Mercurial > public > ostc4
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 |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file compass.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 27-March-2014 | |
| 6 * @version V0.2.0 | |
| 7 * @since 21-April-2016 | |
| 8 * @brief for Honeywell Compass and ST LSM303D | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 V0.1.0 09-March-2016 | |
| 15 V0.2.0 21-April-2016 Orientation fixed for LSM303D, | |
| 16 roll and pitch added to calibration output, | |
| 17 orientation double checked with datasheets and layout | |
| 18 as well as with value output during calibration | |
| 19 V0.2.1 19-May-2016 New date rate config and full-scale selection | |
| 20 | |
| 21 @endverbatim | |
| 22 ****************************************************************************** | |
| 23 * @attention | |
| 24 * | |
| 25 * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> | |
| 26 * | |
| 27 ****************************************************************************** | |
| 28 */ | |
| 29 | |
| 30 #include <math.h> | |
| 31 #include <string.h> | |
| 32 | |
| 33 #include "compass.h" | |
| 34 #include "compass_LSM303D.h" | |
| 35 | |
| 36 #include "i2c.h" | |
| 219 | 37 #include "spi.h" |
| 38 | 38 #include "RTE_FlashAccess.h" // to store compass_calib_data |
| 39 | |
| 40 #include "stm32f4xx_hal.h" | |
| 41 | |
| 42 /// split byte to bits | |
| 43 typedef struct{ | |
| 44 uint8_t bit0:1; ///< split byte to bits | |
| 45 uint8_t bit1:1; ///< split byte to bits | |
| 46 uint8_t bit2:1; ///< split byte to bits | |
| 47 uint8_t bit3:1; ///< split byte to bits | |
| 48 uint8_t bit4:1; ///< split byte to bits | |
| 49 uint8_t bit5:1; ///< split byte to bits | |
| 50 uint8_t bit6:1; ///< split byte to bits | |
| 51 uint8_t bit7:1; ///< split byte to bits | |
| 52 } ubit8_t; | |
| 53 | |
| 54 | |
| 55 /// split byte to bits | |
| 56 typedef union{ | |
| 57 ubit8_t ub; ///< split byte to bits | |
| 58 uint8_t uw; ///< split byte to bits | |
| 59 } bit8_Type; | |
| 60 | |
| 61 | |
| 62 /// split word to 2 bytes | |
| 63 typedef struct{ | |
| 64 uint8_t low; ///< split word to 2 bytes | |
| 65 uint8_t hi; ///< split word to 2 bytes | |
| 66 } two_byte; | |
| 67 | |
| 68 | |
| 69 /// split word to 2 bytes | |
| 70 typedef union{ | |
| 71 two_byte Byte; ///< split word to 2 bytes | |
| 72 uint16_t Word; ///< split word to 2 bytes | |
| 73 } tword; | |
| 74 | |
| 75 | |
| 76 /// split signed word to 2 bytes | |
| 77 typedef union{ | |
| 78 two_byte Byte; ///< split signed word to 2 bytes | |
| 79 int16_t Word; ///< split signed word to 2 bytes | |
| 80 } signed_tword; | |
| 81 | |
| 82 | |
| 83 /// split full32 to 2 words | |
| 84 typedef struct{ | |
| 85 uint16_t low16; ///< split word to 2 bytes | |
| 86 uint16_t hi16; ///< split word to 2 bytes | |
| 87 } two_word; | |
| 88 | |
| 89 typedef union{ | |
| 90 two_word Word16; ///< split word to 2 bytes | |
| 91 uint32_t Full32; ///< split word to 2 bytes | |
| 92 } tfull32; | |
| 93 | |
| 94 | |
| 95 /// crazy compass calibration stuff | |
| 96 typedef struct | |
| 97 { | |
| 98 unsigned short int compass_N; | |
| 99 float Su, Sv, Sw; | |
| 100 float Suu, Svv, Sww, Suv, Suw, Svw; | |
| 101 float Suuu, Svvv, Swww; | |
| 102 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
| 103 } SCompassCalib; | |
| 104 | |
| 105 | |
| 106 #define Q_PI (18000) | |
| 107 #define Q_PIO2 (9000) | |
| 108 | |
| 109 | |
| 110 | |
| 111 ////////////////////////////////////////////////////////////////////////////// | |
| 112 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
| 113 // | |
| 114 #define K1 (5701) // Needs K1/2**16 | |
| 115 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
| 116 #define K3 ( 446) // Needs K3/2**80 | |
| 117 | |
| 118 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
| 119 | |
| 120 typedef short int Int16; | |
| 121 typedef signed char Int8; | |
| 122 typedef Int16 Angle; | |
| 123 | |
| 124 | |
| 125 /// The (filtered) components of the magnetometer sensor | |
| 126 int16_t compass_DX_f; ///< output from sensor | |
| 127 int16_t compass_DY_f; ///< output from sensor | |
| 128 int16_t compass_DZ_f; ///< output from sensor | |
| 129 | |
| 130 | |
| 131 /// Found soft-iron calibration values, deduced from already filtered values | |
| 132 int16_t compass_CX_f; ///< calibration value | |
| 133 int16_t compass_CY_f; ///< calibration value | |
| 134 int16_t compass_CZ_f; ///< calibration value | |
| 135 | |
| 136 | |
| 137 /// The (filtered) components of the accelerometer sensor | |
| 138 int16_t accel_DX_f; ///< output from sensor | |
| 139 int16_t accel_DY_f; ///< output from sensor | |
| 140 int16_t accel_DZ_f; ///< output from sensor | |
| 141 | |
| 142 | |
| 143 /// The compass result values | |
| 144 float compass_heading; ///< the final result calculated in compass_calc() | |
| 145 float compass_roll; ///< the final result calculated in compass_calc() | |
| 146 float compass_pitch; ///< the final result calculated in compass_calc() | |
| 147 | |
| 148 | |
| 149 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
| 150 | |
| 357 | 151 uint8_t hardwareCompass = 0; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0) |
| 38 | 152 |
| 153 /// LSM303D variables | |
| 154 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 155 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 156 | |
| 157 | |
| 158 // struct accel_scale _accel_scale; | |
| 159 unsigned _accel_range_m_s2; | |
| 160 float _accel_range_scale; | |
| 161 unsigned _accel_samplerate; | |
| 162 unsigned _accel_onchip_filter_bandwith; | |
| 163 | |
| 164 // struct mag_scale _mag_scale; | |
| 165 unsigned _mag_range_ga; | |
| 166 float _mag_range_scale; | |
| 167 unsigned _mag_samplerate; | |
| 168 | |
| 169 // default scale factors | |
| 170 float _accel_scale_x_offset = 0.0f; | |
| 171 float _accel_scale_x_scale = 1.0f; | |
| 172 float _accel_scale_y_offset = 0.0f; | |
| 173 float _accel_scale_y_scale = 1.0f; | |
| 174 float _accel_scale_z_offset = 0.0f; | |
| 175 float _accel_scale_z_scale = 1.0f; | |
| 176 | |
| 177 float _mag_scale_x_offset = 0.0f; | |
| 178 float _mag_scale_x_scale = 1.0f; | |
| 179 float _mag_scale_y_offset = 0.0f; | |
| 180 float _mag_scale_y_scale = 1.0f; | |
| 181 float _mag_scale_z_offset = 0.0f; | |
| 182 float _mag_scale_z_scale = 1.0f; | |
| 183 | |
| 184 | |
| 185 /* External function prototypes ----------------------------------------------*/ | |
| 186 | |
| 187 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 188 | |
| 189 /* Private function prototypes -----------------------------------------------*/ | |
| 190 | |
| 191 void compass_reset_calibration(SCompassCalib *g); | |
| 192 void compass_add_calibration(SCompassCalib *g); | |
| 193 void compass_solve_calibration(SCompassCalib *g); | |
| 194 | |
| 195 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
| 196 void compass_sleep_HMC5883L(void); | |
| 197 void compass_read_HMC5883L(void); | |
| 198 | |
| 199 void accelerator_init_MMA8452Q(void); | |
| 200 void accelerator_sleep_MMA8452Q(void); | |
| 201 void acceleration_read_MMA8452Q(void); | |
| 202 | |
| 203 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
| 204 void compass_sleep_LSM303D(void); | |
| 205 void compass_read_LSM303D(void); | |
| 206 void acceleration_read_LSM303D(void); | |
| 207 | |
| 357 | 208 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain); |
| 209 void compass_sleep_LSM303AGR(void); | |
| 210 void compass_read_LSM303AGR(void); | |
| 211 void acceleration_read_LSM303AGR(void); | |
| 212 | |
| 38 | 213 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); |
| 214 int compass_calib_common(void); | |
| 215 | |
| 216 void compass_calc_roll_pitch_only(void); | |
| 217 | |
| 218 void rotate_mag_3f(float *x, float *y, float *z); | |
| 219 void rotate_accel_3f(float *x, float *y, float *z); | |
| 220 | |
| 221 | |
| 222 /* Exported functions --------------------------------------------------------*/ | |
| 223 | |
| 224 | |
| 225 // =============================================================================== | |
| 226 // compass_init | |
| 227 /// @brief This might be called several times with different gain values during calibration | |
| 228 /// On first call it figures out which hardware is integrated | |
| 229 /// | |
| 230 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
| 231 // =============================================================================== | |
| 232 | |
| 233 void compass_init(uint8_t fast, uint8_t gain) | |
| 234 { | |
| 235 | |
| 236 // don't call again with fast, gain in calib mode etc. | |
| 237 // if unknown | |
| 238 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
| 239 { | |
| 240 return; | |
| 241 } | |
| 242 | |
| 243 // old code but without else | |
| 244 if(hardwareCompass == 0) | |
| 245 { | |
| 246 uint8_t data = WHO_AM_I; | |
| 247 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 248 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 249 if(data == WHOIAM_VALUE_LSM303D) |
| 250 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 251 data = WHO_AM_I; |
| 252 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 253 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 254 if(data == WHOIAM_VALUE_LSM303AGR) |
| 255 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 256 } |
| 257 | |
| 180 | 258 /* No compass identified => Retry */ |
| 38 | 259 if(hardwareCompass == 0) |
| 260 { | |
| 261 uint8_t data = WHO_AM_I; | |
| 262 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 263 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 264 if(data == WHOIAM_VALUE_LSM303D) |
| 265 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 266 data = WHO_AM_I; |
| 267 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 268 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 269 if(data == WHOIAM_VALUE_LSM303AGR) |
| 270 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 271 } |
| 70 | 272 |
| 180 | 273 /* Assume that a HMC5883L is equipped by default if detection still failed */ |
| 38 | 274 if(hardwareCompass == 0) |
| 357 | 275 hardwareCompass = compass_generation1; //HMC5883L; |
| 38 | 276 |
| 277 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
| 278 | |
| 358 | 279 // test if both chips of the two-chip solution (gen 1) are present |
| 357 | 280 if(hardwareCompass == compass_generation1) // HMC5883L) |
| 38 | 281 { |
| 358 | 282 HAL_Delay(10); |
| 283 MX_I2C1_Init(); | |
| 38 | 284 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q |
| 285 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
| 286 if(resultOfOperationHMC_MMA == HAL_OK) | |
| 287 { | |
| 357 | 288 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it |
| 38 | 289 } |
| 290 else | |
| 291 { | |
| 292 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
| 293 } | |
| 294 } | |
| 295 | |
| 357 | 296 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 297 compass_init_LSM303D(fast, gain); |
| 357 | 298 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 299 compass_init_LSM303AGR(fast, gain); | |
| 300 if(hardwareCompass == compass_generation1) //HMC5883L) | |
| 38 | 301 compass_init_HMC5883L(fast, gain); |
| 302 | |
| 357 | 303 tfull32 dataBlock[4]; |
| 304 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK) | |
| 38 | 305 { |
| 306 compass_CX_f = dataBlock[0].Word16.low16; | |
| 307 compass_CY_f = dataBlock[0].Word16.hi16; | |
| 308 compass_CZ_f = dataBlock[1].Word16.low16; | |
| 309 } | |
| 310 | |
| 311 } | |
| 312 | |
| 313 | |
| 314 // =============================================================================== | |
| 315 // compass_calib | |
| 316 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
| 317 // =============================================================================== | |
| 318 int compass_calib(void) | |
| 319 { | |
| 357 | 320 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 321 { |
| 322 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
| 323 int out = compass_calib_common(); | |
| 324 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
| 325 return out; | |
| 326 } | |
| 327 else | |
| 357 | 328 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 329 { | |
| 330 return compass_calib_common(); | |
| 331 } | |
| 332 else | |
| 333 if(hardwareCompass == compass_generation3) //LSM303AGR) | |
| 38 | 334 { |
| 335 return compass_calib_common(); | |
| 336 } | |
| 337 else | |
| 338 { | |
| 339 return 0; // standard answer of compass_calib_common(); | |
| 340 } | |
| 341 | |
| 342 | |
| 343 } | |
| 344 | |
| 345 | |
| 346 // =============================================================================== | |
| 347 // compass_sleep | |
| 348 /// @brief low power mode | |
| 349 // =============================================================================== | |
| 350 void compass_sleep(void) | |
| 351 { | |
| 357 | 352 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 353 { |
| 354 compass_sleep_LSM303D(); | |
| 355 } | |
| 356 else | |
| 357 | 357 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 358 { |
| 359 compass_sleep_HMC5883L(); | |
| 360 } | |
| 361 } | |
| 362 | |
| 363 | |
| 364 // =============================================================================== | |
| 365 // compass_read | |
| 366 /// @brief reads magnetometer and accelerometer for LSM303D, | |
| 367 /// otherwise magnetometer only | |
| 368 // =============================================================================== | |
| 369 void compass_read(void) | |
| 370 { | |
| 357 | 371 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 372 compass_read_LSM303D(); |
| 357 | 373 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 374 compass_read_HMC5883L(); |
| 357 | 375 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 376 compass_read_LSM303AGR(); | |
| 377 | |
| 38 | 378 } |
| 379 | |
| 380 | |
| 381 // =============================================================================== | |
| 382 // accelerator_init | |
| 383 /// @brief empty for for LSM303D | |
| 384 // =============================================================================== | |
| 385 void accelerator_init(void) | |
| 386 { | |
| 357 | 387 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 388 accelerator_init_MMA8452Q(); |
| 389 } | |
| 390 | |
| 391 | |
| 392 // =============================================================================== | |
| 393 // accelerator_sleep | |
| 394 /// @brief empty for for LSM303D | |
| 395 // =============================================================================== | |
| 396 void accelerator_sleep(void) | |
| 397 { | |
| 357 | 398 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 399 accelerator_sleep_MMA8452Q(); |
| 400 } | |
| 401 | |
| 402 | |
| 403 // =============================================================================== | |
| 404 // acceleration_read | |
| 405 /// @brief empty for for LSM303D | |
| 406 // =============================================================================== | |
| 407 void acceleration_read(void) | |
| 408 { | |
| 357 | 409 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 410 acceleration_read_LSM303D(); |
| 357 | 411 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 412 acceleration_read_MMA8452Q(); |
| 357 | 413 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 414 acceleration_read_LSM303AGR(); | |
| 38 | 415 } |
| 416 | |
| 417 | |
| 418 /* Private functions ---------------------------------------------------------*/ | |
| 419 | |
| 420 // =============================================================================== | |
| 357 | 421 // LSM303AGR_read_reg |
| 422 // =============================================================================== | |
| 423 uint8_t LSM303AGR_read_reg(uint8_t addr) | |
| 424 { | |
| 425 uint8_t data; | |
| 426 | |
| 427 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1); | |
| 428 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1); | |
| 429 return data; | |
| 430 } | |
| 431 | |
| 432 | |
| 433 // =============================================================================== | |
| 434 // LSM303AGR_write_reg | |
| 435 // =============================================================================== | |
| 436 void LSM303AGR_write_reg(uint8_t addr, uint8_t value) | |
| 437 { | |
| 438 uint8_t data[2]; | |
| 439 | |
| 440 data[0] = addr; | |
| 441 data[1] = value; | |
| 442 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2); | |
| 443 } | |
| 444 | |
| 445 // =============================================================================== | |
| 446 // LSM303AGR_acc_write_reg | |
| 447 // =============================================================================== | |
| 448 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value) | |
| 449 { | |
| 450 uint8_t data[2]; | |
| 451 | |
| 452 data[0] = addr; | |
| 453 data[1] = value; | |
| 454 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2); | |
| 455 } | |
| 456 | |
| 457 | |
| 458 // =============================================================================== | |
| 459 // LSM303AGR_write_checked_reg | |
| 460 // =============================================================================== | |
| 461 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value) | |
| 462 { | |
| 463 LSM303AGR_write_reg(addr, value); | |
| 464 } | |
| 465 | |
| 466 // =============================================================================== | |
| 467 // LSM303AGR_acc_write_checked_reg | |
| 468 // =============================================================================== | |
| 469 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value) | |
| 470 { | |
| 471 LSM303AGR_acc_write_reg(addr, value); | |
| 472 } | |
| 473 | |
| 474 // =============================================================================== | |
| 38 | 475 // LSM303D_read_reg |
| 476 // =============================================================================== | |
| 477 uint8_t LSM303D_read_reg(uint8_t addr) | |
| 478 { | |
| 479 uint8_t data; | |
| 480 | |
| 481 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
| 482 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 483 return data; | |
| 484 } | |
| 485 | |
| 486 | |
| 487 // =============================================================================== | |
| 488 // LSM303D_write_reg | |
| 489 // =============================================================================== | |
| 490 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
| 491 { | |
| 492 uint8_t data[2]; | |
| 493 | |
| 494 /* enable accel*/ | |
| 495 data[0] = addr; | |
| 496 data[1] = value; | |
| 497 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 498 } | |
| 499 | |
| 500 | |
| 501 // =============================================================================== | |
| 502 // LSM303D_write_checked_reg | |
| 503 // =============================================================================== | |
| 504 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
| 505 { | |
| 506 LSM303D_write_reg(addr, value); | |
| 507 } | |
| 508 | |
| 509 | |
| 510 // =============================================================================== | |
| 511 // LSM303D_modify_reg | |
| 512 // =============================================================================== | |
| 513 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
| 514 { | |
| 515 uint8_t val; | |
| 516 | |
| 517 val = LSM303D_read_reg(reg); | |
| 518 val &= ~clearbits; | |
| 519 val |= setbits; | |
| 520 LSM303D_write_checked_reg(reg, val); | |
| 521 } | |
| 522 | |
| 523 // =============================================================================== | |
| 524 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
| 525 // =============================================================================== | |
| 526 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
| 527 { | |
| 528 uint8_t setbits = 0; | |
| 529 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
| 530 | |
| 531 if (bandwidth == 0) { | |
| 532 bandwidth = 773; | |
| 533 } | |
| 534 | |
| 535 if (bandwidth <= 50) { | |
| 536 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
| 537 _accel_onchip_filter_bandwith = 50; | |
| 538 | |
| 539 } else if (bandwidth <= 194) { | |
| 540 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
| 541 _accel_onchip_filter_bandwith = 194; | |
| 542 | |
| 543 } else if (bandwidth <= 362) { | |
| 544 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
| 545 _accel_onchip_filter_bandwith = 362; | |
| 546 | |
| 547 } else if (bandwidth <= 773) { | |
| 548 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
| 549 _accel_onchip_filter_bandwith = 773; | |
| 550 | |
| 551 } else { | |
| 552 return -1; | |
| 553 } | |
| 554 | |
| 555 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
| 556 | |
| 557 return 0; | |
| 558 } | |
| 559 | |
| 560 | |
| 561 // =============================================================================== | |
| 562 // LSM303D_accel_set_driver_lowpass_filter | |
| 563 // =============================================================================== | |
| 564 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
| 565 { | |
| 566 /* | |
| 567 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
| 568 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
| 569 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
| 570 */ | |
| 571 return 0; | |
| 572 } | |
| 573 | |
| 574 | |
| 575 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
| 576 // =============================================================================== | |
| 577 // rotate_mag_3f | |
| 578 /// @brief swap axis in convient way, by hw | |
| 579 /// @param *x raw input is set to *y input | |
| 580 /// @param *y raw input is set to -*x input | |
| 581 /// @param *z raw is not touched | |
| 582 // =============================================================================== | |
| 583 void rotate_mag_3f(float *x, float *y, float *z) | |
| 584 { | |
| 585 return; | |
| 586 /* | |
| 587 *x = *x; // HMC: *x = -*y | |
| 588 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
| 589 *z = *z; // HMC: *z = *z | |
| 590 */ | |
| 591 } | |
| 592 | |
| 593 | |
| 594 // =============================================================================== | |
| 595 // rotate_accel_3f | |
| 596 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
| 597 /// @param *x raw input, output is with sign change | |
| 598 /// @param *y raw input, output is with sign change | |
| 599 /// @param *z raw input, output is with sign change | |
| 600 // =============================================================================== | |
| 601 void rotate_accel_3f(float *x, float *y, float *z) | |
| 602 { | |
| 603 *x = -*x; | |
| 604 *y = -*y; | |
| 605 *z = -*z; | |
| 606 /* tested: | |
| 607 x = x, y =-y, z=-z: does not work with roll | |
| 608 x = x, y =y, z=-z: does not work with pitch | |
| 609 x = x, y =y, z=z: does not work at all | |
| 610 */ | |
| 611 } | |
| 612 | |
| 613 | |
| 614 // =============================================================================== | |
| 357 | 615 // compass_init_LSM303D |
| 38 | 616 /// This might be called several times with different gain values during calibration |
| 617 /// but gain change is not supported at the moment. | |
| 618 /// | |
| 619 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 620 // =============================================================================== | |
| 621 | |
| 622 //uint8_t testCompassLS303D[11]; | |
| 623 | |
| 624 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
| 625 { | |
| 626 if(fast == 0) | |
| 627 { | |
| 628 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 629 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
| 630 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 631 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 632 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 633 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
| 634 } | |
| 635 else | |
| 636 { | |
| 637 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 638 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
| 639 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 640 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 641 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 642 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
| 643 } | |
| 644 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
| 645 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
| 646 | |
| 647 return; | |
| 648 } | |
| 649 | |
| 650 | |
| 651 // =============================================================================== | |
| 652 // compass_sleep_LSM303D | |
| 357 | 653 // @brief Gen 2 chip |
| 38 | 654 // =============================================================================== |
| 655 void compass_sleep_LSM303D(void) | |
| 656 { | |
| 657 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
| 658 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
| 659 } | |
| 660 | |
| 661 | |
| 662 // =============================================================================== | |
| 663 // acceleration_read_LSM303D | |
| 357 | 664 // output is accel_DX_f, accel_DY_f, accel_DZ_f |
| 38 | 665 // =============================================================================== |
| 666 void acceleration_read_LSM303D(void) | |
| 667 { | |
| 668 uint8_t data; | |
| 669 float xraw_f, yraw_f, zraw_f; | |
| 670 float accel_report_x, accel_report_y, accel_report_z; | |
| 671 | |
| 672 memset(accDataBuffer,0,6); | |
| 673 | |
| 674 accel_DX_f = 0; | |
| 675 accel_DY_f = 0; | |
| 676 accel_DZ_f = 0; | |
| 677 | |
| 678 for(int i=0;i<6;i++) | |
| 679 { | |
| 680 data = ADDR_OUT_X_L_A + i; | |
| 681 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 682 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
| 683 } | |
| 684 | |
| 685 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 686 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 687 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 688 | |
| 689 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 690 | |
| 691 // mh | |
| 692 accel_report_x = xraw_f; | |
| 693 accel_report_y = yraw_f; | |
| 694 accel_report_z = zraw_f; | |
| 695 | |
| 696 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 697 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 698 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 699 } | |
| 700 | |
| 701 | |
| 702 // =============================================================================== | |
| 703 // compass_read_LSM303D | |
| 704 /// | |
| 705 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 706 // =============================================================================== | |
| 707 void compass_read_LSM303D(void) | |
| 708 { | |
| 709 uint8_t data; | |
| 710 // float xraw_f, yraw_f, zraw_f; | |
| 711 // float mag_report_x, mag_report_y, mag_report_z; | |
| 712 | |
| 713 memset(magDataBuffer,0,6); | |
| 714 | |
| 715 compass_DX_f = 0; | |
| 716 compass_DY_f = 0; | |
| 717 compass_DZ_f = 0; | |
| 718 | |
| 719 for(int i=0;i<6;i++) | |
| 720 { | |
| 721 data = ADDR_OUT_X_L_M + i; | |
| 722 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 723 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
| 724 } | |
| 725 | |
| 726 // mh 160620 flip x and y if flip display | |
| 727 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 728 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 729 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 730 // no rotation | |
| 731 return; | |
| 357 | 732 } |
| 733 | |
| 734 | |
| 735 // =============================================================================== | |
| 736 // compass_init_LSM303AGR | |
| 737 /// This might be called several times with different gain values during calibration | |
| 738 /// but gain change is not supported at the moment. | |
| 739 /// | |
| 740 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 741 // =============================================================================== | |
| 38 | 742 |
| 357 | 743 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain) |
| 744 { | |
| 745 if(fast == 0) | |
| 746 { | |
| 358 | 747 // init compass |
| 357 | 748 LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz |
| 749 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M | |
| 750 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 751 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 752 | |
| 753 // init accel (Same chip, but different address...) | |
| 754 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 755 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 756 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 757 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 758 LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 759 } |
| 760 else | |
| 761 { | |
| 358 | 762 // init compass |
| 763 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz | |
| 357 | 764 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M |
| 765 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 766 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 767 | |
| 768 // init accel (Same chip, but different address...) | |
| 769 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 770 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 771 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 772 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 773 LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 774 } |
| 775 | |
| 776 return; | |
| 777 } | |
| 778 | |
| 779 | |
| 780 // =============================================================================== | |
| 781 // compass_sleep_LSM303D | |
| 782 // @brief Gen 2 chip | |
| 783 // =============================================================================== | |
| 784 void compass_sleep_LSM303AGR(void) | |
| 785 { | |
| 786 LSM303AGR_write_checked_reg(0x60, 0x03); // | |
| 787 LSM303AGR_write_checked_reg(0x61, 0x04); // | |
| 788 LSM303AGR_write_checked_reg(0x62, 0x51); // | |
| 789 LSM303AGR_write_checked_reg(0x63, 0x00); // | |
| 790 | |
| 791 | |
| 792 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // | |
| 793 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // | |
| 794 } | |
| 795 | |
| 38 | 796 |
| 357 | 797 // =============================================================================== |
| 798 // acceleration_read_LSM303AGR | |
| 799 // output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 800 // =============================================================================== | |
| 801 void acceleration_read_LSM303AGR(void) | |
| 802 { | |
| 803 uint8_t data; | |
| 804 float xraw_f, yraw_f, zraw_f; | |
| 805 float accel_report_x, accel_report_y, accel_report_z; | |
| 806 | |
| 807 memset(accDataBuffer,0,6); | |
| 808 | |
| 809 accel_DX_f = 0; | |
| 810 accel_DY_f = 0; | |
| 811 accel_DZ_f = 0; | |
| 812 | |
| 813 for(int i=0;i<6;i++) | |
| 814 { | |
| 358 | 815 data = 0x28 + i; // OUT_X_L_A |
| 357 | 816 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); |
| 817 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1); | |
| 818 } | |
| 819 | |
| 820 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 821 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 822 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 823 | |
| 824 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 825 | |
| 826 // mh | |
| 827 accel_report_x = xraw_f; | |
| 828 accel_report_y = yraw_f; | |
| 358 | 829 accel_report_z = -zraw_f; // flip Z in gen 2 hardware |
| 357 | 830 |
| 831 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 832 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 833 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 834 } | |
| 835 | |
| 836 | |
| 837 // =============================================================================== | |
| 838 // compass_read_LSM303AGR | |
| 839 /// | |
| 840 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 841 // =============================================================================== | |
| 842 void compass_read_LSM303AGR(void) | |
| 843 { | |
| 844 uint8_t data; | |
| 845 // float xraw_f, yraw_f, zraw_f; | |
| 846 // float mag_report_x, mag_report_y, mag_report_z; | |
| 847 | |
| 848 memset(magDataBuffer,0,6); | |
| 849 | |
| 850 compass_DX_f = 0; | |
| 851 compass_DY_f = 0; | |
| 852 compass_DZ_f = 0; | |
| 853 | |
| 854 for(int i=0;i<6;i++) | |
| 855 { | |
| 856 data = 0x68 + i; // OUTX_L_REG_M | |
| 857 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1); | |
| 858 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1); | |
| 859 } | |
| 860 | |
| 861 // mh 160620 flip x and y if flip display | |
| 862 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 863 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 864 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 358 | 865 |
| 866 // align axis in gen 2 hardware | |
| 867 compass_DZ_f *= -1; | |
| 868 | |
| 357 | 869 return; |
| 38 | 870 } |
| 871 | |
| 872 | |
| 873 // -------------------------------------------------------------------------------- | |
| 874 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
| 875 // -------------------------------------------------------------------------------- | |
| 876 | |
| 877 // =============================================================================== | |
| 878 // compass_init_HMC5883L | |
| 879 /// @brief The horrible Honeywell compass chip | |
| 880 /// This might be called several times during calibration | |
| 881 /// | |
| 882 /// @param fast: 1 is fast mode, 0 is normal mode | |
| 883 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 884 // =============================================================================== | |
| 885 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
| 886 { | |
| 887 uint8_t write_buffer[4]; | |
| 888 | |
| 889 compass_gain = gain; | |
| 890 uint16_t length = 0; | |
| 891 write_buffer[0] = 0x00; // 00 = config Register A | |
| 892 | |
| 893 if( fast ) | |
| 894 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
| 895 else | |
| 896 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
| 897 | |
| 898 switch(gain) | |
| 899 { | |
| 900 case 7: | |
| 901 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
| 902 break; | |
| 903 case 6: | |
| 904 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
| 905 break; | |
| 906 case 5: | |
| 907 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
| 908 break; | |
| 909 case 4: | |
| 910 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
| 911 break; | |
| 912 case 3: | |
| 913 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
| 914 break; | |
| 915 case 2: | |
| 916 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
| 917 break; | |
| 918 case 1: | |
| 919 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
| 920 break; | |
| 921 case 0: | |
| 922 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
| 923 break; | |
| 924 } | |
| 925 write_buffer[3] = 0x00; // Mode: continuous mode | |
| 926 length = 4; | |
| 927 //hmc_twi_write(0); | |
| 928 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 929 } | |
| 930 | |
| 931 | |
| 932 | |
| 933 // =============================================================================== | |
| 934 // compass_sleep_HMC5883L | |
| 935 /// @brief Power-down mode for Honeywell compass chip | |
| 936 // =============================================================================== | |
| 937 void compass_sleep_HMC5883L(void) | |
| 938 { | |
| 939 uint8_t write_buffer[4]; | |
| 940 uint16_t length = 0; | |
| 941 | |
| 942 write_buffer[0] = 0x00; // 00 = config Register A | |
| 943 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
| 944 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
| 945 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
| 946 length = 4; | |
| 947 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 948 } | |
| 949 | |
| 950 | |
| 951 // =============================================================================== | |
| 952 // accelerator_init_MMA8452Q | |
| 953 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
| 954 // =============================================================================== | |
| 955 void accelerator_init_MMA8452Q(void) | |
| 956 { | |
| 957 uint8_t write_buffer[4]; | |
| 958 uint16_t length = 0; | |
| 959 //HAL_Delay(1); | |
| 960 //return; | |
| 961 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
| 962 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
| 963 length = 2; | |
| 964 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 965 //HAL_Delay(1); | |
| 966 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 967 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
| 968 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
| 969 length = 3; | |
| 970 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 971 | |
| 972 //HAL_Delay(1); | |
| 973 //hw_delay_us(100); | |
| 974 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 975 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
| 976 length = 2; | |
| 977 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 978 /* | |
| 979 HAL_Delay(6); | |
| 980 compass_read(); | |
| 981 HAL_Delay(1); | |
| 982 acceleration_read(); | |
| 983 | |
| 984 compass_calc(); | |
| 985 */ | |
| 986 } | |
| 987 | |
| 988 | |
| 989 // =============================================================================== | |
| 990 // accelerator_sleep_MMA8452Q | |
| 991 /// @brief compass_sleep_HMC5883L | |
| 992 // =============================================================================== | |
| 993 void accelerator_sleep_MMA8452Q(void) | |
| 994 { | |
| 995 uint16_t length = 0; | |
| 996 uint8_t write_buffer[4]; | |
| 997 | |
| 998 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 999 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
| 1000 length = 2; | |
| 1001 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 1002 } | |
| 1003 | |
| 1004 | |
| 1005 // =============================================================================== | |
| 1006 // compass_read_HMC5883L | |
| 1007 /// @brief The new ST 303D - get ALL data and store in static variables | |
| 1008 /// | |
| 1009 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1010 // =============================================================================== | |
| 1011 void compass_read_HMC5883L(void) | |
| 1012 { | |
| 1013 uint8_t buffer[20]; | |
| 1014 compass_DX_f = 0; | |
| 1015 compass_DY_f = 0; | |
| 1016 compass_DZ_f = 0; | |
| 1017 uint8_t length = 0; | |
| 1018 uint8_t read_buffer[6]; | |
| 1019 signed_tword data; | |
| 1020 for(int i = 0; i<6;i++) | |
| 1021 read_buffer[i] = 0; | |
| 1022 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
| 1023 length = 1; | |
| 1024 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
| 1025 length = 6; | |
| 1026 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
| 1027 | |
| 1028 | |
| 1029 data.Byte.hi = read_buffer[0]; | |
| 1030 data.Byte.low = read_buffer[1]; | |
| 1031 //Y = Z | |
| 1032 compass_DY_f = - data.Word; | |
| 1033 | |
| 1034 data.Byte.hi = read_buffer[2]; | |
| 1035 data.Byte.low = read_buffer[3]; | |
| 1036 compass_DZ_f = data.Word; | |
| 1037 | |
| 1038 data.Byte.hi = read_buffer[4]; | |
| 1039 data.Byte.low = read_buffer[5]; | |
| 1040 //X = -Y | |
| 1041 compass_DX_f = data.Word; | |
| 1042 } | |
| 1043 | |
| 1044 | |
| 1045 // =============================================================================== | |
| 1046 // acceleration_read_MMA8452Q | |
| 1047 /// @brief The old MMA8452Q used with the Honeywell compass | |
| 1048 /// get the acceleration data and store in static variables | |
| 1049 /// | |
| 1050 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1051 // =============================================================================== | |
| 1052 void acceleration_read_MMA8452Q(void) | |
| 1053 { | |
| 1054 uint8_t buffer[20]; | |
| 1055 accel_DX_f = 0; | |
| 1056 accel_DY_f = 0; | |
| 1057 accel_DZ_f = 0; | |
| 1058 uint8_t length = 0; | |
| 1059 // bit8_Type status ; | |
| 1060 uint8_t read_buffer[7]; | |
| 1061 signed_tword data; | |
| 1062 for(int i = 0; i<6;i++) | |
| 1063 read_buffer[i] = 0; | |
| 1064 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
| 1065 length = 1; | |
| 1066 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
| 1067 length = 7; | |
| 1068 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
| 1069 | |
| 1070 // status.uw = read_buffer[0]; | |
| 1071 data.Byte.hi = read_buffer[1]; | |
| 1072 data.Byte.low = read_buffer[2]; | |
| 1073 accel_DX_f =data.Word/16; | |
| 1074 data.Byte.hi = read_buffer[3]; | |
| 1075 data.Byte.low = read_buffer[4]; | |
| 1076 accel_DY_f =data.Word/16; | |
| 1077 data.Byte.hi = read_buffer[5]; | |
| 1078 data.Byte.low = read_buffer[6]; | |
| 1079 accel_DZ_f =data.Word/16; | |
| 1080 | |
| 1081 accel_DX_f *= -1; | |
| 1082 accel_DY_f *= -1; | |
| 1083 accel_DZ_f *= -1; | |
| 1084 } | |
| 1085 | |
| 1086 | |
| 1087 // =============================================================================== | |
| 1088 // compass_calc_roll_pitch_only | |
| 1089 /// @brief only the roll and pitch parts of compass_calc() | |
| 1090 /// | |
| 1091 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1092 /// output is compass_pitch and compass_roll | |
| 1093 // =============================================================================== | |
| 1094 void compass_calc_roll_pitch_only(void) | |
| 1095 { | |
| 1096 float sinPhi, cosPhi; | |
| 1097 float Phi, Teta; | |
| 1098 | |
| 1099 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1100 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1101 compass_roll = Phi * 180.0f /PI; | |
| 1102 sinPhi = sinf(Phi); | |
| 1103 cosPhi = cosf(Phi); | |
| 1104 | |
| 1105 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1106 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1107 compass_pitch = Teta * 180.0f /PI; | |
| 1108 } | |
| 1109 | |
| 1110 | |
| 1111 // =============================================================================== | |
| 1112 // compass_calc | |
| 1113 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1114 /// | |
| 1115 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1116 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1117 /// output is compass_heading, compass_pitch and compass_roll | |
| 1118 // =============================================================================== | |
| 1119 void compass_calc(void) | |
| 1120 { | |
| 1121 float sinPhi, cosPhi, sinTeta, cosTeta; | |
| 1122 float Phi, Teta, Psi; | |
| 1123 int16_t iBfx, iBfy; | |
| 1124 int16_t iBpx, iBpy, iBpz; | |
| 1125 | |
| 1126 //---- Make hard iron correction ----------------------------------------- | |
| 1127 // Measured magnetometer orientation, measured ok. | |
| 1128 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
| 1129 iBpx = compass_DX_f - compass_CX_f; // X | |
| 1130 iBpy = compass_DY_f - compass_CY_f; // Y | |
| 1131 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
| 1132 | |
| 1133 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1134 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
| 1135 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1136 compass_roll = Phi * 180.0f /PI; | |
| 1137 sinPhi = sinf(Phi); | |
| 1138 cosPhi = cosf(Phi); | |
| 1139 | |
| 1140 //---- rotate by roll angle (-Phi) --------------------------------------- | |
| 1141 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
| 1142 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
| 1143 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
| 1144 | |
| 1145 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1146 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
| 1147 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
| 1148 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1149 compass_pitch = Teta * 180.0f /PI; | |
| 1150 sinTeta = sinf(Teta); | |
| 1151 cosTeta = cosf(Teta); | |
| 1152 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
| 1153 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
| 1154 | |
| 1155 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
| 1156 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
| 1157 | |
| 1158 //---- Detect uncalibrated compass --------------------------------------- | |
| 1159 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
| 1160 { | |
| 1161 compass_heading = -1; | |
| 1162 return; | |
| 1163 } | |
| 1164 | |
| 1165 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
| 1166 // Result in degree (no need of 0.01 deg precision... | |
| 1167 Psi = atan2f(-iBfy,iBfx); | |
| 1168 compass_heading = Psi * 180.0f /PI; | |
| 1169 // Result in 0..360 range: | |
| 1170 if( compass_heading < 0 ) | |
| 1171 compass_heading += 360; | |
| 1172 } | |
| 1173 | |
| 1174 | |
| 1175 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1176 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1177 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1178 | |
| 1179 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
| 1180 | |
| 1181 // =============================================================================== | |
| 1182 // compass_reset_calibration | |
| 1183 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1184 /// | |
| 1185 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1186 /// | |
| 1187 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1188 /// all is set to zero here | |
| 1189 // =============================================================================== | |
| 1190 void compass_reset_calibration(SCompassCalib *g) | |
| 1191 { | |
| 1192 g->compass_N = 0; | |
| 1193 g->Su = g->Sv = g->Sw = 0.0; | |
| 1194 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
| 1195 g->Suuu = g->Svvv = g->Swww = 0.0; | |
| 1196 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
| 1197 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
| 1198 } | |
| 1199 | |
| 1200 | |
| 1201 // =============================================================================== | |
| 1202 // compass_add_calibration | |
| 1203 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1204 /// | |
| 1205 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1206 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1207 /// output is struct g | |
| 1208 /// | |
| 1209 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1210 // =============================================================================== | |
| 1211 void compass_add_calibration(SCompassCalib *g) | |
| 1212 { | |
| 1213 float u, v, w; | |
| 1214 | |
| 1215 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
| 1216 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
| 1217 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
| 1218 | |
| 1219 g->compass_N++; | |
| 1220 g->Su += u; | |
| 1221 g->Sv += v; | |
| 1222 g->Sw += w; | |
| 1223 g->Suv += u*v; | |
| 1224 g->Suw += u*w; | |
| 1225 g->Svw += v*w; | |
| 1226 g->Suu += u*u; | |
| 1227 g->Suuu += u*u*u; | |
| 1228 g->Suuv += v*u*u; | |
| 1229 g->Suuw += w*u*u; | |
| 1230 g->Svv += v*v; | |
| 1231 g->Svvv += v*v*v; | |
| 1232 g->Svvu += u*v*v; | |
| 1233 g->Svvw += w*v*v; | |
| 1234 g->Sww += w*w; | |
| 1235 g->Swww += w*w*w; | |
| 1236 g->Swwu += u*w*w; | |
| 1237 g->Swwv += v*w*w; | |
| 1238 } | |
| 1239 | |
| 1240 ////////////////////////////////////////////////////////////////////////////// | |
| 1241 | |
| 1242 // =============================================================================== | |
| 1243 // compass_solve_calibration | |
| 1244 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1245 /// | |
| 1246 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1247 /// output is struct g | |
| 1248 /// | |
| 1249 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1250 // =============================================================================== | |
| 1251 void compass_solve_calibration(SCompassCalib *g) | |
| 1252 { | |
| 1253 float yu, yv, yw; | |
| 1254 float delta; | |
| 1255 float uc, vc, wc; | |
| 1256 | |
| 1257 | |
| 1258 //---- Normalize partial sums -------------------------------------------- | |
| 1259 // | |
| 1260 // u, v, w should be centered on the mean value um, vm, wm: | |
| 1261 // x = u + um, with um = Sx/N | |
| 1262 // | |
| 1263 // So: | |
| 1264 // (u + um)**2 = u**2 + 2u*um + um**2 | |
| 1265 // Su = 0, um = Sx/N | |
| 1266 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
| 1267 // Suu = Sxx - Sx**2/N | |
| 1268 yu = g->Su/g->compass_N; | |
| 1269 yv = g->Sv/g->compass_N; | |
| 1270 yw = g->Sw/g->compass_N; | |
| 1271 | |
| 1272 g->Suu -= g->Su*yu; | |
| 1273 g->Svv -= g->Sv*yv; | |
| 1274 g->Sww -= g->Sw*yw; | |
| 1275 | |
| 1276 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
| 1277 // Sxy = Suv + N * um vm | |
| 1278 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
| 1279 g->Suv -= g->Su*yv; | |
| 1280 g->Suw -= g->Su*yw; | |
| 1281 g->Svw -= g->Sv*yw; | |
| 1282 | |
| 1283 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
| 1284 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
| 1285 // Su = 0, um = Sx/N: | |
| 1286 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
| 1287 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
| 1288 | |
| 1289 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
| 1290 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
| 1291 // | |
| 1292 // Su = 0, Sv = 0, vm = Sy/N: | |
| 1293 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
| 1294 // | |
| 1295 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
| 1296 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
| 1297 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
| 1298 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
| 1299 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
| 1300 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
| 1301 | |
| 1302 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
| 1303 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
| 1304 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
| 1305 | |
| 1306 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
| 1307 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
| 1308 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
| 1309 | |
| 1310 //---- Solve the system -------------------------------------------------- | |
| 1311 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
| 1312 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
| 1313 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
| 1314 // Note this is symetric, with a positiv diagonal, hence | |
| 1315 // it always have a uniq solution. | |
| 1316 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
| 1317 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
| 1318 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
| 1319 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1320 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1321 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
| 1322 | |
| 1323 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1324 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1325 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
| 1326 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
| 1327 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
| 1328 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
| 1329 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
| 1330 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
| 1331 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
| 1332 | |
| 1333 // Back to uncentered coordinates: | |
| 1334 // xc = um + uc | |
| 1335 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
| 1336 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
| 1337 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
| 1338 | |
| 1339 // Then save the new calibrated center: | |
| 1340 compass_CX_f = (short)(32768 * uc); | |
| 1341 compass_CY_f = (short)(32768 * vc); | |
| 1342 compass_CZ_f = (short)(32768 * wc); | |
| 1343 } | |
| 1344 | |
| 1345 | |
| 1346 // =============================================================================== | |
| 1347 // compass_calib | |
| 1348 /// @brief the main loop for calibration | |
| 1349 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1350 /// 160704 removed -4096 limit for LSM303D | |
| 1351 /// | |
| 1352 /// @return always 0 | |
| 1353 // =============================================================================== | |
| 1354 int compass_calib_common(void) | |
| 1355 { | |
| 1356 SCompassCalib g; | |
| 1357 | |
| 1358 // Starts with no calibration at all: | |
| 1359 compass_reset_calibration(&g); | |
| 1360 | |
| 1361 int64_t tickstart = 0; | |
| 1362 uint32_t ticks = 0; | |
| 1363 uint32_t lasttick = 0; | |
| 1364 tickstart = HAL_GetTick(); | |
| 1365 // Eine Minute kalibrieren | |
| 1366 while((ticks) < 60 * 1000) | |
| 1367 { | |
| 1368 compass_read(); | |
| 1369 acceleration_read(); | |
| 1370 compass_calc_roll_pitch_only(); | |
| 1371 | |
| 357 | 1372 if((hardwareCompass == compass_generation1 ) //HMC5883L) |
| 38 | 1373 &&((compass_DX_f == -4096) || |
| 1374 (compass_DY_f == -4096) || | |
| 1375 (compass_DZ_f == -4096) )) | |
| 1376 { | |
| 1377 if(compass_gain == 0) | |
| 1378 return -1; | |
| 1379 compass_gain--; | |
| 1380 | |
| 1381 compass_init(1, compass_gain); | |
| 1382 compass_reset_calibration(&g); | |
| 1383 //tickstart = HAL_GetTick(); | |
| 1384 continue; | |
| 1385 } | |
| 1386 | |
| 1387 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); | |
| 104 | 1388 compass_add_calibration(&g); |
| 38 | 1389 HAL_Delay(1); |
| 1390 lasttick = HAL_GetTick(); | |
| 1391 if(lasttick == 0) | |
| 1392 { | |
| 1393 tickstart = -ticks; | |
| 1394 } | |
| 104 | 1395 HAL_Delay(1); |
| 38 | 1396 ticks = lasttick - tickstart; |
|
147
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Forward compass data during calibration mode
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1397 SPI_Evaluate_RX_Data(); |
| 104 | 1398 } |
| 38 | 1399 |
| 1400 compass_solve_calibration(&g); | |
| 1401 | |
| 1402 tfull32 dataBlock[4]; | |
| 1403 dataBlock[0].Word16.low16 = compass_CX_f; | |
| 1404 dataBlock[0].Word16.hi16 = compass_CY_f; | |
| 1405 dataBlock[1].Word16.low16 = compass_CZ_f; | |
| 1406 dataBlock[1].Word16.hi16 = 0xFFFF; | |
| 1407 dataBlock[2].Full32 = 0x7FFFFFFF; | |
| 1408 dataBlock[3].Full32 = 0x7FFFFFFF; | |
| 1409 BFA_writeDataBlock((uint32_t *)dataBlock); | |
| 1410 | |
| 1411 return 0; | |
| 1412 } | |
| 1413 |