Mercurial > public > ostc4
annotate Small_CPU/Src/compass.c @ 558:66aef216828b
Changed operation mode of RecoverSampleIndex:
In previous implementation the check was only done for the first 16 sector to be able to display status using a string. This may not be done by an OSTC companion function externally => changed function to handle all 192 sector used for log samples. The lastSampleIdx will now be stored immediatly (dive was necessary in previous version)
author | Ideenmodellierer |
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date | Thu, 12 Nov 2020 20:06:04 +0100 |
parents | 573a2bc796c8 |
children | 84a4e1200726 |
rev | line source |
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38 | 1 /** |
2 ****************************************************************************** | |
3 * @file compass.c | |
4 * @author heinrichs weikamp gmbh | |
5 * @date 27-March-2014 | |
6 * @version V0.2.0 | |
7 * @since 21-April-2016 | |
8 * @brief for Honeywell Compass and ST LSM303D | |
9 * | |
10 @verbatim | |
11 ============================================================================== | |
12 ##### How to use ##### | |
13 ============================================================================== | |
14 V0.1.0 09-March-2016 | |
15 V0.2.0 21-April-2016 Orientation fixed for LSM303D, | |
16 roll and pitch added to calibration output, | |
17 orientation double checked with datasheets and layout | |
18 as well as with value output during calibration | |
19 V0.2.1 19-May-2016 New date rate config and full-scale selection | |
20 | |
21 @endverbatim | |
22 ****************************************************************************** | |
23 * @attention | |
24 * | |
25 * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> | |
26 * | |
27 ****************************************************************************** | |
28 */ | |
29 | |
30 #include <math.h> | |
31 #include <string.h> | |
32 | |
33 #include "compass.h" | |
34 #include "compass_LSM303D.h" | |
35 | |
36 #include "i2c.h" | |
219 | 37 #include "spi.h" |
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38 #include "scheduler.h" |
38 | 39 #include "RTE_FlashAccess.h" // to store compass_calib_data |
40 | |
41 #include "stm32f4xx_hal.h" | |
42 | |
410
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43 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
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44 extern SGlobal global; |
38 | 45 |
46 /// split word to 2 bytes | |
47 typedef struct{ | |
48 uint8_t low; ///< split word to 2 bytes | |
49 uint8_t hi; ///< split word to 2 bytes | |
50 } two_byte; | |
51 | |
52 | |
53 /// split word to 2 bytes | |
54 typedef union{ | |
55 two_byte Byte; ///< split word to 2 bytes | |
56 uint16_t Word; ///< split word to 2 bytes | |
57 } tword; | |
58 | |
59 | |
60 /// split signed word to 2 bytes | |
61 typedef union{ | |
62 two_byte Byte; ///< split signed word to 2 bytes | |
63 int16_t Word; ///< split signed word to 2 bytes | |
64 } signed_tword; | |
65 | |
66 | |
67 /// split full32 to 2 words | |
68 typedef struct{ | |
69 uint16_t low16; ///< split word to 2 bytes | |
70 uint16_t hi16; ///< split word to 2 bytes | |
71 } two_word; | |
72 | |
73 typedef union{ | |
74 two_word Word16; ///< split word to 2 bytes | |
75 uint32_t Full32; ///< split word to 2 bytes | |
76 } tfull32; | |
77 | |
78 | |
79 /// crazy compass calibration stuff | |
80 typedef struct | |
81 { | |
82 unsigned short int compass_N; | |
83 float Su, Sv, Sw; | |
84 float Suu, Svv, Sww, Suv, Suw, Svw; | |
85 float Suuu, Svvv, Swww; | |
86 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
87 } SCompassCalib; | |
88 | |
89 | |
90 #define Q_PI (18000) | |
91 #define Q_PIO2 (9000) | |
92 | |
93 | |
94 | |
95 ////////////////////////////////////////////////////////////////////////////// | |
96 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
97 // | |
98 #define K1 (5701) // Needs K1/2**16 | |
99 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
100 #define K3 ( 446) // Needs K3/2**80 | |
101 | |
102 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
103 | |
104 typedef short int Int16; | |
105 typedef signed char Int8; | |
106 typedef Int16 Angle; | |
107 | |
108 | |
109 /// The (filtered) components of the magnetometer sensor | |
110 int16_t compass_DX_f; ///< output from sensor | |
111 int16_t compass_DY_f; ///< output from sensor | |
112 int16_t compass_DZ_f; ///< output from sensor | |
113 | |
114 | |
115 /// Found soft-iron calibration values, deduced from already filtered values | |
116 int16_t compass_CX_f; ///< calibration value | |
117 int16_t compass_CY_f; ///< calibration value | |
118 int16_t compass_CZ_f; ///< calibration value | |
119 | |
120 | |
121 /// The (filtered) components of the accelerometer sensor | |
122 int16_t accel_DX_f; ///< output from sensor | |
123 int16_t accel_DY_f; ///< output from sensor | |
124 int16_t accel_DZ_f; ///< output from sensor | |
125 | |
126 | |
127 /// The compass result values | |
128 float compass_heading; ///< the final result calculated in compass_calc() | |
129 float compass_roll; ///< the final result calculated in compass_calc() | |
130 float compass_pitch; ///< the final result calculated in compass_calc() | |
131 | |
132 | |
133 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
134 | |
357 | 135 uint8_t hardwareCompass = 0; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0) |
38 | 136 |
137 /// LSM303D variables | |
138 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
139 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
140 | |
141 | |
142 // struct accel_scale _accel_scale; | |
143 unsigned _accel_range_m_s2; | |
144 float _accel_range_scale; | |
145 unsigned _accel_samplerate; | |
146 unsigned _accel_onchip_filter_bandwith; | |
147 | |
148 // struct mag_scale _mag_scale; | |
149 unsigned _mag_range_ga; | |
150 float _mag_range_scale; | |
151 unsigned _mag_samplerate; | |
152 | |
153 // default scale factors | |
154 float _accel_scale_x_offset = 0.0f; | |
155 float _accel_scale_x_scale = 1.0f; | |
156 float _accel_scale_y_offset = 0.0f; | |
157 float _accel_scale_y_scale = 1.0f; | |
158 float _accel_scale_z_offset = 0.0f; | |
159 float _accel_scale_z_scale = 1.0f; | |
160 | |
161 float _mag_scale_x_offset = 0.0f; | |
162 float _mag_scale_x_scale = 1.0f; | |
163 float _mag_scale_y_offset = 0.0f; | |
164 float _mag_scale_y_scale = 1.0f; | |
165 float _mag_scale_z_offset = 0.0f; | |
166 float _mag_scale_z_scale = 1.0f; | |
167 | |
168 | |
169 /* External function prototypes ----------------------------------------------*/ | |
170 | |
171 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
172 | |
173 /* Private function prototypes -----------------------------------------------*/ | |
174 | |
175 void compass_reset_calibration(SCompassCalib *g); | |
176 void compass_add_calibration(SCompassCalib *g); | |
177 void compass_solve_calibration(SCompassCalib *g); | |
178 | |
179 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
180 void compass_sleep_HMC5883L(void); | |
181 void compass_read_HMC5883L(void); | |
182 | |
183 void accelerator_init_MMA8452Q(void); | |
184 void accelerator_sleep_MMA8452Q(void); | |
185 void acceleration_read_MMA8452Q(void); | |
186 | |
187 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
188 void compass_sleep_LSM303D(void); | |
189 void compass_read_LSM303D(void); | |
190 void acceleration_read_LSM303D(void); | |
191 | |
357 | 192 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain); |
193 void compass_sleep_LSM303AGR(void); | |
194 void compass_read_LSM303AGR(void); | |
195 void acceleration_read_LSM303AGR(void); | |
196 | |
38 | 197 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); |
198 int compass_calib_common(void); | |
199 | |
200 void compass_calc_roll_pitch_only(void); | |
201 | |
202 void rotate_mag_3f(float *x, float *y, float *z); | |
203 void rotate_accel_3f(float *x, float *y, float *z); | |
204 | |
205 | |
206 /* Exported functions --------------------------------------------------------*/ | |
207 | |
208 | |
209 // =============================================================================== | |
210 // compass_init | |
211 /// @brief This might be called several times with different gain values during calibration | |
212 /// On first call it figures out which hardware is integrated | |
213 /// | |
214 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
215 // =============================================================================== | |
216 | |
217 void compass_init(uint8_t fast, uint8_t gain) | |
218 { | |
219 | |
220 // don't call again with fast, gain in calib mode etc. | |
221 // if unknown | |
222 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
223 { | |
224 return; | |
225 } | |
226 | |
227 // old code but without else | |
228 if(hardwareCompass == 0) | |
229 { | |
230 uint8_t data = WHO_AM_I; | |
231 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
232 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
357 | 233 if(data == WHOIAM_VALUE_LSM303D) |
234 hardwareCompass = compass_generation2; //LSM303D; | |
358 | 235 data = WHO_AM_I; |
236 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
237 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
357 | 238 if(data == WHOIAM_VALUE_LSM303AGR) |
239 hardwareCompass = compass_generation3; //LSM303AGR; | |
38 | 240 } |
241 | |
180 | 242 /* No compass identified => Retry */ |
38 | 243 if(hardwareCompass == 0) |
244 { | |
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245 I2C_DeInit(); |
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246 HAL_Delay(100); |
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247 MX_I2C1_Init(); |
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248 HAL_Delay(100); |
38 | 249 uint8_t data = WHO_AM_I; |
250 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
251 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
357 | 252 if(data == WHOIAM_VALUE_LSM303D) |
253 hardwareCompass = compass_generation2; //LSM303D; | |
358 | 254 data = WHO_AM_I; |
255 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
256 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
357 | 257 if(data == WHOIAM_VALUE_LSM303AGR) |
258 hardwareCompass = compass_generation3; //LSM303AGR; | |
38 | 259 } |
70 | 260 |
180 | 261 /* Assume that a HMC5883L is equipped by default if detection still failed */ |
38 | 262 if(hardwareCompass == 0) |
357 | 263 hardwareCompass = compass_generation1; //HMC5883L; |
38 | 264 |
265 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
266 | |
358 | 267 // test if both chips of the two-chip solution (gen 1) are present |
357 | 268 if(hardwareCompass == compass_generation1) // HMC5883L) |
38 | 269 { |
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270 HAL_Delay(100); |
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271 I2C_DeInit(); |
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272 HAL_Delay(100); |
358 | 273 MX_I2C1_Init(); |
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274 HAL_Delay(100); |
38 | 275 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q |
276 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
277 if(resultOfOperationHMC_MMA == HAL_OK) | |
278 { | |
357 | 279 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it |
38 | 280 } |
281 else | |
282 { | |
283 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
284 } | |
285 } | |
286 | |
357 | 287 if(hardwareCompass == compass_generation2) //LSM303D) |
38 | 288 compass_init_LSM303D(fast, gain); |
357 | 289 if(hardwareCompass == compass_generation3) //LSM303AGR) |
290 compass_init_LSM303AGR(fast, gain); | |
291 if(hardwareCompass == compass_generation1) //HMC5883L) | |
38 | 292 compass_init_HMC5883L(fast, gain); |
293 | |
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294 if(global.deviceDataSendToMaster.hw_Info.compass == 0) |
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295 { |
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296 global.deviceDataSendToMaster.hw_Info.compass = hardwareCompass; |
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297 } |
357 | 298 tfull32 dataBlock[4]; |
299 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK) | |
38 | 300 { |
301 compass_CX_f = dataBlock[0].Word16.low16; | |
302 compass_CY_f = dataBlock[0].Word16.hi16; | |
303 compass_CZ_f = dataBlock[1].Word16.low16; | |
304 } | |
305 | |
306 } | |
307 | |
308 | |
309 // =============================================================================== | |
310 // compass_calib | |
311 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
312 // =============================================================================== | |
313 int compass_calib(void) | |
314 { | |
357 | 315 if(hardwareCompass == compass_generation2) //LSM303D) |
38 | 316 { |
317 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
318 int out = compass_calib_common(); | |
319 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
320 return out; | |
321 } | |
322 else | |
357 | 323 if(hardwareCompass == compass_generation1) //HMC5883L) |
324 { | |
325 return compass_calib_common(); | |
326 } | |
327 else | |
328 if(hardwareCompass == compass_generation3) //LSM303AGR) | |
38 | 329 { |
330 return compass_calib_common(); | |
331 } | |
332 else | |
333 { | |
334 return 0; // standard answer of compass_calib_common(); | |
335 } | |
336 | |
337 | |
338 } | |
339 | |
340 | |
341 // =============================================================================== | |
342 // compass_sleep | |
343 /// @brief low power mode | |
344 // =============================================================================== | |
345 void compass_sleep(void) | |
346 { | |
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347 if(hardwareCompass == compass_generation2) //LSM303D |
38 | 348 compass_sleep_LSM303D(); |
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349 if(hardwareCompass == compass_generation1) //HMC5883L |
38 | 350 compass_sleep_HMC5883L(); |
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351 if(hardwareCompass == compass_generation3) //LSM303AGR |
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352 compass_sleep_LSM303AGR(); |
38 | 353 } |
354 | |
355 | |
356 // =============================================================================== | |
357 // compass_read | |
358 /// @brief reads magnetometer and accelerometer for LSM303D, | |
359 /// otherwise magnetometer only | |
360 // =============================================================================== | |
361 void compass_read(void) | |
362 { | |
357 | 363 if(hardwareCompass == compass_generation2) //LSM303D) |
38 | 364 compass_read_LSM303D(); |
357 | 365 if(hardwareCompass == compass_generation1) //HMC5883L) |
38 | 366 compass_read_HMC5883L(); |
357 | 367 if(hardwareCompass == compass_generation3) //LSM303AGR) |
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368 compass_read_LSM303AGR(); |
357 | 369 |
38 | 370 } |
371 | |
372 | |
373 // =============================================================================== | |
374 // accelerator_init | |
375 /// @brief empty for for LSM303D | |
376 // =============================================================================== | |
377 void accelerator_init(void) | |
378 { | |
357 | 379 if(hardwareCompass == compass_generation1) //HMC5883L) |
38 | 380 accelerator_init_MMA8452Q(); |
381 } | |
382 | |
383 | |
384 // =============================================================================== | |
385 // accelerator_sleep | |
386 /// @brief empty for for LSM303D | |
387 // =============================================================================== | |
388 void accelerator_sleep(void) | |
389 { | |
357 | 390 if(hardwareCompass == compass_generation1) //HMC5883L) |
38 | 391 accelerator_sleep_MMA8452Q(); |
392 } | |
393 | |
394 | |
395 // =============================================================================== | |
396 // acceleration_read | |
397 /// @brief empty for for LSM303D | |
398 // =============================================================================== | |
399 void acceleration_read(void) | |
400 { | |
357 | 401 if(hardwareCompass == compass_generation2) //LSM303D) |
38 | 402 acceleration_read_LSM303D(); |
357 | 403 if(hardwareCompass == compass_generation1) //HMC5883L) |
38 | 404 acceleration_read_MMA8452Q(); |
357 | 405 if(hardwareCompass == compass_generation3) //LSM303AGR) |
406 acceleration_read_LSM303AGR(); | |
38 | 407 } |
408 | |
409 | |
410 /* Private functions ---------------------------------------------------------*/ | |
411 | |
412 // =============================================================================== | |
357 | 413 // LSM303AGR_read_reg |
414 // =============================================================================== | |
415 uint8_t LSM303AGR_read_reg(uint8_t addr) | |
416 { | |
417 uint8_t data; | |
418 | |
419 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1); | |
420 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1); | |
421 return data; | |
422 } | |
423 | |
424 | |
425 // =============================================================================== | |
426 // LSM303AGR_write_reg | |
427 // =============================================================================== | |
428 void LSM303AGR_write_reg(uint8_t addr, uint8_t value) | |
429 { | |
430 uint8_t data[2]; | |
431 | |
432 data[0] = addr; | |
433 data[1] = value; | |
434 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2); | |
435 } | |
436 | |
437 // =============================================================================== | |
438 // LSM303AGR_acc_write_reg | |
439 // =============================================================================== | |
440 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value) | |
441 { | |
442 uint8_t data[2]; | |
443 | |
444 data[0] = addr; | |
445 data[1] = value; | |
446 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2); | |
447 } | |
448 | |
449 | |
450 // =============================================================================== | |
451 // LSM303AGR_write_checked_reg | |
452 // =============================================================================== | |
453 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value) | |
454 { | |
455 LSM303AGR_write_reg(addr, value); | |
456 } | |
457 | |
458 // =============================================================================== | |
459 // LSM303AGR_acc_write_checked_reg | |
460 // =============================================================================== | |
461 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value) | |
462 { | |
463 LSM303AGR_acc_write_reg(addr, value); | |
464 } | |
465 | |
466 // =============================================================================== | |
38 | 467 // LSM303D_read_reg |
468 // =============================================================================== | |
469 uint8_t LSM303D_read_reg(uint8_t addr) | |
470 { | |
471 uint8_t data; | |
472 | |
473 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
474 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
475 return data; | |
476 } | |
477 | |
478 | |
479 // =============================================================================== | |
480 // LSM303D_write_reg | |
481 // =============================================================================== | |
482 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
483 { | |
484 uint8_t data[2]; | |
485 | |
486 /* enable accel*/ | |
487 data[0] = addr; | |
488 data[1] = value; | |
489 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
490 } | |
491 | |
492 | |
493 // =============================================================================== | |
494 // LSM303D_write_checked_reg | |
495 // =============================================================================== | |
496 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
497 { | |
498 LSM303D_write_reg(addr, value); | |
499 } | |
500 | |
501 | |
502 // =============================================================================== | |
503 // LSM303D_modify_reg | |
504 // =============================================================================== | |
505 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
506 { | |
507 uint8_t val; | |
508 | |
509 val = LSM303D_read_reg(reg); | |
510 val &= ~clearbits; | |
511 val |= setbits; | |
512 LSM303D_write_checked_reg(reg, val); | |
513 } | |
514 | |
515 // =============================================================================== | |
516 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
517 // =============================================================================== | |
518 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
519 { | |
520 uint8_t setbits = 0; | |
521 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
522 | |
523 if (bandwidth == 0) { | |
524 bandwidth = 773; | |
525 } | |
526 | |
527 if (bandwidth <= 50) { | |
528 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
529 _accel_onchip_filter_bandwith = 50; | |
530 | |
531 } else if (bandwidth <= 194) { | |
532 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
533 _accel_onchip_filter_bandwith = 194; | |
534 | |
535 } else if (bandwidth <= 362) { | |
536 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
537 _accel_onchip_filter_bandwith = 362; | |
538 | |
539 } else if (bandwidth <= 773) { | |
540 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
541 _accel_onchip_filter_bandwith = 773; | |
542 | |
543 } else { | |
544 return -1; | |
545 } | |
546 | |
547 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
548 | |
549 return 0; | |
550 } | |
551 | |
552 | |
553 // =============================================================================== | |
554 // LSM303D_accel_set_driver_lowpass_filter | |
555 // =============================================================================== | |
556 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
557 { | |
558 /* | |
559 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
560 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
561 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
562 */ | |
563 return 0; | |
564 } | |
565 | |
566 | |
567 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
568 // =============================================================================== | |
569 // rotate_mag_3f | |
570 /// @brief swap axis in convient way, by hw | |
571 /// @param *x raw input is set to *y input | |
572 /// @param *y raw input is set to -*x input | |
573 /// @param *z raw is not touched | |
574 // =============================================================================== | |
575 void rotate_mag_3f(float *x, float *y, float *z) | |
576 { | |
577 return; | |
578 /* | |
579 *x = *x; // HMC: *x = -*y | |
580 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
581 *z = *z; // HMC: *z = *z | |
582 */ | |
583 } | |
584 | |
585 | |
586 // =============================================================================== | |
587 // rotate_accel_3f | |
588 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
589 /// @param *x raw input, output is with sign change | |
590 /// @param *y raw input, output is with sign change | |
591 /// @param *z raw input, output is with sign change | |
592 // =============================================================================== | |
593 void rotate_accel_3f(float *x, float *y, float *z) | |
594 { | |
595 *x = -*x; | |
596 *y = -*y; | |
597 *z = -*z; | |
598 /* tested: | |
599 x = x, y =-y, z=-z: does not work with roll | |
600 x = x, y =y, z=-z: does not work with pitch | |
601 x = x, y =y, z=z: does not work at all | |
602 */ | |
603 } | |
604 | |
605 | |
606 // =============================================================================== | |
357 | 607 // compass_init_LSM303D |
38 | 608 /// This might be called several times with different gain values during calibration |
609 /// but gain change is not supported at the moment. | |
610 /// | |
611 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
612 // =============================================================================== | |
613 | |
614 //uint8_t testCompassLS303D[11]; | |
615 | |
616 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
617 { | |
618 if(fast == 0) | |
619 { | |
620 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
621 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
622 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
623 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
624 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
625 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
626 } | |
627 else | |
628 { | |
629 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
630 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
631 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
632 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
633 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
634 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
635 } | |
636 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
637 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
638 | |
639 return; | |
640 } | |
641 | |
642 | |
643 // =============================================================================== | |
644 // compass_sleep_LSM303D | |
357 | 645 // @brief Gen 2 chip |
38 | 646 // =============================================================================== |
647 void compass_sleep_LSM303D(void) | |
648 { | |
649 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
650 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
651 } | |
652 | |
653 | |
654 // =============================================================================== | |
655 // acceleration_read_LSM303D | |
357 | 656 // output is accel_DX_f, accel_DY_f, accel_DZ_f |
38 | 657 // =============================================================================== |
658 void acceleration_read_LSM303D(void) | |
659 { | |
660 uint8_t data; | |
661 float xraw_f, yraw_f, zraw_f; | |
662 float accel_report_x, accel_report_y, accel_report_z; | |
663 | |
664 memset(accDataBuffer,0,6); | |
665 | |
666 accel_DX_f = 0; | |
667 accel_DY_f = 0; | |
668 accel_DZ_f = 0; | |
669 | |
670 for(int i=0;i<6;i++) | |
671 { | |
672 data = ADDR_OUT_X_L_A + i; | |
673 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
674 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
675 } | |
676 | |
677 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
678 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
679 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
680 | |
681 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
682 | |
683 // mh | |
684 accel_report_x = xraw_f; | |
685 accel_report_y = yraw_f; | |
686 accel_report_z = zraw_f; | |
687 | |
688 accel_DX_f = ((int16_t)(accel_report_x)); | |
689 accel_DY_f = ((int16_t)(accel_report_y)); | |
690 accel_DZ_f = ((int16_t)(accel_report_z)); | |
691 } | |
692 | |
693 | |
694 // =============================================================================== | |
695 // compass_read_LSM303D | |
696 /// | |
697 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
698 // =============================================================================== | |
699 void compass_read_LSM303D(void) | |
700 { | |
701 uint8_t data; | |
702 // float xraw_f, yraw_f, zraw_f; | |
703 // float mag_report_x, mag_report_y, mag_report_z; | |
704 | |
705 memset(magDataBuffer,0,6); | |
706 | |
707 compass_DX_f = 0; | |
708 compass_DY_f = 0; | |
709 compass_DZ_f = 0; | |
710 | |
711 for(int i=0;i<6;i++) | |
712 { | |
713 data = ADDR_OUT_X_L_M + i; | |
714 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
715 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
716 } | |
717 | |
718 // mh 160620 flip x and y if flip display | |
719 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
720 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
721 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
722 // no rotation | |
723 return; | |
357 | 724 } |
725 | |
726 | |
727 // =============================================================================== | |
728 // compass_init_LSM303AGR | |
729 /// This might be called several times with different gain values during calibration | |
730 /// but gain change is not supported at the moment. | |
731 /// | |
732 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
733 // =============================================================================== | |
38 | 734 |
357 | 735 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain) |
736 { | |
737 if(fast == 0) | |
738 { | |
358 | 739 // init compass |
357 | 740 LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz |
741 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M | |
742 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
358 | 743 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
744 | |
745 // init accel (Same chip, but different address...) | |
746 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
747 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
748 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
749 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
750 LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled | |
357 | 751 } |
752 else | |
753 { | |
358 | 754 // init compass |
755 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz | |
357 | 756 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M |
757 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
358 | 758 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
759 | |
760 // init accel (Same chip, but different address...) | |
761 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
762 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
763 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
764 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
765 LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled | |
357 | 766 } |
767 | |
768 return; | |
769 } | |
770 | |
771 | |
772 // =============================================================================== | |
773 // compass_sleep_LSM303D | |
774 // @brief Gen 2 chip | |
775 // =============================================================================== | |
776 void compass_sleep_LSM303AGR(void) | |
777 { | |
778 LSM303AGR_write_checked_reg(0x60, 0x03); // | |
779 LSM303AGR_write_checked_reg(0x61, 0x04); // | |
780 LSM303AGR_write_checked_reg(0x62, 0x51); // | |
781 LSM303AGR_write_checked_reg(0x63, 0x00); // | |
782 | |
783 | |
784 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // | |
785 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // | |
786 } | |
787 | |
38 | 788 |
357 | 789 // =============================================================================== |
790 // acceleration_read_LSM303AGR | |
791 // output is accel_DX_f, accel_DY_f, accel_DZ_f | |
792 // =============================================================================== | |
793 void acceleration_read_LSM303AGR(void) | |
794 { | |
795 uint8_t data; | |
796 float xraw_f, yraw_f, zraw_f; | |
797 float accel_report_x, accel_report_y, accel_report_z; | |
798 | |
799 memset(accDataBuffer,0,6); | |
800 | |
801 accel_DX_f = 0; | |
802 accel_DY_f = 0; | |
803 accel_DZ_f = 0; | |
804 | |
805 for(int i=0;i<6;i++) | |
806 { | |
358 | 807 data = 0x28 + i; // OUT_X_L_A |
357 | 808 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); |
809 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1); | |
810 } | |
811 | |
812 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
813 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
814 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
815 | |
816 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
817 | |
818 // mh | |
819 accel_report_x = xraw_f; | |
820 accel_report_y = yraw_f; | |
358 | 821 accel_report_z = -zraw_f; // flip Z in gen 2 hardware |
357 | 822 |
823 accel_DX_f = ((int16_t)(accel_report_x)); | |
824 accel_DY_f = ((int16_t)(accel_report_y)); | |
825 accel_DZ_f = ((int16_t)(accel_report_z)); | |
826 } | |
827 | |
828 | |
829 // =============================================================================== | |
830 // compass_read_LSM303AGR | |
831 /// | |
832 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
833 // =============================================================================== | |
834 void compass_read_LSM303AGR(void) | |
835 { | |
836 uint8_t data; | |
837 // float xraw_f, yraw_f, zraw_f; | |
838 // float mag_report_x, mag_report_y, mag_report_z; | |
839 | |
840 memset(magDataBuffer,0,6); | |
841 | |
842 compass_DX_f = 0; | |
843 compass_DY_f = 0; | |
844 compass_DZ_f = 0; | |
845 | |
846 for(int i=0;i<6;i++) | |
847 { | |
848 data = 0x68 + i; // OUTX_L_REG_M | |
849 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1); | |
850 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1); | |
851 } | |
852 | |
853 // mh 160620 flip x and y if flip display | |
854 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
855 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
856 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
358 | 857 |
858 // align axis in gen 2 hardware | |
859 compass_DZ_f *= -1; | |
860 | |
357 | 861 return; |
38 | 862 } |
863 | |
864 | |
865 // -------------------------------------------------------------------------------- | |
866 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
867 // -------------------------------------------------------------------------------- | |
868 | |
869 // =============================================================================== | |
870 // compass_init_HMC5883L | |
871 /// @brief The horrible Honeywell compass chip | |
872 /// This might be called several times during calibration | |
873 /// | |
874 /// @param fast: 1 is fast mode, 0 is normal mode | |
875 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
876 // =============================================================================== | |
877 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
878 { | |
879 uint8_t write_buffer[4]; | |
880 | |
881 compass_gain = gain; | |
882 uint16_t length = 0; | |
883 write_buffer[0] = 0x00; // 00 = config Register A | |
884 | |
885 if( fast ) | |
886 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
887 else | |
888 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
889 | |
890 switch(gain) | |
891 { | |
892 case 7: | |
893 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
894 break; | |
895 case 6: | |
896 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
897 break; | |
898 case 5: | |
899 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
900 break; | |
901 case 4: | |
902 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
903 break; | |
904 case 3: | |
905 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
906 break; | |
907 case 2: | |
908 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
909 break; | |
910 case 1: | |
911 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
912 break; | |
913 case 0: | |
914 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
915 break; | |
916 } | |
917 write_buffer[3] = 0x00; // Mode: continuous mode | |
918 length = 4; | |
919 //hmc_twi_write(0); | |
920 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
921 } | |
922 | |
923 | |
924 | |
925 // =============================================================================== | |
926 // compass_sleep_HMC5883L | |
927 /// @brief Power-down mode for Honeywell compass chip | |
928 // =============================================================================== | |
929 void compass_sleep_HMC5883L(void) | |
930 { | |
931 uint8_t write_buffer[4]; | |
932 uint16_t length = 0; | |
933 | |
934 write_buffer[0] = 0x00; // 00 = config Register A | |
935 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
936 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
937 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
938 length = 4; | |
939 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
940 } | |
941 | |
942 | |
943 // =============================================================================== | |
944 // accelerator_init_MMA8452Q | |
945 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
946 // =============================================================================== | |
947 void accelerator_init_MMA8452Q(void) | |
948 { | |
949 uint8_t write_buffer[4]; | |
950 uint16_t length = 0; | |
951 //HAL_Delay(1); | |
952 //return; | |
953 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
954 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
955 length = 2; | |
956 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
957 //HAL_Delay(1); | |
958 write_buffer[0] = 0x2A; // CTRL_REG1 | |
959 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
960 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
961 length = 3; | |
962 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
963 | |
964 //HAL_Delay(1); | |
965 //hw_delay_us(100); | |
966 write_buffer[0] = 0x2A; // CTRL_REG1 | |
967 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
968 length = 2; | |
969 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
970 /* | |
971 HAL_Delay(6); | |
972 compass_read(); | |
973 HAL_Delay(1); | |
974 acceleration_read(); | |
975 | |
976 compass_calc(); | |
977 */ | |
978 } | |
979 | |
980 | |
981 // =============================================================================== | |
982 // accelerator_sleep_MMA8452Q | |
983 /// @brief compass_sleep_HMC5883L | |
984 // =============================================================================== | |
985 void accelerator_sleep_MMA8452Q(void) | |
986 { | |
987 uint16_t length = 0; | |
988 uint8_t write_buffer[4]; | |
989 | |
990 write_buffer[0] = 0x2A; // CTRL_REG1 | |
991 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
992 length = 2; | |
993 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
994 } | |
995 | |
996 | |
997 // =============================================================================== | |
998 // compass_read_HMC5883L | |
999 /// @brief The new ST 303D - get ALL data and store in static variables | |
1000 /// | |
1001 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
1002 // =============================================================================== | |
1003 void compass_read_HMC5883L(void) | |
1004 { | |
1005 uint8_t buffer[20]; | |
1006 compass_DX_f = 0; | |
1007 compass_DY_f = 0; | |
1008 compass_DZ_f = 0; | |
1009 uint8_t length = 0; | |
1010 uint8_t read_buffer[6]; | |
1011 signed_tword data; | |
1012 for(int i = 0; i<6;i++) | |
1013 read_buffer[i] = 0; | |
1014 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
1015 length = 1; | |
1016 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
1017 length = 6; | |
1018 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
1019 | |
1020 | |
1021 data.Byte.hi = read_buffer[0]; | |
1022 data.Byte.low = read_buffer[1]; | |
1023 //Y = Z | |
1024 compass_DY_f = - data.Word; | |
1025 | |
1026 data.Byte.hi = read_buffer[2]; | |
1027 data.Byte.low = read_buffer[3]; | |
1028 compass_DZ_f = data.Word; | |
1029 | |
1030 data.Byte.hi = read_buffer[4]; | |
1031 data.Byte.low = read_buffer[5]; | |
1032 //X = -Y | |
1033 compass_DX_f = data.Word; | |
1034 } | |
1035 | |
1036 | |
1037 // =============================================================================== | |
1038 // acceleration_read_MMA8452Q | |
1039 /// @brief The old MMA8452Q used with the Honeywell compass | |
1040 /// get the acceleration data and store in static variables | |
1041 /// | |
1042 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
1043 // =============================================================================== | |
1044 void acceleration_read_MMA8452Q(void) | |
1045 { | |
1046 uint8_t buffer[20]; | |
1047 accel_DX_f = 0; | |
1048 accel_DY_f = 0; | |
1049 accel_DZ_f = 0; | |
1050 uint8_t length = 0; | |
1051 // bit8_Type status ; | |
1052 uint8_t read_buffer[7]; | |
1053 signed_tword data; | |
1054 for(int i = 0; i<6;i++) | |
1055 read_buffer[i] = 0; | |
1056 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
1057 length = 1; | |
1058 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
1059 length = 7; | |
1060 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
1061 | |
1062 // status.uw = read_buffer[0]; | |
1063 data.Byte.hi = read_buffer[1]; | |
1064 data.Byte.low = read_buffer[2]; | |
1065 accel_DX_f =data.Word/16; | |
1066 data.Byte.hi = read_buffer[3]; | |
1067 data.Byte.low = read_buffer[4]; | |
1068 accel_DY_f =data.Word/16; | |
1069 data.Byte.hi = read_buffer[5]; | |
1070 data.Byte.low = read_buffer[6]; | |
1071 accel_DZ_f =data.Word/16; | |
1072 | |
1073 accel_DX_f *= -1; | |
1074 accel_DY_f *= -1; | |
1075 accel_DZ_f *= -1; | |
1076 } | |
1077 | |
1078 | |
1079 // =============================================================================== | |
1080 // compass_calc_roll_pitch_only | |
1081 /// @brief only the roll and pitch parts of compass_calc() | |
1082 /// | |
1083 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
1084 /// output is compass_pitch and compass_roll | |
1085 // =============================================================================== | |
1086 void compass_calc_roll_pitch_only(void) | |
1087 { | |
1088 float sinPhi, cosPhi; | |
1089 float Phi, Teta; | |
1090 | |
1091 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
1092 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
1093 compass_roll = Phi * 180.0f /PI; | |
1094 sinPhi = sinf(Phi); | |
1095 cosPhi = cosf(Phi); | |
1096 | |
1097 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
1098 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
1099 compass_pitch = Teta * 180.0f /PI; | |
1100 } | |
1101 | |
1102 | |
1103 // =============================================================================== | |
1104 // compass_calc | |
1105 /// @brief all the fancy stuff first implemented in OSTC3 | |
1106 /// | |
1107 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
1108 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
1109 /// output is compass_heading, compass_pitch and compass_roll | |
1110 // =============================================================================== | |
1111 void compass_calc(void) | |
1112 { | |
1113 float sinPhi, cosPhi, sinTeta, cosTeta; | |
1114 float Phi, Teta, Psi; | |
1115 int16_t iBfx, iBfy; | |
1116 int16_t iBpx, iBpy, iBpz; | |
1117 | |
1118 //---- Make hard iron correction ----------------------------------------- | |
1119 // Measured magnetometer orientation, measured ok. | |
1120 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
1121 iBpx = compass_DX_f - compass_CX_f; // X | |
1122 iBpy = compass_DY_f - compass_CY_f; // Y | |
1123 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
1124 | |
1125 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
1126 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
1127 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
1128 compass_roll = Phi * 180.0f /PI; | |
1129 sinPhi = sinf(Phi); | |
1130 cosPhi = cosf(Phi); | |
1131 | |
1132 //---- rotate by roll angle (-Phi) --------------------------------------- | |
1133 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
1134 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
1135 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
1136 | |
1137 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
1138 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
1139 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
1140 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
1141 compass_pitch = Teta * 180.0f /PI; | |
1142 sinTeta = sinf(Teta); | |
1143 cosTeta = cosf(Teta); | |
1144 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
1145 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
1146 | |
1147 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
1148 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
1149 | |
1150 //---- Detect uncalibrated compass --------------------------------------- | |
1151 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
1152 { | |
1153 compass_heading = -1; | |
1154 return; | |
1155 } | |
1156 | |
1157 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
1158 // Result in degree (no need of 0.01 deg precision... | |
1159 Psi = atan2f(-iBfy,iBfx); | |
1160 compass_heading = Psi * 180.0f /PI; | |
1161 // Result in 0..360 range: | |
1162 if( compass_heading < 0 ) | |
1163 compass_heading += 360; | |
1164 } | |
1165 | |
1166 | |
1167 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
1168 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
1169 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
1170 | |
1171 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
1172 | |
1173 // =============================================================================== | |
1174 // compass_reset_calibration | |
1175 /// @brief all the fancy stuff first implemented in OSTC3 | |
1176 /// | |
1177 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
1178 /// | |
1179 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
1180 /// all is set to zero here | |
1181 // =============================================================================== | |
1182 void compass_reset_calibration(SCompassCalib *g) | |
1183 { | |
1184 g->compass_N = 0; | |
1185 g->Su = g->Sv = g->Sw = 0.0; | |
1186 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
1187 g->Suuu = g->Svvv = g->Swww = 0.0; | |
1188 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
1189 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
1190 } | |
1191 | |
1192 | |
1193 // =============================================================================== | |
1194 // compass_add_calibration | |
1195 /// @brief all the fancy stuff first implemented in OSTC3 | |
1196 /// | |
1197 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
1198 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
1199 /// output is struct g | |
1200 /// | |
1201 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
1202 // =============================================================================== | |
1203 void compass_add_calibration(SCompassCalib *g) | |
1204 { | |
1205 float u, v, w; | |
1206 | |
1207 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
1208 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
1209 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
1210 | |
1211 g->compass_N++; | |
1212 g->Su += u; | |
1213 g->Sv += v; | |
1214 g->Sw += w; | |
1215 g->Suv += u*v; | |
1216 g->Suw += u*w; | |
1217 g->Svw += v*w; | |
1218 g->Suu += u*u; | |
1219 g->Suuu += u*u*u; | |
1220 g->Suuv += v*u*u; | |
1221 g->Suuw += w*u*u; | |
1222 g->Svv += v*v; | |
1223 g->Svvv += v*v*v; | |
1224 g->Svvu += u*v*v; | |
1225 g->Svvw += w*v*v; | |
1226 g->Sww += w*w; | |
1227 g->Swww += w*w*w; | |
1228 g->Swwu += u*w*w; | |
1229 g->Swwv += v*w*w; | |
1230 } | |
1231 | |
1232 ////////////////////////////////////////////////////////////////////////////// | |
1233 | |
1234 // =============================================================================== | |
1235 // compass_solve_calibration | |
1236 /// @brief all the fancy stuff first implemented in OSTC3 | |
1237 /// | |
1238 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
1239 /// output is struct g | |
1240 /// | |
1241 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
1242 // =============================================================================== | |
1243 void compass_solve_calibration(SCompassCalib *g) | |
1244 { | |
1245 float yu, yv, yw; | |
1246 float delta; | |
1247 float uc, vc, wc; | |
1248 | |
1249 | |
1250 //---- Normalize partial sums -------------------------------------------- | |
1251 // | |
1252 // u, v, w should be centered on the mean value um, vm, wm: | |
1253 // x = u + um, with um = Sx/N | |
1254 // | |
1255 // So: | |
1256 // (u + um)**2 = u**2 + 2u*um + um**2 | |
1257 // Su = 0, um = Sx/N | |
1258 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
1259 // Suu = Sxx - Sx**2/N | |
1260 yu = g->Su/g->compass_N; | |
1261 yv = g->Sv/g->compass_N; | |
1262 yw = g->Sw/g->compass_N; | |
1263 | |
1264 g->Suu -= g->Su*yu; | |
1265 g->Svv -= g->Sv*yv; | |
1266 g->Sww -= g->Sw*yw; | |
1267 | |
1268 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
1269 // Sxy = Suv + N * um vm | |
1270 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
1271 g->Suv -= g->Su*yv; | |
1272 g->Suw -= g->Su*yw; | |
1273 g->Svw -= g->Sv*yw; | |
1274 | |
1275 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
1276 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
1277 // Su = 0, um = Sx/N: | |
1278 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
1279 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
1280 | |
1281 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
1282 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
1283 // | |
1284 // Su = 0, Sv = 0, vm = Sy/N: | |
1285 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
1286 // | |
1287 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
1288 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
1289 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
1290 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
1291 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
1292 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
1293 | |
1294 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
1295 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
1296 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
1297 | |
1298 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
1299 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
1300 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
1301 | |
1302 //---- Solve the system -------------------------------------------------- | |
1303 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
1304 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
1305 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
1306 // Note this is symetric, with a positiv diagonal, hence | |
1307 // it always have a uniq solution. | |
1308 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
1309 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
1310 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
1311 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
1312 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
1313 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
1314 | |
1315 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
1316 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
1317 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
1318 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
1319 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
1320 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
1321 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
1322 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
1323 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
1324 | |
1325 // Back to uncentered coordinates: | |
1326 // xc = um + uc | |
1327 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
1328 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
1329 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
1330 | |
1331 // Then save the new calibrated center: | |
1332 compass_CX_f = (short)(32768 * uc); | |
1333 compass_CY_f = (short)(32768 * vc); | |
1334 compass_CZ_f = (short)(32768 * wc); | |
1335 } | |
1336 | |
1337 | |
1338 // =============================================================================== | |
1339 // compass_calib | |
1340 /// @brief the main loop for calibration | |
1341 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
1342 /// 160704 removed -4096 limit for LSM303D | |
1343 /// | |
1344 /// @return always 0 | |
1345 // =============================================================================== | |
1346 int compass_calib_common(void) | |
1347 { | |
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1348 SCompassCalib g; |
38 | 1349 |
1350 // Starts with no calibration at all: | |
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1351 compass_reset_calibration(&g); |
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1352 uint32_t tickstart = 0; |
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1353 tickstart = HAL_GetTick(); |
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1354 /* run calibration for one minute */ |
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1355 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000) |
38 | 1356 { |
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1357 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)) |
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1358 { |
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1359 HAL_Delay(1); |
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1360 } |
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1361 compass_read(); |
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1362 acceleration_read(); |
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1363 compass_calc_roll_pitch_only(); |
38 | 1364 |
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1365 if((hardwareCompass == compass_generation1 ) //HMC5883L) |
38 | 1366 &&((compass_DX_f == -4096) || |
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1367 (compass_DY_f == -4096) || |
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1368 (compass_DZ_f == -4096) )) |
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1369 { |
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1370 if(compass_gain == 0) |
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1371 return -1; |
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1372 compass_gain--; |
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1373 compass_init(1, compass_gain); |
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1374 compass_reset_calibration(&g); |
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1375 continue; |
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1376 } |
38 | 1377 |
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1378 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); |
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1379 compass_add_calibration(&g); |
104 | 1380 } |
38 | 1381 |
1382 compass_solve_calibration(&g); | |
1383 | |
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1384 tfull32 dataBlock[4]; |
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1385 dataBlock[0].Word16.low16 = compass_CX_f; |
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1386 dataBlock[0].Word16.hi16 = compass_CY_f; |
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1387 dataBlock[1].Word16.low16 = compass_CZ_f; |
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1388 dataBlock[1].Word16.hi16 = 0xFFFF; |
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1389 dataBlock[2].Full32 = 0x7FFFFFFF; |
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1390 dataBlock[3].Full32 = 0x7FFFFFFF; |
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1391 BFA_writeDataBlock((uint32_t *)dataBlock); |
38 | 1392 |
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1393 return 0; |
38 | 1394 } |
1395 |