g_digit = 0.122e-3f;
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514
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515 } else if (max_g <= 6) {
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516 _accel_range_m_s2 = 6.0f * LSM303D_ONE_G;
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517 setbits |= REG2_FULL_SCALE_6G_A;
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518 new_scale_g_digit = 0.183e-3f;
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519
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520 } else if (max_g <= 8) {
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521 _accel_range_m_s2 = 8.0f * LSM303D_ONE_G;
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522 setbits |= REG2_FULL_SCALE_8G_A;
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523 new_scale_g_digit = 0.244e-3f;
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524
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525 } else if (max_g <= 16) {
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526 _accel_range_m_s2 = 16.0f * LSM303D_ONE_G;
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527 setbits |= REG2_FULL_SCALE_16G_A;
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528 new_scale_g_digit = 0.732e-3f;
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529
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530 } else {
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531 return -1;
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532 }
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533
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534 _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
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535
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536
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537 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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538
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539 return 0;
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540 }
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541 */
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542 /*
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543 // ===============================================================================
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544 // LSM303D_mag_set_range
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545 /// @brief tiny helpers by pixhawk
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546 // ===============================================================================
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547 int LSM303D_mag_set_range(unsigned max_ga)
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548 {
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549 uint8_t setbits = 0;
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550 uint8_t clearbits = REG6_FULL_SCALE_BITS_M;
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551 float new_scale_ga_digit = 0.0f;
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552
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parents:
diff changeset
553 if (max_ga == 0) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
554 max_ga = 12;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
555 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
556
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
557 if (max_ga <= 2) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
558 _mag_range_ga = 2;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
559 setbits |= REG6_FULL_SCALE_2GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
560 new_scale_ga_digit = 0.080e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
561
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
562 } else if (max_ga <= 4) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
563 _mag_range_ga = 4;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
564 setbits |= REG6_FULL_SCALE_4GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
565 new_scale_ga_digit = 0.160e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
566
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
567 } else if (max_ga <= 8) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
568 _mag_range_ga = 8;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
569 setbits |= REG6_FULL_SCALE_8GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
570 new_scale_ga_digit = 0.320e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
571
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
572 } else if (max_ga <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
573 _mag_range_ga = 12;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
574 setbits |= REG6_FULL_SCALE_12GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
575 new_scale_ga_digit = 0.479e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
576
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
577 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
578 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
579 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
580
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
581 _mag_range_scale = new_scale_ga_digit;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
582
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
583 LSM303D_modify_reg(ADDR_CTRL_REG6, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
584
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
585 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
586 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
587 */
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
588
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
589 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
590 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
591 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
592 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
593 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
594 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
595 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
596 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
597
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
598 if (bandwidth == 0) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
599 bandwidth = 773;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
600 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
601
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
602 if (bandwidth <= 50) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
603 setbits |= REG2_AA_FILTER_BW_50HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
604 _accel_onchip_filter_bandwith = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
605
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
606 } else if (bandwidth <= 194) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
607 setbits |= REG2_AA_FILTER_BW_194HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
608 _accel_onchip_filter_bandwith = 194;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
609
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
610 } else if (bandwidth <= 362) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
611 setbits |= REG2_AA_FILTER_BW_362HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
612 _accel_onchip_filter_bandwith = 362;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
613
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
614 } else if (bandwidth <= 773) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
615 setbits |= REG2_AA_FILTER_BW_773HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
616 _accel_onchip_filter_bandwith = 773;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
617
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
618 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
619 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
620 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
621
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
622 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
623
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
624 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
625 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
626
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
627
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
628 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
629 // LSM303D_accel_set_driver_lowpass_filter
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
630 /// @brief tiny helpers by pixhawk. This one is not used at the moment!
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
631 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
632 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
633 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
634 /*
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
635 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
636 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
637 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
638 */
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
639 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
640 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
641
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
642 /* unused 170821
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
643 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
644 // LSM303D_accel_set_samplerate
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
645 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
646 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
647 int LSM303D_accel_set_samplerate(unsigned frequency)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
648 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
649 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
650 uint8_t clearbits = REG1_RATE_BITS_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
651
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
652 // if (frequency == 0 || frequency == ACCEL_SAMPLERATE_DEFAULT) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
653 frequency = 1600;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
654 // }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
655
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
656 if (frequency <= 3) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
657 setbits |= REG1_RATE_3_125HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
658 _accel_samplerate = 3;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
659
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
660 } else if (frequency <= 6) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
661 setbits |= REG1_RATE_6_25HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
662 _accel_samplerate = 6;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
663
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
664 } else if (frequency <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
665 setbits |= REG1_RATE_12_5HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
666 _accel_samplerate = 12;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
667
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
668 } else if (frequency <= 25) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
669 setbits |= REG1_RATE_25HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
670 _accel_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
671
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
672 } else if (frequency <= 50) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
673 setbits |= REG1_RATE_50HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
674 _accel_samplerate = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
675
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
676 } else if (frequency <= 100) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
677 setbits |= REG1_RATE_100HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
678 _accel_samplerate = 100;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
679
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
680 } else if (frequency <= 200) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
681 setbits |= REG1_RATE_200HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
682 _accel_samplerate = 200;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
683
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
684 } else if (frequency <= 400) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
685 setbits |= REG1_RATE_400HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
686 _accel_samplerate = 400;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
687
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
688 } else if (frequency <= 800) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
689 setbits |= REG1_RATE_800HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
690 _accel_samplerate = 800;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
691
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
692 } else if (frequency <= 1600) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
693 setbits |= REG1_RATE_1600HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
694 _accel_samplerate = 1600;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
695
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
696 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
697 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
698 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
699
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
700 LSM303D_modify_reg(ADDR_CTRL_REG1, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
701 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
702 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
703 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
704 // LSM303D_mag_set_samplerate
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
705 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
706 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
707 int LSM303D_mag_set_samplerate(unsigned frequency)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
708 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
709 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
710 uint8_t clearbits = REG5_RATE_BITS_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
711
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
712 if (frequency == 0) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
713 frequency = 100;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
714 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
715
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
716 if (frequency <= 3) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
717 setbits |= REG5_RATE_3_125HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
718 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
719
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
720 } else if (frequency <= 6) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
721 setbits |= REG5_RATE_6_25HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
722 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
723
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
724 } else if (frequency <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
725 setbits |= REG5_RATE_12_5HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
726 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
727
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
728 } else if (frequency <= 25) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
729 setbits |= REG5_RATE_25HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
730 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
731
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
732 } else if (frequency <= 50) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
733 setbits |= REG5_RATE_50HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
734 _mag_samplerate = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
735
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
736 } else if (frequency <= 100) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
737 setbits |= REG5_RATE_100HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
738 _mag_samplerate = 100;
5f11787b4f42 include in ostc4 repository
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diff changeset
739
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740 } else {
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741 return -1;
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parents:
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742 }
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parents:
diff changeset
743
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diff changeset
744 LSM303D_modify_reg(ADDR_CTRL_REG5, clearbits, setbits);
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745 return 0;
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746 }
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747 */
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parents:
diff changeset
748
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parents:
diff changeset
749
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diff changeset
750 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt
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751 // ===============================================================================
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752 // rotate_mag_3f
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753 /// @brief swap axis in convient way, by hw
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diff changeset
754 /// @param *x raw input is set to *y input
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diff changeset
755 /// @param *y raw input is set to -*x input
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parents:
diff changeset
756 /// @param *z raw is not touched
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757 // ===============================================================================
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758 void rotate_mag_3f(float *x, float *y, float *z)
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759 {
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diff changeset
760 return;
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761 /*
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762 *x = *x; // HMC: *x = -*y
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763 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y
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diff changeset
764 *z = *z; // HMC: *z = *z
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765 */
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diff changeset
766 }
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heinrichsweikamp
parents:
diff changeset
767
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diff changeset
768
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769 // ===============================================================================
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diff changeset
770 // rotate_accel_3f
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771 /// @brief swap axis in convient way, by hw, same as MMA8452Q
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772 /// @param *x raw input, output is with sign change
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773 /// @param *y raw input, output is with sign change
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774 /// @param *z raw input, output is with sign change
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775 // ===============================================================================
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diff changeset
776 void rotate_accel_3f(float *x, float *y, float *z)
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777 {
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778 *x = -*x;
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779 *y = -*y;
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diff changeset
780 *z = -*z;
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diff changeset
781 /* tested:
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782 x = x, y =-y, z=-z: does not work with roll
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783 x = x, y =y, z=-z: does not work with pitch
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784 x = x, y =y, z=z: does not work at all
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785 */
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diff changeset
786 }
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diff changeset
787
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diff changeset
788
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789 // ===============================================================================
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790 // compass_init_LSM303D by PIXhawk (LSM303D::reset())
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791 // https://raw.githubusercontent.com/PX4/Firmware/master/src/drivers/lsm303d/lsm303d.cpp
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diff changeset
792 /// @brief The new ST 303D
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diff changeset
793 /// This might be called several times with different gain values during calibration
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794 /// but gain change is not supported at the moment.
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795 ///
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796 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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797 // ===============================================================================
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798
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799 //uint8_t testCompassLS303D[11];
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800
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801 void compass_init_LSM303D(uint8_t fast, uint8_t gain)
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802 {
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diff changeset
803 // matthias version 160620
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804 if(fast == 0)
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805 {
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806 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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807 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2
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808 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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809 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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810 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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811 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4
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812 }
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813 else
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814 {
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815 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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816 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
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817 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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818 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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819 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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820 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz
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diff changeset
821 }
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822 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
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823 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
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diff changeset
824
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825 /*
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diff changeset
826 uint8_t data;
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827 for(int i=0;i<11;i++)
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828 {
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829 data = ADDR_INT_THS_L_M + i;
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830 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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831 I2C_Master_Receive( DEVICE_COMPASS_303D, &testCompassLS303D[i], 1);
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832 }
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833 */
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diff changeset
834
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835 return;
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836 /*
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837 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); // modifies ADDR_CTRL_REG2
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838 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); // modifies ADDR_CTRL_REG1
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diff changeset
839
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840 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
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841 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
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diff changeset
842 */
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parents:
diff changeset
843
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diff changeset
844 /*
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parents:
diff changeset
845 // my stuff hw
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846 // enable accel
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diff changeset
847 LSM303D_write_checked_reg(ADDR_CTRL_REG1,
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diff changeset
848 REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A);
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diff changeset
849
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diff changeset
850 // enable mag
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851 LSM303D_write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
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diff changeset
852 LSM303D_write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T);
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853 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
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854 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
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diff changeset
855
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diff changeset
856 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
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857 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);
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858 LSM303D_accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ);
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859 //LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting
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diff changeset
860
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861 // we setup the anti-alias on-chip filter as 50Hz. We believe
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862 // this operates in the analog domain, and is critical for
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863 // anti-aliasing. The 2 pole software filter is designed to
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864 // operate in conjunction with this on-chip filter
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diff changeset
865 if(fast)
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866 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting
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diff changeset
867 else
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diff changeset
868 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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heinrichsweikamp
parents:
diff changeset
869
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diff changeset
870
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871 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
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872 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
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873 */
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874 }
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parents:
diff changeset
875
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diff changeset
876
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parents:
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877 // ===============================================================================
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parents:
diff changeset
878 // compass_sleep_LSM303D
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879 /// @brief The new compass chip, hopefully this works!
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880 // ===============================================================================
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881 void compass_sleep_LSM303D(void)
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882 {
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883 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode
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884 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode
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885 }
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886
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887
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888 // ===============================================================================
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diff changeset
889 // acceleration_read_LSM303D
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890 /// @brief The new LSM303D, code by pixhawk
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891 ///
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892 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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893 // ===============================================================================
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894 void acceleration_read_LSM303D(void)
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diff changeset
895 {
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diff changeset
896 uint8_t data;
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diff changeset
897 float xraw_f, yraw_f, zraw_f;
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898 float accel_report_x, accel_report_y, accel_report_z;
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diff changeset
899
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900 memset(accDataBuffer,0,6);
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diff changeset
901
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diff changeset
902 accel_DX_f = 0;
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diff changeset
903 accel_DY_f = 0;
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diff changeset
904 accel_DZ_f = 0;
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diff changeset
905
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906 for(int i=0;i<6;i++)
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diff changeset
907 {
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diff changeset
908 data = ADDR_OUT_X_L_A + i;
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909 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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parents:
diff changeset
910 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1);
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911 }
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parents:
diff changeset
912
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diff changeset
913 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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diff changeset
914 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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915 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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parents:
diff changeset
916
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parents:
diff changeset
917 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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parents:
diff changeset
918
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parents:
diff changeset
919 // mh
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diff changeset
920 accel_report_x = xraw_f;
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diff changeset
921 accel_report_y = yraw_f;
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diff changeset
922 accel_report_z = zraw_f;
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parents:
diff changeset
923
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parents:
diff changeset
924 // my stuff
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parents:
diff changeset
925 /*
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parents:
diff changeset
926 accel_report_x = ((xraw_f * _accel_range_scale) - _accel_scale_x_offset) * _accel_scale_x_scale;
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parents:
diff changeset
927 accel_report_y = ((yraw_f * _accel_range_scale) - _accel_scale_y_offset) * _accel_scale_y_scale;
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parents:
diff changeset
928 accel_report_z = ((zraw_f * _accel_range_scale) - _accel_scale_z_offset) * _accel_scale_z_scale;
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parents:
diff changeset
929 */
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diff changeset
930 accel_DX_f = ((int16_t)(accel_report_x));
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diff changeset
931 accel_DY_f = ((int16_t)(accel_report_y));
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diff changeset
932 accel_DZ_f = ((int16_t)(accel_report_z));
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parents:
diff changeset
933 }
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diff changeset
934 /* special code after accel_report_z = ...
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diff changeset
935 * prior to output
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parents:
diff changeset
936 // we have logs where the accelerometers get stuck at a fixed
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parents:
diff changeset
937 // large value. We want to detect this and mark the sensor as
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parents:
diff changeset
938 // being faulty
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parents:
diff changeset
939
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parents:
diff changeset
940 if (fabsf(_last_accel[0] - x_in_new) < 0.001f &&
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parents:
diff changeset
941 fabsf(_last_accel[1] - y_in_new) < 0.001f &&
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diff changeset
942 fabsf(_last_accel[2] - z_in_new) < 0.001f &&
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diff changeset
943 fabsf(x_in_new) > 20 &&
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diff changeset
944 fabsf(y_in_new) > 20 &&
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945 fabsf(z_in_new) > 20) {
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diff changeset
946 _constant_accel_count += 1;
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diff changeset
947
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948 } else {
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diff changeset
949 _constant_accel_count = 0;
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950 }
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951
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952 if (_constant_accel_count > 100) {
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diff changeset
953 // we've had 100 constant accel readings with large
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diff changeset
954 // values. The sensor is almost certainly dead. We
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diff changeset
955 // will raise the error_count so that the top level
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956 // flight code will know to avoid this sensor, but
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parents:
diff changeset
957 // we'll still give the data so that it can be logged
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parents:
diff changeset
958 // and viewed
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diff changeset
959 perf_count(_bad_values);
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diff changeset
960 _constant_accel_count = 0;
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diff changeset
961 }
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diff changeset
962
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diff changeset
963 _last_accel[0] = x_in_new;
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diff changeset
964 _last_accel[1] = y_in_new;
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965 _last_accel[2] = z_in_new;
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966
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diff changeset
967 accel_report.x = _accel_filter_x.apply(x_in_new);
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diff changeset
968 accel_report.y = _accel_filter_y.apply(y_in_new);
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diff changeset
969 accel_report.z = _accel_filter_z.apply(z_in_new);
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970
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diff changeset
971 math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
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diff changeset
972 math::Vector<3> aval_integrated;
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973
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974 bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
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diff changeset
975 accel_report.x_integral = aval_integrated(0);
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diff changeset
976 accel_report.y_integral = aval_integrated(1);
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diff changeset
977 accel_report.z_integral = aval_integrated(2);
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978 */
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diff changeset
979
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980
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981 // ===============================================================================
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parents:
diff changeset
982 // compass_read_LSM303D
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parents:
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983 /// @brief The new LSM303D, code by pixhawk
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984 ///
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985 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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heinrichsweikamp
parents:
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986 // ===============================================================================
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diff changeset
987 void compass_read_LSM303D(void)
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988 {
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diff changeset
989 uint8_t data;
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990 // float xraw_f, yraw_f, zraw_f;
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991 // float mag_report_x, mag_report_y, mag_report_z;
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992
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993 memset(magDataBuffer,0,6);
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994
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995 compass_DX_f = 0;
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996 compass_DY_f = 0;
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997 compass_DZ_f = 0;
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998
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999 for(int i=0;i<6;i++)
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1000 {
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1001 data = ADDR_OUT_X_L_M + i;
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1002 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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diff changeset
1003 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
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diff changeset
1004 }
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parents:
diff changeset
1005
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parents:
diff changeset
1006 // mh 160620 flip x and y if flip display
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diff changeset
1007 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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diff changeset
1008 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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diff changeset
1009 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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parents:
diff changeset
1010 // no rotation
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parents:
diff changeset
1011 return;
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parents:
diff changeset
1012 /*
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parents:
diff changeset
1013 // my stuff
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parents:
diff changeset
1014 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))) / 10) - 200;
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diff changeset
1015 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))) / 10) - 200;
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diff changeset
1016 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))) / 10) - 200;
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parents:
diff changeset
1017 */
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parents:
diff changeset
1018 // old
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parents:
diff changeset
1019 /*
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diff changeset
1020 xraw_f = ((float)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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diff changeset
1021 yraw_f = ((float)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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1022 zraw_f = ((float)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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diff changeset
1023
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diff changeset
1024 rotate_mag_3f(&xraw_f, &yraw_f, &zraw_f);
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diff changeset
1025
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diff changeset
1026 compass_DX_f = (int16_t)((xraw_f * 0.1f) - 200.0f);
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parents:
diff changeset
1027 compass_DY_f = (int16_t)((yraw_f * 0.1f) - 200.0f);
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parents:
diff changeset
1028 compass_DZ_f = (int16_t)((zraw_f * 0.1f) - 200.0f);
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parents:
diff changeset
1029 */
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parents:
diff changeset
1030 /*
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diff changeset
1031 mag_report_x = ((xraw_f * _mag_range_scale) - _mag_scale_x_offset) * _mag_scale_x_scale;
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heinrichsweikamp
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diff changeset
1032 mag_report_y = ((yraw_f * _mag_range_scale) - _mag_scale_y_offset) * _mag_scale_y_scale;
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diff changeset
1033 mag_report_z = ((zraw_f * _mag_range_scale) - _mag_scale_z_offset) * _mag_scale_z_scale;
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diff changeset
1034
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diff changeset
1035 compass_DX_f = (int16_t)(mag_report_x * 1000.0f); // 1000.0 is just a wild guess by hw
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diff changeset
1036 compass_DY_f = (int16_t)(mag_report_y * 1000.0f);
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diff changeset
1037 compass_DZ_f = (int16_t)(mag_report_z * 1000.0f);
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1038 */
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diff changeset
1039 }
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diff changeset
1040
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1041
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1042 // --------------------------------------------------------------------------------
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parents:
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1043 // ----------EARLIER COMPONENTS ---------------------------------------------------
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diff changeset
1044 // --------------------------------------------------------------------------------
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diff changeset
1045
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1046 // ===============================================================================
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parents:
diff changeset
1047 // compass_init_HMC5883L
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diff changeset
1048 /// @brief The horrible Honeywell compass chip
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diff changeset
1049 /// This might be called several times during calibration
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parents:
diff changeset
1050 ///
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1051 /// @param fast: 1 is fast mode, 0 is normal mode
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diff changeset
1052 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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1053 // ===============================================================================
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diff changeset
1054 void compass_init_HMC5883L(uint8_t fast, uint8_t gain)
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heinrichsweikamp
parents:
diff changeset
1055 {
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diff changeset
1056 uint8_t write_buffer[4];
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parents:
diff changeset
1057
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parents:
diff changeset
1058 compass_gain = gain;
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diff changeset
1059 uint16_t length = 0;
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diff changeset
1060 write_buffer[0] = 0x00; // 00 = config Register A
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parents:
diff changeset
1061
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diff changeset
1062 if( fast )
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parents:
diff changeset
1063 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged
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diff changeset
1064 else
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diff changeset
1065 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged
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parents:
diff changeset
1066
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diff changeset
1067 switch(gain)
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parents:
diff changeset
1068 {
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diff changeset
1069 case 7:
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diff changeset
1070 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain
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parents:
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1071 break;
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parents:
diff changeset
1072 case 6:
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diff changeset
1073 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain
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parents:
diff changeset
1074 break;
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diff changeset
1075 case 5:
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diff changeset
1076 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain
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parents:
diff changeset
1077 break;
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parents:
diff changeset
1078 case 4:
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parents:
diff changeset
1079 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain
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parents:
diff changeset
1080 break;
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parents:
diff changeset
1081 case 3:
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parents:
diff changeset
1082 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain
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parents:
diff changeset
1083 break;
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parents:
diff changeset
1084 case 2:
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heinrichsweikamp
parents:
diff changeset
1085 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain
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parents:
diff changeset
1086 break;
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parents:
diff changeset
1087 case 1:
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heinrichsweikamp
parents:
diff changeset
1088 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain
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heinrichsweikamp
parents:
diff changeset
1089 break;
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heinrichsweikamp
parents:
diff changeset
1090 case 0:
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heinrichsweikamp
parents:
diff changeset
1091 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain
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parents:
diff changeset
1092 break;
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parents:
diff changeset
1093 }
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parents:
diff changeset
1094 write_buffer[3] = 0x00; // Mode: continuous mode
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parents:
diff changeset
1095 length = 4;
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parents:
diff changeset
1096 //hmc_twi_write(0);
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parents:
diff changeset
1097 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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parents:
diff changeset
1098 }
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parents:
diff changeset
1099
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heinrichsweikamp
parents:
diff changeset
1100
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parents:
diff changeset
1101
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parents:
diff changeset
1102 // ===============================================================================
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parents:
diff changeset
1103 // compass_sleep_HMC5883L
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parents:
diff changeset
1104 /// @brief Power-down mode for Honeywell compass chip
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parents:
diff changeset
1105 // ===============================================================================
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parents:
diff changeset
1106 void compass_sleep_HMC5883L(void)
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parents:
diff changeset
1107 {
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parents:
diff changeset
1108 uint8_t write_buffer[4];
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parents:
diff changeset
1109 uint16_t length = 0;
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parents:
diff changeset
1110
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parents:
diff changeset
1111 write_buffer[0] = 0x00; // 00 = config Register A
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parents:
diff changeset
1112 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA
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parents:
diff changeset
1113 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB
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parents:
diff changeset
1114 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode
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parents:
diff changeset
1115 length = 4;
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parents:
diff changeset
1116 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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parents:
diff changeset
1117 }
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heinrichsweikamp
parents:
diff changeset
1118
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parents:
diff changeset
1119
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parents:
diff changeset
1120 // ===============================================================================
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parents:
diff changeset
1121 // accelerator_init_MMA8452Q
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parents:
diff changeset
1122 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass
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parents:
diff changeset
1123 // ===============================================================================
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diff changeset
1124 void accelerator_init_MMA8452Q(void)
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parents:
diff changeset
1125 {
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diff changeset
1126 uint8_t write_buffer[4];
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parents:
diff changeset
1127 uint16_t length = 0;
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parents:
diff changeset
1128 //HAL_Delay(1);
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parents:
diff changeset
1129 //return;
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parents:
diff changeset
1130 write_buffer[0] = 0x0E; // XYZ_DATA_CFG
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parents:
diff changeset
1131 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range
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heinrichsweikamp
parents:
diff changeset
1132 length = 2;
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heinrichsweikamp
parents:
diff changeset
1133 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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parents:
diff changeset
1134 //HAL_Delay(1);
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parents:
diff changeset
1135 write_buffer[0] = 0x2A; // CTRL_REG1
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heinrichsweikamp
parents:
diff changeset
1136 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode
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heinrichsweikamp
parents:
diff changeset
1137 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode
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heinrichsweikamp
parents:
diff changeset
1138 length = 3;
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heinrichsweikamp
parents:
diff changeset
1139 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1140
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parents:
diff changeset
1141 //HAL_Delay(1);
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parents:
diff changeset
1142 //hw_delay_us(100);
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parents:
diff changeset
1143 write_buffer[0] = 0x2A; // CTRL_REG1
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heinrichsweikamp
parents:
diff changeset
1144 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode
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heinrichsweikamp
parents:
diff changeset
1145 length = 2;
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heinrichsweikamp
parents:
diff changeset
1146 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1147 /*
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heinrichsweikamp
parents:
diff changeset
1148 HAL_Delay(6);
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parents:
diff changeset
1149 compass_read();
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parents:
diff changeset
1150 HAL_Delay(1);
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parents:
diff changeset
1151 acceleration_read();
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heinrichsweikamp
parents:
diff changeset
1152
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heinrichsweikamp
parents:
diff changeset
1153 compass_calc();
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heinrichsweikamp
parents:
diff changeset
1154 */
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heinrichsweikamp
parents:
diff changeset
1155 }
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heinrichsweikamp
parents:
diff changeset
1156
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heinrichsweikamp
parents:
diff changeset
1157
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heinrichsweikamp
parents:
diff changeset
1158 // ===============================================================================
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parents:
diff changeset
1159 // accelerator_sleep_MMA8452Q
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heinrichsweikamp
parents:
diff changeset
1160 /// @brief compass_sleep_HMC5883L
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heinrichsweikamp
parents:
diff changeset
1161 // ===============================================================================
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parents:
diff changeset
1162 void accelerator_sleep_MMA8452Q(void)
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parents:
diff changeset
1163 {
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parents:
diff changeset
1164 uint16_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1165 uint8_t write_buffer[4];
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parents:
diff changeset
1166
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parents:
diff changeset
1167 write_buffer[0] = 0x2A; // CTRL_REG1
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parents:
diff changeset
1168 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode
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heinrichsweikamp
parents:
diff changeset
1169 length = 2;
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heinrichsweikamp
parents:
diff changeset
1170 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1171 }
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heinrichsweikamp
parents:
diff changeset
1172
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heinrichsweikamp
parents:
diff changeset
1173
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heinrichsweikamp
parents:
diff changeset
1174 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1175 // compass_read_HMC5883L
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heinrichsweikamp
parents:
diff changeset
1176 /// @brief The new ST 303D - get ALL data and store in static variables
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heinrichsweikamp
parents:
diff changeset
1177 ///
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heinrichsweikamp
parents:
diff changeset
1178 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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heinrichsweikamp
parents:
diff changeset
1179 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1180 void compass_read_HMC5883L(void)
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heinrichsweikamp
parents:
diff changeset
1181 {
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heinrichsweikamp
parents:
diff changeset
1182 uint8_t buffer[20];
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heinrichsweikamp
parents:
diff changeset
1183 compass_DX_f = 0;
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heinrichsweikamp
parents:
diff changeset
1184 compass_DY_f = 0;
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heinrichsweikamp
parents:
diff changeset
1185 compass_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1186 uint8_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1187 uint8_t read_buffer[6];
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heinrichsweikamp
parents:
diff changeset
1188 signed_tword data;
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heinrichsweikamp
parents:
diff changeset
1189 for(int i = 0; i<6;i++)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1190 read_buffer[i] = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1191 buffer[0] = 0x03; // 03 = Data Output X MSB Register
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1192 length = 1;
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heinrichsweikamp
parents:
diff changeset
1193 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length);
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heinrichsweikamp
parents:
diff changeset
1194 length = 6;
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heinrichsweikamp
parents:
diff changeset
1195 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1196
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heinrichsweikamp
parents:
diff changeset
1197
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heinrichsweikamp
parents:
diff changeset
1198 data.Byte.hi = read_buffer[0];
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heinrichsweikamp
parents:
diff changeset
1199 data.Byte.low = read_buffer[1];
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heinrichsweikamp
parents:
diff changeset
1200 //Y = Z
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heinrichsweikamp
parents:
diff changeset
1201 compass_DY_f = - data.Word;
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heinrichsweikamp
parents:
diff changeset
1202
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heinrichsweikamp
parents:
diff changeset
1203 data.Byte.hi = read_buffer[2];
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heinrichsweikamp
parents:
diff changeset
1204 data.Byte.low = read_buffer[3];
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heinrichsweikamp
parents:
diff changeset
1205 compass_DZ_f = data.Word;
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heinrichsweikamp
parents:
diff changeset
1206
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parents:
diff changeset
1207 data.Byte.hi = read_buffer[4];
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heinrichsweikamp
parents:
diff changeset
1208 data.Byte.low = read_buffer[5];
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heinrichsweikamp
parents:
diff changeset
1209 //X = -Y
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parents:
diff changeset
1210 compass_DX_f = data.Word;
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parents:
diff changeset
1211 }
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heinrichsweikamp
parents:
diff changeset
1212
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heinrichsweikamp
parents:
diff changeset
1213
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parents:
diff changeset
1214 // ===============================================================================
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parents:
diff changeset
1215 // acceleration_read_MMA8452Q
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heinrichsweikamp
parents:
diff changeset
1216 /// @brief The old MMA8452Q used with the Honeywell compass
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heinrichsweikamp
parents:
diff changeset
1217 /// get the acceleration data and store in static variables
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heinrichsweikamp
parents:
diff changeset
1218 ///
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heinrichsweikamp
parents:
diff changeset
1219 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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parents:
diff changeset
1220 // ===============================================================================
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parents:
diff changeset
1221 void acceleration_read_MMA8452Q(void)
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heinrichsweikamp
parents:
diff changeset
1222 {
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parents:
diff changeset
1223 uint8_t buffer[20];
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parents:
diff changeset
1224 accel_DX_f = 0;
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heinrichsweikamp
parents:
diff changeset
1225 accel_DY_f = 0;
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heinrichsweikamp
parents:
diff changeset
1226 accel_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1227 uint8_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1228 // bit8_Type status ;
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heinrichsweikamp
parents:
diff changeset
1229 uint8_t read_buffer[7];
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heinrichsweikamp
parents:
diff changeset
1230 signed_tword data;
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heinrichsweikamp
parents:
diff changeset
1231 for(int i = 0; i<6;i++)
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heinrichsweikamp
parents:
diff changeset
1232 read_buffer[i] = 0;
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heinrichsweikamp
parents:
diff changeset
1233 buffer[0] = 0x00; // 03 = Data Output X MSB Register
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heinrichsweikamp
parents:
diff changeset
1234 length = 1;
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heinrichsweikamp
parents:
diff changeset
1235 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length);
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heinrichsweikamp
parents:
diff changeset
1236 length = 7;
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heinrichsweikamp
parents:
diff changeset
1237 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1238
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heinrichsweikamp
parents:
diff changeset
1239 // status.uw = read_buffer[0];
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heinrichsweikamp
parents:
diff changeset
1240 data.Byte.hi = read_buffer[1];
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heinrichsweikamp
parents:
diff changeset
1241 data.Byte.low = read_buffer[2];
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heinrichsweikamp
parents:
diff changeset
1242 accel_DX_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1243 data.Byte.hi = read_buffer[3];
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heinrichsweikamp
parents:
diff changeset
1244 data.Byte.low = read_buffer[4];
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heinrichsweikamp
parents:
diff changeset
1245 accel_DY_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1246 data.Byte.hi = read_buffer[5];
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heinrichsweikamp
parents:
diff changeset
1247 data.Byte.low = read_buffer[6];
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heinrichsweikamp
parents:
diff changeset
1248 accel_DZ_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1249
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heinrichsweikamp
parents:
diff changeset
1250 accel_DX_f *= -1;
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heinrichsweikamp
parents:
diff changeset
1251 accel_DY_f *= -1;
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heinrichsweikamp
parents:
diff changeset
1252 accel_DZ_f *= -1;
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heinrichsweikamp
parents:
diff changeset
1253 }
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heinrichsweikamp
parents:
diff changeset
1254
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1255
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1256 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1257 // compass_calc_roll_pitch_only
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heinrichsweikamp
parents:
diff changeset
1258 /// @brief only the roll and pitch parts of compass_calc()
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heinrichsweikamp
parents:
diff changeset
1259 ///
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heinrichsweikamp
parents:
diff changeset
1260 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1261 /// output is compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1262 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1263 void compass_calc_roll_pitch_only(void)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1264 {
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heinrichsweikamp
parents:
diff changeset
1265 float sinPhi, cosPhi;
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heinrichsweikamp
parents:
diff changeset
1266 float Phi, Teta;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1267
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heinrichsweikamp
parents:
diff changeset
1268 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1269 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1270 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1271 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1272 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1273
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heinrichsweikamp
parents:
diff changeset
1274 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1275 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1276 compass_pitch = Teta * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1277 }
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heinrichsweikamp
parents:
diff changeset
1278
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heinrichsweikamp
parents:
diff changeset
1279
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heinrichsweikamp
parents:
diff changeset
1280 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1281 // compass_calc
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heinrichsweikamp
parents:
diff changeset
1282 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1283 ///
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heinrichsweikamp
parents:
diff changeset
1284 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1285 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1286 /// output is compass_heading, compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1287 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1288 void compass_calc(void)
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heinrichsweikamp
parents:
diff changeset
1289 {
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heinrichsweikamp
parents:
diff changeset
1290 float sinPhi, cosPhi, sinTeta, cosTeta;
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heinrichsweikamp
parents:
diff changeset
1291 float Phi, Teta, Psi;
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heinrichsweikamp
parents:
diff changeset
1292 int16_t iBfx, iBfy;
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heinrichsweikamp
parents:
diff changeset
1293 int16_t iBpx, iBpy, iBpz;
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heinrichsweikamp
parents:
diff changeset
1294
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heinrichsweikamp
parents:
diff changeset
1295 //---- Make hard iron correction -----------------------------------------
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heinrichsweikamp
parents:
diff changeset
1296 // Measured magnetometer orientation, measured ok.
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heinrichsweikamp
parents:
diff changeset
1297 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation.
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heinrichsweikamp
parents:
diff changeset
1298 iBpx = compass_DX_f - compass_CX_f; // X
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heinrichsweikamp
parents:
diff changeset
1299 iBpy = compass_DY_f - compass_CY_f; // Y
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heinrichsweikamp
parents:
diff changeset
1300 iBpz = compass_DZ_f - compass_CZ_f; // Z
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heinrichsweikamp
parents:
diff changeset
1301
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heinrichsweikamp
parents:
diff changeset
1302 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1303 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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heinrichsweikamp
parents:
diff changeset
1304 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1305 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1306 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1307 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1308
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heinrichsweikamp
parents:
diff changeset
1309 //---- rotate by roll angle (-Phi) ---------------------------------------
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heinrichsweikamp
parents:
diff changeset
1310 iBfy = iBpy * cosPhi - iBpz * sinPhi;
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heinrichsweikamp
parents:
diff changeset
1311 iBpz = iBpy * sinPhi + iBpz * cosPhi;
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heinrichsweikamp
parents:
diff changeset
1312 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos);
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heinrichsweikamp
parents:
diff changeset
1313
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heinrichsweikamp
parents:
diff changeset
1314 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1315 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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heinrichsweikamp
parents:
diff changeset
1316 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421
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heinrichsweikamp
parents:
diff changeset
1317 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1318 compass_pitch = Teta * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1319 sinTeta = sinf(Teta);
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heinrichsweikamp
parents:
diff changeset
1320 cosTeta = cosf(Teta);
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heinrichsweikamp
parents:
diff changeset
1321 /* correct cosine if pitch not in range -90 to 90 degrees */
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heinrichsweikamp
parents:
diff changeset
1322 if( cosTeta < 0 ) cosTeta = -cosTeta;
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heinrichsweikamp
parents:
diff changeset
1323
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heinrichsweikamp
parents:
diff changeset
1324 ///---- de-rotate by pitch angle Theta -----------------------------------
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heinrichsweikamp
parents:
diff changeset
1325 iBfx = iBpx * cosTeta + iBpz * sinTeta;
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heinrichsweikamp
parents:
diff changeset
1326
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heinrichsweikamp
parents:
diff changeset
1327 //---- Detect uncalibrated compass ---------------------------------------
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heinrichsweikamp
parents:
diff changeset
1328 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f )
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heinrichsweikamp
parents:
diff changeset
1329 {
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heinrichsweikamp
parents:
diff changeset
1330 compass_heading = -1;
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heinrichsweikamp
parents:
diff changeset
1331 return;
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heinrichsweikamp
parents:
diff changeset
1332 }
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heinrichsweikamp
parents:
diff changeset
1333
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heinrichsweikamp
parents:
diff changeset
1334 //---- calculate current yaw = e-compass angle Psi -----------------------
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heinrichsweikamp
parents:
diff changeset
1335 // Result in degree (no need of 0.01 deg precision...
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heinrichsweikamp
parents:
diff changeset
1336 Psi = atan2f(-iBfy,iBfx);
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heinrichsweikamp
parents:
diff changeset
1337 compass_heading = Psi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1338 // Result in 0..360 range:
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heinrichsweikamp
parents:
diff changeset
1339 if( compass_heading < 0 )
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heinrichsweikamp
parents:
diff changeset
1340 compass_heading += 360;
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heinrichsweikamp
parents:
diff changeset
1341 }
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heinrichsweikamp
parents:
diff changeset
1342
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heinrichsweikamp
parents:
diff changeset
1343
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heinrichsweikamp
parents:
diff changeset
1344 /*
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heinrichsweikamp
parents:
diff changeset
1345 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1346 // compass_calc_mini_during_calibration
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heinrichsweikamp
parents:
diff changeset
1347 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1348 ///
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heinrichsweikamp
parents:
diff changeset
1349 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1350 /// output is compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1351 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1352 void compass_calc_mini_during_calibration(void)
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heinrichsweikamp
parents:
diff changeset
1353 {
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heinrichsweikamp
parents:
diff changeset
1354 float sinPhi, cosPhi;
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heinrichsweikamp
parents:
diff changeset
1355 float Phi, Teta;
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heinrichsweikamp
parents:
diff changeset
1356
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heinrichsweikamp
parents:
diff changeset
1357 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1358 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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heinrichsweikamp
parents:
diff changeset
1359 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1360 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1361 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1362 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1363
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heinrichsweikamp
parents:
diff changeset
1364 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1365 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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heinrichsweikamp
parents:
diff changeset
1366 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1367 compass_pitch = Teta * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1368 }
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heinrichsweikamp
parents:
diff changeset
1369 */
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heinrichsweikamp
parents:
diff changeset
1370
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heinrichsweikamp
parents:
diff changeset
1371
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heinrichsweikamp
parents:
diff changeset
1372 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1373 // // - Calibration - ///////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1374 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1375
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heinrichsweikamp
parents:
diff changeset
1376 /* can be lost during sleep as those are reset with compass_reset_calibration() */
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heinrichsweikamp
parents:
diff changeset
1377
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heinrichsweikamp
parents:
diff changeset
1378 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1379 // compass_reset_calibration
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heinrichsweikamp
parents:
diff changeset
1380 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1381 ///
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heinrichsweikamp
parents:
diff changeset
1382 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1383 ///
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heinrichsweikamp
parents:
diff changeset
1384 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1385 /// all is set to zero here
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heinrichsweikamp
parents:
diff changeset
1386 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1387 void compass_reset_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1388 {
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heinrichsweikamp
parents:
diff changeset
1389 g->compass_N = 0;
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heinrichsweikamp
parents:
diff changeset
1390 g->Su = g->Sv = g->Sw = 0.0;
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heinrichsweikamp
parents:
diff changeset
1391 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0;
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heinrichsweikamp
parents:
diff changeset
1392 g->Suuu = g->Svvv = g->Swww = 0.0;
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heinrichsweikamp
parents:
diff changeset
1393 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0;
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heinrichsweikamp
parents:
diff changeset
1394 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0;
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heinrichsweikamp
parents:
diff changeset
1395 }
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heinrichsweikamp
parents:
diff changeset
1396
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heinrichsweikamp
parents:
diff changeset
1397
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heinrichsweikamp
parents:
diff changeset
1398 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1399 // compass_add_calibration
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heinrichsweikamp
parents:
diff changeset
1400 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1401 ///
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heinrichsweikamp
parents:
diff changeset
1402 /// input is compass_DX_f, compass_DY_f, compass_DZ_f
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heinrichsweikamp
parents:
diff changeset
1403 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1404 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1405 ///
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heinrichsweikamp
parents:
diff changeset
1406 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1407 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1408 void compass_add_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1409 {
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heinrichsweikamp
parents:
diff changeset
1410 float u, v, w;
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heinrichsweikamp
parents:
diff changeset
1411
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heinrichsweikamp
parents:
diff changeset
1412 u = (compass_DX_f - compass_CX_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1413 v = (compass_DY_f - compass_CY_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1414 w = (compass_DZ_f - compass_CZ_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1415
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heinrichsweikamp
parents:
diff changeset
1416 g->compass_N++;
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heinrichsweikamp
parents:
diff changeset
1417 g->Su += u;
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heinrichsweikamp
parents:
diff changeset
1418 g->Sv += v;
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heinrichsweikamp
parents:
diff changeset
1419 g->Sw += w;
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heinrichsweikamp
parents:
diff changeset
1420 g->Suv += u*v;
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heinrichsweikamp
parents:
diff changeset
1421 g->Suw += u*w;
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heinrichsweikamp
parents:
diff changeset
1422 g->Svw += v*w;
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heinrichsweikamp
parents:
diff changeset
1423 g->Suu += u*u;
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heinrichsweikamp
parents:
diff changeset
1424 g->Suuu += u*u*u;
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heinrichsweikamp
parents:
diff changeset
1425 g->Suuv += v*u*u;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1426 g->Suuw += w*u*u;
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heinrichsweikamp
parents:
diff changeset
1427 g->Svv += v*v;
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heinrichsweikamp
parents:
diff changeset
1428 g->Svvv += v*v*v;
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heinrichsweikamp
parents:
diff changeset
1429 g->Svvu += u*v*v;
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heinrichsweikamp
parents:
diff changeset
1430 g->Svvw += w*v*v;
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heinrichsweikamp
parents:
diff changeset
1431 g->Sww += w*w;
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heinrichsweikamp
parents:
diff changeset
1432 g->Swww += w*w*w;
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heinrichsweikamp
parents:
diff changeset
1433 g->Swwu += u*w*w;
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heinrichsweikamp
parents:
diff changeset
1434 g->Swwv += v*w*w;
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heinrichsweikamp
parents:
diff changeset
1435 }
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heinrichsweikamp
parents:
diff changeset
1436
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heinrichsweikamp
parents:
diff changeset
1437 //////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1438
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parents:
diff changeset
1439 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1440 // compass_solve_calibration
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heinrichsweikamp
parents:
diff changeset
1441 /// @brief all the fancy stuff first implemented in OSTC3
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parents:
diff changeset
1442 ///
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parents:
diff changeset
1443 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1444 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1445 ///
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parents:
diff changeset
1446 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1447 // ===============================================================================
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parents:
diff changeset
1448 void compass_solve_calibration(SCompassCalib *g)
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parents:
diff changeset
1449 {
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parents:
diff changeset
1450 float yu, yv, yw;
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parents:
diff changeset
1451 float delta;
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heinrichsweikamp
parents:
diff changeset
1452 float uc, vc, wc;
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heinrichsweikamp
parents:
diff changeset
1453
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heinrichsweikamp
parents:
diff changeset
1454
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parents:
diff changeset
1455 //---- Normalize partial sums --------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1456 //
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heinrichsweikamp
parents:
diff changeset
1457 // u, v, w should be centered on the mean value um, vm, wm:
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heinrichsweikamp
parents:
diff changeset
1458 // x = u + um, with um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1459 //
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heinrichsweikamp
parents:
diff changeset
1460 // So:
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heinrichsweikamp
parents:
diff changeset
1461 // (u + um)**2 = u**2 + 2u*um + um**2
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parents:
diff changeset
1462 // Su = 0, um = Sx/N
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parents:
diff changeset
1463 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N
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parents:
diff changeset
1464 // Suu = Sxx - Sx**2/N
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parents:
diff changeset
1465 yu = g->Su/g->compass_N;
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parents:
diff changeset
1466 yv = g->Sv/g->compass_N;
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parents:
diff changeset
1467 yw = g->Sw/g->compass_N;
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parents:
diff changeset
1468
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parents:
diff changeset
1469 g->Suu -= g->Su*yu;
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parents:
diff changeset
1470 g->Svv -= g->Sv*yv;
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parents:
diff changeset
1471 g->Sww -= g->Sw*yw;
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parents:
diff changeset
1472
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parents:
diff changeset
1473 // (u + um)(v + vm) = uv + u vm + v um + um vm
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parents:
diff changeset
1474 // Sxy = Suv + N * um vm
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parents:
diff changeset
1475 // Suv = Sxy - N * (Sx/N)(Sy/N);
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parents:
diff changeset
1476 g->Suv -= g->Su*yv;
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parents:
diff changeset
1477 g->Suw -= g->Su*yw;
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parents:
diff changeset
1478 g->Svw -= g->Sv*yw;
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parents:
diff changeset
1479
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parents:
diff changeset
1480 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3
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parents:
diff changeset
1481 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3
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parents:
diff changeset
1482 // Su = 0, um = Sx/N:
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parents:
diff changeset
1483 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3
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parents:
diff changeset
1484 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2
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parents:
diff changeset
1485
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parents:
diff changeset
1486 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm)
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parents:
diff changeset
1487 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm)
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heinrichsweikamp
parents:
diff changeset
1488 //
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parents:
diff changeset
1489 // Su = 0, Sv = 0, vm = Sy/N:
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heinrichsweikamp
parents:
diff changeset
1490 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm
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heinrichsweikamp
parents:
diff changeset
1491 //
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heinrichsweikamp
parents:
diff changeset
1492 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy
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heinrichsweikamp
parents:
diff changeset
1493 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N
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heinrichsweikamp
parents:
diff changeset
1494 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N
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heinrichsweikamp
parents:
diff changeset
1495 g->Suuu -= (3*g->Suu + g->Su*yu)*yu;
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parents:
diff changeset
1496 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu;
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parents:
diff changeset
1497 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu;
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parents:
diff changeset
1498
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parents:
diff changeset
1499 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv;
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parents:
diff changeset
1500 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv;
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parents:
diff changeset
1501 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv;
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parents:
diff changeset
1502
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parents:
diff changeset
1503 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw;
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parents:
diff changeset
1504 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw;
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heinrichsweikamp
parents:
diff changeset
1505 g->Swww -= (3*g->Sww + g->Sw*yw)*yw;
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parents:
diff changeset
1506
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parents:
diff changeset
1507 //---- Solve the system --------------------------------------------------
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parents:
diff changeset
1508 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2
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heinrichsweikamp
parents:
diff changeset
1509 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2
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heinrichsweikamp
parents:
diff changeset
1510 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2
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heinrichsweikamp
parents:
diff changeset
1511 // Note this is symetric, with a positiv diagonal, hence
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heinrichsweikamp
parents:
diff changeset
1512 // it always have a uniq solution.
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parents:
diff changeset
1513 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu);
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heinrichsweikamp
parents:
diff changeset
1514 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv);
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parents:
diff changeset
1515 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww);
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parents:
diff changeset
1516 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1517 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1518 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw);
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heinrichsweikamp
parents:
diff changeset
1519
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heinrichsweikamp
parents:
diff changeset
1520 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1521 - yv * (g->Suv * g->Sww - g->Svw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1522 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1523 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1524 - g->Suv * ( yu * g->Sww - yw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1525 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1526 wc = (g->Suu * (g->Svv * yw - g->Svw * yv )
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heinrichsweikamp
parents:
diff changeset
1527 - g->Suv * (g->Suv * yw - g->Svw * yu )
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heinrichsweikamp
parents:
diff changeset
1528 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta;
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heinrichsweikamp
parents:
diff changeset
1529
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heinrichsweikamp
parents:
diff changeset
1530 // Back to uncentered coordinates:
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heinrichsweikamp
parents:
diff changeset
1531 // xc = um + uc
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heinrichsweikamp
parents:
diff changeset
1532 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc;
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heinrichsweikamp
parents:
diff changeset
1533 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc;
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heinrichsweikamp
parents:
diff changeset
1534 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1535
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heinrichsweikamp
parents:
diff changeset
1536 // Then save the new calibrated center:
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heinrichsweikamp
parents:
diff changeset
1537 compass_CX_f = (short)(32768 * uc);
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heinrichsweikamp
parents:
diff changeset
1538 compass_CY_f = (short)(32768 * vc);
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heinrichsweikamp
parents:
diff changeset
1539 compass_CZ_f = (short)(32768 * wc);
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heinrichsweikamp
parents:
diff changeset
1540 }
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heinrichsweikamp
parents:
diff changeset
1541
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heinrichsweikamp
parents:
diff changeset
1542
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heinrichsweikamp
parents:
diff changeset
1543 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1544 // compass_calib
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heinrichsweikamp
parents:
diff changeset
1545 /// @brief the main loop for calibration
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parents:
diff changeset
1546 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1547 /// 160704 removed -4096 limit for LSM303D
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heinrichsweikamp
parents:
diff changeset
1548 ///
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heinrichsweikamp
parents:
diff changeset
1549 /// @return always 0
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heinrichsweikamp
parents:
diff changeset
1550 // ===============================================================================
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parents:
diff changeset
1551 int compass_calib_common(void)
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parents:
diff changeset
1552 {
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parents:
diff changeset
1553 SCompassCalib g;
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heinrichsweikamp
parents:
diff changeset
1554
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heinrichsweikamp
parents:
diff changeset
1555 // Starts with no calibration at all:
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parents:
diff changeset
1556 compass_reset_calibration(&g);
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parents:
diff changeset
1557
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parents:
diff changeset
1558 int64_t tickstart = 0;
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heinrichsweikamp
parents:
diff changeset
1559 uint32_t ticks = 0;
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heinrichsweikamp
parents:
diff changeset
1560 uint32_t lasttick = 0;
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parents:
diff changeset
1561 tickstart = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1562 // Eine Minute kalibrieren
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heinrichsweikamp
parents:
diff changeset
1563 while((ticks) < 60 * 1000)
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heinrichsweikamp
parents:
diff changeset
1564 {
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heinrichsweikamp
parents:
diff changeset
1565 compass_read();
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heinrichsweikamp
parents:
diff changeset
1566 acceleration_read();
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parents:
diff changeset
1567 compass_calc_roll_pitch_only();
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parents:
diff changeset
1568
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heinrichsweikamp
parents:
diff changeset
1569 if((hardwareCompass == HMC5883L)
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heinrichsweikamp
parents:
diff changeset
1570 &&((compass_DX_f == -4096) ||
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heinrichsweikamp
parents:
diff changeset
1571 (compass_DY_f == -4096) ||
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heinrichsweikamp
parents:
diff changeset
1572 (compass_DZ_f == -4096) ))
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heinrichsweikamp
parents:
diff changeset
1573 {
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heinrichsweikamp
parents:
diff changeset
1574 if(compass_gain == 0)
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heinrichsweikamp
parents:
diff changeset
1575 return -1;
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heinrichsweikamp
parents:
diff changeset
1576 compass_gain--;
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heinrichsweikamp
parents:
diff changeset
1577
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parents:
diff changeset
1578 compass_init(1, compass_gain);
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heinrichsweikamp
parents:
diff changeset
1579 compass_reset_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1580 //tickstart = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1581 continue;
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heinrichsweikamp
parents:
diff changeset
1582 }
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heinrichsweikamp
parents:
diff changeset
1583
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parents:
diff changeset
1584 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f);
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1585 compass_add_calibration(&g);
38
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heinrichsweikamp
parents:
diff changeset
1586 HAL_Delay(1);
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heinrichsweikamp
parents:
diff changeset
1587 lasttick = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1588 if(lasttick == 0)
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heinrichsweikamp
parents:
diff changeset
1589 {
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heinrichsweikamp
parents:
diff changeset
1590 tickstart = -ticks;
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parents:
diff changeset
1591 }
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1592 HAL_Delay(1);
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1593 ticks = lasttick - tickstart;
147
14e4c83a7559 Forward compass data during calibration mode
Ideenmodellierer
parents: 104
diff changeset
1594 SPI_Evaluate_RX_Data();
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1595 }
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1596
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parents:
diff changeset
1597 compass_solve_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1598
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heinrichsweikamp
parents:
diff changeset
1599 tfull32 dataBlock[4];
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parents:
diff changeset
1600 dataBlock[0].Word16.low16 = compass_CX_f;
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parents:
diff changeset
1601 dataBlock[0].Word16.hi16 = compass_CY_f;
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parents:
diff changeset
1602 dataBlock[1].Word16.low16 = compass_CZ_f;
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parents:
diff changeset
1603 dataBlock[1].Word16.hi16 = 0xFFFF;
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parents:
diff changeset
1604 dataBlock[2].Full32 = 0x7FFFFFFF;
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parents:
diff changeset
1605 dataBlock[3].Full32 = 0x7FFFFFFF;
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parents:
diff changeset
1606 BFA_writeDataBlock((uint32_t *)dataBlock);
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parents:
diff changeset
1607
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parents:
diff changeset
1608 return 0;
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parents:
diff changeset
1609 }
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heinrichsweikamp
parents:
diff changeset
1610
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parents:
diff changeset
1611 // //////////////////////////// TEST CODE /////////////////////////////////////
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parents:
diff changeset
1612
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heinrichsweikamp
parents:
diff changeset
1613
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heinrichsweikamp
parents:
diff changeset
1614
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parents:
diff changeset
1615 //#include <QtDebug>
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heinrichsweikamp
parents:
diff changeset
1616 //#include <stdio.h>
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parents:
diff changeset
1617 //#include <math.h>
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heinrichsweikamp
parents:
diff changeset
1618 /*#include <stdlib.h>
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parents:
diff changeset
1619
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parents:
diff changeset
1620 short compass_DX_f, compass_DY_f, compass_DZ_f;
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parents:
diff changeset
1621 short compass_CX_f, compass_CY_f, compass_CZ_f;
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parents:
diff changeset
1622
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parents:
diff changeset
1623 inline float uniform(void) {
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parents:
diff changeset
1624 return (rand() & 0xFFFF) / 65536.0f;
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parents:
diff changeset
1625 }
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heinrichsweikamp
parents:
diff changeset
1626 inline float sqr(float x) {
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parents:
diff changeset
1627 return x*x;
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parents:
diff changeset
1628 }
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heinrichsweikamp
parents:
diff changeset
1629
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parents:
diff changeset
1630 static const float radius = 0.21f;
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parents:
diff changeset
1631 static const float cx = 0.79f, cy = -0.46f, cz = 0.24f;
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heinrichsweikamp
parents:
diff changeset
1632 // const float cx = 0, cy = 0, cz = 0;
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parents:
diff changeset
1633
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parents:
diff changeset
1634 float check_compass_calib(void)
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parents:
diff changeset
1635 {
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heinrichsweikamp
parents:
diff changeset
1636
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heinrichsweikamp
parents:
diff changeset
1637 // Starts with no calibration at all:
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parents:
diff changeset
1638 compass_CX_f = compass_CY_f = compass_CZ_f = 0;
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parents:
diff changeset
1639
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parents:
diff changeset
1640 // Try 10 recalibration passes:
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parents:
diff changeset
1641 for(int p=0; p<10; ++p)
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parents:
diff changeset
1642 {
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parents:
diff changeset
1643 compass_reset_calibration();
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parents:
diff changeset
1644
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heinrichsweikamp
parents:
diff changeset
1645 //---- Generates random points on a sphere -------------------------------
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heinrichsweikamp
parents:
diff changeset
1646 // of radius,center (cx, cy, cz):
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parents:
diff changeset
1647 for(int i=0; i<100; ++i)
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parents:
diff changeset
1648 {
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parents:
diff changeset
1649 float theta = uniform()*360.0f;
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parents:
diff changeset
1650 float phi = uniform()*180.0f - 90.0f;
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parents:
diff changeset
1651
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parents:
diff changeset
1652 float x = cx + radius * cosf(phi)*cosf(theta);
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parents:
diff changeset
1653 float y = cy + radius * cosf(phi)*sinf(theta);
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parents:
diff changeset
1654 float z = cz + radius * sinf(phi);
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parents:
diff changeset
1655
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parents:
diff changeset
1656 compass_DX_f = (short)(32768 * x);
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parents:
diff changeset
1657 compass_DY_f = (short)(32768 * y);
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parents:
diff changeset
1658 compass_DZ_f = (short)(32768 * z);
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heinrichsweikamp
parents:
diff changeset
1659 compass_add_calibration();
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parents:
diff changeset
1660 }
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heinrichsweikamp
parents:
diff changeset
1661
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parents:
diff changeset
1662 compass_solve_calibration();
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heinrichsweikamp
parents:
diff changeset
1663 //qDebug() << "Center ="
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heinrichsweikamp
parents:
diff changeset
1664 // << compass_CX_f/32768.0f
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parents:
diff changeset
1665 // << compass_CY_f/32768.0f
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parents:
diff changeset
1666 // << compass_CZ_f/32768.0f;
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parents:
diff changeset
1667
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parents:
diff changeset
1668 float r2 = sqr(compass_CX_f/32768.0f - cx)
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heinrichsweikamp
parents:
diff changeset
1669 + sqr(compass_CY_f/32768.0f - cy)
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parents:
diff changeset
1670 + sqr(compass_CZ_f/32768.0f - cz);
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parents:
diff changeset
1671 if( r2 > 0.01f*0.01f )
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parents:
diff changeset
1672 return sqrtf(r2);
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parents:
diff changeset
1673 }
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heinrichsweikamp
parents:
diff changeset
1674 return 0;
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heinrichsweikamp
parents:
diff changeset
1675 }*/
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heinrichsweikamp
parents:
diff changeset
1676
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heinrichsweikamp
parents:
diff changeset
1677
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heinrichsweikamp
parents:
diff changeset
1678
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heinrichsweikamp
parents:
diff changeset
1679 /*
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heinrichsweikamp
parents:
diff changeset
1680 void compass_read_LSM303D_v3(void)
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heinrichsweikamp
parents:
diff changeset
1681 {
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heinrichsweikamp
parents:
diff changeset
1682 uint8_t data;
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heinrichsweikamp
parents:
diff changeset
1683
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heinrichsweikamp
parents:
diff changeset
1684 memset(magDataBuffer,0,6);
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parents:
diff changeset
1685
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heinrichsweikamp
parents:
diff changeset
1686 compass_DX_f = 0;
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heinrichsweikamp
parents:
diff changeset
1687 compass_DY_f = 0;
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parents:
diff changeset
1688 compass_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1689
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heinrichsweikamp
parents:
diff changeset
1690 //magnetometer multi read, order xl,xh, yl,yh, zl, zh
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heinrichsweikamp
parents:
diff changeset
1691 data = REG_MAG_DATA_ADDR;
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heinrichsweikamp
parents:
diff changeset
1692 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1693 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6);
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heinrichsweikamp
parents:
diff changeset
1694
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parents:
diff changeset
1695 compass_DX_f = ((int16_t)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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heinrichsweikamp
parents:
diff changeset
1696 compass_DY_f = ((int16_t)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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heinrichsweikamp
parents:
diff changeset
1697 compass_DZ_f = ((int16_t)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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heinrichsweikamp
parents:
diff changeset
1698
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parents:
diff changeset
1699 // compass_DX_f = compass_DX_f * stat->sensitivity_mag;
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parents:
diff changeset
1700 // compass_DY_f = compass_DY_f * stat->sensitivity_mag;
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heinrichsweikamp
parents:
diff changeset
1701 // compass_DZ_f = compass_DZ_f * stat->sensitivity_mag;
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heinrichsweikamp
parents:
diff changeset
1702 }
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heinrichsweikamp
parents:
diff changeset
1703
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heinrichsweikamp
parents:
diff changeset
1704
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heinrichsweikamp
parents:
diff changeset
1705 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1706 // compass_init_LSM303D by STMicroelectronics 2013 V1.0.5 2013/Oct/23
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heinrichsweikamp
parents:
diff changeset
1707 /// @brief The new ST 303D
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heinrichsweikamp
parents:
diff changeset
1708 /// This might be called several times with different gain values during calibration
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heinrichsweikamp
parents:
diff changeset
1709 ///
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heinrichsweikamp
parents:
diff changeset
1710 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
parents:
diff changeset
1711 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1712
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heinrichsweikamp
parents:
diff changeset
1713 void compass_init_LSM303D_v3(uint8_t gain)
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heinrichsweikamp
parents:
diff changeset
1714 {
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heinrichsweikamp
parents:
diff changeset
1715 uint8_t data[10];
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heinrichsweikamp
parents:
diff changeset
1716
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heinrichsweikamp
parents:
diff changeset
1717 // CNTRL1
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heinrichsweikamp
parents:
diff changeset
1718 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz)
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heinrichsweikamp
parents:
diff changeset
1719 // 0xxx block data update off
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heinrichsweikamp
parents:
diff changeset
1720 // x111 enable all three axes
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heinrichsweikamp
parents:
diff changeset
1721
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heinrichsweikamp
parents:
diff changeset
1722 // CNTRL5
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heinrichsweikamp
parents:
diff changeset
1723 // 0xxx xxxx temp sensor off
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heinrichsweikamp
parents:
diff changeset
1724 // x00x xxxx magnetic resolution
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heinrichsweikamp
parents:
diff changeset
1725 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz))
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heinrichsweikamp
parents:
diff changeset
1726 // xxxx xx00 latch irq requests off
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heinrichsweikamp
parents:
diff changeset
1727
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heinrichsweikamp
parents:
diff changeset
1728 // CNTRL7
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heinrichsweikamp
parents:
diff changeset
1729 // 00xx high pass filter mode, 00 normal mode
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heinrichsweikamp
parents:
diff changeset
1730 // xx0x filter for acceleration data bypassed
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heinrichsweikamp
parents:
diff changeset
1731 // xxx0 temperature sensor mode only off
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heinrichsweikamp
parents:
diff changeset
1732 // x0xx magnetic data low-power mode off
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1733 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down)
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heinrichsweikamp
parents:
diff changeset
1734
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heinrichsweikamp
parents:
diff changeset
1735 data[0] = CNTRL0;
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heinrichsweikamp
parents:
diff changeset
1736 data[1] = 0x00;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1737 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
1738
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heinrichsweikamp
parents:
diff changeset
1739 // acc
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heinrichsweikamp
parents:
diff changeset
1740 data[0] = CNTRL1;
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heinrichsweikamp
parents:
diff changeset
1741 data[1] = 0x00;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1742 data[2] = 0x0F;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1743 data[3] = 0x00;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1744 data[4] = 0x00;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1745 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5);
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heinrichsweikamp
parents:
diff changeset
1746
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heinrichsweikamp
parents:
diff changeset
1747 // mag
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heinrichsweikamp
parents:
diff changeset
1748 data[0] = CNTRL3;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1749 data[1] = 0x00;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1750 data[2] = 0x00;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1751 data[3] = 0x18;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1752 data[4] = 0x20;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1753 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5);
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heinrichsweikamp
parents:
diff changeset
1754
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1755 data[0] = CNTRL7;
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heinrichsweikamp
parents:
diff changeset
1756 data[1] = ((MSMS_MASK & CONTINUOS_CONVERSION) |
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heinrichsweikamp
parents:
diff changeset
1757 ((~MSMS_MASK) & CNTRL7_RESUME_VALUE));
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heinrichsweikamp
parents:
diff changeset
1758 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
1759
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heinrichsweikamp
parents:
diff changeset
1760 HAL_Delay(100);
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heinrichsweikamp
parents:
diff changeset
1761 }
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heinrichsweikamp
parents:
diff changeset
1762
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heinrichsweikamp
parents:
diff changeset
1763
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heinrichsweikamp
parents:
diff changeset
1764 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1765 // compass_init_LSM303D by nordevx for arduion
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heinrichsweikamp
parents:
diff changeset
1766 /// @brief The new ST 303D
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heinrichsweikamp
parents:
diff changeset
1767 /// This might be called several times with different gain values during calibration
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heinrichsweikamp
parents:
diff changeset
1768 ///
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heinrichsweikamp
parents:
diff changeset
1769 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
parents:
diff changeset
1770 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1771 void compass_init_LSM303D_v2(uint8_t gain)
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heinrichsweikamp
parents:
diff changeset
1772 {
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heinrichsweikamp
parents:
diff changeset
1773 uint8_t data[2];
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heinrichsweikamp
parents:
diff changeset
1774
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heinrichsweikamp
parents:
diff changeset
1775 // CNTRL1
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heinrichsweikamp
parents:
diff changeset
1776 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz)
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heinrichsweikamp
parents:
diff changeset
1777 // 0xxx block data update off
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heinrichsweikamp
parents:
diff changeset
1778 // x111 enable all three axes
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heinrichsweikamp
parents:
diff changeset
1779
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heinrichsweikamp
parents:
diff changeset
1780 // CNTRL5
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heinrichsweikamp
parents:
diff changeset
1781 // 0xxx xxxx temp sensor off
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heinrichsweikamp
parents:
diff changeset
1782 // x00x xxxx magnetic resolution
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heinrichsweikamp
parents:
diff changeset
1783 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz))
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heinrichsweikamp
parents:
diff changeset
1784 // xxxx xx00 latch irq requests off
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heinrichsweikamp
parents:
diff changeset
1785
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heinrichsweikamp
parents:
diff changeset
1786 // CNTRL7
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heinrichsweikamp
parents:
diff changeset
1787 // 00xx high pass filter mode, 00 normal mode
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heinrichsweikamp
parents:
diff changeset
1788 // xx0x filter for acceleration data bypassed
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heinrichsweikamp
parents:
diff changeset
1789 // xxx0 temperature sensor mode only off
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heinrichsweikamp
parents:
diff changeset
1790 // x0xx magnetic data low-power mode off
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heinrichsweikamp
parents:
diff changeset
1791 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down)
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heinrichsweikamp
parents:
diff changeset
1792
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parents:
diff changeset
1793 data[0] = CNTRL1;
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parents:
diff changeset
1794 data[1] = 0x37; //0b 0011 0111
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heinrichsweikamp
parents:
diff changeset
1795 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
1796
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parents:
diff changeset
1797 data[0] = CNTRL5;
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heinrichsweikamp
parents:
diff changeset
1798 data[1] = 0x08; // 0b 0000 1000
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heinrichsweikamp
parents:
diff changeset
1799 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
1800
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parents:
diff changeset
1801 data[0] = CNTRL7;
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heinrichsweikamp
parents:
diff changeset
1802 data[1] = 0x00; // 0b 0000 0000
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parents:
diff changeset
1803 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
1804
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parents:
diff changeset
1805 HAL_Delay(100);
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parents:
diff changeset
1806 }
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heinrichsweikamp
parents:
diff changeset
1807
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heinrichsweikamp
parents:
diff changeset
1808
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heinrichsweikamp
parents:
diff changeset
1809 // ===============================================================================
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parents:
diff changeset
1810 // compass_init_LSM303D_v1 by ST lsm303d.c
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heinrichsweikamp
parents:
diff changeset
1811 /// @brief The new ST 303D
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parents:
diff changeset
1812 /// This might be called several times with different gain values during calibration
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parents:
diff changeset
1813 ///
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parents:
diff changeset
1814 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
parents:
diff changeset
1815 // ===============================================================================
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parents:
diff changeset
1816 void compass_init_LSM303D_v1(uint8_t gain)
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parents:
diff changeset
1817 {
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parents:
diff changeset
1818 uint8_t data;
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parents:
diff changeset
1819
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parents:
diff changeset
1820 compass_gain = gain;
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heinrichsweikamp
parents:
diff changeset
1821
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parents:
diff changeset
1822 memset(magDataBuffer,0,6);
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parents:
diff changeset
1823 memset(accDataBuffer,0,6);
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parents:
diff changeset
1824
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parents:
diff changeset
1825 data = CNTRL5;
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heinrichsweikamp
parents:
diff changeset
1826 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1827 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1828 data = (data & 0x1c) >> 2;
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parents:
diff changeset
1829 velMag = magODR[data];
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parents:
diff changeset
1830
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parents:
diff changeset
1831 data = CNTRL1;
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heinrichsweikamp
parents:
diff changeset
1832 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1833 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1834 data = (data & 0xf0) >> 4;
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heinrichsweikamp
parents:
diff changeset
1835 velAcc = accODR[data];
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heinrichsweikamp
parents:
diff changeset
1836
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heinrichsweikamp
parents:
diff changeset
1837 data = CNTRL7;
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heinrichsweikamp
parents:
diff changeset
1838 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1839 I2C_Master_Receive( DEVICE_COMPASS_303D, &datas1, 1);
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heinrichsweikamp
parents:
diff changeset
1840 datas1 = (datas1 & 0x02);
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heinrichsweikamp
parents:
diff changeset
1841
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heinrichsweikamp
parents:
diff changeset
1842 //if mag is not pd
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heinrichsweikamp
parents:
diff changeset
1843 //mag is bigger than gyro
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parents:
diff changeset
1844 if( (velMag < velAcc) || datas1 != 0 ) {
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heinrichsweikamp
parents:
diff changeset
1845 //acc is the biggest
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parents:
diff changeset
1846 fastest = ACC_IS_FASTEST;
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parents:
diff changeset
1847 }
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heinrichsweikamp
parents:
diff changeset
1848 else {
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heinrichsweikamp
parents:
diff changeset
1849 //acc is the biggest
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parents:
diff changeset
1850 fastest = MAG_IS_FASTEST;
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parents:
diff changeset
1851 }
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heinrichsweikamp
parents:
diff changeset
1852
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parents:
diff changeset
1853 zoffFlag = 1;
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heinrichsweikamp
parents:
diff changeset
1854
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heinrichsweikamp
parents:
diff changeset
1855 if( fastest == MAG_IS_FASTEST)
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parents:
diff changeset
1856 {
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parents:
diff changeset
1857 data = STATUS_REG_M;
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parents:
diff changeset
1858 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1859 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1860
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parents:
diff changeset
1861 // if(ValBit(data, ZYXMDA)) {
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parents:
diff changeset
1862 sendFlag = 1;
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parents:
diff changeset
1863 // }
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parents:
diff changeset
1864
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parents:
diff changeset
1865 }
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parents:
diff changeset
1866 else if(fastest == ACC_IS_FASTEST)
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parents:
diff changeset
1867 {
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parents:
diff changeset
1868 data = STATUS_REG_A;
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heinrichsweikamp
parents:
diff changeset
1869 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1870 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1871 // if(ValBit(data, DATAREADY_BIT)) {
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parents:
diff changeset
1872 sendFlag = 1;
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heinrichsweikamp
parents:
diff changeset
1873 // }
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heinrichsweikamp
parents:
diff changeset
1874 }
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heinrichsweikamp
parents:
diff changeset
1875 }
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heinrichsweikamp
parents:
diff changeset
1876
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heinrichsweikamp
parents:
diff changeset
1877 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1878 // compass_read_LSM303D
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heinrichsweikamp
parents:
diff changeset
1879 /// @brief The new LSM303D :-)
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heinrichsweikamp
parents:
diff changeset
1880 ///
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parents:
diff changeset
1881 /// output 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
1882 // ===============================================================================
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parents:
diff changeset
1883 void compass_read_LSM303D_v2(void)
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parents:
diff changeset
1884 {
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heinrichsweikamp
parents:
diff changeset
1885 uint8_t data;
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heinrichsweikamp
parents:
diff changeset
1886
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heinrichsweikamp
parents:
diff changeset
1887 memset(magDataBuffer,0,6);
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heinrichsweikamp
parents:
diff changeset
1888 memset(accDataBuffer,0,6);
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heinrichsweikamp
parents:
diff changeset
1889
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parents:
diff changeset
1890 compass_DX_f = 0;
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parents:
diff changeset
1891 compass_DY_f = 0;
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parents:
diff changeset
1892 compass_DZ_f = 0;
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parents:
diff changeset
1893
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parents:
diff changeset
1894 accel_DX_f = 0;
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parents:
diff changeset
1895 accel_DY_f = 0;
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parents:
diff changeset
1896 accel_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1897
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heinrichsweikamp
parents:
diff changeset
1898 //Accelerometer multi read, order xl,xh, yl,yh, zl, zh
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parents:
diff changeset
1899 data = REG_ACC_DATA_ADDR;
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parents:
diff changeset
1900 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1901 I2C_Master_Receive( DEVICE_COMPASS_303D, accDataBuffer, 6);
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heinrichsweikamp
parents:
diff changeset
1902
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heinrichsweikamp
parents:
diff changeset
1903 //magnetometer multi read, order xl,xh, yl,yh, zl, zh
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heinrichsweikamp
parents:
diff changeset
1904 data = OUT_X_L_M;
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heinrichsweikamp
parents:
diff changeset
1905 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
1906 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6);
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heinrichsweikamp
parents:
diff changeset
1907
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heinrichsweikamp
parents:
diff changeset
1908 accel_DX_f = ((int16_t)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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heinrichsweikamp
parents:
diff changeset
1909 accel_DY_f = ((int16_t)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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heinrichsweikamp
parents:
diff changeset
1910 accel_DZ_f = ((int16_t)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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heinrichsweikamp
parents:
diff changeset
1911
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parents:
diff changeset
1912 // accel_DX_f = accel_DX_f * stat->sensitivity_acc;
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parents:
diff changeset
1913 // accel_DY_f = accel_DY_f * stat->sensitivity_acc;
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parents:
diff changeset
1914 // accel_DZ_f = accel_DZ_f * stat->sensitivity_acc;
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heinrichsweikamp
parents:
diff changeset
1915
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heinrichsweikamp
parents:
diff changeset
1916
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parents:
diff changeset
1917 compass_DX_f = magDataBuffer[1];
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heinrichsweikamp
parents:
diff changeset
1918 compass_DX_f *= 256;
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heinrichsweikamp
parents:
diff changeset
1919 compass_DX_f += magDataBuffer[0];
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heinrichsweikamp
parents:
diff changeset
1920
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parents:
diff changeset
1921 compass_DY_f = magDataBuffer[3];
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heinrichsweikamp
parents:
diff changeset
1922 compass_DY_f *= 256;
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heinrichsweikamp
parents:
diff changeset
1923 compass_DY_f += magDataBuffer[2];
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heinrichsweikamp
parents:
diff changeset
1924
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heinrichsweikamp
parents:
diff changeset
1925 compass_DY_f = magDataBuffer[5];
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heinrichsweikamp
parents:
diff changeset
1926 compass_DY_f *= 256;
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heinrichsweikamp
parents:
diff changeset
1927 compass_DY_f += magDataBuffer[4];
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heinrichsweikamp
parents:
diff changeset
1928
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heinrichsweikamp
parents:
diff changeset
1929 }
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heinrichsweikamp
parents:
diff changeset
1930
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heinrichsweikamp
parents:
diff changeset
1931
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heinrichsweikamp
parents:
diff changeset
1932 */
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heinrichsweikamp
parents:
diff changeset
1933