annotate Small_CPU/Src/compass.c @ 105:68181cd61f20 kittz

fix comments
author Dmitry Romanov <kitt@bk.ru>
date Mon, 24 Dec 2018 16:19:09 +0300
parents 22a1094545f3
children 14e4c83a7559
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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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38 #include "RTE_FlashAccess.h" // to store compass_calib_data
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39
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40 #include "stm32f4xx_hal.h"
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41
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42 #define MODE_LSM303DLHC
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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 LSM303DLHC (3) ///< id used with hardwareCompass
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116 #define COMPASS_NOT_RECOGNIZED (4) ///< id used with hardwareCompass
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117
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118
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119 //////////////////////////////////////////////////////////////////////////////
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120 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error
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121 //
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122 #define K1 (5701) // Needs K1/2**16
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123 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV
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124 #define K3 ( 446) // Needs K3/2**80
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125
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126 const float PI = 3.14159265; ///< pi, used in compass_calc()
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127
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128 typedef short int Int16;
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129 typedef signed char Int8;
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130 typedef Int16 Angle;
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131
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132
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133 /// The (filtered) components of the magnetometer sensor
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134 int16_t compass_DX_f; ///< output from sensor
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135 int16_t compass_DY_f; ///< output from sensor
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136 int16_t compass_DZ_f; ///< output from sensor
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137
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138
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139 /// Found soft-iron calibration values, deduced from already filtered values
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140 int16_t compass_CX_f; ///< calibration value
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141 int16_t compass_CY_f; ///< calibration value
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142 int16_t compass_CZ_f; ///< calibration value
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143
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144
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145 /// The (filtered) components of the accelerometer sensor
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146 int16_t accel_DX_f; ///< output from sensor
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147 int16_t accel_DY_f; ///< output from sensor
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148 int16_t accel_DZ_f; ///< output from sensor
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149
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150
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151 /// The compass result values
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152 float compass_heading; ///< the final result calculated in compass_calc()
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153 float compass_roll; ///< the final result calculated in compass_calc()
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154 float compass_pitch; ///< the final result calculated in compass_calc()
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155
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156
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157 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration
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158
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159 uint8_t hardwareCompass = 0; ///< either HMC5883L or LSM303D or not defined yet ( = 0 )
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160
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161 /// LSM303D variables
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162 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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163 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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164
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165 //uint16_t velMag = 0;
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166 //uint16_t velAcc = 0;
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167
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168 //uint16_t magODR[] = {31,62,125,250,500,1000,2000};
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169 //uint16_t accODR[] = {0,31,62,125,250,500,1000,2000,4000,8000,16000};
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170 //uint8_t fastest = 10; //no sensor is the fastest
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171 //uint8_t datas1 = 0;
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172 //uint8_t zoffFlag = 0;
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173 //uint8_t sendFlag = 0;
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174
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175
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176 // all by pixhawk code:
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177
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178 // struct accel_scale _accel_scale;
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179 unsigned _accel_range_m_s2;
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180 float _accel_range_scale;
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181 unsigned _accel_samplerate;
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182 unsigned _accel_onchip_filter_bandwith;
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183
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184 // struct mag_scale _mag_scale;
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185 unsigned _mag_range_ga;
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186 float _mag_range_scale;
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187 unsigned _mag_samplerate;
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188
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189 // default scale factors
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190 float _accel_scale_x_offset = 0.0f;
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191 float _accel_scale_x_scale = 1.0f;
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192 float _accel_scale_y_offset = 0.0f;
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193 float _accel_scale_y_scale = 1.0f;
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194 float _accel_scale_z_offset = 0.0f;
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195 float _accel_scale_z_scale = 1.0f;
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196
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197 float _mag_scale_x_offset = 0.0f;
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198 float _mag_scale_x_scale = 1.0f;
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199 float _mag_scale_y_offset = 0.0f;
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200 float _mag_scale_y_scale = 1.0f;
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201 float _mag_scale_z_offset = 0.0f;
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202 float _mag_scale_z_scale = 1.0f;
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203
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204
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205 /* External function prototypes ----------------------------------------------*/
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206
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207 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz);
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208
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209 /* Private function prototypes -----------------------------------------------*/
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210
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211 void compass_reset_calibration(SCompassCalib *g);
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212 void compass_add_calibration(SCompassCalib *g);
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213 void compass_solve_calibration(SCompassCalib *g);
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214
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215 void compass_init_HMC5883L(uint8_t fast, uint8_t gain);
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216 void compass_sleep_HMC5883L(void);
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217 void compass_read_HMC5883L(void);
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218
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219 void accelerator_init_MMA8452Q(void);
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220 void accelerator_sleep_MMA8452Q(void);
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221 void acceleration_read_MMA8452Q(void);
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222
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223 void compass_init_LSM303D(uint8_t fast, uint8_t gain);
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224 void compass_sleep_LSM303D(void);
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225 void compass_read_LSM303D(void);
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226 void acceleration_read_LSM303D(void);
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227
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228 void compass_init_LSM303DLHC(uint8_t fast, uint8_t gain);
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229 void compass_sleep_LSM303DLHC(void);
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230 void compass_read_LSM303DLHC(void);
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231 void acceleration_read_LSM303DLHC(void);
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232
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233
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234 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
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235 int compass_calib_common(void);
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236
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237 void compass_calc_roll_pitch_only(void);
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238
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239 void rotate_mag_3f(float *x, float *y, float *z);
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240 void rotate_accel_3f(float *x, float *y, float *z);
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241
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242
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243 /* Exported functions --------------------------------------------------------*/
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244
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245
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246 // ===============================================================================
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247 // compass_init
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248 /// @brief This might be called several times with different gain values during calibration
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249 /// On first call it figures out which hardware is integrated
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250 ///
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251 /// @param gain: 7 is max gain, compass_calib() might reduce it
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252 // ===============================================================================
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253
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254 uint8_t testCompassTypeDebug = 0xFF;
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255
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256 void compass_init(uint8_t fast, uint8_t gain)
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257 {
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258 // quick off
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259 #ifdef COMPASS_DEACTIVATE
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260 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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261 #endif
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262
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263 // don't call again with fast, gain in calib mode etc.
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264 // if unknown
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265 if(hardwareCompass == COMPASS_NOT_RECOGNIZED)
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266 {
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267 return;
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268 }
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269
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270 // old code but without else
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271 if(hardwareCompass == 0)
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272 {
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273 uint8_t data = WHO_AM_I;
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274 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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275 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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276 if(data == WHOIAM_VALUE)
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277 hardwareCompass = LSM303D;
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278 else
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279 hardwareCompass = HMC5883L;
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280 }
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281
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282
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283 // k�nnte Probleme mit altem Chip machen
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284 // beim 303D f�hrt dieser Code dazu, dass WHOIAM_VALUE nicht geschickt wird!!!
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285
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286 #ifdef MODE_LSM303DLHC
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287 HAL_StatusTypeDef resultOfOperation = HAL_TIMEOUT;
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288
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289 if(hardwareCompass == 0)
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290 {
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291 uint8_t data = DLHC_CTRL_REG1_A;
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292 resultOfOperation = I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, &data, 1);
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293 if(resultOfOperation == HAL_OK)
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294 {
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295 I2C_Master_Receive( DEVICE_ACCELARATOR_303DLHC, &data, 1);
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296 testCompassTypeDebug = data;
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297 if((data & 0x0f) == 0x07)
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298 {
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299 hardwareCompass = LSM303DLHC;
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300 }
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301 }
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302 else
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303 {
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304 testCompassTypeDebug = 0xEE;
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305 }
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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 == 0)
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311 {
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312 uint8_t data = WHO_AM_I;
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313 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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314 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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315 if(data == WHOIAM_VALUE)
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316 hardwareCompass = LSM303D;
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317 else
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318 hardwareCompass = HMC5883L;
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319 }
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320
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321 // was in else before !
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322 if(hardwareCompass == 0)
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323 hardwareCompass = HMC5883L;
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324
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325 #ifdef TEST_IF_HMC5883L
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326 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT;
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327
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328 if(hardwareCompass == HMC5883L)
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329 {
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330 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q
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331 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1);
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332 if(resultOfOperationHMC_MMA == HAL_OK)
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333 {
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334 hardwareCompass = HMC5883L; // all fine, keep it
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335 }
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336 else
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337 {
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338 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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339 testCompassTypeDebug = 0xEC;
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340 }
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341 }
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342 #endif
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343
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344
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345 if(hardwareCompass == LSM303DLHC)
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346 {
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347 compass_init_LSM303DLHC(fast, gain);
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348 }
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349 else
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350 if(hardwareCompass == LSM303D)
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351 {
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352 compass_init_LSM303D(fast, gain);
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353 }
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354 else
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355 if(hardwareCompass == HMC5883L)
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356 {
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357 compass_init_HMC5883L(fast, gain);
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358 }
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359
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360 tfull32 dataBlock[4];
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361 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK)
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362 {
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363 compass_CX_f = dataBlock[0].Word16.low16;
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364 compass_CY_f = dataBlock[0].Word16.hi16;
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365 compass_CZ_f = dataBlock[1].Word16.low16;
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366 }
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367
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368 }
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369
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370
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371 // ===============================================================================
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372 // compass_calib
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373 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D
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374 // ===============================================================================
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375 int compass_calib(void)
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376 {
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377 if(hardwareCompass == LSM303DLHC)
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378 {
70
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379 return compass_calib_common(); // 170821 zur Zeit kein lowpass filtering gefunden, nur high pass auf dem Register ohne Erkl�rung
38
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380 }
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381 else
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382 if(hardwareCompass == LSM303D)
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383 {
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384 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773);
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385 int out = compass_calib_common();
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386 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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387 return out;
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388 }
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389 else
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390 if(hardwareCompass == HMC5883L)
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391 {
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392 return compass_calib_common();
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393 }
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394 else
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395 {
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396 return 0; // standard answer of compass_calib_common();
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397 }
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398
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399
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400 }
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401
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402
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403 // ===============================================================================
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404 // compass_sleep
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405 /// @brief low power mode
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406 // ===============================================================================
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407 void compass_sleep(void)
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408 {
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409 if(hardwareCompass == LSM303DLHC)
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410 {
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411 compass_sleep_LSM303DLHC();
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412 }
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413 else
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414 if(hardwareCompass == LSM303D)
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415 {
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416 compass_sleep_LSM303D();
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417 }
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418 else
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419 if(hardwareCompass == HMC5883L)
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420 {
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421 compass_sleep_HMC5883L();
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422 }
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423 }
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424
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425
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426 // ===============================================================================
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427 // compass_read
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428 /// @brief reads magnetometer and accelerometer for LSM303D,
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429 /// otherwise magnetometer only
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430 // ===============================================================================
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431 void compass_read(void)
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432 {
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433 if(hardwareCompass == LSM303DLHC)
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434 {
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435 compass_read_LSM303DLHC();
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436 }
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437 else
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438 if(hardwareCompass == LSM303D)
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439 {
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440 compass_read_LSM303D();
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441 }
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442 else
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443 if(hardwareCompass == HMC5883L)
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444 {
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445 compass_read_HMC5883L();
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446 }
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447 }
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448
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449
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450 // ===============================================================================
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451 // accelerator_init
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452 /// @brief empty for for LSM303D
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453 // ===============================================================================
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454 void accelerator_init(void)
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455 {
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456 // if((hardwareCompass != LSM303D) && (hardwareCompass != LSM303DLHC))
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457 if(hardwareCompass == HMC5883L)
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458 accelerator_init_MMA8452Q();
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459 }
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460
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461
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462 // ===============================================================================
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463 // accelerator_sleep
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464 /// @brief empty for for LSM303D
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465 // ===============================================================================
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466 void accelerator_sleep(void)
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467 {
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468 // if((hardwareCompass != LSM303D) && (hardwareCompass != LSM303DLHC))
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469 if(hardwareCompass == HMC5883L)
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470 accelerator_sleep_MMA8452Q();
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471 }
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472
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473
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474 // ===============================================================================
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475 // acceleration_read
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476 /// @brief empty for for LSM303D
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477 // ===============================================================================
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478 void acceleration_read(void)
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479 {
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480 if(hardwareCompass == LSM303DLHC)
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481 {
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482 acceleration_read_LSM303DLHC();
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483 }
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484 else
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485 if(hardwareCompass == LSM303D)
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486 {
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487 acceleration_read_LSM303D();
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488 }
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489 else
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490 if(hardwareCompass == HMC5883L)
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491 {
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492 acceleration_read_MMA8452Q();
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493 }
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494 }
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495
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496
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497 /* Private functions ---------------------------------------------------------*/
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498
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499 // ===============================================================================
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500 // LSM303D_read_reg
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501 /// @brief tiny helpers by pixhawk
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502 // ===============================================================================
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503 uint8_t LSM303D_read_reg(uint8_t addr)
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504 {
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505 uint8_t data;
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506
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507 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1);
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508 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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509 return data;
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510 }
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511
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512
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513 // ===============================================================================
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514 // LSM303D_write_reg
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515 /// @brief tiny helpers by pixhawk
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516 // ===============================================================================
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517 void LSM303D_write_reg(uint8_t addr, uint8_t value)
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518 {
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519 uint8_t data[2];
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520
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521 /* enable accel*/
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522 data[0] = addr;
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523 data[1] = value;
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524 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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525 }
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526
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527
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528 // ===============================================================================
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529 // LSM303D_write_checked_reg
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530 /// @brief tiny helpers by pixhawk. This runs unchecked at the moment.
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531 // ===============================================================================
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532 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value)
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533 {
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534 LSM303D_write_reg(addr, value);
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535 }
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536
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537
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538 // ===============================================================================
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539 // LSM303D_modify_reg
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540 /// @brief tiny helpers by pixhawk
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541 // ===============================================================================
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542 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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543 {
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544 uint8_t val;
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545
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546 val = LSM303D_read_reg(reg);
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547 val &= ~clearbits;
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548 val |= setbits;
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549 LSM303D_write_checked_reg(reg, val);
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550 }
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551
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diff changeset
552
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553
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554 // ===============================================================================
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555 // LSM303DLHC_accelerator_read_req
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diff changeset
556 /// @brief
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557 // ===============================================================================
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558 uint8_t LSM303DLHC_accelerator_read_req(uint8_t addr)
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559 {
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560 uint8_t data;
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561
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parents:
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562 I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, &addr, 1);
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heinrichsweikamp
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diff changeset
563 I2C_Master_Receive( DEVICE_ACCELARATOR_303DLHC, &data, 1);
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heinrichsweikamp
parents:
diff changeset
564 return data;
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parents:
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565 }
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heinrichsweikamp
parents:
diff changeset
566
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heinrichsweikamp
parents:
diff changeset
567
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heinrichsweikamp
parents:
diff changeset
568 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
569 // LSM303DLHC_accelerator_write_req
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heinrichsweikamp
parents:
diff changeset
570 /// @brief
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heinrichsweikamp
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diff changeset
571 // ===============================================================================
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heinrichsweikamp
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diff changeset
572 void LSM303DLHC_accelerator_write_req(uint8_t addr, uint8_t value)
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parents:
diff changeset
573 {
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diff changeset
574 uint8_t data[2];
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575
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parents:
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576 /* enable accel*/
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parents:
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577 data[0] = addr;
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578 data[1] = value;
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heinrichsweikamp
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diff changeset
579 I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, data, 2);
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heinrichsweikamp
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diff changeset
580 }
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heinrichsweikamp
parents:
diff changeset
581
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heinrichsweikamp
parents:
diff changeset
582 /*
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heinrichsweikamp
parents:
diff changeset
583 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
584 // LSM303D_accel_set_range
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heinrichsweikamp
parents:
diff changeset
585 /// @brief tiny helpers by pixhawk
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heinrichsweikamp
parents:
diff changeset
586 // ===============================================================================
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heinrichsweikamp
parents:
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587 int LSM303D_accel_set_range(unsigned max_g)
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heinrichsweikamp
parents:
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588 {
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diff changeset
589 uint8_t setbits = 0;
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diff changeset
590 uint8_t clearbits = REG2_FULL_SCALE_BITS_A;
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heinrichsweikamp
parents:
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591 float new_scale_g_digit = 0.0f;
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592
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heinrichsweikamp
parents:
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593 if (max_g == 0) {
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594 max_g = 16;
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heinrichsweikamp
parents:
diff changeset
595 }
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heinrichsweikamp
parents:
diff changeset
596
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parents:
diff changeset
597 if (max_g <= 2) {
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parents:
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598 _accel_range_m_s2 = 2.0f * LSM303D_ONE_G;
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heinrichsweikamp
parents:
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599 setbits |= REG2_FULL_SCALE_2G_A;
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parents:
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600 new_scale_g_digit = 0.061e-3f;
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heinrichsweikamp
parents:
diff changeset
601
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parents:
diff changeset
602 } else if (max_g <= 4) {
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heinrichsweikamp
parents:
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603 _accel_range_m_s2 = 4.0f * LSM303D_ONE_G;
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604 setbits |= REG2_FULL_SCALE_4G_A;
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parents:
diff changeset
605 new_scale_g_digit = 0.122e-3f;
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heinrichsweikamp
parents:
diff changeset
606
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heinrichsweikamp
parents:
diff changeset
607 } else if (max_g <= 6) {
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parents:
diff changeset
608 _accel_range_m_s2 = 6.0f * LSM303D_ONE_G;
5f11787b4f42 include in ostc4 repository
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parents:
diff changeset
609 setbits |= REG2_FULL_SCALE_6G_A;
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parents:
diff changeset
610 new_scale_g_digit = 0.183e-3f;
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heinrichsweikamp
parents:
diff changeset
611
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heinrichsweikamp
parents:
diff changeset
612 } else if (max_g <= 8) {
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heinrichsweikamp
parents:
diff changeset
613 _accel_range_m_s2 = 8.0f * LSM303D_ONE_G;
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heinrichsweikamp
parents:
diff changeset
614 setbits |= REG2_FULL_SCALE_8G_A;
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heinrichsweikamp
parents:
diff changeset
615 new_scale_g_digit = 0.244e-3f;
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heinrichsweikamp
parents:
diff changeset
616
5f11787b4f42 include in ostc4 repository
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parents:
diff changeset
617 } else if (max_g <= 16) {
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heinrichsweikamp
parents:
diff changeset
618 _accel_range_m_s2 = 16.0f * LSM303D_ONE_G;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
619 setbits |= REG2_FULL_SCALE_16G_A;
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heinrichsweikamp
parents:
diff changeset
620 new_scale_g_digit = 0.732e-3f;
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heinrichsweikamp
parents:
diff changeset
621
5f11787b4f42 include in ostc4 repository
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622 } else {
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parents:
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623 return -1;
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parents:
diff changeset
624 }
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heinrichsweikamp
parents:
diff changeset
625
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heinrichsweikamp
parents:
diff changeset
626 _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
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heinrichsweikamp
parents:
diff changeset
627
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heinrichsweikamp
parents:
diff changeset
628
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parents:
diff changeset
629 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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heinrichsweikamp
parents:
diff changeset
630
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parents:
diff changeset
631 return 0;
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parents:
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632 }
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heinrichsweikamp
parents:
diff changeset
633 */
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heinrichsweikamp
parents:
diff changeset
634 /*
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heinrichsweikamp
parents:
diff changeset
635 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
636 // LSM303D_mag_set_range
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heinrichsweikamp
parents:
diff changeset
637 /// @brief tiny helpers by pixhawk
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parents:
diff changeset
638 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
639 int LSM303D_mag_set_range(unsigned max_ga)
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heinrichsweikamp
parents:
diff changeset
640 {
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heinrichsweikamp
parents:
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641 uint8_t setbits = 0;
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parents:
diff changeset
642 uint8_t clearbits = REG6_FULL_SCALE_BITS_M;
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parents:
diff changeset
643 float new_scale_ga_digit = 0.0f;
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heinrichsweikamp
parents:
diff changeset
644
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parents:
diff changeset
645 if (max_ga == 0) {
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parents:
diff changeset
646 max_ga = 12;
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heinrichsweikamp
parents:
diff changeset
647 }
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heinrichsweikamp
parents:
diff changeset
648
5f11787b4f42 include in ostc4 repository
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parents:
diff changeset
649 if (max_ga <= 2) {
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heinrichsweikamp
parents:
diff changeset
650 _mag_range_ga = 2;
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heinrichsweikamp
parents:
diff changeset
651 setbits |= REG6_FULL_SCALE_2GA_M;
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parents:
diff changeset
652 new_scale_ga_digit = 0.080e-3f;
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heinrichsweikamp
parents:
diff changeset
653
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diff changeset
654 } else if (max_ga <= 4) {
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heinrichsweikamp
parents:
diff changeset
655 _mag_range_ga = 4;
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heinrichsweikamp
parents:
diff changeset
656 setbits |= REG6_FULL_SCALE_4GA_M;
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parents:
diff changeset
657 new_scale_ga_digit = 0.160e-3f;
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heinrichsweikamp
parents:
diff changeset
658
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heinrichsweikamp
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diff changeset
659 } else if (max_ga <= 8) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
660 _mag_range_ga = 8;
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heinrichsweikamp
parents:
diff changeset
661 setbits |= REG6_FULL_SCALE_8GA_M;
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heinrichsweikamp
parents:
diff changeset
662 new_scale_ga_digit = 0.320e-3f;
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heinrichsweikamp
parents:
diff changeset
663
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
664 } else if (max_ga <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
665 _mag_range_ga = 12;
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heinrichsweikamp
parents:
diff changeset
666 setbits |= REG6_FULL_SCALE_12GA_M;
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heinrichsweikamp
parents:
diff changeset
667 new_scale_ga_digit = 0.479e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
668
5f11787b4f42 include in ostc4 repository
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parents:
diff changeset
669 } else {
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heinrichsweikamp
parents:
diff changeset
670 return -1;
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heinrichsweikamp
parents:
diff changeset
671 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
672
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parents:
diff changeset
673 _mag_range_scale = new_scale_ga_digit;
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parents:
diff changeset
674
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parents:
diff changeset
675 LSM303D_modify_reg(ADDR_CTRL_REG6, clearbits, setbits);
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heinrichsweikamp
parents:
diff changeset
676
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parents:
diff changeset
677 return 0;
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heinrichsweikamp
parents:
diff changeset
678 }
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heinrichsweikamp
parents:
diff changeset
679 */
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heinrichsweikamp
parents:
diff changeset
680
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heinrichsweikamp
parents:
diff changeset
681 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
682 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth
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heinrichsweikamp
parents:
diff changeset
683 /// @brief tiny helpers by pixhawk
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heinrichsweikamp
parents:
diff changeset
684 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
685 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
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heinrichsweikamp
parents:
diff changeset
686 {
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heinrichsweikamp
parents:
diff changeset
687 uint8_t setbits = 0;
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heinrichsweikamp
parents:
diff changeset
688 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
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heinrichsweikamp
parents:
diff changeset
689
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heinrichsweikamp
parents:
diff changeset
690 if (bandwidth == 0) {
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heinrichsweikamp
parents:
diff changeset
691 bandwidth = 773;
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heinrichsweikamp
parents:
diff changeset
692 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
693
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heinrichsweikamp
parents:
diff changeset
694 if (bandwidth <= 50) {
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heinrichsweikamp
parents:
diff changeset
695 setbits |= REG2_AA_FILTER_BW_50HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
696 _accel_onchip_filter_bandwith = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
697
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heinrichsweikamp
parents:
diff changeset
698 } else if (bandwidth <= 194) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
699 setbits |= REG2_AA_FILTER_BW_194HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
700 _accel_onchip_filter_bandwith = 194;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
701
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
702 } else if (bandwidth <= 362) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
703 setbits |= REG2_AA_FILTER_BW_362HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
704 _accel_onchip_filter_bandwith = 362;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
705
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
706 } else if (bandwidth <= 773) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
707 setbits |= REG2_AA_FILTER_BW_773HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
708 _accel_onchip_filter_bandwith = 773;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
709
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
710 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
711 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
712 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
713
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
714 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
715
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heinrichsweikamp
parents:
diff changeset
716 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
717 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
718
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
719
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
720 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
721 // LSM303D_accel_set_driver_lowpass_filter
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
722 /// @brief tiny helpers by pixhawk. This one is not used at the moment!
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
723 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
724 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
725 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
726 /*
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heinrichsweikamp
parents:
diff changeset
727 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
728 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
729 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
730 */
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
731 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
732 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
733
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
734 /* unused 170821
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
735 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
736 // LSM303D_accel_set_samplerate
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
737 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
738 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
739 int LSM303D_accel_set_samplerate(unsigned frequency)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
740 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
741 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
742 uint8_t clearbits = REG1_RATE_BITS_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
743
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
744 // if (frequency == 0 || frequency == ACCEL_SAMPLERATE_DEFAULT) {
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heinrichsweikamp
parents:
diff changeset
745 frequency = 1600;
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heinrichsweikamp
parents:
diff changeset
746 // }
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heinrichsweikamp
parents:
diff changeset
747
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heinrichsweikamp
parents:
diff changeset
748 if (frequency <= 3) {
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heinrichsweikamp
parents:
diff changeset
749 setbits |= REG1_RATE_3_125HZ_A;
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heinrichsweikamp
parents:
diff changeset
750 _accel_samplerate = 3;
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heinrichsweikamp
parents:
diff changeset
751
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parents:
diff changeset
752 } else if (frequency <= 6) {
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parents:
diff changeset
753 setbits |= REG1_RATE_6_25HZ_A;
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heinrichsweikamp
parents:
diff changeset
754 _accel_samplerate = 6;
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heinrichsweikamp
parents:
diff changeset
755
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parents:
diff changeset
756 } else if (frequency <= 12) {
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heinrichsweikamp
parents:
diff changeset
757 setbits |= REG1_RATE_12_5HZ_A;
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heinrichsweikamp
parents:
diff changeset
758 _accel_samplerate = 12;
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heinrichsweikamp
parents:
diff changeset
759
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parents:
diff changeset
760 } else if (frequency <= 25) {
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parents:
diff changeset
761 setbits |= REG1_RATE_25HZ_A;
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heinrichsweikamp
parents:
diff changeset
762 _accel_samplerate = 25;
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heinrichsweikamp
parents:
diff changeset
763
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parents:
diff changeset
764 } else if (frequency <= 50) {
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heinrichsweikamp
parents:
diff changeset
765 setbits |= REG1_RATE_50HZ_A;
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heinrichsweikamp
parents:
diff changeset
766 _accel_samplerate = 50;
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heinrichsweikamp
parents:
diff changeset
767
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parents:
diff changeset
768 } else if (frequency <= 100) {
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parents:
diff changeset
769 setbits |= REG1_RATE_100HZ_A;
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parents:
diff changeset
770 _accel_samplerate = 100;
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heinrichsweikamp
parents:
diff changeset
771
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parents:
diff changeset
772 } else if (frequency <= 200) {
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parents:
diff changeset
773 setbits |= REG1_RATE_200HZ_A;
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heinrichsweikamp
parents:
diff changeset
774 _accel_samplerate = 200;
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heinrichsweikamp
parents:
diff changeset
775
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parents:
diff changeset
776 } else if (frequency <= 400) {
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parents:
diff changeset
777 setbits |= REG1_RATE_400HZ_A;
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parents:
diff changeset
778 _accel_samplerate = 400;
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heinrichsweikamp
parents:
diff changeset
779
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parents:
diff changeset
780 } else if (frequency <= 800) {
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parents:
diff changeset
781 setbits |= REG1_RATE_800HZ_A;
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heinrichsweikamp
parents:
diff changeset
782 _accel_samplerate = 800;
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heinrichsweikamp
parents:
diff changeset
783
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parents:
diff changeset
784 } else if (frequency <= 1600) {
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heinrichsweikamp
parents:
diff changeset
785 setbits |= REG1_RATE_1600HZ_A;
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heinrichsweikamp
parents:
diff changeset
786 _accel_samplerate = 1600;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
787
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
788 } else {
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parents:
diff changeset
789 return -1;
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parents:
diff changeset
790 }
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heinrichsweikamp
parents:
diff changeset
791
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parents:
diff changeset
792 LSM303D_modify_reg(ADDR_CTRL_REG1, clearbits, setbits);
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parents:
diff changeset
793 return 0;
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parents:
diff changeset
794 }
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heinrichsweikamp
parents:
diff changeset
795 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
796 // LSM303D_mag_set_samplerate
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heinrichsweikamp
parents:
diff changeset
797 /// @brief tiny helpers by pixhawk
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heinrichsweikamp
parents:
diff changeset
798 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
799 int LSM303D_mag_set_samplerate(unsigned frequency)
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parents:
diff changeset
800 {
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parents:
diff changeset
801 uint8_t setbits = 0;
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heinrichsweikamp
parents:
diff changeset
802 uint8_t clearbits = REG5_RATE_BITS_M;
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heinrichsweikamp
parents:
diff changeset
803
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heinrichsweikamp
parents:
diff changeset
804 if (frequency == 0) {
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heinrichsweikamp
parents:
diff changeset
805 frequency = 100;
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heinrichsweikamp
parents:
diff changeset
806 }
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heinrichsweikamp
parents:
diff changeset
807
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heinrichsweikamp
parents:
diff changeset
808 if (frequency <= 3) {
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heinrichsweikamp
parents:
diff changeset
809 setbits |= REG5_RATE_3_125HZ_M;
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heinrichsweikamp
parents:
diff changeset
810 _mag_samplerate = 25;
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heinrichsweikamp
parents:
diff changeset
811
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parents:
diff changeset
812 } else if (frequency <= 6) {
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heinrichsweikamp
parents:
diff changeset
813 setbits |= REG5_RATE_6_25HZ_M;
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heinrichsweikamp
parents:
diff changeset
814 _mag_samplerate = 25;
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heinrichsweikamp
parents:
diff changeset
815
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heinrichsweikamp
parents:
diff changeset
816 } else if (frequency <= 12) {
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heinrichsweikamp
parents:
diff changeset
817 setbits |= REG5_RATE_12_5HZ_M;
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heinrichsweikamp
parents:
diff changeset
818 _mag_samplerate = 25;
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heinrichsweikamp
parents:
diff changeset
819
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heinrichsweikamp
parents:
diff changeset
820 } else if (frequency <= 25) {
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heinrichsweikamp
parents:
diff changeset
821 setbits |= REG5_RATE_25HZ_M;
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heinrichsweikamp
parents:
diff changeset
822 _mag_samplerate = 25;
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heinrichsweikamp
parents:
diff changeset
823
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heinrichsweikamp
parents:
diff changeset
824 } else if (frequency <= 50) {
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heinrichsweikamp
parents:
diff changeset
825 setbits |= REG5_RATE_50HZ_M;
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heinrichsweikamp
parents:
diff changeset
826 _mag_samplerate = 50;
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heinrichsweikamp
parents:
diff changeset
827
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parents:
diff changeset
828 } else if (frequency <= 100) {
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heinrichsweikamp
parents:
diff changeset
829 setbits |= REG5_RATE_100HZ_M;
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heinrichsweikamp
parents:
diff changeset
830 _mag_samplerate = 100;
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heinrichsweikamp
parents:
diff changeset
831
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parents:
diff changeset
832 } else {
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heinrichsweikamp
parents:
diff changeset
833 return -1;
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heinrichsweikamp
parents:
diff changeset
834 }
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heinrichsweikamp
parents:
diff changeset
835
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heinrichsweikamp
parents:
diff changeset
836 LSM303D_modify_reg(ADDR_CTRL_REG5, clearbits, setbits);
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heinrichsweikamp
parents:
diff changeset
837 return 0;
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heinrichsweikamp
parents:
diff changeset
838 }
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heinrichsweikamp
parents:
diff changeset
839 */
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heinrichsweikamp
parents:
diff changeset
840
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heinrichsweikamp
parents:
diff changeset
841
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heinrichsweikamp
parents:
diff changeset
842 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt
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heinrichsweikamp
parents:
diff changeset
843 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
844 // rotate_mag_3f
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heinrichsweikamp
parents:
diff changeset
845 /// @brief swap axis in convient way, by hw
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heinrichsweikamp
parents:
diff changeset
846 /// @param *x raw input is set to *y input
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heinrichsweikamp
parents:
diff changeset
847 /// @param *y raw input is set to -*x input
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heinrichsweikamp
parents:
diff changeset
848 /// @param *z raw is not touched
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heinrichsweikamp
parents:
diff changeset
849 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
850 void rotate_mag_3f(float *x, float *y, float *z)
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heinrichsweikamp
parents:
diff changeset
851 {
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heinrichsweikamp
parents:
diff changeset
852 return;
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heinrichsweikamp
parents:
diff changeset
853 /*
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heinrichsweikamp
parents:
diff changeset
854 *x = *x; // HMC: *x = -*y
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heinrichsweikamp
parents:
diff changeset
855 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y
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heinrichsweikamp
parents:
diff changeset
856 *z = *z; // HMC: *z = *z
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heinrichsweikamp
parents:
diff changeset
857 */
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heinrichsweikamp
parents:
diff changeset
858 }
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heinrichsweikamp
parents:
diff changeset
859
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heinrichsweikamp
parents:
diff changeset
860
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heinrichsweikamp
parents:
diff changeset
861 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
862 // rotate_accel_3f
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heinrichsweikamp
parents:
diff changeset
863 /// @brief swap axis in convient way, by hw, same as MMA8452Q
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heinrichsweikamp
parents:
diff changeset
864 /// @param *x raw input, output is with sign change
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heinrichsweikamp
parents:
diff changeset
865 /// @param *y raw input, output is with sign change
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heinrichsweikamp
parents:
diff changeset
866 /// @param *z raw input, output is with sign change
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heinrichsweikamp
parents:
diff changeset
867 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
868 void rotate_accel_3f(float *x, float *y, float *z)
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heinrichsweikamp
parents:
diff changeset
869 {
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heinrichsweikamp
parents:
diff changeset
870 *x = -*x;
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heinrichsweikamp
parents:
diff changeset
871 *y = -*y;
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heinrichsweikamp
parents:
diff changeset
872 *z = -*z;
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heinrichsweikamp
parents:
diff changeset
873 /* tested:
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heinrichsweikamp
parents:
diff changeset
874 x = x, y =-y, z=-z: does not work with roll
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heinrichsweikamp
parents:
diff changeset
875 x = x, y =y, z=-z: does not work with pitch
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
876 x = x, y =y, z=z: does not work at all
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
877 */
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heinrichsweikamp
parents:
diff changeset
878 }
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heinrichsweikamp
parents:
diff changeset
879
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
880
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heinrichsweikamp
parents:
diff changeset
881 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
882 // compass_init_LSM303D by PIXhawk (LSM303D::reset())
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heinrichsweikamp
parents:
diff changeset
883 // https://raw.githubusercontent.com/PX4/Firmware/master/src/drivers/lsm303d/lsm303d.cpp
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heinrichsweikamp
parents:
diff changeset
884 /// @brief The new ST 303D
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heinrichsweikamp
parents:
diff changeset
885 /// This might be called several times with different gain values during calibration
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heinrichsweikamp
parents:
diff changeset
886 /// but gain change is not supported at the moment.
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heinrichsweikamp
parents:
diff changeset
887 ///
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heinrichsweikamp
parents:
diff changeset
888 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
parents:
diff changeset
889 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
890
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heinrichsweikamp
parents:
diff changeset
891 //uint8_t testCompassLS303D[11];
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heinrichsweikamp
parents:
diff changeset
892
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heinrichsweikamp
parents:
diff changeset
893 void compass_init_LSM303D(uint8_t fast, uint8_t gain)
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heinrichsweikamp
parents:
diff changeset
894 {
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heinrichsweikamp
parents:
diff changeset
895 // matthias version 160620
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heinrichsweikamp
parents:
diff changeset
896 if(fast == 0)
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heinrichsweikamp
parents:
diff changeset
897 {
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heinrichsweikamp
parents:
diff changeset
898 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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heinrichsweikamp
parents:
diff changeset
899 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2
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heinrichsweikamp
parents:
diff changeset
900 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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heinrichsweikamp
parents:
diff changeset
901 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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heinrichsweikamp
parents:
diff changeset
902 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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heinrichsweikamp
parents:
diff changeset
903 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4
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heinrichsweikamp
parents:
diff changeset
904 }
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heinrichsweikamp
parents:
diff changeset
905 else
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heinrichsweikamp
parents:
diff changeset
906 {
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heinrichsweikamp
parents:
diff changeset
907 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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heinrichsweikamp
parents:
diff changeset
908 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
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heinrichsweikamp
parents:
diff changeset
909 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
910 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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heinrichsweikamp
parents:
diff changeset
911 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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heinrichsweikamp
parents:
diff changeset
912 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
913 }
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heinrichsweikamp
parents:
diff changeset
914 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
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heinrichsweikamp
parents:
diff changeset
915 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
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heinrichsweikamp
parents:
diff changeset
916
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heinrichsweikamp
parents:
diff changeset
917 /*
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heinrichsweikamp
parents:
diff changeset
918 uint8_t data;
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heinrichsweikamp
parents:
diff changeset
919 for(int i=0;i<11;i++)
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heinrichsweikamp
parents:
diff changeset
920 {
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heinrichsweikamp
parents:
diff changeset
921 data = ADDR_INT_THS_L_M + i;
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heinrichsweikamp
parents:
diff changeset
922 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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heinrichsweikamp
parents:
diff changeset
923 I2C_Master_Receive( DEVICE_COMPASS_303D, &testCompassLS303D[i], 1);
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diff changeset
924 }
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diff changeset
925 */
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parents:
diff changeset
926
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parents:
diff changeset
927 return;
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parents:
diff changeset
928 /*
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parents:
diff changeset
929 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); // modifies ADDR_CTRL_REG2
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parents:
diff changeset
930 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); // modifies ADDR_CTRL_REG1
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diff changeset
931
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diff changeset
932 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
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diff changeset
933 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
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diff changeset
934 */
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diff changeset
935
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parents:
diff changeset
936 /*
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parents:
diff changeset
937 // my stuff hw
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heinrichsweikamp
parents:
diff changeset
938 // enable accel
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diff changeset
939 LSM303D_write_checked_reg(ADDR_CTRL_REG1,
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diff changeset
940 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
941
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parents:
diff changeset
942 // enable mag
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diff changeset
943 LSM303D_write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
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diff changeset
944 LSM303D_write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T);
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diff changeset
945 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
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diff changeset
946 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
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diff changeset
947
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diff changeset
948 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
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diff changeset
949 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);
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diff changeset
950 LSM303D_accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ);
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951 //LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting
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diff changeset
952
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953 // we setup the anti-alias on-chip filter as 50Hz. We believe
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diff changeset
954 // this operates in the analog domain, and is critical for
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diff changeset
955 // anti-aliasing. The 2 pole software filter is designed to
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diff changeset
956 // operate in conjunction with this on-chip filter
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957 if(fast)
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958 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting
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959 else
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960 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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diff changeset
961
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962
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963 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
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964 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
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diff changeset
965 */
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diff changeset
966 }
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diff changeset
967
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diff changeset
968
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969 // ===============================================================================
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diff changeset
970 // compass_sleep_LSM303D
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diff changeset
971 /// @brief The new compass chip, hopefully this works!
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972 // ===============================================================================
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973 void compass_sleep_LSM303D(void)
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974 {
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975 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode
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976 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode
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diff changeset
977 }
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diff changeset
978
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diff changeset
979
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diff changeset
980 // ===============================================================================
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diff changeset
981 // acceleration_read_LSM303D
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diff changeset
982 /// @brief The new LSM303D, code by pixhawk
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983 ///
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984 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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985 // ===============================================================================
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diff changeset
986 void acceleration_read_LSM303D(void)
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987 {
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diff changeset
988 uint8_t data;
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diff changeset
989 float xraw_f, yraw_f, zraw_f;
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diff changeset
990 float accel_report_x, accel_report_y, accel_report_z;
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diff changeset
991
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992 memset(accDataBuffer,0,6);
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diff changeset
993
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diff changeset
994 accel_DX_f = 0;
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diff changeset
995 accel_DY_f = 0;
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diff changeset
996 accel_DZ_f = 0;
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diff changeset
997
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diff changeset
998 for(int i=0;i<6;i++)
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999 {
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diff changeset
1000 data = ADDR_OUT_X_L_A + i;
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1001 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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diff changeset
1002 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1);
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diff changeset
1003 }
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diff changeset
1004
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diff changeset
1005 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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1006 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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1007 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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diff changeset
1008
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diff changeset
1009 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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diff changeset
1010
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diff changeset
1011 // mh
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1012 accel_report_x = xraw_f;
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diff changeset
1013 accel_report_y = yraw_f;
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diff changeset
1014 accel_report_z = zraw_f;
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diff changeset
1015
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diff changeset
1016 // my stuff
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parents:
diff changeset
1017 /*
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diff changeset
1018 accel_report_x = ((xraw_f * _accel_range_scale) - _accel_scale_x_offset) * _accel_scale_x_scale;
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diff changeset
1019 accel_report_y = ((yraw_f * _accel_range_scale) - _accel_scale_y_offset) * _accel_scale_y_scale;
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diff changeset
1020 accel_report_z = ((zraw_f * _accel_range_scale) - _accel_scale_z_offset) * _accel_scale_z_scale;
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diff changeset
1021 */
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diff changeset
1022 accel_DX_f = ((int16_t)(accel_report_x));
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diff changeset
1023 accel_DY_f = ((int16_t)(accel_report_y));
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diff changeset
1024 accel_DZ_f = ((int16_t)(accel_report_z));
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diff changeset
1025 }
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parents:
diff changeset
1026 /* special code after accel_report_z = ...
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parents:
diff changeset
1027 * prior to output
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heinrichsweikamp
parents:
diff changeset
1028 // we have logs where the accelerometers get stuck at a fixed
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heinrichsweikamp
parents:
diff changeset
1029 // large value. We want to detect this and mark the sensor as
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parents:
diff changeset
1030 // being faulty
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parents:
diff changeset
1031
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diff changeset
1032 if (fabsf(_last_accel[0] - x_in_new) < 0.001f &&
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parents:
diff changeset
1033 fabsf(_last_accel[1] - y_in_new) < 0.001f &&
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diff changeset
1034 fabsf(_last_accel[2] - z_in_new) < 0.001f &&
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parents:
diff changeset
1035 fabsf(x_in_new) > 20 &&
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parents:
diff changeset
1036 fabsf(y_in_new) > 20 &&
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diff changeset
1037 fabsf(z_in_new) > 20) {
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diff changeset
1038 _constant_accel_count += 1;
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diff changeset
1039
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diff changeset
1040 } else {
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diff changeset
1041 _constant_accel_count = 0;
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parents:
diff changeset
1042 }
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heinrichsweikamp
parents:
diff changeset
1043
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parents:
diff changeset
1044 if (_constant_accel_count > 100) {
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parents:
diff changeset
1045 // we've had 100 constant accel readings with large
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parents:
diff changeset
1046 // values. The sensor is almost certainly dead. We
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heinrichsweikamp
parents:
diff changeset
1047 // will raise the error_count so that the top level
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parents:
diff changeset
1048 // flight code will know to avoid this sensor, but
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parents:
diff changeset
1049 // we'll still give the data so that it can be logged
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heinrichsweikamp
parents:
diff changeset
1050 // and viewed
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parents:
diff changeset
1051 perf_count(_bad_values);
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parents:
diff changeset
1052 _constant_accel_count = 0;
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parents:
diff changeset
1053 }
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parents:
diff changeset
1054
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parents:
diff changeset
1055 _last_accel[0] = x_in_new;
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parents:
diff changeset
1056 _last_accel[1] = y_in_new;
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diff changeset
1057 _last_accel[2] = z_in_new;
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diff changeset
1058
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parents:
diff changeset
1059 accel_report.x = _accel_filter_x.apply(x_in_new);
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diff changeset
1060 accel_report.y = _accel_filter_y.apply(y_in_new);
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diff changeset
1061 accel_report.z = _accel_filter_z.apply(z_in_new);
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diff changeset
1062
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diff changeset
1063 math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
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parents:
diff changeset
1064 math::Vector<3> aval_integrated;
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parents:
diff changeset
1065
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diff changeset
1066 bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
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parents:
diff changeset
1067 accel_report.x_integral = aval_integrated(0);
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parents:
diff changeset
1068 accel_report.y_integral = aval_integrated(1);
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diff changeset
1069 accel_report.z_integral = aval_integrated(2);
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parents:
diff changeset
1070 */
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heinrichsweikamp
parents:
diff changeset
1071
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parents:
diff changeset
1072
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parents:
diff changeset
1073 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1074 // compass_read_LSM303D
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heinrichsweikamp
parents:
diff changeset
1075 /// @brief The new LSM303D, code by pixhawk
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heinrichsweikamp
parents:
diff changeset
1076 ///
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diff changeset
1077 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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heinrichsweikamp
parents:
diff changeset
1078 // ===============================================================================
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parents:
diff changeset
1079 void compass_read_LSM303D(void)
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parents:
diff changeset
1080 {
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parents:
diff changeset
1081 uint8_t data;
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parents:
diff changeset
1082 // float xraw_f, yraw_f, zraw_f;
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diff changeset
1083 // float mag_report_x, mag_report_y, mag_report_z;
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diff changeset
1084
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diff changeset
1085 memset(magDataBuffer,0,6);
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parents:
diff changeset
1086
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parents:
diff changeset
1087 compass_DX_f = 0;
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parents:
diff changeset
1088 compass_DY_f = 0;
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parents:
diff changeset
1089 compass_DZ_f = 0;
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parents:
diff changeset
1090
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parents:
diff changeset
1091 for(int i=0;i<6;i++)
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heinrichsweikamp
parents:
diff changeset
1092 {
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heinrichsweikamp
parents:
diff changeset
1093 data = ADDR_OUT_X_L_M + i;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1094 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1095 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1096 }
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heinrichsweikamp
parents:
diff changeset
1097
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heinrichsweikamp
parents:
diff changeset
1098 // mh 160620 flip x and y if flip display
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1099 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1100 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1101 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1102 // no rotation
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heinrichsweikamp
parents:
diff changeset
1103 return;
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heinrichsweikamp
parents:
diff changeset
1104 /*
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heinrichsweikamp
parents:
diff changeset
1105 // my stuff
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1106 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))) / 10) - 200;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1107 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))) / 10) - 200;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1108 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))) / 10) - 200;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1109 */
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heinrichsweikamp
parents:
diff changeset
1110 // old
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heinrichsweikamp
parents:
diff changeset
1111 /*
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heinrichsweikamp
parents:
diff changeset
1112 xraw_f = ((float)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1113 yraw_f = ((float)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1114 zraw_f = ((float)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1115
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heinrichsweikamp
parents:
diff changeset
1116 rotate_mag_3f(&xraw_f, &yraw_f, &zraw_f);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1117
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heinrichsweikamp
parents:
diff changeset
1118 compass_DX_f = (int16_t)((xraw_f * 0.1f) - 200.0f);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1119 compass_DY_f = (int16_t)((yraw_f * 0.1f) - 200.0f);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1120 compass_DZ_f = (int16_t)((zraw_f * 0.1f) - 200.0f);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1121 */
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heinrichsweikamp
parents:
diff changeset
1122 /*
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heinrichsweikamp
parents:
diff changeset
1123 mag_report_x = ((xraw_f * _mag_range_scale) - _mag_scale_x_offset) * _mag_scale_x_scale;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1124 mag_report_y = ((yraw_f * _mag_range_scale) - _mag_scale_y_offset) * _mag_scale_y_scale;
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heinrichsweikamp
parents:
diff changeset
1125 mag_report_z = ((zraw_f * _mag_range_scale) - _mag_scale_z_offset) * _mag_scale_z_scale;
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heinrichsweikamp
parents:
diff changeset
1126
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heinrichsweikamp
parents:
diff changeset
1127 compass_DX_f = (int16_t)(mag_report_x * 1000.0f); // 1000.0 is just a wild guess by hw
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heinrichsweikamp
parents:
diff changeset
1128 compass_DY_f = (int16_t)(mag_report_y * 1000.0f);
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heinrichsweikamp
parents:
diff changeset
1129 compass_DZ_f = (int16_t)(mag_report_z * 1000.0f);
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heinrichsweikamp
parents:
diff changeset
1130 */
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heinrichsweikamp
parents:
diff changeset
1131 }
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heinrichsweikamp
parents:
diff changeset
1132
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1133
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heinrichsweikamp
parents:
diff changeset
1134 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1135 // compass_init_LSM303DLHC
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heinrichsweikamp
parents:
diff changeset
1136 /// @brief The new ST 303DLHC 2017/2018
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heinrichsweikamp
parents:
diff changeset
1137 /// This might be called several times with different gain values during calibration
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heinrichsweikamp
parents:
diff changeset
1138 /// but gain change is not supported at the moment.
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1139 /// parts from KOMPASS LSM303DLH-compass-app-note.pdf
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heinrichsweikamp
parents:
diff changeset
1140 ///
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heinrichsweikamp
parents:
diff changeset
1141 /// @param gain:
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heinrichsweikamp
parents:
diff changeset
1142 /// @param fast:
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heinrichsweikamp
parents:
diff changeset
1143 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1144
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1145
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1146
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1147 void compass_init_LSM303DLHC(uint8_t fast, uint8_t gain)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1148 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1149 // acceleration
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heinrichsweikamp
parents:
diff changeset
1150 // todo : BDU an (wie 303D) und high res, beides in REG4
70
6a6116d7b5bb old (and new) compass support
heinrichsweikamp
parents: 38
diff changeset
1151 //LSM303D_write_checked_reg(DLHC_CTRL_REG2_A,0x00); // 0x00 default, hier k�nnte filter sein 0x8?80, cutoff freq. not beschrieben
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1152
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heinrichsweikamp
parents:
diff changeset
1153 if(fast == 0)
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heinrichsweikamp
parents:
diff changeset
1154 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1155 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x27); // 10 hz
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1156 }
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heinrichsweikamp
parents:
diff changeset
1157 else
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heinrichsweikamp
parents:
diff changeset
1158 {
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heinrichsweikamp
parents:
diff changeset
1159 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x57); // 100 hz
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1160 }
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heinrichsweikamp
parents:
diff changeset
1161 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x88); // 0x88: BDU + HighRes, BDU ist doof!
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1162 LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x00); // 0x00 little-endian, ist's immer
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1163 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x08); // 0x08: HighRes
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heinrichsweikamp
parents:
diff changeset
1164 //LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x80); //
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heinrichsweikamp
parents:
diff changeset
1165
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heinrichsweikamp
parents:
diff changeset
1166
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1167 // compass
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heinrichsweikamp
parents:
diff changeset
1168 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x10); // 15 Hz
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heinrichsweikamp
parents:
diff changeset
1169
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heinrichsweikamp
parents:
diff changeset
1170 if(fast == 0)
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heinrichsweikamp
parents:
diff changeset
1171 {
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heinrichsweikamp
parents:
diff changeset
1172 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x10); // 15 Hz
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1173 }
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heinrichsweikamp
parents:
diff changeset
1174 else
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heinrichsweikamp
parents:
diff changeset
1175 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1176 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x18); // 75 Hz
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1177 }
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heinrichsweikamp
parents:
diff changeset
1178 LSM303D_write_checked_reg(DLHC_CRB_REG_M,0x20); // 0x60: 2.5 Gauss ,0x40: +/-1.9 Gauss,0x20: +/-1.3 Gauss
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heinrichsweikamp
parents:
diff changeset
1179 LSM303D_write_checked_reg(DLHC_MR_REG_M,0x00); //continuous conversation
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1180
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1181
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1182
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1183 return;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1184
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1185
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1186 // LSM303D_write_checked_reg(,);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1187 // LSM303D_write_checked_reg(DLHC_CTRL_REG1_A, 0x27); // 0x27 = acc. normal mode with ODR 50Hz - passt nicht mit datenblatt!!
70
6a6116d7b5bb old (and new) compass support
heinrichsweikamp
parents: 38
diff changeset
1188 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x40); // 0x40 = full scale range �2 gauss in continuous data update mode and change the little-endian to a big-endian structure.
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1189
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1190 if(fast == 0)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1191 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1192 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x27); // 0x27 = acc. normal mode, all axes, with ODR 10HZ laut LSM303DLHC, page 25/42
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1193 //
70
6a6116d7b5bb old (and new) compass support
heinrichsweikamp
parents: 38
diff changeset
1194 //LSM303D_write_checked_reg(DLHC_CTRL_REG2_A,0x00); // 0x00 default, hier k�nnte filter sein 0x8?80, cutoff freq. not beschrieben
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1195 //LSM303D_write_checked_reg(DLHC_CTRL_REG3_A,0x00); // 0x00 default
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1196 //
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1197 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG4_A, 0x00); // 0x00 = ich glaube little-endian ist gut
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1198 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x40); // 0x00 = ich glaube little-endian ist gut
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1199 //
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1200 //LSM303D_write_checked_reg(DLHC_CTRL_REG5_A,0x00); // 0x00 default
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1201 //LSM303D_write_checked_reg(DLHC_CTRL_REG6_A,0x00); // 0x00 default
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1202 // magnetic sensor
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1203 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x10); // 15 Hz
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1204 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1205 else
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1206 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1207 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x57); // 0x57 = acc. normal mode, all axes, with ODR 100HZ, LSM303DLHC, page 25/42
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1208 //
70
6a6116d7b5bb old (and new) compass support
heinrichsweikamp
parents: 38
diff changeset
1209 //LSM303D_write_checked_reg(DLHC_CTRL_REG2_A,0x00); // 0x00 default, hier k�nnte filter sein 0x8?80, cutoff freq. not beschrieben
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1210 //LSM303D_write_checked_reg(DLHC_CTRL_REG3_A,0x00); // 0x00 default
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1211 //
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1212 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG4_A, 0x00); // 0x00 = ich glaube little-endian ist gut
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1213 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x40); // 0x00 = ich glaube little-endian ist gut
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1214 //
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heinrichsweikamp
parents:
diff changeset
1215 //LSM303D_write_checked_reg(DLHC_CTRL_REG5_A,0x00); // 0x00 default
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1216 //LSM303D_write_checked_reg(DLHC_CTRL_REG6_A,0x00); // 0x00 default
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1217 // magnetic sensor
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1218 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x18); // 75 Hz
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1219 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1220 LSM303D_write_checked_reg(DLHC_CRB_REG_M,0x02); // +/-1.9 Gauss
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1221 LSM303D_write_checked_reg(DLHC_MR_REG_M,0x00); //continuous conversation
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1222
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1223
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1224 /*
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1225 // matthias version 160620
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1226 if(fast == 0)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1227 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1228 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1229 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1230 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); // anti alias 50 Hz (minimum)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1231 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1232 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1233 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1234 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1235 else
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1236 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1237 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1238 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1239 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1240 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1241 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1242 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1243 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1244 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1245 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1246 */
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heinrichsweikamp
parents:
diff changeset
1247 return;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1248 }
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heinrichsweikamp
parents:
diff changeset
1249
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1250 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1251 // compass_sleep_LSM303DLHC
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heinrichsweikamp
parents:
diff changeset
1252 /// @brief The new 2017/2018 compass chip.
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heinrichsweikamp
parents:
diff changeset
1253 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1254 void compass_sleep_LSM303DLHC(void)
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heinrichsweikamp
parents:
diff changeset
1255 {
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heinrichsweikamp
parents:
diff changeset
1256 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x07); // CTRL_REG1_A: linear acceleration Power-down mode
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1257 LSM303D_write_checked_reg(DLHC_MR_REG_M, 0x02); // MR_REG_M: magnetic sensor Power-down mode
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1258 }
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heinrichsweikamp
parents:
diff changeset
1259
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1260
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1261 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1262 // compass_read_LSM303DLHC
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heinrichsweikamp
parents:
diff changeset
1263 /// @brief The new 2017/2018 compass chip.
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1264 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1265 void compass_read_LSM303DLHC(void)
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heinrichsweikamp
parents:
diff changeset
1266 {
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heinrichsweikamp
parents:
diff changeset
1267 uint8_t data;
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heinrichsweikamp
parents:
diff changeset
1268
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heinrichsweikamp
parents:
diff changeset
1269 memset(magDataBuffer,0,6);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1270
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heinrichsweikamp
parents:
diff changeset
1271 compass_DX_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1272 compass_DY_f = 0;
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heinrichsweikamp
parents:
diff changeset
1273 compass_DZ_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1274
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heinrichsweikamp
parents:
diff changeset
1275 for(int i=0;i<6;i++)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1276 {
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heinrichsweikamp
parents:
diff changeset
1277 data = DLHC_OUT_X_L_M + i;
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heinrichsweikamp
parents:
diff changeset
1278 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1279 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1280 }
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heinrichsweikamp
parents:
diff changeset
1281
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1282 // 303DLHC new order
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heinrichsweikamp
parents:
diff changeset
1283 compass_DX_f = (((int16_t)((magDataBuffer[0] << 8) | (magDataBuffer[1]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1284 compass_DZ_f = (((int16_t)((magDataBuffer[2] << 8) | (magDataBuffer[3]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1285 compass_DY_f = (((int16_t)((magDataBuffer[4] << 8) | (magDataBuffer[5]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1286
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heinrichsweikamp
parents:
diff changeset
1287 // no rotation, otherwise see compass_read_LSM303D()
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1288 return;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1289 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1290
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1291
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1292 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1293 // acceleration_read_LSM303DLHC
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heinrichsweikamp
parents:
diff changeset
1294 /// @brief The new 2017/2018 compass chip.
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1295 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1296 void acceleration_read_LSM303DLHC(void)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1297 {
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heinrichsweikamp
parents:
diff changeset
1298 uint8_t data;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1299 float xraw_f, yraw_f, zraw_f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1300 float accel_report_x, accel_report_y, accel_report_z;
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heinrichsweikamp
parents:
diff changeset
1301
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heinrichsweikamp
parents:
diff changeset
1302 memset(accDataBuffer,0,6);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1303
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heinrichsweikamp
parents:
diff changeset
1304 accel_DX_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1305 accel_DY_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1306 accel_DZ_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1307
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1308 for(int i=0;i<6;i++)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1309 {
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heinrichsweikamp
parents:
diff changeset
1310 data = DLHC_OUT_X_L_A + i;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1311 I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1312 I2C_Master_Receive( DEVICE_ACCELARATOR_303DLHC, &accDataBuffer[i], 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1313 }
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heinrichsweikamp
parents:
diff changeset
1314
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1315 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1316 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1317 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1318
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heinrichsweikamp
parents:
diff changeset
1319 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1320
70
6a6116d7b5bb old (and new) compass support
heinrichsweikamp
parents: 38
diff changeset
1321 // mh f�r 303D
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1322 accel_report_x = xraw_f;
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heinrichsweikamp
parents:
diff changeset
1323 accel_report_y = yraw_f;
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heinrichsweikamp
parents:
diff changeset
1324 accel_report_z = zraw_f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1325
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heinrichsweikamp
parents:
diff changeset
1326 accel_DX_f = ((int16_t)(accel_report_x));
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heinrichsweikamp
parents:
diff changeset
1327 accel_DY_f = ((int16_t)(accel_report_y));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1328 accel_DZ_f = ((int16_t)(accel_report_z));
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1329 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1330
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1331
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1332 // --------------------------------------------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1333 // ----------EARLIER COMPONENTS ---------------------------------------------------
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1334 // --------------------------------------------------------------------------------
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1335
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1336 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1337 // compass_init_HMC5883L
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1338 /// @brief The horrible Honeywell compass chip
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1339 /// This might be called several times during calibration
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1340 ///
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1341 /// @param fast: 1 is fast mode, 0 is normal mode
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1342 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1343 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1344 void compass_init_HMC5883L(uint8_t fast, uint8_t gain)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1345 {
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heinrichsweikamp
parents:
diff changeset
1346 uint8_t write_buffer[4];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1347
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heinrichsweikamp
parents:
diff changeset
1348 compass_gain = gain;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1349 uint16_t length = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1350 write_buffer[0] = 0x00; // 00 = config Register A
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1351
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heinrichsweikamp
parents:
diff changeset
1352 if( fast )
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heinrichsweikamp
parents:
diff changeset
1353 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1354 else
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heinrichsweikamp
parents:
diff changeset
1355 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1356
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1357 switch(gain)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1358 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1359 case 7:
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1360 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1361 break;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1362 case 6:
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1363 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1364 break;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1365 case 5:
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1366 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1367 break;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1368 case 4:
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1369 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1370 break;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1371 case 3:
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1372 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1373 break;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1374 case 2:
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1375 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1376 break;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1377 case 1:
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heinrichsweikamp
parents:
diff changeset
1378 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1379 break;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1380 case 0:
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heinrichsweikamp
parents:
diff changeset
1381 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1382 break;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1383 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1384 write_buffer[3] = 0x00; // Mode: continuous mode
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1385 length = 4;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1386 //hmc_twi_write(0);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1387 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1388 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1389
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1390
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1391
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1392 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1393 // compass_sleep_HMC5883L
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heinrichsweikamp
parents:
diff changeset
1394 /// @brief Power-down mode for Honeywell compass chip
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heinrichsweikamp
parents:
diff changeset
1395 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1396 void compass_sleep_HMC5883L(void)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1397 {
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heinrichsweikamp
parents:
diff changeset
1398 uint8_t write_buffer[4];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1399 uint16_t length = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1400
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1401 write_buffer[0] = 0x00; // 00 = config Register A
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1402 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1403 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1404 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1405 length = 4;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1406 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1407 }
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heinrichsweikamp
parents:
diff changeset
1408
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1409
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1410 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1411 // accelerator_init_MMA8452Q
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1412 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass
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heinrichsweikamp
parents:
diff changeset
1413 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1414 void accelerator_init_MMA8452Q(void)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1415 {
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heinrichsweikamp
parents:
diff changeset
1416 uint8_t write_buffer[4];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1417 uint16_t length = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1418 //HAL_Delay(1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1419 //return;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1420 write_buffer[0] = 0x0E; // XYZ_DATA_CFG
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heinrichsweikamp
parents:
diff changeset
1421 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range
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heinrichsweikamp
parents:
diff changeset
1422 length = 2;
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heinrichsweikamp
parents:
diff changeset
1423 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1424 //HAL_Delay(1);
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heinrichsweikamp
parents:
diff changeset
1425 write_buffer[0] = 0x2A; // CTRL_REG1
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heinrichsweikamp
parents:
diff changeset
1426 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1427 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode
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heinrichsweikamp
parents:
diff changeset
1428 length = 3;
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heinrichsweikamp
parents:
diff changeset
1429 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1430
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heinrichsweikamp
parents:
diff changeset
1431 //HAL_Delay(1);
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heinrichsweikamp
parents:
diff changeset
1432 //hw_delay_us(100);
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heinrichsweikamp
parents:
diff changeset
1433 write_buffer[0] = 0x2A; // CTRL_REG1
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heinrichsweikamp
parents:
diff changeset
1434 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode
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heinrichsweikamp
parents:
diff changeset
1435 length = 2;
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heinrichsweikamp
parents:
diff changeset
1436 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1437 /*
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heinrichsweikamp
parents:
diff changeset
1438 HAL_Delay(6);
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heinrichsweikamp
parents:
diff changeset
1439 compass_read();
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heinrichsweikamp
parents:
diff changeset
1440 HAL_Delay(1);
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heinrichsweikamp
parents:
diff changeset
1441 acceleration_read();
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heinrichsweikamp
parents:
diff changeset
1442
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heinrichsweikamp
parents:
diff changeset
1443 compass_calc();
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heinrichsweikamp
parents:
diff changeset
1444 */
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heinrichsweikamp
parents:
diff changeset
1445 }
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heinrichsweikamp
parents:
diff changeset
1446
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heinrichsweikamp
parents:
diff changeset
1447
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heinrichsweikamp
parents:
diff changeset
1448 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1449 // accelerator_sleep_MMA8452Q
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heinrichsweikamp
parents:
diff changeset
1450 /// @brief compass_sleep_HMC5883L
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heinrichsweikamp
parents:
diff changeset
1451 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1452 void accelerator_sleep_MMA8452Q(void)
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heinrichsweikamp
parents:
diff changeset
1453 {
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heinrichsweikamp
parents:
diff changeset
1454 uint16_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1455 uint8_t write_buffer[4];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1456
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heinrichsweikamp
parents:
diff changeset
1457 write_buffer[0] = 0x2A; // CTRL_REG1
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1458 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1459 length = 2;
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heinrichsweikamp
parents:
diff changeset
1460 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1461 }
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heinrichsweikamp
parents:
diff changeset
1462
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1463
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heinrichsweikamp
parents:
diff changeset
1464 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1465 // compass_read_HMC5883L
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heinrichsweikamp
parents:
diff changeset
1466 /// @brief The new ST 303D - get ALL data and store in static variables
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heinrichsweikamp
parents:
diff changeset
1467 ///
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heinrichsweikamp
parents:
diff changeset
1468 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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heinrichsweikamp
parents:
diff changeset
1469 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1470 void compass_read_HMC5883L(void)
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heinrichsweikamp
parents:
diff changeset
1471 {
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heinrichsweikamp
parents:
diff changeset
1472 uint8_t buffer[20];
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heinrichsweikamp
parents:
diff changeset
1473 compass_DX_f = 0;
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heinrichsweikamp
parents:
diff changeset
1474 compass_DY_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1475 compass_DZ_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1476 uint8_t length = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1477 uint8_t read_buffer[6];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1478 signed_tword data;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1479 for(int i = 0; i<6;i++)
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heinrichsweikamp
parents:
diff changeset
1480 read_buffer[i] = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1481 buffer[0] = 0x03; // 03 = Data Output X MSB Register
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heinrichsweikamp
parents:
diff changeset
1482 length = 1;
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heinrichsweikamp
parents:
diff changeset
1483 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1484 length = 6;
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heinrichsweikamp
parents:
diff changeset
1485 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1486
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heinrichsweikamp
parents:
diff changeset
1487
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heinrichsweikamp
parents:
diff changeset
1488 data.Byte.hi = read_buffer[0];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1489 data.Byte.low = read_buffer[1];
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heinrichsweikamp
parents:
diff changeset
1490 //Y = Z
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heinrichsweikamp
parents:
diff changeset
1491 compass_DY_f = - data.Word;
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heinrichsweikamp
parents:
diff changeset
1492
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heinrichsweikamp
parents:
diff changeset
1493 data.Byte.hi = read_buffer[2];
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heinrichsweikamp
parents:
diff changeset
1494 data.Byte.low = read_buffer[3];
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heinrichsweikamp
parents:
diff changeset
1495 compass_DZ_f = data.Word;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1496
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heinrichsweikamp
parents:
diff changeset
1497 data.Byte.hi = read_buffer[4];
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heinrichsweikamp
parents:
diff changeset
1498 data.Byte.low = read_buffer[5];
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heinrichsweikamp
parents:
diff changeset
1499 //X = -Y
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heinrichsweikamp
parents:
diff changeset
1500 compass_DX_f = data.Word;
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heinrichsweikamp
parents:
diff changeset
1501 }
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heinrichsweikamp
parents:
diff changeset
1502
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heinrichsweikamp
parents:
diff changeset
1503
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heinrichsweikamp
parents:
diff changeset
1504 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1505 // acceleration_read_MMA8452Q
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heinrichsweikamp
parents:
diff changeset
1506 /// @brief The old MMA8452Q used with the Honeywell compass
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heinrichsweikamp
parents:
diff changeset
1507 /// get the acceleration data and store in static variables
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heinrichsweikamp
parents:
diff changeset
1508 ///
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heinrichsweikamp
parents:
diff changeset
1509 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1510 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1511 void acceleration_read_MMA8452Q(void)
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heinrichsweikamp
parents:
diff changeset
1512 {
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heinrichsweikamp
parents:
diff changeset
1513 uint8_t buffer[20];
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heinrichsweikamp
parents:
diff changeset
1514 accel_DX_f = 0;
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heinrichsweikamp
parents:
diff changeset
1515 accel_DY_f = 0;
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heinrichsweikamp
parents:
diff changeset
1516 accel_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1517 uint8_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1518 // bit8_Type status ;
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heinrichsweikamp
parents:
diff changeset
1519 uint8_t read_buffer[7];
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heinrichsweikamp
parents:
diff changeset
1520 signed_tword data;
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heinrichsweikamp
parents:
diff changeset
1521 for(int i = 0; i<6;i++)
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heinrichsweikamp
parents:
diff changeset
1522 read_buffer[i] = 0;
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heinrichsweikamp
parents:
diff changeset
1523 buffer[0] = 0x00; // 03 = Data Output X MSB Register
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heinrichsweikamp
parents:
diff changeset
1524 length = 1;
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heinrichsweikamp
parents:
diff changeset
1525 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1526 length = 7;
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heinrichsweikamp
parents:
diff changeset
1527 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1528
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heinrichsweikamp
parents:
diff changeset
1529 // status.uw = read_buffer[0];
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heinrichsweikamp
parents:
diff changeset
1530 data.Byte.hi = read_buffer[1];
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heinrichsweikamp
parents:
diff changeset
1531 data.Byte.low = read_buffer[2];
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heinrichsweikamp
parents:
diff changeset
1532 accel_DX_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1533 data.Byte.hi = read_buffer[3];
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heinrichsweikamp
parents:
diff changeset
1534 data.Byte.low = read_buffer[4];
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heinrichsweikamp
parents:
diff changeset
1535 accel_DY_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1536 data.Byte.hi = read_buffer[5];
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heinrichsweikamp
parents:
diff changeset
1537 data.Byte.low = read_buffer[6];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1538 accel_DZ_f =data.Word/16;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1539
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heinrichsweikamp
parents:
diff changeset
1540 accel_DX_f *= -1;
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heinrichsweikamp
parents:
diff changeset
1541 accel_DY_f *= -1;
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heinrichsweikamp
parents:
diff changeset
1542 accel_DZ_f *= -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1543 }
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heinrichsweikamp
parents:
diff changeset
1544
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1545
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heinrichsweikamp
parents:
diff changeset
1546 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1547 // compass_calc_roll_pitch_only
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heinrichsweikamp
parents:
diff changeset
1548 /// @brief only the roll and pitch parts of compass_calc()
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heinrichsweikamp
parents:
diff changeset
1549 ///
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heinrichsweikamp
parents:
diff changeset
1550 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1551 /// output is compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1552 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1553 void compass_calc_roll_pitch_only(void)
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heinrichsweikamp
parents:
diff changeset
1554 {
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heinrichsweikamp
parents:
diff changeset
1555 float sinPhi, cosPhi;
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heinrichsweikamp
parents:
diff changeset
1556 float Phi, Teta;
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heinrichsweikamp
parents:
diff changeset
1557
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heinrichsweikamp
parents:
diff changeset
1558 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1559 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1560 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1561 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1562 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1563
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heinrichsweikamp
parents:
diff changeset
1564 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1565 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1566 compass_pitch = Teta * 180.0f /PI;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1567 }
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heinrichsweikamp
parents:
diff changeset
1568
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heinrichsweikamp
parents:
diff changeset
1569
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heinrichsweikamp
parents:
diff changeset
1570 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1571 // compass_calc
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heinrichsweikamp
parents:
diff changeset
1572 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1573 ///
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heinrichsweikamp
parents:
diff changeset
1574 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1575 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1576 /// output is compass_heading, compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1577 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1578 void compass_calc(void)
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heinrichsweikamp
parents:
diff changeset
1579 {
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heinrichsweikamp
parents:
diff changeset
1580 float sinPhi, cosPhi, sinTeta, cosTeta;
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heinrichsweikamp
parents:
diff changeset
1581 float Phi, Teta, Psi;
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heinrichsweikamp
parents:
diff changeset
1582 int16_t iBfx, iBfy;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1583 int16_t iBpx, iBpy, iBpz;
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heinrichsweikamp
parents:
diff changeset
1584
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heinrichsweikamp
parents:
diff changeset
1585 //---- Make hard iron correction -----------------------------------------
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heinrichsweikamp
parents:
diff changeset
1586 // Measured magnetometer orientation, measured ok.
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heinrichsweikamp
parents:
diff changeset
1587 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation.
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1588 iBpx = compass_DX_f - compass_CX_f; // X
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1589 iBpy = compass_DY_f - compass_CY_f; // Y
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heinrichsweikamp
parents:
diff changeset
1590 iBpz = compass_DZ_f - compass_CZ_f; // Z
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1591
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heinrichsweikamp
parents:
diff changeset
1592 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1593 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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heinrichsweikamp
parents:
diff changeset
1594 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1595 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1596 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1597 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1598
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heinrichsweikamp
parents:
diff changeset
1599 //---- rotate by roll angle (-Phi) ---------------------------------------
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heinrichsweikamp
parents:
diff changeset
1600 iBfy = iBpy * cosPhi - iBpz * sinPhi;
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heinrichsweikamp
parents:
diff changeset
1601 iBpz = iBpy * sinPhi + iBpz * cosPhi;
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heinrichsweikamp
parents:
diff changeset
1602 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos);
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heinrichsweikamp
parents:
diff changeset
1603
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heinrichsweikamp
parents:
diff changeset
1604 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1605 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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heinrichsweikamp
parents:
diff changeset
1606 // 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
1607 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1608 compass_pitch = Teta * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1609 sinTeta = sinf(Teta);
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heinrichsweikamp
parents:
diff changeset
1610 cosTeta = cosf(Teta);
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heinrichsweikamp
parents:
diff changeset
1611 /* correct cosine if pitch not in range -90 to 90 degrees */
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heinrichsweikamp
parents:
diff changeset
1612 if( cosTeta < 0 ) cosTeta = -cosTeta;
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heinrichsweikamp
parents:
diff changeset
1613
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heinrichsweikamp
parents:
diff changeset
1614 ///---- de-rotate by pitch angle Theta -----------------------------------
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heinrichsweikamp
parents:
diff changeset
1615 iBfx = iBpx * cosTeta + iBpz * sinTeta;
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heinrichsweikamp
parents:
diff changeset
1616
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heinrichsweikamp
parents:
diff changeset
1617 //---- Detect uncalibrated compass ---------------------------------------
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heinrichsweikamp
parents:
diff changeset
1618 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f )
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heinrichsweikamp
parents:
diff changeset
1619 {
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heinrichsweikamp
parents:
diff changeset
1620 compass_heading = -1;
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heinrichsweikamp
parents:
diff changeset
1621 return;
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heinrichsweikamp
parents:
diff changeset
1622 }
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heinrichsweikamp
parents:
diff changeset
1623
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heinrichsweikamp
parents:
diff changeset
1624 //---- calculate current yaw = e-compass angle Psi -----------------------
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heinrichsweikamp
parents:
diff changeset
1625 // Result in degree (no need of 0.01 deg precision...
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heinrichsweikamp
parents:
diff changeset
1626 Psi = atan2f(-iBfy,iBfx);
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heinrichsweikamp
parents:
diff changeset
1627 compass_heading = Psi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1628 // Result in 0..360 range:
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heinrichsweikamp
parents:
diff changeset
1629 if( compass_heading < 0 )
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heinrichsweikamp
parents:
diff changeset
1630 compass_heading += 360;
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heinrichsweikamp
parents:
diff changeset
1631 }
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heinrichsweikamp
parents:
diff changeset
1632
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heinrichsweikamp
parents:
diff changeset
1633
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heinrichsweikamp
parents:
diff changeset
1634 /*
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heinrichsweikamp
parents:
diff changeset
1635 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1636 // compass_calc_mini_during_calibration
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heinrichsweikamp
parents:
diff changeset
1637 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1638 ///
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heinrichsweikamp
parents:
diff changeset
1639 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1640 /// output is compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1641 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1642 void compass_calc_mini_during_calibration(void)
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heinrichsweikamp
parents:
diff changeset
1643 {
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heinrichsweikamp
parents:
diff changeset
1644 float sinPhi, cosPhi;
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heinrichsweikamp
parents:
diff changeset
1645 float Phi, Teta;
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heinrichsweikamp
parents:
diff changeset
1646
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heinrichsweikamp
parents:
diff changeset
1647 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1648 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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heinrichsweikamp
parents:
diff changeset
1649 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1650 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1651 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1652 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1653
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heinrichsweikamp
parents:
diff changeset
1654 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1655 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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heinrichsweikamp
parents:
diff changeset
1656 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1657 compass_pitch = Teta * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1658 }
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heinrichsweikamp
parents:
diff changeset
1659 */
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heinrichsweikamp
parents:
diff changeset
1660
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heinrichsweikamp
parents:
diff changeset
1661
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heinrichsweikamp
parents:
diff changeset
1662 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1663 // // - Calibration - ///////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1664 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1665
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heinrichsweikamp
parents:
diff changeset
1666 /* can be lost during sleep as those are reset with compass_reset_calibration() */
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heinrichsweikamp
parents:
diff changeset
1667
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heinrichsweikamp
parents:
diff changeset
1668 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1669 // compass_reset_calibration
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heinrichsweikamp
parents:
diff changeset
1670 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1671 ///
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heinrichsweikamp
parents:
diff changeset
1672 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1673 ///
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heinrichsweikamp
parents:
diff changeset
1674 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1675 /// all is set to zero here
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heinrichsweikamp
parents:
diff changeset
1676 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1677 void compass_reset_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1678 {
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heinrichsweikamp
parents:
diff changeset
1679 g->compass_N = 0;
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heinrichsweikamp
parents:
diff changeset
1680 g->Su = g->Sv = g->Sw = 0.0;
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heinrichsweikamp
parents:
diff changeset
1681 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0;
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heinrichsweikamp
parents:
diff changeset
1682 g->Suuu = g->Svvv = g->Swww = 0.0;
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heinrichsweikamp
parents:
diff changeset
1683 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0;
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heinrichsweikamp
parents:
diff changeset
1684 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0;
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heinrichsweikamp
parents:
diff changeset
1685 }
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heinrichsweikamp
parents:
diff changeset
1686
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heinrichsweikamp
parents:
diff changeset
1687
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heinrichsweikamp
parents:
diff changeset
1688 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1689 // compass_add_calibration
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heinrichsweikamp
parents:
diff changeset
1690 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1691 ///
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heinrichsweikamp
parents:
diff changeset
1692 /// input is compass_DX_f, compass_DY_f, compass_DZ_f
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heinrichsweikamp
parents:
diff changeset
1693 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1694 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1695 ///
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heinrichsweikamp
parents:
diff changeset
1696 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1697 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1698 void compass_add_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1699 {
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heinrichsweikamp
parents:
diff changeset
1700 float u, v, w;
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heinrichsweikamp
parents:
diff changeset
1701
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heinrichsweikamp
parents:
diff changeset
1702 u = (compass_DX_f - compass_CX_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1703 v = (compass_DY_f - compass_CY_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1704 w = (compass_DZ_f - compass_CZ_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1705
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heinrichsweikamp
parents:
diff changeset
1706 g->compass_N++;
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heinrichsweikamp
parents:
diff changeset
1707 g->Su += u;
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heinrichsweikamp
parents:
diff changeset
1708 g->Sv += v;
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heinrichsweikamp
parents:
diff changeset
1709 g->Sw += w;
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heinrichsweikamp
parents:
diff changeset
1710 g->Suv += u*v;
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heinrichsweikamp
parents:
diff changeset
1711 g->Suw += u*w;
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heinrichsweikamp
parents:
diff changeset
1712 g->Svw += v*w;
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heinrichsweikamp
parents:
diff changeset
1713 g->Suu += u*u;
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heinrichsweikamp
parents:
diff changeset
1714 g->Suuu += u*u*u;
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heinrichsweikamp
parents:
diff changeset
1715 g->Suuv += v*u*u;
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heinrichsweikamp
parents:
diff changeset
1716 g->Suuw += w*u*u;
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heinrichsweikamp
parents:
diff changeset
1717 g->Svv += v*v;
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heinrichsweikamp
parents:
diff changeset
1718 g->Svvv += v*v*v;
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heinrichsweikamp
parents:
diff changeset
1719 g->Svvu += u*v*v;
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heinrichsweikamp
parents:
diff changeset
1720 g->Svvw += w*v*v;
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heinrichsweikamp
parents:
diff changeset
1721 g->Sww += w*w;
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heinrichsweikamp
parents:
diff changeset
1722 g->Swww += w*w*w;
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heinrichsweikamp
parents:
diff changeset
1723 g->Swwu += u*w*w;
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heinrichsweikamp
parents:
diff changeset
1724 g->Swwv += v*w*w;
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heinrichsweikamp
parents:
diff changeset
1725 }
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heinrichsweikamp
parents:
diff changeset
1726
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heinrichsweikamp
parents:
diff changeset
1727 //////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1728
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heinrichsweikamp
parents:
diff changeset
1729 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1730 // compass_solve_calibration
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heinrichsweikamp
parents:
diff changeset
1731 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1732 ///
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heinrichsweikamp
parents:
diff changeset
1733 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1734 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1735 ///
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heinrichsweikamp
parents:
diff changeset
1736 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1737 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1738 void compass_solve_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1739 {
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heinrichsweikamp
parents:
diff changeset
1740 float yu, yv, yw;
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heinrichsweikamp
parents:
diff changeset
1741 float delta;
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heinrichsweikamp
parents:
diff changeset
1742 float uc, vc, wc;
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heinrichsweikamp
parents:
diff changeset
1743
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1744
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heinrichsweikamp
parents:
diff changeset
1745 //---- Normalize partial sums --------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1746 //
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heinrichsweikamp
parents:
diff changeset
1747 // u, v, w should be centered on the mean value um, vm, wm:
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heinrichsweikamp
parents:
diff changeset
1748 // x = u + um, with um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1749 //
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heinrichsweikamp
parents:
diff changeset
1750 // So:
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heinrichsweikamp
parents:
diff changeset
1751 // (u + um)**2 = u**2 + 2u*um + um**2
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heinrichsweikamp
parents:
diff changeset
1752 // Su = 0, um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1753 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1754 // Suu = Sxx - Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1755 yu = g->Su/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1756 yv = g->Sv/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1757 yw = g->Sw/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1758
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heinrichsweikamp
parents:
diff changeset
1759 g->Suu -= g->Su*yu;
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heinrichsweikamp
parents:
diff changeset
1760 g->Svv -= g->Sv*yv;
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heinrichsweikamp
parents:
diff changeset
1761 g->Sww -= g->Sw*yw;
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heinrichsweikamp
parents:
diff changeset
1762
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heinrichsweikamp
parents:
diff changeset
1763 // (u + um)(v + vm) = uv + u vm + v um + um vm
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heinrichsweikamp
parents:
diff changeset
1764 // Sxy = Suv + N * um vm
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heinrichsweikamp
parents:
diff changeset
1765 // Suv = Sxy - N * (Sx/N)(Sy/N);
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heinrichsweikamp
parents:
diff changeset
1766 g->Suv -= g->Su*yv;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1767 g->Suw -= g->Su*yw;
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heinrichsweikamp
parents:
diff changeset
1768 g->Svw -= g->Sv*yw;
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heinrichsweikamp
parents:
diff changeset
1769
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heinrichsweikamp
parents:
diff changeset
1770 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3
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heinrichsweikamp
parents:
diff changeset
1771 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3
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heinrichsweikamp
parents:
diff changeset
1772 // Su = 0, um = Sx/N:
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heinrichsweikamp
parents:
diff changeset
1773 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3
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heinrichsweikamp
parents:
diff changeset
1774 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2
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heinrichsweikamp
parents:
diff changeset
1775
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parents:
diff changeset
1776 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm)
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heinrichsweikamp
parents:
diff changeset
1777 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm)
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heinrichsweikamp
parents:
diff changeset
1778 //
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heinrichsweikamp
parents:
diff changeset
1779 // Su = 0, Sv = 0, vm = Sy/N:
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heinrichsweikamp
parents:
diff changeset
1780 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm
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heinrichsweikamp
parents:
diff changeset
1781 //
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heinrichsweikamp
parents:
diff changeset
1782 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy
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heinrichsweikamp
parents:
diff changeset
1783 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N
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heinrichsweikamp
parents:
diff changeset
1784 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N
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heinrichsweikamp
parents:
diff changeset
1785 g->Suuu -= (3*g->Suu + g->Su*yu)*yu;
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heinrichsweikamp
parents:
diff changeset
1786 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu;
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heinrichsweikamp
parents:
diff changeset
1787 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu;
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heinrichsweikamp
parents:
diff changeset
1788
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parents:
diff changeset
1789 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv;
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heinrichsweikamp
parents:
diff changeset
1790 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv;
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heinrichsweikamp
parents:
diff changeset
1791 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv;
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heinrichsweikamp
parents:
diff changeset
1792
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heinrichsweikamp
parents:
diff changeset
1793 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw;
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heinrichsweikamp
parents:
diff changeset
1794 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw;
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heinrichsweikamp
parents:
diff changeset
1795 g->Swww -= (3*g->Sww + g->Sw*yw)*yw;
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heinrichsweikamp
parents:
diff changeset
1796
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heinrichsweikamp
parents:
diff changeset
1797 //---- Solve the system --------------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1798 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2
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heinrichsweikamp
parents:
diff changeset
1799 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2
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heinrichsweikamp
parents:
diff changeset
1800 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2
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heinrichsweikamp
parents:
diff changeset
1801 // Note this is symetric, with a positiv diagonal, hence
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heinrichsweikamp
parents:
diff changeset
1802 // it always have a uniq solution.
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parents:
diff changeset
1803 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu);
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heinrichsweikamp
parents:
diff changeset
1804 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv);
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heinrichsweikamp
parents:
diff changeset
1805 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww);
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heinrichsweikamp
parents:
diff changeset
1806 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1807 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1808 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw);
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heinrichsweikamp
parents:
diff changeset
1809
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parents:
diff changeset
1810 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1811 - yv * (g->Suv * g->Sww - g->Svw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1812 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1813 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1814 - g->Suv * ( yu * g->Sww - yw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1815 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1816 wc = (g->Suu * (g->Svv * yw - g->Svw * yv )
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heinrichsweikamp
parents:
diff changeset
1817 - g->Suv * (g->Suv * yw - g->Svw * yu )
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heinrichsweikamp
parents:
diff changeset
1818 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta;
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heinrichsweikamp
parents:
diff changeset
1819
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parents:
diff changeset
1820 // Back to uncentered coordinates:
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parents:
diff changeset
1821 // xc = um + uc
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parents:
diff changeset
1822 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc;
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parents:
diff changeset
1823 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc;
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heinrichsweikamp
parents:
diff changeset
1824 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc;
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parents:
diff changeset
1825
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parents:
diff changeset
1826 // Then save the new calibrated center:
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parents:
diff changeset
1827 compass_CX_f = (short)(32768 * uc);
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parents:
diff changeset
1828 compass_CY_f = (short)(32768 * vc);
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parents:
diff changeset
1829 compass_CZ_f = (short)(32768 * wc);
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parents:
diff changeset
1830 }
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heinrichsweikamp
parents:
diff changeset
1831
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parents:
diff changeset
1832
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parents:
diff changeset
1833 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1834 // compass_calib
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parents:
diff changeset
1835 /// @brief the main loop for calibration
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parents:
diff changeset
1836 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g
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parents:
diff changeset
1837 /// 160704 removed -4096 limit for LSM303D
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parents:
diff changeset
1838 ///
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parents:
diff changeset
1839 /// @return always 0
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heinrichsweikamp
parents:
diff changeset
1840 // ===============================================================================
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parents:
diff changeset
1841 int compass_calib_common(void)
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parents:
diff changeset
1842 {
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parents:
diff changeset
1843 SCompassCalib g;
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parents:
diff changeset
1844
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parents:
diff changeset
1845 // Starts with no calibration at all:
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parents:
diff changeset
1846 compass_reset_calibration(&g);
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parents:
diff changeset
1847
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parents:
diff changeset
1848 int64_t tickstart = 0;
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parents:
diff changeset
1849 uint32_t ticks = 0;
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heinrichsweikamp
parents:
diff changeset
1850 uint32_t lasttick = 0;
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parents:
diff changeset
1851 tickstart = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1852 // Eine Minute kalibrieren
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parents:
diff changeset
1853 while((ticks) < 60 * 1000)
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parents:
diff changeset
1854 {
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parents:
diff changeset
1855 compass_read();
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parents:
diff changeset
1856 acceleration_read();
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heinrichsweikamp
parents:
diff changeset
1857 compass_calc_roll_pitch_only();
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heinrichsweikamp
parents:
diff changeset
1858
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heinrichsweikamp
parents:
diff changeset
1859 if((hardwareCompass == HMC5883L)
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heinrichsweikamp
parents:
diff changeset
1860 &&((compass_DX_f == -4096) ||
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heinrichsweikamp
parents:
diff changeset
1861 (compass_DY_f == -4096) ||
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heinrichsweikamp
parents:
diff changeset
1862 (compass_DZ_f == -4096) ))
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heinrichsweikamp
parents:
diff changeset
1863 {
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heinrichsweikamp
parents:
diff changeset
1864 if(compass_gain == 0)
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parents:
diff changeset
1865 return -1;
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heinrichsweikamp
parents:
diff changeset
1866 compass_gain--;
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heinrichsweikamp
parents:
diff changeset
1867
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parents:
diff changeset
1868 compass_init(1, compass_gain);
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parents:
diff changeset
1869 compass_reset_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1870 //tickstart = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1871 continue;
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heinrichsweikamp
parents:
diff changeset
1872 }
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heinrichsweikamp
parents:
diff changeset
1873
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parents:
diff changeset
1874 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f);
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1875 compass_add_calibration(&g);
38
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heinrichsweikamp
parents:
diff changeset
1876 HAL_Delay(1);
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heinrichsweikamp
parents:
diff changeset
1877 lasttick = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1878 if(lasttick == 0)
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heinrichsweikamp
parents:
diff changeset
1879 {
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heinrichsweikamp
parents:
diff changeset
1880 tickstart = -ticks;
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heinrichsweikamp
parents:
diff changeset
1881 }
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1882 HAL_Delay(1);
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1883 ticks = lasttick - tickstart;
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1884 }
38
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heinrichsweikamp
parents:
diff changeset
1885
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parents:
diff changeset
1886 compass_solve_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1887
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parents:
diff changeset
1888 tfull32 dataBlock[4];
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heinrichsweikamp
parents:
diff changeset
1889 dataBlock[0].Word16.low16 = compass_CX_f;
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heinrichsweikamp
parents:
diff changeset
1890 dataBlock[0].Word16.hi16 = compass_CY_f;
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heinrichsweikamp
parents:
diff changeset
1891 dataBlock[1].Word16.low16 = compass_CZ_f;
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heinrichsweikamp
parents:
diff changeset
1892 dataBlock[1].Word16.hi16 = 0xFFFF;
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heinrichsweikamp
parents:
diff changeset
1893 dataBlock[2].Full32 = 0x7FFFFFFF;
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heinrichsweikamp
parents:
diff changeset
1894 dataBlock[3].Full32 = 0x7FFFFFFF;
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heinrichsweikamp
parents:
diff changeset
1895 BFA_writeDataBlock((uint32_t *)dataBlock);
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heinrichsweikamp
parents:
diff changeset
1896
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heinrichsweikamp
parents:
diff changeset
1897 return 0;
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heinrichsweikamp
parents:
diff changeset
1898 }
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heinrichsweikamp
parents:
diff changeset
1899
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heinrichsweikamp
parents:
diff changeset
1900 // //////////////////////////// TEST CODE /////////////////////////////////////
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parents:
diff changeset
1901
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parents:
diff changeset
1902
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parents:
diff changeset
1903
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parents:
diff changeset
1904 //#include <QtDebug>
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parents:
diff changeset
1905 //#include <stdio.h>
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heinrichsweikamp
parents:
diff changeset
1906 //#include <math.h>
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heinrichsweikamp
parents:
diff changeset
1907 /*#include <stdlib.h>
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heinrichsweikamp
parents:
diff changeset
1908
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heinrichsweikamp
parents:
diff changeset
1909 short compass_DX_f, compass_DY_f, compass_DZ_f;
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heinrichsweikamp
parents:
diff changeset
1910 short compass_CX_f, compass_CY_f, compass_CZ_f;
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heinrichsweikamp
parents:
diff changeset
1911
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heinrichsweikamp
parents:
diff changeset
1912 inline float uniform(void) {
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heinrichsweikamp
parents:
diff changeset
1913 return (rand() & 0xFFFF) / 65536.0f;
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heinrichsweikamp
parents:
diff changeset
1914 }
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heinrichsweikamp
parents:
diff changeset
1915 inline float sqr(float x) {
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heinrichsweikamp
parents:
diff changeset
1916 return x*x;
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heinrichsweikamp
parents:
diff changeset
1917 }
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heinrichsweikamp
parents:
diff changeset
1918
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parents:
diff changeset
1919 static const float radius = 0.21f;
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heinrichsweikamp
parents:
diff changeset
1920 static const float cx = 0.79f, cy = -0.46f, cz = 0.24f;
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heinrichsweikamp
parents:
diff changeset
1921 // const float cx = 0, cy = 0, cz = 0;
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parents:
diff changeset
1922
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parents:
diff changeset
1923 float check_compass_calib(void)
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heinrichsweikamp
parents:
diff changeset
1924 {
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heinrichsweikamp
parents:
diff changeset
1925
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heinrichsweikamp
parents:
diff changeset
1926 // Starts with no calibration at all:
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heinrichsweikamp
parents:
diff changeset
1927 compass_CX_f = compass_CY_f = compass_CZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1928
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heinrichsweikamp
parents:
diff changeset
1929 // Try 10 recalibration passes:
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parents:
diff changeset
1930 for(int p=0; p<10; ++p)
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heinrichsweikamp
parents:
diff changeset
1931 {
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parents:
diff changeset
1932 compass_reset_calibration();
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heinrichsweikamp
parents:
diff changeset
1933
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1934 //---- Generates random points on a sphere -------------------------------
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1935 // of radius,center (cx, cy, cz):
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1936 for(int i=0; i<100; ++i)
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1937 {
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1938 float theta = uniform()*360.0f;
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1939 float phi = uniform()*180.0f - 90.0f;
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1940
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1941 float x = cx + radius * cosf(phi)*cosf(theta);
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1942 float y = cy + radius * cosf(phi)*sinf(theta);
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1943 float z = cz + radius * sinf(phi);
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1944
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1945 compass_DX_f = (short)(32768 * x);
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1946 compass_DY_f = (short)(32768 * y);
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1947 compass_DZ_f = (short)(32768 * z);
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1948 compass_add_calibration();
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1949 }
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1950
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1951 compass_solve_calibration();
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1952 //qDebug() << "Center ="
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1953 // << compass_CX_f/32768.0f
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1954 // << compass_CY_f/32768.0f
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1955 // << compass_CZ_f/32768.0f;
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1956
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1957 float r2 = sqr(compass_CX_f/32768.0f - cx)
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1958 + sqr(compass_CY_f/32768.0f - cy)
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1959 + sqr(compass_CZ_f/32768.0f - cz);
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1960 if( r2 > 0.01f*0.01f )
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1961 return sqrtf(r2);
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1962 }
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1963 return 0;
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1964 }*/
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1965
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1966
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1967
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1968 /*
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1969 void compass_read_LSM303D_v3(void)
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1970 {
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1971 uint8_t data;
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1972
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1973 memset(magDataBuffer,0,6);
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1974
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1975 compass_DX_f = 0;
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1976 compass_DY_f = 0;
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1977 compass_DZ_f = 0;
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1978
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heinrichsweikamp
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1979 //magnetometer multi read, order xl,xh, yl,yh, zl, zh
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diff changeset
1980 data = REG_MAG_DATA_ADDR;
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1981 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1982 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6);
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diff changeset
1983
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diff changeset
1984 compass_DX_f = ((int16_t)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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diff changeset
1985 compass_DY_f = ((int16_t)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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heinrichsweikamp
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diff changeset
1986 compass_DZ_f = ((int16_t)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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heinrichsweikamp
parents:
diff changeset
1987
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heinrichsweikamp
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1988 // compass_DX_f = compass_DX_f * stat->sensitivity_mag;
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parents:
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1989 // compass_DY_f = compass_DY_f * stat->sensitivity_mag;
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heinrichsweikamp
parents:
diff changeset
1990 // compass_DZ_f = compass_DZ_f * stat->sensitivity_mag;
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diff changeset
1991 }
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heinrichsweikamp
parents:
diff changeset
1992
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heinrichsweikamp
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diff changeset
1993
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heinrichsweikamp
parents:
diff changeset
1994 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1995 // compass_init_LSM303D by STMicroelectronics 2013 V1.0.5 2013/Oct/23
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heinrichsweikamp
parents:
diff changeset
1996 /// @brief The new ST 303D
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parents:
diff changeset
1997 /// This might be called several times with different gain values during calibration
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heinrichsweikamp
parents:
diff changeset
1998 ///
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heinrichsweikamp
parents:
diff changeset
1999 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
parents:
diff changeset
2000 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
2001
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heinrichsweikamp
parents:
diff changeset
2002 void compass_init_LSM303D_v3(uint8_t gain)
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heinrichsweikamp
parents:
diff changeset
2003 {
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heinrichsweikamp
parents:
diff changeset
2004 uint8_t data[10];
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heinrichsweikamp
parents:
diff changeset
2005
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heinrichsweikamp
parents:
diff changeset
2006 // CNTRL1
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heinrichsweikamp
parents:
diff changeset
2007 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz)
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heinrichsweikamp
parents:
diff changeset
2008 // 0xxx block data update off
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heinrichsweikamp
parents:
diff changeset
2009 // x111 enable all three axes
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heinrichsweikamp
parents:
diff changeset
2010
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heinrichsweikamp
parents:
diff changeset
2011 // CNTRL5
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heinrichsweikamp
parents:
diff changeset
2012 // 0xxx xxxx temp sensor off
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heinrichsweikamp
parents:
diff changeset
2013 // x00x xxxx magnetic resolution
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heinrichsweikamp
parents:
diff changeset
2014 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz))
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heinrichsweikamp
parents:
diff changeset
2015 // xxxx xx00 latch irq requests off
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heinrichsweikamp
parents:
diff changeset
2016
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heinrichsweikamp
parents:
diff changeset
2017 // CNTRL7
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heinrichsweikamp
parents:
diff changeset
2018 // 00xx high pass filter mode, 00 normal mode
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heinrichsweikamp
parents:
diff changeset
2019 // xx0x filter for acceleration data bypassed
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heinrichsweikamp
parents:
diff changeset
2020 // xxx0 temperature sensor mode only off
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heinrichsweikamp
parents:
diff changeset
2021 // x0xx magnetic data low-power mode off
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heinrichsweikamp
parents:
diff changeset
2022 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down)
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heinrichsweikamp
parents:
diff changeset
2023
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heinrichsweikamp
parents:
diff changeset
2024 data[0] = CNTRL0;
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heinrichsweikamp
parents:
diff changeset
2025 data[1] = 0x00;
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heinrichsweikamp
parents:
diff changeset
2026 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
2027
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heinrichsweikamp
parents:
diff changeset
2028 // acc
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heinrichsweikamp
parents:
diff changeset
2029 data[0] = CNTRL1;
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heinrichsweikamp
parents:
diff changeset
2030 data[1] = 0x00;
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heinrichsweikamp
parents:
diff changeset
2031 data[2] = 0x0F;
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heinrichsweikamp
parents:
diff changeset
2032 data[3] = 0x00;
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heinrichsweikamp
parents:
diff changeset
2033 data[4] = 0x00;
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heinrichsweikamp
parents:
diff changeset
2034 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5);
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heinrichsweikamp
parents:
diff changeset
2035
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heinrichsweikamp
parents:
diff changeset
2036 // mag
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heinrichsweikamp
parents:
diff changeset
2037 data[0] = CNTRL3;
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heinrichsweikamp
parents:
diff changeset
2038 data[1] = 0x00;
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heinrichsweikamp
parents:
diff changeset
2039 data[2] = 0x00;
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heinrichsweikamp
parents:
diff changeset
2040 data[3] = 0x18;
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heinrichsweikamp
parents:
diff changeset
2041 data[4] = 0x20;
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heinrichsweikamp
parents:
diff changeset
2042 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5);
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heinrichsweikamp
parents:
diff changeset
2043
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heinrichsweikamp
parents:
diff changeset
2044 data[0] = CNTRL7;
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heinrichsweikamp
parents:
diff changeset
2045 data[1] = ((MSMS_MASK & CONTINUOS_CONVERSION) |
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heinrichsweikamp
parents:
diff changeset
2046 ((~MSMS_MASK) & CNTRL7_RESUME_VALUE));
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heinrichsweikamp
parents:
diff changeset
2047 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
2048
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heinrichsweikamp
parents:
diff changeset
2049 HAL_Delay(100);
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heinrichsweikamp
parents:
diff changeset
2050 }
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heinrichsweikamp
parents:
diff changeset
2051
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heinrichsweikamp
parents:
diff changeset
2052
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heinrichsweikamp
parents:
diff changeset
2053 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
2054 // compass_init_LSM303D by nordevx for arduion
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heinrichsweikamp
parents:
diff changeset
2055 /// @brief The new ST 303D
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heinrichsweikamp
parents:
diff changeset
2056 /// This might be called several times with different gain values during calibration
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2057 ///
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heinrichsweikamp
parents:
diff changeset
2058 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
parents:
diff changeset
2059 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
2060 void compass_init_LSM303D_v2(uint8_t gain)
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heinrichsweikamp
parents:
diff changeset
2061 {
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heinrichsweikamp
parents:
diff changeset
2062 uint8_t data[2];
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heinrichsweikamp
parents:
diff changeset
2063
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heinrichsweikamp
parents:
diff changeset
2064 // CNTRL1
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heinrichsweikamp
parents:
diff changeset
2065 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2066 // 0xxx block data update off
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heinrichsweikamp
parents:
diff changeset
2067 // x111 enable all three axes
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heinrichsweikamp
parents:
diff changeset
2068
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heinrichsweikamp
parents:
diff changeset
2069 // CNTRL5
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heinrichsweikamp
parents:
diff changeset
2070 // 0xxx xxxx temp sensor off
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heinrichsweikamp
parents:
diff changeset
2071 // x00x xxxx magnetic resolution
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heinrichsweikamp
parents:
diff changeset
2072 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz))
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2073 // xxxx xx00 latch irq requests off
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heinrichsweikamp
parents:
diff changeset
2074
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2075 // CNTRL7
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heinrichsweikamp
parents:
diff changeset
2076 // 00xx high pass filter mode, 00 normal mode
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2077 // xx0x filter for acceleration data bypassed
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2078 // xxx0 temperature sensor mode only off
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heinrichsweikamp
parents:
diff changeset
2079 // x0xx magnetic data low-power mode off
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heinrichsweikamp
parents:
diff changeset
2080 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down)
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heinrichsweikamp
parents:
diff changeset
2081
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heinrichsweikamp
parents:
diff changeset
2082 data[0] = CNTRL1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2083 data[1] = 0x37; //0b 0011 0111
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2084 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2085
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heinrichsweikamp
parents:
diff changeset
2086 data[0] = CNTRL5;
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heinrichsweikamp
parents:
diff changeset
2087 data[1] = 0x08; // 0b 0000 1000
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heinrichsweikamp
parents:
diff changeset
2088 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2089
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2090 data[0] = CNTRL7;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2091 data[1] = 0x00; // 0b 0000 0000
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heinrichsweikamp
parents:
diff changeset
2092 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2093
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2094 HAL_Delay(100);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2095 }
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heinrichsweikamp
parents:
diff changeset
2096
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2097
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2098 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
2099 // compass_init_LSM303D_v1 by ST lsm303d.c
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heinrichsweikamp
parents:
diff changeset
2100 /// @brief The new ST 303D
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2101 /// This might be called several times with different gain values during calibration
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2102 ///
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heinrichsweikamp
parents:
diff changeset
2103 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2104 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
2105 void compass_init_LSM303D_v1(uint8_t gain)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2106 {
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heinrichsweikamp
parents:
diff changeset
2107 uint8_t data;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2108
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heinrichsweikamp
parents:
diff changeset
2109 compass_gain = gain;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2110
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heinrichsweikamp
parents:
diff changeset
2111 memset(magDataBuffer,0,6);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2112 memset(accDataBuffer,0,6);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2113
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heinrichsweikamp
parents:
diff changeset
2114 data = CNTRL5;
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heinrichsweikamp
parents:
diff changeset
2115 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2116 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2117 data = (data & 0x1c) >> 2;
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heinrichsweikamp
parents:
diff changeset
2118 velMag = magODR[data];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2119
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heinrichsweikamp
parents:
diff changeset
2120 data = CNTRL1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2121 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2122 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2123 data = (data & 0xf0) >> 4;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2124 velAcc = accODR[data];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2125
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2126 data = CNTRL7;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2127 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2128 I2C_Master_Receive( DEVICE_COMPASS_303D, &datas1, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2129 datas1 = (datas1 & 0x02);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2130
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heinrichsweikamp
parents:
diff changeset
2131 //if mag is not pd
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2132 //mag is bigger than gyro
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2133 if( (velMag < velAcc) || datas1 != 0 ) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2134 //acc is the biggest
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2135 fastest = ACC_IS_FASTEST;
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heinrichsweikamp
parents:
diff changeset
2136 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2137 else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2138 //acc is the biggest
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2139 fastest = MAG_IS_FASTEST;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2140 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2141
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2142 zoffFlag = 1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2143
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2144 if( fastest == MAG_IS_FASTEST)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2145 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2146 data = STATUS_REG_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2147 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2148 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2149
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2150 // if(ValBit(data, ZYXMDA)) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2151 sendFlag = 1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2152 // }
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heinrichsweikamp
parents:
diff changeset
2153
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2154 }
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heinrichsweikamp
parents:
diff changeset
2155 else if(fastest == ACC_IS_FASTEST)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2156 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2157 data = STATUS_REG_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2158 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2159 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2160 // if(ValBit(data, DATAREADY_BIT)) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2161 sendFlag = 1;
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heinrichsweikamp
parents:
diff changeset
2162 // }
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heinrichsweikamp
parents:
diff changeset
2163 }
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heinrichsweikamp
parents:
diff changeset
2164 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2165
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heinrichsweikamp
parents:
diff changeset
2166 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
2167 // compass_read_LSM303D
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heinrichsweikamp
parents:
diff changeset
2168 /// @brief The new LSM303D :-)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2169 ///
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heinrichsweikamp
parents:
diff changeset
2170 /// output is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2171 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
2172 void compass_read_LSM303D_v2(void)
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heinrichsweikamp
parents:
diff changeset
2173 {
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heinrichsweikamp
parents:
diff changeset
2174 uint8_t data;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2175
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heinrichsweikamp
parents:
diff changeset
2176 memset(magDataBuffer,0,6);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2177 memset(accDataBuffer,0,6);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2178
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heinrichsweikamp
parents:
diff changeset
2179 compass_DX_f = 0;
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heinrichsweikamp
parents:
diff changeset
2180 compass_DY_f = 0;
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heinrichsweikamp
parents:
diff changeset
2181 compass_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
2182
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heinrichsweikamp
parents:
diff changeset
2183 accel_DX_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2184 accel_DY_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2185 accel_DZ_f = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2186
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heinrichsweikamp
parents:
diff changeset
2187 //Accelerometer multi read, order xl,xh, yl,yh, zl, zh
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heinrichsweikamp
parents:
diff changeset
2188 data = REG_ACC_DATA_ADDR;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2189 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2190 I2C_Master_Receive( DEVICE_COMPASS_303D, accDataBuffer, 6);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2191
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heinrichsweikamp
parents:
diff changeset
2192 //magnetometer multi read, order xl,xh, yl,yh, zl, zh
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heinrichsweikamp
parents:
diff changeset
2193 data = OUT_X_L_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2194 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2195 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2196
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heinrichsweikamp
parents:
diff changeset
2197 accel_DX_f = ((int16_t)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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heinrichsweikamp
parents:
diff changeset
2198 accel_DY_f = ((int16_t)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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heinrichsweikamp
parents:
diff changeset
2199 accel_DZ_f = ((int16_t)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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heinrichsweikamp
parents:
diff changeset
2200
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heinrichsweikamp
parents:
diff changeset
2201 // accel_DX_f = accel_DX_f * stat->sensitivity_acc;
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heinrichsweikamp
parents:
diff changeset
2202 // accel_DY_f = accel_DY_f * stat->sensitivity_acc;
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heinrichsweikamp
parents:
diff changeset
2203 // accel_DZ_f = accel_DZ_f * stat->sensitivity_acc;
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heinrichsweikamp
parents:
diff changeset
2204
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heinrichsweikamp
parents:
diff changeset
2205
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heinrichsweikamp
parents:
diff changeset
2206 compass_DX_f = magDataBuffer[1];
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heinrichsweikamp
parents:
diff changeset
2207 compass_DX_f *= 256;
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heinrichsweikamp
parents:
diff changeset
2208 compass_DX_f += magDataBuffer[0];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2209
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heinrichsweikamp
parents:
diff changeset
2210 compass_DY_f = magDataBuffer[3];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2211 compass_DY_f *= 256;
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heinrichsweikamp
parents:
diff changeset
2212 compass_DY_f += magDataBuffer[2];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2213
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heinrichsweikamp
parents:
diff changeset
2214 compass_DY_f = magDataBuffer[5];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2215 compass_DY_f *= 256;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2216 compass_DY_f += magDataBuffer[4];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2217
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2218 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2219
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2220
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2221 */
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
2222