annotate Small_CPU/Src/compass.c @ 403:6f30f2011667

We got one report of false/freezd depth reading when jumping into 2m depth instantaneously. The "PRESSURE_JUMP_VALID_MBAR" threshold was removed, the new behaviour was tested in the pressure tank intensively and it's simply better/more reliable without this threshold.
author heinrichsweikamp
date Wed, 08 Jan 2020 15:35:15 +0100
parents c6a084d1433f
children f9458e979154
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1 /**
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2 ******************************************************************************
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3 * @file compass.c
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4 * @author heinrichs weikamp gmbh
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5 * @date 27-March-2014
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6 * @version V0.2.0
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7 * @since 21-April-2016
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8 * @brief for Honeywell Compass and ST LSM303D
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9 *
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10 @verbatim
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11 ==============================================================================
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12 ##### How to use #####
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13 ==============================================================================
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14 V0.1.0 09-March-2016
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15 V0.2.0 21-April-2016 Orientation fixed for LSM303D,
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16 roll and pitch added to calibration output,
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17 orientation double checked with datasheets and layout
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18 as well as with value output during calibration
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19 V0.2.1 19-May-2016 New date rate config and full-scale selection
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20
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21 @endverbatim
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22 ******************************************************************************
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23 * @attention
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24 *
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25 * <h2><center>&copy; COPYRIGHT(c) 2016 heinrichs weikamp</center></h2>
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26 *
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27 ******************************************************************************
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28 */
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29
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30 #include <math.h>
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31 #include <string.h>
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32
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33 #include "compass.h"
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34 #include "compass_LSM303D.h"
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35
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36 #include "i2c.h"
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f9b17e898a7a Resolved some minor warnings
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37 #include "spi.h"
38
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38 #include "RTE_FlashAccess.h" // to store compass_calib_data
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39
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40 #include "stm32f4xx_hal.h"
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41
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42 /// split byte to bits
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43 typedef struct{
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44 uint8_t bit0:1; ///< split byte to bits
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45 uint8_t bit1:1; ///< split byte to bits
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46 uint8_t bit2:1; ///< split byte to bits
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47 uint8_t bit3:1; ///< split byte to bits
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48 uint8_t bit4:1; ///< split byte to bits
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49 uint8_t bit5:1; ///< split byte to bits
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50 uint8_t bit6:1; ///< split byte to bits
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51 uint8_t bit7:1; ///< split byte to bits
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52 } ubit8_t;
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53
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54
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55 /// split byte to bits
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56 typedef union{
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57 ubit8_t ub; ///< split byte to bits
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58 uint8_t uw; ///< split byte to bits
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59 } bit8_Type;
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60
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61
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62 /// split word to 2 bytes
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63 typedef struct{
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64 uint8_t low; ///< split word to 2 bytes
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65 uint8_t hi; ///< split word to 2 bytes
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66 } two_byte;
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67
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68
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69 /// split word to 2 bytes
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70 typedef union{
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71 two_byte Byte; ///< split word to 2 bytes
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72 uint16_t Word; ///< split word to 2 bytes
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73 } tword;
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74
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75
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76 /// split signed word to 2 bytes
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77 typedef union{
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78 two_byte Byte; ///< split signed word to 2 bytes
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79 int16_t Word; ///< split signed word to 2 bytes
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80 } signed_tword;
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81
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82
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83 /// split full32 to 2 words
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84 typedef struct{
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85 uint16_t low16; ///< split word to 2 bytes
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86 uint16_t hi16; ///< split word to 2 bytes
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87 } two_word;
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88
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89 typedef union{
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90 two_word Word16; ///< split word to 2 bytes
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91 uint32_t Full32; ///< split word to 2 bytes
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92 } tfull32;
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93
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94
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95 /// crazy compass calibration stuff
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96 typedef struct
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97 {
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98 unsigned short int compass_N;
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99 float Su, Sv, Sw;
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100 float Suu, Svv, Sww, Suv, Suw, Svw;
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101 float Suuu, Svvv, Swww;
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102 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv;
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103 } SCompassCalib;
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104
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105
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106 #define Q_PI (18000)
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107 #define Q_PIO2 (9000)
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108
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109
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110
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111 //////////////////////////////////////////////////////////////////////////////
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112 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error
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113 //
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114 #define K1 (5701) // Needs K1/2**16
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115 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV
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116 #define K3 ( 446) // Needs K3/2**80
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117
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118 const float PI = 3.14159265; ///< pi, used in compass_calc()
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119
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120 typedef short int Int16;
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121 typedef signed char Int8;
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122 typedef Int16 Angle;
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123
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124
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125 /// The (filtered) components of the magnetometer sensor
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126 int16_t compass_DX_f; ///< output from sensor
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127 int16_t compass_DY_f; ///< output from sensor
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128 int16_t compass_DZ_f; ///< output from sensor
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129
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130
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131 /// Found soft-iron calibration values, deduced from already filtered values
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132 int16_t compass_CX_f; ///< calibration value
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133 int16_t compass_CY_f; ///< calibration value
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134 int16_t compass_CZ_f; ///< calibration value
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135
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136
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137 /// The (filtered) components of the accelerometer sensor
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138 int16_t accel_DX_f; ///< output from sensor
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139 int16_t accel_DY_f; ///< output from sensor
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140 int16_t accel_DZ_f; ///< output from sensor
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141
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142
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143 /// The compass result values
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144 float compass_heading; ///< the final result calculated in compass_calc()
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145 float compass_roll; ///< the final result calculated in compass_calc()
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146 float compass_pitch; ///< the final result calculated in compass_calc()
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147
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148
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149 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration
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150
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c3d511365552 Add Support for new end-2019 hardware:
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151 uint8_t hardwareCompass = 0; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0)
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152
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153 /// LSM303D variables
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154 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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155 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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156
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157
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158 // struct accel_scale _accel_scale;
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159 unsigned _accel_range_m_s2;
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160 float _accel_range_scale;
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161 unsigned _accel_samplerate;
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162 unsigned _accel_onchip_filter_bandwith;
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163
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164 // struct mag_scale _mag_scale;
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165 unsigned _mag_range_ga;
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166 float _mag_range_scale;
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167 unsigned _mag_samplerate;
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168
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169 // default scale factors
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170 float _accel_scale_x_offset = 0.0f;
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171 float _accel_scale_x_scale = 1.0f;
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172 float _accel_scale_y_offset = 0.0f;
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173 float _accel_scale_y_scale = 1.0f;
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174 float _accel_scale_z_offset = 0.0f;
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175 float _accel_scale_z_scale = 1.0f;
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176
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177 float _mag_scale_x_offset = 0.0f;
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178 float _mag_scale_x_scale = 1.0f;
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179 float _mag_scale_y_offset = 0.0f;
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180 float _mag_scale_y_scale = 1.0f;
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181 float _mag_scale_z_offset = 0.0f;
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182 float _mag_scale_z_scale = 1.0f;
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183
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184
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185 /* External function prototypes ----------------------------------------------*/
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186
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187 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz);
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188
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189 /* Private function prototypes -----------------------------------------------*/
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190
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191 void compass_reset_calibration(SCompassCalib *g);
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192 void compass_add_calibration(SCompassCalib *g);
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193 void compass_solve_calibration(SCompassCalib *g);
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194
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195 void compass_init_HMC5883L(uint8_t fast, uint8_t gain);
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196 void compass_sleep_HMC5883L(void);
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197 void compass_read_HMC5883L(void);
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198
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199 void accelerator_init_MMA8452Q(void);
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200 void accelerator_sleep_MMA8452Q(void);
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201 void acceleration_read_MMA8452Q(void);
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202
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203 void compass_init_LSM303D(uint8_t fast, uint8_t gain);
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204 void compass_sleep_LSM303D(void);
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205 void compass_read_LSM303D(void);
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206 void acceleration_read_LSM303D(void);
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207
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208 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain);
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209 void compass_sleep_LSM303AGR(void);
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210 void compass_read_LSM303AGR(void);
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211 void acceleration_read_LSM303AGR(void);
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212
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213 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
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214 int compass_calib_common(void);
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215
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216 void compass_calc_roll_pitch_only(void);
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217
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218 void rotate_mag_3f(float *x, float *y, float *z);
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219 void rotate_accel_3f(float *x, float *y, float *z);
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220
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221
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222 /* Exported functions --------------------------------------------------------*/
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223
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224
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225 // ===============================================================================
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226 // compass_init
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227 /// @brief This might be called several times with different gain values during calibration
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228 /// On first call it figures out which hardware is integrated
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229 ///
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230 /// @param gain: 7 is max gain, compass_calib() might reduce it
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231 // ===============================================================================
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232
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233 void compass_init(uint8_t fast, uint8_t gain)
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234 {
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235
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236 // don't call again with fast, gain in calib mode etc.
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237 // if unknown
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238 if(hardwareCompass == COMPASS_NOT_RECOGNIZED)
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239 {
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240 return;
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241 }
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242
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243 // old code but without else
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244 if(hardwareCompass == 0)
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245 {
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246 uint8_t data = WHO_AM_I;
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247 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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248 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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249 if(data == WHOIAM_VALUE_LSM303D)
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250 hardwareCompass = compass_generation2; //LSM303D;
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251 data = WHO_AM_I;
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252 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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253 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1);
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254 if(data == WHOIAM_VALUE_LSM303AGR)
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255 hardwareCompass = compass_generation3; //LSM303AGR;
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256 }
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257
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258 /* No compass identified => Retry */
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259 if(hardwareCompass == 0)
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260 {
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261 uint8_t data = WHO_AM_I;
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262 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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263 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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264 if(data == WHOIAM_VALUE_LSM303D)
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265 hardwareCompass = compass_generation2; //LSM303D;
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266 data = WHO_AM_I;
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267 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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268 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1);
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269 if(data == WHOIAM_VALUE_LSM303AGR)
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270 hardwareCompass = compass_generation3; //LSM303AGR;
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271 }
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272
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273 /* Assume that a HMC5883L is equipped by default if detection still failed */
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274 if(hardwareCompass == 0)
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275 hardwareCompass = compass_generation1; //HMC5883L;
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276
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277 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT;
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278
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279 // test if both chips of the two-chip solution (gen 1) are present
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280 if(hardwareCompass == compass_generation1) // HMC5883L)
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281 {
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282 HAL_Delay(10);
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283 MX_I2C1_Init();
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284 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q
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285 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1);
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286 if(resultOfOperationHMC_MMA == HAL_OK)
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287 {
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288 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it
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289 }
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290 else
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291 {
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292 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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293 }
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294 }
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295
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296 if(hardwareCompass == compass_generation2) //LSM303D)
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297 compass_init_LSM303D(fast, gain);
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298 if(hardwareCompass == compass_generation3) //LSM303AGR)
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299 compass_init_LSM303AGR(fast, gain);
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300 if(hardwareCompass == compass_generation1) //HMC5883L)
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301 compass_init_HMC5883L(fast, gain);
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302
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303 tfull32 dataBlock[4];
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304 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK)
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305 {
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306 compass_CX_f = dataBlock[0].Word16.low16;
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307 compass_CY_f = dataBlock[0].Word16.hi16;
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308 compass_CZ_f = dataBlock[1].Word16.low16;
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309 }
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310
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311 }
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312
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313
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314 // ===============================================================================
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315 // compass_calib
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316 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D
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317 // ===============================================================================
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318 int compass_calib(void)
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319 {
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320 if(hardwareCompass == compass_generation2) //LSM303D)
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321 {
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322 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773);
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323 int out = compass_calib_common();
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324 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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325 return out;
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326 }
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327 else
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328 if(hardwareCompass == compass_generation1) //HMC5883L)
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329 {
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330 return compass_calib_common();
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331 }
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332 else
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333 if(hardwareCompass == compass_generation3) //LSM303AGR)
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334 {
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335 return compass_calib_common();
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336 }
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337 else
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338 {
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339 return 0; // standard answer of compass_calib_common();
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340 }
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341
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342
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343 }
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344
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345
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346 // ===============================================================================
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347 // compass_sleep
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348 /// @brief low power mode
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349 // ===============================================================================
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350 void compass_sleep(void)
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351 {
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352 if(hardwareCompass == compass_generation2) //LSM303D)
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353 {
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354 compass_sleep_LSM303D();
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355 }
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356 else
357
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357 if(hardwareCompass == compass_generation1) //HMC5883L)
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358 {
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359 compass_sleep_HMC5883L();
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360 }
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361 }
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362
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363
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364 // ===============================================================================
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365 // compass_read
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366 /// @brief reads magnetometer and accelerometer for LSM303D,
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367 /// otherwise magnetometer only
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368 // ===============================================================================
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369 void compass_read(void)
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370 {
357
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371 if(hardwareCompass == compass_generation2) //LSM303D)
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372 compass_read_LSM303D();
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373 if(hardwareCompass == compass_generation1) //HMC5883L)
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374 compass_read_HMC5883L();
357
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375 if(hardwareCompass == compass_generation3) //LSM303AGR)
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376 compass_read_LSM303AGR();
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377
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378 }
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379
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380
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381 // ===============================================================================
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382 // accelerator_init
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383 /// @brief empty for for LSM303D
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384 // ===============================================================================
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385 void accelerator_init(void)
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386 {
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387 if(hardwareCompass == compass_generation1) //HMC5883L)
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388 accelerator_init_MMA8452Q();
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389 }
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390
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391
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392 // ===============================================================================
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393 // accelerator_sleep
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394 /// @brief empty for for LSM303D
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395 // ===============================================================================
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396 void accelerator_sleep(void)
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397 {
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398 if(hardwareCompass == compass_generation1) //HMC5883L)
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399 accelerator_sleep_MMA8452Q();
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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 // acceleration_read
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405 /// @brief empty for for LSM303D
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406 // ===============================================================================
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407 void acceleration_read(void)
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408 {
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409 if(hardwareCompass == compass_generation2) //LSM303D)
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410 acceleration_read_LSM303D();
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411 if(hardwareCompass == compass_generation1) //HMC5883L)
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412 acceleration_read_MMA8452Q();
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413 if(hardwareCompass == compass_generation3) //LSM303AGR)
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414 acceleration_read_LSM303AGR();
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415 }
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416
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417
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418 /* Private functions ---------------------------------------------------------*/
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419
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420 // ===============================================================================
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421 // LSM303AGR_read_reg
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422 // ===============================================================================
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423 uint8_t LSM303AGR_read_reg(uint8_t addr)
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424 {
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425 uint8_t data;
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426
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427 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1);
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428 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1);
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429 return data;
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430 }
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431
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432
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433 // ===============================================================================
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434 // LSM303AGR_write_reg
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435 // ===============================================================================
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436 void LSM303AGR_write_reg(uint8_t addr, uint8_t value)
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437 {
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438 uint8_t data[2];
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439
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440 data[0] = addr;
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441 data[1] = value;
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442 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2);
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443 }
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444
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445 // ===============================================================================
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446 // LSM303AGR_acc_write_reg
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447 // ===============================================================================
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448 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value)
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449 {
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450 uint8_t data[2];
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451
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452 data[0] = addr;
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453 data[1] = value;
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454 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2);
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455 }
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456
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457
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458 // ===============================================================================
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459 // LSM303AGR_write_checked_reg
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460 // ===============================================================================
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461 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value)
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462 {
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463 LSM303AGR_write_reg(addr, value);
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464 }
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465
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466 // ===============================================================================
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467 // LSM303AGR_acc_write_checked_reg
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468 // ===============================================================================
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469 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value)
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470 {
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471 LSM303AGR_acc_write_reg(addr, value);
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472 }
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473
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474 // ===============================================================================
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475 // LSM303D_read_reg
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476 // ===============================================================================
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477 uint8_t LSM303D_read_reg(uint8_t addr)
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478 {
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479 uint8_t data;
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480
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481 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1);
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482 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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483 return data;
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484 }
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485
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486
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487 // ===============================================================================
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488 // LSM303D_write_reg
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489 // ===============================================================================
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490 void LSM303D_write_reg(uint8_t addr, uint8_t value)
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491 {
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492 uint8_t data[2];
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493
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494 /* enable accel*/
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495 data[0] = addr;
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496 data[1] = value;
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497 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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498 }
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499
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500
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501 // ===============================================================================
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502 // LSM303D_write_checked_reg
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503 // ===============================================================================
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504 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value)
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505 {
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506 LSM303D_write_reg(addr, value);
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507 }
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508
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509
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510 // ===============================================================================
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511 // LSM303D_modify_reg
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512 // ===============================================================================
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513 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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514 {
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515 uint8_t val;
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516
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517 val = LSM303D_read_reg(reg);
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518 val &= ~clearbits;
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519 val |= setbits;
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520 LSM303D_write_checked_reg(reg, val);
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521 }
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522
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523 // ===============================================================================
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524 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth
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525 // ===============================================================================
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526 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
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527 {
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528 uint8_t setbits = 0;
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529 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
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530
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531 if (bandwidth == 0) {
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532 bandwidth = 773;
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533 }
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534
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535 if (bandwidth <= 50) {
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536 setbits |= REG2_AA_FILTER_BW_50HZ_A;
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537 _accel_onchip_filter_bandwith = 50;
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538
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539 } else if (bandwidth <= 194) {
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540 setbits |= REG2_AA_FILTER_BW_194HZ_A;
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541 _accel_onchip_filter_bandwith = 194;
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542
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543 } else if (bandwidth <= 362) {
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544 setbits |= REG2_AA_FILTER_BW_362HZ_A;
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545 _accel_onchip_filter_bandwith = 362;
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546
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547 } else if (bandwidth <= 773) {
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548 setbits |= REG2_AA_FILTER_BW_773HZ_A;
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549 _accel_onchip_filter_bandwith = 773;
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550
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551 } else {
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552 return -1;
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553 }
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554
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555 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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556
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557 return 0;
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558 }
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559
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560
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561 // ===============================================================================
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562 // LSM303D_accel_set_driver_lowpass_filter
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563 // ===============================================================================
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564 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
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565 {
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566 /*
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567 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth);
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568 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth);
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569 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth);
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570 */
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571 return 0;
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572 }
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573
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574
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575 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt
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576 // ===============================================================================
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577 // rotate_mag_3f
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578 /// @brief swap axis in convient way, by hw
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579 /// @param *x raw input is set to *y input
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580 /// @param *y raw input is set to -*x input
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581 /// @param *z raw is not touched
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582 // ===============================================================================
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583 void rotate_mag_3f(float *x, float *y, float *z)
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584 {
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585 return;
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586 /*
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587 *x = *x; // HMC: *x = -*y
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588 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y
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589 *z = *z; // HMC: *z = *z
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590 */
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591 }
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592
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593
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594 // ===============================================================================
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595 // rotate_accel_3f
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596 /// @brief swap axis in convient way, by hw, same as MMA8452Q
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597 /// @param *x raw input, output is with sign change
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598 /// @param *y raw input, output is with sign change
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599 /// @param *z raw input, output is with sign change
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600 // ===============================================================================
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601 void rotate_accel_3f(float *x, float *y, float *z)
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602 {
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603 *x = -*x;
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604 *y = -*y;
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605 *z = -*z;
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606 /* tested:
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607 x = x, y =-y, z=-z: does not work with roll
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608 x = x, y =y, z=-z: does not work with pitch
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609 x = x, y =y, z=z: does not work at all
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610 */
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611 }
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612
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613
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614 // ===============================================================================
357
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615 // compass_init_LSM303D
38
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616 /// This might be called several times with different gain values during calibration
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617 /// but gain change is not supported at the moment.
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618 ///
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619 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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620 // ===============================================================================
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621
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622 //uint8_t testCompassLS303D[11];
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623
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624 void compass_init_LSM303D(uint8_t fast, uint8_t gain)
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625 {
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626 if(fast == 0)
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627 {
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628 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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629 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2
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630 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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631 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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632 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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633 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4
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634 }
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635 else
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636 {
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637 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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638 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
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639 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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640 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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641 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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642 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz
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643 }
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644 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
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645 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
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646
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647 return;
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648 }
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649
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650
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651 // ===============================================================================
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652 // compass_sleep_LSM303D
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653 // @brief Gen 2 chip
38
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654 // ===============================================================================
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655 void compass_sleep_LSM303D(void)
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656 {
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657 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode
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658 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode
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659 }
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660
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661
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662 // ===============================================================================
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663 // acceleration_read_LSM303D
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664 // output is accel_DX_f, accel_DY_f, accel_DZ_f
38
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665 // ===============================================================================
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666 void acceleration_read_LSM303D(void)
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667 {
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668 uint8_t data;
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669 float xraw_f, yraw_f, zraw_f;
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670 float accel_report_x, accel_report_y, accel_report_z;
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671
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672 memset(accDataBuffer,0,6);
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673
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674 accel_DX_f = 0;
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675 accel_DY_f = 0;
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676 accel_DZ_f = 0;
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677
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678 for(int i=0;i<6;i++)
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679 {
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680 data = ADDR_OUT_X_L_A + i;
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681 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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682 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1);
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683 }
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684
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685 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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686 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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687 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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688
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689 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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690
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691 // mh
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692 accel_report_x = xraw_f;
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693 accel_report_y = yraw_f;
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694 accel_report_z = zraw_f;
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695
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696 accel_DX_f = ((int16_t)(accel_report_x));
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697 accel_DY_f = ((int16_t)(accel_report_y));
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698 accel_DZ_f = ((int16_t)(accel_report_z));
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699 }
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700
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701
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702 // ===============================================================================
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703 // compass_read_LSM303D
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704 ///
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705 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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706 // ===============================================================================
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707 void compass_read_LSM303D(void)
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708 {
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709 uint8_t data;
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710 // float xraw_f, yraw_f, zraw_f;
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711 // float mag_report_x, mag_report_y, mag_report_z;
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712
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713 memset(magDataBuffer,0,6);
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714
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715 compass_DX_f = 0;
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716 compass_DY_f = 0;
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717 compass_DZ_f = 0;
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718
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719 for(int i=0;i<6;i++)
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720 {
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721 data = ADDR_OUT_X_L_M + i;
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722 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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723 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
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724 }
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725
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726 // mh 160620 flip x and y if flip display
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727 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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728 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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729 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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730 // no rotation
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731 return;
357
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732 }
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733
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734
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735 // ===============================================================================
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736 // compass_init_LSM303AGR
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737 /// This might be called several times with different gain values during calibration
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738 /// but gain change is not supported at the moment.
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739 ///
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740 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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741 // ===============================================================================
38
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742
357
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743 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain)
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744 {
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745 if(fast == 0)
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746 {
358
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747 // init compass
357
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748 LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz
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749 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M
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750 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M
358
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751 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M
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752
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753 // init accel (Same chip, but different address...)
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754 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
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755 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON)
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756 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A
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757 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A
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758 LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled
357
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759 }
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760 else
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761 {
358
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762 // init compass
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763 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz
357
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764 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M
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765 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M
358
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766 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M
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767
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768 // init accel (Same chip, but different address...)
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769 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
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770 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON)
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771 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A
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772 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A
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773 LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled
357
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774 }
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775
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776 return;
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777 }
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778
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779
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780 // ===============================================================================
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781 // compass_sleep_LSM303D
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782 // @brief Gen 2 chip
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783 // ===============================================================================
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784 void compass_sleep_LSM303AGR(void)
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785 {
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786 LSM303AGR_write_checked_reg(0x60, 0x03); //
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787 LSM303AGR_write_checked_reg(0x61, 0x04); //
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788 LSM303AGR_write_checked_reg(0x62, 0x51); //
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789 LSM303AGR_write_checked_reg(0x63, 0x00); //
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790
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791
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792 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); //
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793 LSM303AGR_acc_write_checked_reg(0x20, 0x00); //
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794 }
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795
38
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796
357
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797 // ===============================================================================
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798 // acceleration_read_LSM303AGR
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799 // output is accel_DX_f, accel_DY_f, accel_DZ_f
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800 // ===============================================================================
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801 void acceleration_read_LSM303AGR(void)
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802 {
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803 uint8_t data;
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804 float xraw_f, yraw_f, zraw_f;
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805 float accel_report_x, accel_report_y, accel_report_z;
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806
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807 memset(accDataBuffer,0,6);
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808
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809 accel_DX_f = 0;
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810 accel_DY_f = 0;
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811 accel_DZ_f = 0;
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812
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813 for(int i=0;i<6;i++)
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814 {
358
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815 data = 0x28 + i; // OUT_X_L_A
357
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816 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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817 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1);
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818 }
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819
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820 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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821 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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822 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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823
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824 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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825
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826 // mh
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827 accel_report_x = xraw_f;
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828 accel_report_y = yraw_f;
358
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829 accel_report_z = -zraw_f; // flip Z in gen 2 hardware
357
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830
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831 accel_DX_f = ((int16_t)(accel_report_x));
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832 accel_DY_f = ((int16_t)(accel_report_y));
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833 accel_DZ_f = ((int16_t)(accel_report_z));
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834 }
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835
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836
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837 // ===============================================================================
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838 // compass_read_LSM303AGR
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839 ///
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840 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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841 // ===============================================================================
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842 void compass_read_LSM303AGR(void)
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843 {
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844 uint8_t data;
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845 // float xraw_f, yraw_f, zraw_f;
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846 // float mag_report_x, mag_report_y, mag_report_z;
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847
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848 memset(magDataBuffer,0,6);
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849
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850 compass_DX_f = 0;
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851 compass_DY_f = 0;
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852 compass_DZ_f = 0;
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853
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854 for(int i=0;i<6;i++)
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855 {
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856 data = 0x68 + i; // OUTX_L_REG_M
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857 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1);
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858 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1);
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859 }
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860
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861 // mh 160620 flip x and y if flip display
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862 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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863 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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864 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
358
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865
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866 // align axis in gen 2 hardware
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867 compass_DZ_f *= -1;
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868
357
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869 return;
38
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870 }
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871
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872
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873 // --------------------------------------------------------------------------------
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874 // ----------EARLIER COMPONENTS ---------------------------------------------------
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875 // --------------------------------------------------------------------------------
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876
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877 // ===============================================================================
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878 // compass_init_HMC5883L
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879 /// @brief The horrible Honeywell compass chip
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880 /// This might be called several times during calibration
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881 ///
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882 /// @param fast: 1 is fast mode, 0 is normal mode
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883 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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884 // ===============================================================================
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885 void compass_init_HMC5883L(uint8_t fast, uint8_t gain)
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886 {
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887 uint8_t write_buffer[4];
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888
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889 compass_gain = gain;
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890 uint16_t length = 0;
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891 write_buffer[0] = 0x00; // 00 = config Register A
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892
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893 if( fast )
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894 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged
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895 else
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896 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged
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897
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898 switch(gain)
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899 {
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900 case 7:
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901 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain
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902 break;
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903 case 6:
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904 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain
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905 break;
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906 case 5:
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907 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain
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908 break;
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909 case 4:
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910 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain
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911 break;
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912 case 3:
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913 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain
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914 break;
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915 case 2:
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916 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain
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917 break;
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918 case 1:
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919 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain
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920 break;
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921 case 0:
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922 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain
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923 break;
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924 }
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925 write_buffer[3] = 0x00; // Mode: continuous mode
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926 length = 4;
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927 //hmc_twi_write(0);
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928 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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929 }
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930
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931
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932
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933 // ===============================================================================
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934 // compass_sleep_HMC5883L
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935 /// @brief Power-down mode for Honeywell compass chip
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936 // ===============================================================================
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937 void compass_sleep_HMC5883L(void)
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938 {
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939 uint8_t write_buffer[4];
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940 uint16_t length = 0;
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941
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942 write_buffer[0] = 0x00; // 00 = config Register A
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943 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA
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944 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB
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945 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode
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946 length = 4;
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947 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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948 }
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949
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950
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951 // ===============================================================================
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952 // accelerator_init_MMA8452Q
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953 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass
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954 // ===============================================================================
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955 void accelerator_init_MMA8452Q(void)
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956 {
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957 uint8_t write_buffer[4];
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958 uint16_t length = 0;
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959 //HAL_Delay(1);
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960 //return;
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961 write_buffer[0] = 0x0E; // XYZ_DATA_CFG
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962 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range
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963 length = 2;
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964 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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965 //HAL_Delay(1);
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966 write_buffer[0] = 0x2A; // CTRL_REG1
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967 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode
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968 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode
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969 length = 3;
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970 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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971
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972 //HAL_Delay(1);
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973 //hw_delay_us(100);
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974 write_buffer[0] = 0x2A; // CTRL_REG1
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975 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode
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976 length = 2;
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977 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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978 /*
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979 HAL_Delay(6);
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980 compass_read();
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981 HAL_Delay(1);
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982 acceleration_read();
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983
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984 compass_calc();
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985 */
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986 }
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987
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988
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989 // ===============================================================================
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990 // accelerator_sleep_MMA8452Q
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991 /// @brief compass_sleep_HMC5883L
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992 // ===============================================================================
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993 void accelerator_sleep_MMA8452Q(void)
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994 {
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995 uint16_t length = 0;
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996 uint8_t write_buffer[4];
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997
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998 write_buffer[0] = 0x2A; // CTRL_REG1
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999 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode
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1000 length = 2;
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1001 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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1002 }
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1003
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1004
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1005 // ===============================================================================
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1006 // compass_read_HMC5883L
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1007 /// @brief The new ST 303D - get ALL data and store in static variables
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1008 ///
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1009 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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1010 // ===============================================================================
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1011 void compass_read_HMC5883L(void)
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1012 {
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1013 uint8_t buffer[20];
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1014 compass_DX_f = 0;
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1015 compass_DY_f = 0;
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1016 compass_DZ_f = 0;
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1017 uint8_t length = 0;
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1018 uint8_t read_buffer[6];
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1019 signed_tword data;
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1020 for(int i = 0; i<6;i++)
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1021 read_buffer[i] = 0;
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1022 buffer[0] = 0x03; // 03 = Data Output X MSB Register
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1023 length = 1;
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1024 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length);
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1025 length = 6;
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1026 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length);
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1027
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1028
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1029 data.Byte.hi = read_buffer[0];
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1030 data.Byte.low = read_buffer[1];
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1031 //Y = Z
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1032 compass_DY_f = - data.Word;
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1033
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1034 data.Byte.hi = read_buffer[2];
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1035 data.Byte.low = read_buffer[3];
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1036 compass_DZ_f = data.Word;
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1037
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1038 data.Byte.hi = read_buffer[4];
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1039 data.Byte.low = read_buffer[5];
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1040 //X = -Y
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1041 compass_DX_f = data.Word;
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1042 }
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1043
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1044
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1045 // ===============================================================================
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1046 // acceleration_read_MMA8452Q
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1047 /// @brief The old MMA8452Q used with the Honeywell compass
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1048 /// get the acceleration data and store in static variables
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1049 ///
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1050 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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1051 // ===============================================================================
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1052 void acceleration_read_MMA8452Q(void)
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1053 {
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1054 uint8_t buffer[20];
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1055 accel_DX_f = 0;
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1056 accel_DY_f = 0;
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1057 accel_DZ_f = 0;
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1058 uint8_t length = 0;
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diff changeset
1059 // bit8_Type status ;
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diff changeset
1060 uint8_t read_buffer[7];
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parents:
diff changeset
1061 signed_tword data;
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parents:
diff changeset
1062 for(int i = 0; i<6;i++)
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parents:
diff changeset
1063 read_buffer[i] = 0;
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parents:
diff changeset
1064 buffer[0] = 0x00; // 03 = Data Output X MSB Register
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parents:
diff changeset
1065 length = 1;
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diff changeset
1066 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length);
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diff changeset
1067 length = 7;
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diff changeset
1068 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length);
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parents:
diff changeset
1069
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diff changeset
1070 // status.uw = read_buffer[0];
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parents:
diff changeset
1071 data.Byte.hi = read_buffer[1];
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parents:
diff changeset
1072 data.Byte.low = read_buffer[2];
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diff changeset
1073 accel_DX_f =data.Word/16;
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parents:
diff changeset
1074 data.Byte.hi = read_buffer[3];
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diff changeset
1075 data.Byte.low = read_buffer[4];
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diff changeset
1076 accel_DY_f =data.Word/16;
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diff changeset
1077 data.Byte.hi = read_buffer[5];
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parents:
diff changeset
1078 data.Byte.low = read_buffer[6];
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diff changeset
1079 accel_DZ_f =data.Word/16;
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diff changeset
1080
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diff changeset
1081 accel_DX_f *= -1;
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parents:
diff changeset
1082 accel_DY_f *= -1;
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diff changeset
1083 accel_DZ_f *= -1;
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diff changeset
1084 }
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diff changeset
1085
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1086
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1087 // ===============================================================================
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parents:
diff changeset
1088 // compass_calc_roll_pitch_only
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1089 /// @brief only the roll and pitch parts of compass_calc()
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parents:
diff changeset
1090 ///
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1091 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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1092 /// output is compass_pitch and compass_roll
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1093 // ===============================================================================
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1094 void compass_calc_roll_pitch_only(void)
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1095 {
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diff changeset
1096 float sinPhi, cosPhi;
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diff changeset
1097 float Phi, Teta;
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diff changeset
1098
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1099 //---- Calculate sine and cosine of roll angle Phi -----------------------
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1100 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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1101 compass_roll = Phi * 180.0f /PI;
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1102 sinPhi = sinf(Phi);
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diff changeset
1103 cosPhi = cosf(Phi);
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diff changeset
1104
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diff changeset
1105 //---- calculate sin and cosine of pitch angle Theta ---------------------
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diff changeset
1106 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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diff changeset
1107 compass_pitch = Teta * 180.0f /PI;
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diff changeset
1108 }
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diff changeset
1109
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diff changeset
1110
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1111 // ===============================================================================
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parents:
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1112 // compass_calc
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parents:
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1113 /// @brief all the fancy stuff first implemented in OSTC3
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parents:
diff changeset
1114 ///
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1115 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
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1116 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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1117 /// output is compass_heading, compass_pitch and compass_roll
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1118 // ===============================================================================
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1119 void compass_calc(void)
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diff changeset
1120 {
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diff changeset
1121 float sinPhi, cosPhi, sinTeta, cosTeta;
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1122 float Phi, Teta, Psi;
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diff changeset
1123 int16_t iBfx, iBfy;
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diff changeset
1124 int16_t iBpx, iBpy, iBpz;
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diff changeset
1125
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parents:
diff changeset
1126 //---- Make hard iron correction -----------------------------------------
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parents:
diff changeset
1127 // Measured magnetometer orientation, measured ok.
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parents:
diff changeset
1128 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation.
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diff changeset
1129 iBpx = compass_DX_f - compass_CX_f; // X
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diff changeset
1130 iBpy = compass_DY_f - compass_CY_f; // Y
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diff changeset
1131 iBpz = compass_DZ_f - compass_CZ_f; // Z
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diff changeset
1132
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parents:
diff changeset
1133 //---- Calculate sine and cosine of roll angle Phi -----------------------
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1134 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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1135 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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diff changeset
1136 compass_roll = Phi * 180.0f /PI;
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diff changeset
1137 sinPhi = sinf(Phi);
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1138 cosPhi = cosf(Phi);
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1139
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parents:
diff changeset
1140 //---- rotate by roll angle (-Phi) ---------------------------------------
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diff changeset
1141 iBfy = iBpy * cosPhi - iBpz * sinPhi;
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diff changeset
1142 iBpz = iBpy * sinPhi + iBpz * cosPhi;
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parents:
diff changeset
1143 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos);
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1144
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1145 //---- calculate sin and cosine of pitch angle Theta ---------------------
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diff changeset
1146 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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diff changeset
1147 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421
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1148 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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diff changeset
1149 compass_pitch = Teta * 180.0f /PI;
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diff changeset
1150 sinTeta = sinf(Teta);
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diff changeset
1151 cosTeta = cosf(Teta);
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diff changeset
1152 /* correct cosine if pitch not in range -90 to 90 degrees */
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diff changeset
1153 if( cosTeta < 0 ) cosTeta = -cosTeta;
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diff changeset
1154
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parents:
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1155 ///---- de-rotate by pitch angle Theta -----------------------------------
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1156 iBfx = iBpx * cosTeta + iBpz * sinTeta;
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1157
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parents:
diff changeset
1158 //---- Detect uncalibrated compass ---------------------------------------
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diff changeset
1159 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f )
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1160 {
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diff changeset
1161 compass_heading = -1;
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1162 return;
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1163 }
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1164
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parents:
diff changeset
1165 //---- calculate current yaw = e-compass angle Psi -----------------------
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parents:
diff changeset
1166 // Result in degree (no need of 0.01 deg precision...
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1167 Psi = atan2f(-iBfy,iBfx);
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1168 compass_heading = Psi * 180.0f /PI;
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parents:
diff changeset
1169 // Result in 0..360 range:
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parents:
diff changeset
1170 if( compass_heading < 0 )
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1171 compass_heading += 360;
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diff changeset
1172 }
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heinrichsweikamp
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diff changeset
1173
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1174
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1175 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1176 // // - Calibration - ///////////////////////////////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1177 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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diff changeset
1178
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1179 /* can be lost during sleep as those are reset with compass_reset_calibration() */
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diff changeset
1180
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parents:
diff changeset
1181 // ===============================================================================
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parents:
diff changeset
1182 // compass_reset_calibration
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parents:
diff changeset
1183 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1184 ///
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diff changeset
1185 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f
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1186 ///
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1187 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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parents:
diff changeset
1188 /// all is set to zero here
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1189 // ===============================================================================
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1190 void compass_reset_calibration(SCompassCalib *g)
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1191 {
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diff changeset
1192 g->compass_N = 0;
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parents:
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1193 g->Su = g->Sv = g->Sw = 0.0;
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1194 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0;
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diff changeset
1195 g->Suuu = g->Svvv = g->Swww = 0.0;
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diff changeset
1196 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0;
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1197 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0;
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1198 }
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1199
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1200
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1201 // ===============================================================================
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parents:
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1202 // compass_add_calibration
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parents:
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1203 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1204 ///
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1205 /// input is compass_DX_f, compass_DY_f, compass_DZ_f
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1206 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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1207 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1208 ///
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1209 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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1210 // ===============================================================================
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1211 void compass_add_calibration(SCompassCalib *g)
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1212 {
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diff changeset
1213 float u, v, w;
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diff changeset
1214
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1215 u = (compass_DX_f - compass_CX_f) / 32768.0f;
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parents:
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1216 v = (compass_DY_f - compass_CY_f) / 32768.0f;
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1217 w = (compass_DZ_f - compass_CZ_f) / 32768.0f;
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1218
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1219 g->compass_N++;
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diff changeset
1220 g->Su += u;
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1221 g->Sv += v;
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parents:
diff changeset
1222 g->Sw += w;
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heinrichsweikamp
parents:
diff changeset
1223 g->Suv += u*v;
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parents:
diff changeset
1224 g->Suw += u*w;
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parents:
diff changeset
1225 g->Svw += v*w;
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parents:
diff changeset
1226 g->Suu += u*u;
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heinrichsweikamp
parents:
diff changeset
1227 g->Suuu += u*u*u;
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heinrichsweikamp
parents:
diff changeset
1228 g->Suuv += v*u*u;
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heinrichsweikamp
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diff changeset
1229 g->Suuw += w*u*u;
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parents:
diff changeset
1230 g->Svv += v*v;
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parents:
diff changeset
1231 g->Svvv += v*v*v;
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parents:
diff changeset
1232 g->Svvu += u*v*v;
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parents:
diff changeset
1233 g->Svvw += w*v*v;
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parents:
diff changeset
1234 g->Sww += w*w;
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parents:
diff changeset
1235 g->Swww += w*w*w;
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parents:
diff changeset
1236 g->Swwu += u*w*w;
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parents:
diff changeset
1237 g->Swwv += v*w*w;
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parents:
diff changeset
1238 }
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parents:
diff changeset
1239
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parents:
diff changeset
1240 //////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1241
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parents:
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1242 // ===============================================================================
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parents:
diff changeset
1243 // compass_solve_calibration
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parents:
diff changeset
1244 /// @brief all the fancy stuff first implemented in OSTC3
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parents:
diff changeset
1245 ///
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parents:
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1246 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g
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parents:
diff changeset
1247 /// output is struct g
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parents:
diff changeset
1248 ///
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parents:
diff changeset
1249 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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parents:
diff changeset
1250 // ===============================================================================
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parents:
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1251 void compass_solve_calibration(SCompassCalib *g)
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parents:
diff changeset
1252 {
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parents:
diff changeset
1253 float yu, yv, yw;
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parents:
diff changeset
1254 float delta;
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parents:
diff changeset
1255 float uc, vc, wc;
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parents:
diff changeset
1256
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parents:
diff changeset
1257
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parents:
diff changeset
1258 //---- Normalize partial sums --------------------------------------------
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parents:
diff changeset
1259 //
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parents:
diff changeset
1260 // u, v, w should be centered on the mean value um, vm, wm:
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parents:
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1261 // x = u + um, with um = Sx/N
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parents:
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1262 //
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parents:
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1263 // So:
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parents:
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1264 // (u + um)**2 = u**2 + 2u*um + um**2
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parents:
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1265 // Su = 0, um = Sx/N
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parents:
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1266 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N
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parents:
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1267 // Suu = Sxx - Sx**2/N
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parents:
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1268 yu = g->Su/g->compass_N;
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parents:
diff changeset
1269 yv = g->Sv/g->compass_N;
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parents:
diff changeset
1270 yw = g->Sw/g->compass_N;
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diff changeset
1271
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parents:
diff changeset
1272 g->Suu -= g->Su*yu;
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parents:
diff changeset
1273 g->Svv -= g->Sv*yv;
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parents:
diff changeset
1274 g->Sww -= g->Sw*yw;
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parents:
diff changeset
1275
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parents:
diff changeset
1276 // (u + um)(v + vm) = uv + u vm + v um + um vm
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parents:
diff changeset
1277 // Sxy = Suv + N * um vm
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parents:
diff changeset
1278 // Suv = Sxy - N * (Sx/N)(Sy/N);
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parents:
diff changeset
1279 g->Suv -= g->Su*yv;
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parents:
diff changeset
1280 g->Suw -= g->Su*yw;
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parents:
diff changeset
1281 g->Svw -= g->Sv*yw;
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parents:
diff changeset
1282
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parents:
diff changeset
1283 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3
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parents:
diff changeset
1284 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3
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parents:
diff changeset
1285 // Su = 0, um = Sx/N:
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parents:
diff changeset
1286 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3
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parents:
diff changeset
1287 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2
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parents:
diff changeset
1288
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parents:
diff changeset
1289 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm)
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parents:
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1290 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm)
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parents:
diff changeset
1291 //
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parents:
diff changeset
1292 // Su = 0, Sv = 0, vm = Sy/N:
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parents:
diff changeset
1293 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm
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parents:
diff changeset
1294 //
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parents:
diff changeset
1295 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy
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parents:
diff changeset
1296 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N
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parents:
diff changeset
1297 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N
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parents:
diff changeset
1298 g->Suuu -= (3*g->Suu + g->Su*yu)*yu;
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parents:
diff changeset
1299 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu;
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parents:
diff changeset
1300 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu;
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parents:
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1301
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parents:
diff changeset
1302 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv;
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parents:
diff changeset
1303 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv;
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parents:
diff changeset
1304 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv;
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parents:
diff changeset
1305
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parents:
diff changeset
1306 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw;
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parents:
diff changeset
1307 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw;
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parents:
diff changeset
1308 g->Swww -= (3*g->Sww + g->Sw*yw)*yw;
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parents:
diff changeset
1309
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parents:
diff changeset
1310 //---- Solve the system --------------------------------------------------
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parents:
diff changeset
1311 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2
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parents:
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1312 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2
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parents:
diff changeset
1313 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2
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parents:
diff changeset
1314 // Note this is symetric, with a positiv diagonal, hence
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parents:
diff changeset
1315 // it always have a uniq solution.
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parents:
diff changeset
1316 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu);
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parents:
diff changeset
1317 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv);
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parents:
diff changeset
1318 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww);
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parents:
diff changeset
1319 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw)
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parents:
diff changeset
1320 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw)
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parents:
diff changeset
1321 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw);
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parents:
diff changeset
1322
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parents:
diff changeset
1323 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw)
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parents:
diff changeset
1324 - yv * (g->Suv * g->Sww - g->Svw * g->Suw)
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parents:
diff changeset
1325 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta;
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parents:
diff changeset
1326 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw)
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parents:
diff changeset
1327 - g->Suv * ( yu * g->Sww - yw * g->Suw)
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parents:
diff changeset
1328 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1329 wc = (g->Suu * (g->Svv * yw - g->Svw * yv )
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heinrichsweikamp
parents:
diff changeset
1330 - g->Suv * (g->Suv * yw - g->Svw * yu )
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parents:
diff changeset
1331 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta;
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heinrichsweikamp
parents:
diff changeset
1332
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parents:
diff changeset
1333 // Back to uncentered coordinates:
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parents:
diff changeset
1334 // xc = um + uc
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parents:
diff changeset
1335 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc;
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parents:
diff changeset
1336 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc;
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parents:
diff changeset
1337 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc;
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parents:
diff changeset
1338
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parents:
diff changeset
1339 // Then save the new calibrated center:
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parents:
diff changeset
1340 compass_CX_f = (short)(32768 * uc);
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parents:
diff changeset
1341 compass_CY_f = (short)(32768 * vc);
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parents:
diff changeset
1342 compass_CZ_f = (short)(32768 * wc);
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parents:
diff changeset
1343 }
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heinrichsweikamp
parents:
diff changeset
1344
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parents:
diff changeset
1345
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parents:
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1346 // ===============================================================================
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parents:
diff changeset
1347 // compass_calib
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parents:
diff changeset
1348 /// @brief the main loop for calibration
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parents:
diff changeset
1349 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g
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parents:
diff changeset
1350 /// 160704 removed -4096 limit for LSM303D
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parents:
diff changeset
1351 ///
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diff changeset
1352 /// @return always 0
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parents:
diff changeset
1353 // ===============================================================================
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parents:
diff changeset
1354 int compass_calib_common(void)
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parents:
diff changeset
1355 {
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parents:
diff changeset
1356 SCompassCalib g;
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parents:
diff changeset
1357
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parents:
diff changeset
1358 // Starts with no calibration at all:
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parents:
diff changeset
1359 compass_reset_calibration(&g);
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parents:
diff changeset
1360
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parents:
diff changeset
1361 int64_t tickstart = 0;
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parents:
diff changeset
1362 uint32_t ticks = 0;
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parents:
diff changeset
1363 uint32_t lasttick = 0;
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parents:
diff changeset
1364 tickstart = HAL_GetTick();
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parents:
diff changeset
1365 // Eine Minute kalibrieren
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parents:
diff changeset
1366 while((ticks) < 60 * 1000)
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parents:
diff changeset
1367 {
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parents:
diff changeset
1368 compass_read();
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parents:
diff changeset
1369 acceleration_read();
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parents:
diff changeset
1370 compass_calc_roll_pitch_only();
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diff changeset
1371
357
c3d511365552 Add Support for new end-2019 hardware:
heinrichsweikamp
parents: 313
diff changeset
1372 if((hardwareCompass == compass_generation1 ) //HMC5883L)
38
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parents:
diff changeset
1373 &&((compass_DX_f == -4096) ||
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parents:
diff changeset
1374 (compass_DY_f == -4096) ||
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parents:
diff changeset
1375 (compass_DZ_f == -4096) ))
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parents:
diff changeset
1376 {
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parents:
diff changeset
1377 if(compass_gain == 0)
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parents:
diff changeset
1378 return -1;
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parents:
diff changeset
1379 compass_gain--;
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parents:
diff changeset
1380
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diff changeset
1381 compass_init(1, compass_gain);
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parents:
diff changeset
1382 compass_reset_calibration(&g);
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parents:
diff changeset
1383 //tickstart = HAL_GetTick();
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parents:
diff changeset
1384 continue;
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parents:
diff changeset
1385 }
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parents:
diff changeset
1386
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1387 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f);
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1388 compass_add_calibration(&g);
38
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parents:
diff changeset
1389 HAL_Delay(1);
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parents:
diff changeset
1390 lasttick = HAL_GetTick();
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parents:
diff changeset
1391 if(lasttick == 0)
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parents:
diff changeset
1392 {
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parents:
diff changeset
1393 tickstart = -ticks;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1394 }
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1395 HAL_Delay(1);
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1396 ticks = lasttick - tickstart;
147
14e4c83a7559 Forward compass data during calibration mode
Ideenmodellierer
parents: 104
diff changeset
1397 SPI_Evaluate_RX_Data();
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1398 }
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1399
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1400 compass_solve_calibration(&g);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1401
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1402 tfull32 dataBlock[4];
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1403 dataBlock[0].Word16.low16 = compass_CX_f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1404 dataBlock[0].Word16.hi16 = compass_CY_f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1405 dataBlock[1].Word16.low16 = compass_CZ_f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1406 dataBlock[1].Word16.hi16 = 0xFFFF;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1407 dataBlock[2].Full32 = 0x7FFFFFFF;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1408 dataBlock[3].Full32 = 0x7FFFFFFF;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1409 BFA_writeDataBlock((uint32_t *)dataBlock);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1410
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1411 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1412 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1413