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annotate Small_CPU/Src/compass.c @ 570:701ead8dddab
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| author | Ideenmodellierer |
|---|---|
| date | Mon, 30 Nov 2020 20:55:23 +0100 |
| parents | 84a4e1200726 |
| children | 91a8f9893e68 |
| 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" |
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38 #include "scheduler.h" |
| 38 | 39 #include "RTE_FlashAccess.h" // to store compass_calib_data |
| 40 | |
| 41 #include "stm32f4xx_hal.h" | |
| 42 | |
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43 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
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44 extern SGlobal global; |
| 38 | 45 |
| 46 /// split word to 2 bytes | |
| 47 typedef struct{ | |
| 48 uint8_t low; ///< split word to 2 bytes | |
| 49 uint8_t hi; ///< split word to 2 bytes | |
| 50 } two_byte; | |
| 51 | |
| 52 | |
| 53 /// split word to 2 bytes | |
| 54 typedef union{ | |
| 55 two_byte Byte; ///< split word to 2 bytes | |
| 56 uint16_t Word; ///< split word to 2 bytes | |
| 57 } tword; | |
| 58 | |
| 59 | |
| 60 /// split signed word to 2 bytes | |
| 61 typedef union{ | |
| 62 two_byte Byte; ///< split signed word to 2 bytes | |
| 63 int16_t Word; ///< split signed word to 2 bytes | |
| 64 } signed_tword; | |
| 65 | |
| 66 | |
| 67 /// split full32 to 2 words | |
| 68 typedef struct{ | |
| 69 uint16_t low16; ///< split word to 2 bytes | |
| 70 uint16_t hi16; ///< split word to 2 bytes | |
| 71 } two_word; | |
| 72 | |
| 73 typedef union{ | |
| 74 two_word Word16; ///< split word to 2 bytes | |
| 75 uint32_t Full32; ///< split word to 2 bytes | |
| 76 } tfull32; | |
| 77 | |
| 78 | |
| 79 /// crazy compass calibration stuff | |
| 80 typedef struct | |
| 81 { | |
| 82 unsigned short int compass_N; | |
| 83 float Su, Sv, Sw; | |
| 84 float Suu, Svv, Sww, Suv, Suw, Svw; | |
| 85 float Suuu, Svvv, Swww; | |
| 86 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
| 87 } SCompassCalib; | |
| 88 | |
| 89 | |
| 90 #define Q_PI (18000) | |
| 91 #define Q_PIO2 (9000) | |
| 92 | |
| 93 | |
| 94 | |
| 95 ////////////////////////////////////////////////////////////////////////////// | |
| 96 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
| 97 // | |
| 98 #define K1 (5701) // Needs K1/2**16 | |
| 99 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
| 100 #define K3 ( 446) // Needs K3/2**80 | |
| 101 | |
| 102 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
| 103 | |
| 104 typedef short int Int16; | |
| 105 typedef signed char Int8; | |
| 106 typedef Int16 Angle; | |
| 107 | |
| 108 | |
| 109 /// The (filtered) components of the magnetometer sensor | |
| 110 int16_t compass_DX_f; ///< output from sensor | |
| 111 int16_t compass_DY_f; ///< output from sensor | |
| 112 int16_t compass_DZ_f; ///< output from sensor | |
| 113 | |
| 114 | |
| 115 /// Found soft-iron calibration values, deduced from already filtered values | |
| 116 int16_t compass_CX_f; ///< calibration value | |
| 117 int16_t compass_CY_f; ///< calibration value | |
| 118 int16_t compass_CZ_f; ///< calibration value | |
| 119 | |
| 120 | |
| 121 /// The (filtered) components of the accelerometer sensor | |
| 122 int16_t accel_DX_f; ///< output from sensor | |
| 123 int16_t accel_DY_f; ///< output from sensor | |
| 124 int16_t accel_DZ_f; ///< output from sensor | |
| 125 | |
| 126 | |
| 127 /// The compass result values | |
| 128 float compass_heading; ///< the final result calculated in compass_calc() | |
| 129 float compass_roll; ///< the final result calculated in compass_calc() | |
| 130 float compass_pitch; ///< the final result calculated in compass_calc() | |
| 131 | |
| 132 | |
| 133 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
| 134 | |
| 357 | 135 uint8_t hardwareCompass = 0; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0) |
| 38 | 136 |
| 137 /// LSM303D variables | |
| 138 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 139 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 140 | |
| 141 | |
| 142 // struct accel_scale _accel_scale; | |
| 143 unsigned _accel_range_m_s2; | |
| 144 float _accel_range_scale; | |
| 145 unsigned _accel_samplerate; | |
| 146 unsigned _accel_onchip_filter_bandwith; | |
| 147 | |
| 148 // struct mag_scale _mag_scale; | |
| 149 unsigned _mag_range_ga; | |
| 150 float _mag_range_scale; | |
| 151 unsigned _mag_samplerate; | |
| 152 | |
| 153 // default scale factors | |
| 154 float _accel_scale_x_offset = 0.0f; | |
| 155 float _accel_scale_x_scale = 1.0f; | |
| 156 float _accel_scale_y_offset = 0.0f; | |
| 157 float _accel_scale_y_scale = 1.0f; | |
| 158 float _accel_scale_z_offset = 0.0f; | |
| 159 float _accel_scale_z_scale = 1.0f; | |
| 160 | |
| 161 float _mag_scale_x_offset = 0.0f; | |
| 162 float _mag_scale_x_scale = 1.0f; | |
| 163 float _mag_scale_y_offset = 0.0f; | |
| 164 float _mag_scale_y_scale = 1.0f; | |
| 165 float _mag_scale_z_offset = 0.0f; | |
| 166 float _mag_scale_z_scale = 1.0f; | |
| 167 | |
| 168 | |
| 169 /* External function prototypes ----------------------------------------------*/ | |
| 170 | |
| 171 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 172 | |
| 173 /* Private function prototypes -----------------------------------------------*/ | |
| 174 | |
| 175 void compass_reset_calibration(SCompassCalib *g); | |
| 176 void compass_add_calibration(SCompassCalib *g); | |
| 177 void compass_solve_calibration(SCompassCalib *g); | |
| 178 | |
| 179 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
| 180 void compass_sleep_HMC5883L(void); | |
| 181 void compass_read_HMC5883L(void); | |
| 182 | |
| 183 void accelerator_init_MMA8452Q(void); | |
| 184 void accelerator_sleep_MMA8452Q(void); | |
| 185 void acceleration_read_MMA8452Q(void); | |
| 186 | |
| 187 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
| 188 void compass_sleep_LSM303D(void); | |
| 189 void compass_read_LSM303D(void); | |
| 190 void acceleration_read_LSM303D(void); | |
| 191 | |
| 357 | 192 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain); |
| 193 void compass_sleep_LSM303AGR(void); | |
| 194 void compass_read_LSM303AGR(void); | |
| 195 void acceleration_read_LSM303AGR(void); | |
| 196 | |
| 38 | 197 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); |
| 198 int compass_calib_common(void); | |
| 199 | |
| 200 void compass_calc_roll_pitch_only(void); | |
| 201 | |
| 202 void rotate_mag_3f(float *x, float *y, float *z); | |
| 203 void rotate_accel_3f(float *x, float *y, float *z); | |
| 204 | |
| 205 | |
| 206 /* Exported functions --------------------------------------------------------*/ | |
| 207 | |
| 208 | |
| 209 // =============================================================================== | |
| 210 // compass_init | |
| 211 /// @brief This might be called several times with different gain values during calibration | |
| 212 /// On first call it figures out which hardware is integrated | |
| 213 /// | |
| 214 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
| 215 // =============================================================================== | |
| 216 | |
| 217 void compass_init(uint8_t fast, uint8_t gain) | |
| 218 { | |
| 219 | |
| 220 // don't call again with fast, gain in calib mode etc. | |
| 221 // if unknown | |
| 222 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
| 223 { | |
| 224 return; | |
| 225 } | |
| 226 | |
| 227 // old code but without else | |
| 228 if(hardwareCompass == 0) | |
| 229 { | |
| 230 uint8_t data = WHO_AM_I; | |
| 231 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 232 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 233 if(data == WHOIAM_VALUE_LSM303D) |
| 234 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 235 data = WHO_AM_I; |
| 236 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 237 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 238 if(data == WHOIAM_VALUE_LSM303AGR) |
| 239 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 240 } |
| 241 | |
| 180 | 242 /* No compass identified => Retry */ |
| 38 | 243 if(hardwareCompass == 0) |
| 244 { | |
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245 I2C_DeInit(); |
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246 HAL_Delay(100); |
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247 MX_I2C1_Init(); |
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248 HAL_Delay(100); |
| 38 | 249 uint8_t data = WHO_AM_I; |
| 250 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 251 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 252 if(data == WHOIAM_VALUE_LSM303D) |
| 253 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 254 data = WHO_AM_I; |
| 255 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 256 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 257 if(data == WHOIAM_VALUE_LSM303AGR) |
| 258 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 259 } |
| 70 | 260 |
| 180 | 261 /* Assume that a HMC5883L is equipped by default if detection still failed */ |
| 38 | 262 if(hardwareCompass == 0) |
| 357 | 263 hardwareCompass = compass_generation1; //HMC5883L; |
| 38 | 264 |
| 265 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
| 266 | |
| 358 | 267 // test if both chips of the two-chip solution (gen 1) are present |
| 357 | 268 if(hardwareCompass == compass_generation1) // HMC5883L) |
| 38 | 269 { |
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270 HAL_Delay(100); |
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271 I2C_DeInit(); |
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272 HAL_Delay(100); |
| 358 | 273 MX_I2C1_Init(); |
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274 HAL_Delay(100); |
| 38 | 275 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q |
| 276 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
| 277 if(resultOfOperationHMC_MMA == HAL_OK) | |
| 278 { | |
| 357 | 279 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it |
| 38 | 280 } |
| 281 else | |
| 282 { | |
| 283 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
| 284 } | |
| 285 } | |
| 286 | |
| 357 | 287 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 288 compass_init_LSM303D(fast, gain); |
| 357 | 289 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 290 compass_init_LSM303AGR(fast, gain); | |
| 291 if(hardwareCompass == compass_generation1) //HMC5883L) | |
| 38 | 292 compass_init_HMC5883L(fast, gain); |
| 293 | |
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294 if(global.deviceDataSendToMaster.hw_Info.compass == 0) |
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295 { |
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296 global.deviceDataSendToMaster.hw_Info.compass = hardwareCompass; |
| 559 | 297 global.deviceDataSendToMaster.hw_Info.checkCompass = 1; |
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298 } |
| 357 | 299 tfull32 dataBlock[4]; |
| 300 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK) | |
| 38 | 301 { |
| 302 compass_CX_f = dataBlock[0].Word16.low16; | |
| 303 compass_CY_f = dataBlock[0].Word16.hi16; | |
| 304 compass_CZ_f = dataBlock[1].Word16.low16; | |
| 305 } | |
| 306 | |
| 307 } | |
| 308 | |
| 309 | |
| 310 // =============================================================================== | |
| 311 // compass_calib | |
| 312 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
| 313 // =============================================================================== | |
| 314 int compass_calib(void) | |
| 315 { | |
| 357 | 316 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 317 { |
| 318 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
| 319 int out = compass_calib_common(); | |
| 320 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
| 321 return out; | |
| 322 } | |
| 323 else | |
| 357 | 324 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 325 { | |
| 326 return compass_calib_common(); | |
| 327 } | |
| 328 else | |
| 329 if(hardwareCompass == compass_generation3) //LSM303AGR) | |
| 38 | 330 { |
| 331 return compass_calib_common(); | |
| 332 } | |
| 333 else | |
| 334 { | |
| 335 return 0; // standard answer of compass_calib_common(); | |
| 336 } | |
| 337 | |
| 338 | |
| 339 } | |
| 340 | |
| 341 | |
| 342 // =============================================================================== | |
| 343 // compass_sleep | |
| 344 /// @brief low power mode | |
| 345 // =============================================================================== | |
| 346 void compass_sleep(void) | |
| 347 { | |
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348 if(hardwareCompass == compass_generation2) //LSM303D |
| 38 | 349 compass_sleep_LSM303D(); |
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350 if(hardwareCompass == compass_generation1) //HMC5883L |
| 38 | 351 compass_sleep_HMC5883L(); |
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352 if(hardwareCompass == compass_generation3) //LSM303AGR |
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353 compass_sleep_LSM303AGR(); |
| 38 | 354 } |
| 355 | |
| 356 | |
| 357 // =============================================================================== | |
| 358 // compass_read | |
| 359 /// @brief reads magnetometer and accelerometer for LSM303D, | |
| 360 /// otherwise magnetometer only | |
| 361 // =============================================================================== | |
| 362 void compass_read(void) | |
| 363 { | |
| 357 | 364 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 365 compass_read_LSM303D(); |
| 357 | 366 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 367 compass_read_HMC5883L(); |
| 357 | 368 if(hardwareCompass == compass_generation3) //LSM303AGR) |
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369 compass_read_LSM303AGR(); |
| 357 | 370 |
| 38 | 371 } |
| 372 | |
| 373 | |
| 374 // =============================================================================== | |
| 375 // accelerator_init | |
| 376 /// @brief empty for for LSM303D | |
| 377 // =============================================================================== | |
| 378 void accelerator_init(void) | |
| 379 { | |
| 357 | 380 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 381 accelerator_init_MMA8452Q(); |
| 382 } | |
| 383 | |
| 384 | |
| 385 // =============================================================================== | |
| 386 // accelerator_sleep | |
| 387 /// @brief empty for for LSM303D | |
| 388 // =============================================================================== | |
| 389 void accelerator_sleep(void) | |
| 390 { | |
| 357 | 391 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 392 accelerator_sleep_MMA8452Q(); |
| 393 } | |
| 394 | |
| 395 | |
| 396 // =============================================================================== | |
| 397 // acceleration_read | |
| 398 /// @brief empty for for LSM303D | |
| 399 // =============================================================================== | |
| 400 void acceleration_read(void) | |
| 401 { | |
| 357 | 402 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 403 acceleration_read_LSM303D(); |
| 357 | 404 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 405 acceleration_read_MMA8452Q(); |
| 357 | 406 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 407 acceleration_read_LSM303AGR(); | |
| 38 | 408 } |
| 409 | |
| 410 | |
| 411 /* Private functions ---------------------------------------------------------*/ | |
| 412 | |
| 413 // =============================================================================== | |
| 357 | 414 // LSM303AGR_read_reg |
| 415 // =============================================================================== | |
| 416 uint8_t LSM303AGR_read_reg(uint8_t addr) | |
| 417 { | |
| 418 uint8_t data; | |
| 419 | |
| 420 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1); | |
| 421 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1); | |
| 422 return data; | |
| 423 } | |
| 424 | |
| 425 | |
| 426 // =============================================================================== | |
| 427 // LSM303AGR_write_reg | |
| 428 // =============================================================================== | |
| 429 void LSM303AGR_write_reg(uint8_t addr, uint8_t value) | |
| 430 { | |
| 431 uint8_t data[2]; | |
| 432 | |
| 433 data[0] = addr; | |
| 434 data[1] = value; | |
| 435 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2); | |
| 436 } | |
| 437 | |
| 438 // =============================================================================== | |
| 439 // LSM303AGR_acc_write_reg | |
| 440 // =============================================================================== | |
| 441 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value) | |
| 442 { | |
| 443 uint8_t data[2]; | |
| 444 | |
| 445 data[0] = addr; | |
| 446 data[1] = value; | |
| 447 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2); | |
| 448 } | |
| 449 | |
| 450 | |
| 451 // =============================================================================== | |
| 452 // LSM303AGR_write_checked_reg | |
| 453 // =============================================================================== | |
| 454 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value) | |
| 455 { | |
| 456 LSM303AGR_write_reg(addr, value); | |
| 457 } | |
| 458 | |
| 459 // =============================================================================== | |
| 460 // LSM303AGR_acc_write_checked_reg | |
| 461 // =============================================================================== | |
| 462 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value) | |
| 463 { | |
| 464 LSM303AGR_acc_write_reg(addr, value); | |
| 465 } | |
| 466 | |
| 467 // =============================================================================== | |
| 38 | 468 // LSM303D_read_reg |
| 469 // =============================================================================== | |
| 470 uint8_t LSM303D_read_reg(uint8_t addr) | |
| 471 { | |
| 472 uint8_t data; | |
| 473 | |
| 474 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
| 475 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 476 return data; | |
| 477 } | |
| 478 | |
| 479 | |
| 480 // =============================================================================== | |
| 481 // LSM303D_write_reg | |
| 482 // =============================================================================== | |
| 483 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
| 484 { | |
| 485 uint8_t data[2]; | |
| 486 | |
| 487 /* enable accel*/ | |
| 488 data[0] = addr; | |
| 489 data[1] = value; | |
| 490 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 491 } | |
| 492 | |
| 493 | |
| 494 // =============================================================================== | |
| 495 // LSM303D_write_checked_reg | |
| 496 // =============================================================================== | |
| 497 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
| 498 { | |
| 499 LSM303D_write_reg(addr, value); | |
| 500 } | |
| 501 | |
| 502 | |
| 503 // =============================================================================== | |
| 504 // LSM303D_modify_reg | |
| 505 // =============================================================================== | |
| 506 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
| 507 { | |
| 508 uint8_t val; | |
| 509 | |
| 510 val = LSM303D_read_reg(reg); | |
| 511 val &= ~clearbits; | |
| 512 val |= setbits; | |
| 513 LSM303D_write_checked_reg(reg, val); | |
| 514 } | |
| 515 | |
| 516 // =============================================================================== | |
| 517 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
| 518 // =============================================================================== | |
| 519 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
| 520 { | |
| 521 uint8_t setbits = 0; | |
| 522 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
| 523 | |
| 524 if (bandwidth == 0) { | |
| 525 bandwidth = 773; | |
| 526 } | |
| 527 | |
| 528 if (bandwidth <= 50) { | |
| 529 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
| 530 _accel_onchip_filter_bandwith = 50; | |
| 531 | |
| 532 } else if (bandwidth <= 194) { | |
| 533 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
| 534 _accel_onchip_filter_bandwith = 194; | |
| 535 | |
| 536 } else if (bandwidth <= 362) { | |
| 537 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
| 538 _accel_onchip_filter_bandwith = 362; | |
| 539 | |
| 540 } else if (bandwidth <= 773) { | |
| 541 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
| 542 _accel_onchip_filter_bandwith = 773; | |
| 543 | |
| 544 } else { | |
| 545 return -1; | |
| 546 } | |
| 547 | |
| 548 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
| 549 | |
| 550 return 0; | |
| 551 } | |
| 552 | |
| 553 | |
| 554 // =============================================================================== | |
| 555 // LSM303D_accel_set_driver_lowpass_filter | |
| 556 // =============================================================================== | |
| 557 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
| 558 { | |
| 559 /* | |
| 560 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
| 561 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
| 562 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
| 563 */ | |
| 564 return 0; | |
| 565 } | |
| 566 | |
| 567 | |
| 568 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
| 569 // =============================================================================== | |
| 570 // rotate_mag_3f | |
| 571 /// @brief swap axis in convient way, by hw | |
| 572 /// @param *x raw input is set to *y input | |
| 573 /// @param *y raw input is set to -*x input | |
| 574 /// @param *z raw is not touched | |
| 575 // =============================================================================== | |
| 576 void rotate_mag_3f(float *x, float *y, float *z) | |
| 577 { | |
| 578 return; | |
| 579 /* | |
| 580 *x = *x; // HMC: *x = -*y | |
| 581 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
| 582 *z = *z; // HMC: *z = *z | |
| 583 */ | |
| 584 } | |
| 585 | |
| 586 | |
| 587 // =============================================================================== | |
| 588 // rotate_accel_3f | |
| 589 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
| 590 /// @param *x raw input, output is with sign change | |
| 591 /// @param *y raw input, output is with sign change | |
| 592 /// @param *z raw input, output is with sign change | |
| 593 // =============================================================================== | |
| 594 void rotate_accel_3f(float *x, float *y, float *z) | |
| 595 { | |
| 596 *x = -*x; | |
| 597 *y = -*y; | |
| 598 *z = -*z; | |
| 599 /* tested: | |
| 600 x = x, y =-y, z=-z: does not work with roll | |
| 601 x = x, y =y, z=-z: does not work with pitch | |
| 602 x = x, y =y, z=z: does not work at all | |
| 603 */ | |
| 604 } | |
| 605 | |
| 606 | |
| 607 // =============================================================================== | |
| 357 | 608 // compass_init_LSM303D |
| 38 | 609 /// This might be called several times with different gain values during calibration |
| 610 /// but gain change is not supported at the moment. | |
| 611 /// | |
| 612 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 613 // =============================================================================== | |
| 614 | |
| 615 //uint8_t testCompassLS303D[11]; | |
| 616 | |
| 617 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
| 618 { | |
| 619 if(fast == 0) | |
| 620 { | |
| 621 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 622 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
| 623 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 624 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 625 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 626 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
| 627 } | |
| 628 else | |
| 629 { | |
| 630 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 631 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
| 632 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 633 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 634 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 635 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
| 636 } | |
| 637 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
| 638 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
| 639 | |
| 640 return; | |
| 641 } | |
| 642 | |
| 643 | |
| 644 // =============================================================================== | |
| 645 // compass_sleep_LSM303D | |
| 357 | 646 // @brief Gen 2 chip |
| 38 | 647 // =============================================================================== |
| 648 void compass_sleep_LSM303D(void) | |
| 649 { | |
| 650 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
| 651 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
| 652 } | |
| 653 | |
| 654 | |
| 655 // =============================================================================== | |
| 656 // acceleration_read_LSM303D | |
| 357 | 657 // output is accel_DX_f, accel_DY_f, accel_DZ_f |
| 38 | 658 // =============================================================================== |
| 659 void acceleration_read_LSM303D(void) | |
| 660 { | |
| 661 uint8_t data; | |
| 662 float xraw_f, yraw_f, zraw_f; | |
| 663 float accel_report_x, accel_report_y, accel_report_z; | |
| 664 | |
| 665 memset(accDataBuffer,0,6); | |
| 666 | |
| 667 accel_DX_f = 0; | |
| 668 accel_DY_f = 0; | |
| 669 accel_DZ_f = 0; | |
| 670 | |
| 671 for(int i=0;i<6;i++) | |
| 672 { | |
| 673 data = ADDR_OUT_X_L_A + i; | |
| 674 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 675 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
| 676 } | |
| 677 | |
| 678 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 679 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 680 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 681 | |
| 682 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 683 | |
| 684 // mh | |
| 685 accel_report_x = xraw_f; | |
| 686 accel_report_y = yraw_f; | |
| 687 accel_report_z = zraw_f; | |
| 688 | |
| 689 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 690 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 691 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 692 } | |
| 693 | |
| 694 | |
| 695 // =============================================================================== | |
| 696 // compass_read_LSM303D | |
| 697 /// | |
| 698 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 699 // =============================================================================== | |
| 700 void compass_read_LSM303D(void) | |
| 701 { | |
| 702 uint8_t data; | |
| 703 // float xraw_f, yraw_f, zraw_f; | |
| 704 // float mag_report_x, mag_report_y, mag_report_z; | |
| 705 | |
| 706 memset(magDataBuffer,0,6); | |
| 707 | |
| 708 compass_DX_f = 0; | |
| 709 compass_DY_f = 0; | |
| 710 compass_DZ_f = 0; | |
| 711 | |
| 712 for(int i=0;i<6;i++) | |
| 713 { | |
| 714 data = ADDR_OUT_X_L_M + i; | |
| 715 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 716 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
| 717 } | |
| 718 | |
| 719 // mh 160620 flip x and y if flip display | |
| 720 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 721 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 722 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 723 // no rotation | |
| 724 return; | |
| 357 | 725 } |
| 726 | |
| 727 | |
| 728 // =============================================================================== | |
| 729 // compass_init_LSM303AGR | |
| 730 /// This might be called several times with different gain values during calibration | |
| 731 /// but gain change is not supported at the moment. | |
| 732 /// | |
| 733 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 734 // =============================================================================== | |
| 38 | 735 |
| 357 | 736 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain) |
| 737 { | |
| 738 if(fast == 0) | |
| 739 { | |
| 358 | 740 // init compass |
| 357 | 741 LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz |
| 742 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M | |
| 743 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 744 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 745 | |
| 746 // init accel (Same chip, but different address...) | |
| 747 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 748 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 749 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 750 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 751 LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 752 } |
| 753 else | |
| 754 { | |
| 358 | 755 // init compass |
| 756 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz | |
| 357 | 757 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M |
| 758 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 759 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 760 | |
| 761 // init accel (Same chip, but different address...) | |
| 762 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 763 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 764 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 765 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 766 LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 767 } |
| 768 | |
| 769 return; | |
| 770 } | |
| 771 | |
| 772 | |
| 773 // =============================================================================== | |
| 774 // compass_sleep_LSM303D | |
| 775 // @brief Gen 2 chip | |
| 776 // =============================================================================== | |
| 777 void compass_sleep_LSM303AGR(void) | |
| 778 { | |
| 779 LSM303AGR_write_checked_reg(0x60, 0x03); // | |
| 780 LSM303AGR_write_checked_reg(0x61, 0x04); // | |
| 781 LSM303AGR_write_checked_reg(0x62, 0x51); // | |
| 782 LSM303AGR_write_checked_reg(0x63, 0x00); // | |
| 783 | |
| 784 | |
| 785 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // | |
| 786 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // | |
| 787 } | |
| 788 | |
| 38 | 789 |
| 357 | 790 // =============================================================================== |
| 791 // acceleration_read_LSM303AGR | |
| 792 // output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 793 // =============================================================================== | |
| 794 void acceleration_read_LSM303AGR(void) | |
| 795 { | |
| 796 uint8_t data; | |
| 797 float xraw_f, yraw_f, zraw_f; | |
| 798 float accel_report_x, accel_report_y, accel_report_z; | |
| 799 | |
| 800 memset(accDataBuffer,0,6); | |
| 801 | |
| 802 accel_DX_f = 0; | |
| 803 accel_DY_f = 0; | |
| 804 accel_DZ_f = 0; | |
| 805 | |
| 806 for(int i=0;i<6;i++) | |
| 807 { | |
| 358 | 808 data = 0x28 + i; // OUT_X_L_A |
| 357 | 809 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); |
| 810 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1); | |
| 811 } | |
| 812 | |
| 813 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 814 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 815 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 816 | |
| 817 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 818 | |
| 819 // mh | |
| 820 accel_report_x = xraw_f; | |
| 821 accel_report_y = yraw_f; | |
| 358 | 822 accel_report_z = -zraw_f; // flip Z in gen 2 hardware |
| 357 | 823 |
| 824 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 825 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 826 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 827 } | |
| 828 | |
| 829 | |
| 830 // =============================================================================== | |
| 831 // compass_read_LSM303AGR | |
| 832 /// | |
| 833 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 834 // =============================================================================== | |
| 835 void compass_read_LSM303AGR(void) | |
| 836 { | |
| 837 uint8_t data; | |
| 838 // float xraw_f, yraw_f, zraw_f; | |
| 839 // float mag_report_x, mag_report_y, mag_report_z; | |
| 840 | |
| 841 memset(magDataBuffer,0,6); | |
| 842 | |
| 843 compass_DX_f = 0; | |
| 844 compass_DY_f = 0; | |
| 845 compass_DZ_f = 0; | |
| 846 | |
| 847 for(int i=0;i<6;i++) | |
| 848 { | |
| 849 data = 0x68 + i; // OUTX_L_REG_M | |
| 850 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1); | |
| 851 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1); | |
| 852 } | |
| 853 | |
| 854 // mh 160620 flip x and y if flip display | |
| 855 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 856 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 857 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 358 | 858 |
| 859 // align axis in gen 2 hardware | |
| 860 compass_DZ_f *= -1; | |
| 861 | |
| 357 | 862 return; |
| 38 | 863 } |
| 864 | |
| 865 | |
| 866 // -------------------------------------------------------------------------------- | |
| 867 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
| 868 // -------------------------------------------------------------------------------- | |
| 869 | |
| 870 // =============================================================================== | |
| 871 // compass_init_HMC5883L | |
| 872 /// @brief The horrible Honeywell compass chip | |
| 873 /// This might be called several times during calibration | |
| 874 /// | |
| 875 /// @param fast: 1 is fast mode, 0 is normal mode | |
| 876 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 877 // =============================================================================== | |
| 878 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
| 879 { | |
| 880 uint8_t write_buffer[4]; | |
| 881 | |
| 882 compass_gain = gain; | |
| 883 uint16_t length = 0; | |
| 884 write_buffer[0] = 0x00; // 00 = config Register A | |
| 885 | |
| 886 if( fast ) | |
| 887 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
| 888 else | |
| 889 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
| 890 | |
| 891 switch(gain) | |
| 892 { | |
| 893 case 7: | |
| 894 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
| 895 break; | |
| 896 case 6: | |
| 897 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
| 898 break; | |
| 899 case 5: | |
| 900 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
| 901 break; | |
| 902 case 4: | |
| 903 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
| 904 break; | |
| 905 case 3: | |
| 906 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
| 907 break; | |
| 908 case 2: | |
| 909 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
| 910 break; | |
| 911 case 1: | |
| 912 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
| 913 break; | |
| 914 case 0: | |
| 915 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
| 916 break; | |
| 917 } | |
| 918 write_buffer[3] = 0x00; // Mode: continuous mode | |
| 919 length = 4; | |
| 920 //hmc_twi_write(0); | |
| 921 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 922 } | |
| 923 | |
| 924 | |
| 925 | |
| 926 // =============================================================================== | |
| 927 // compass_sleep_HMC5883L | |
| 928 /// @brief Power-down mode for Honeywell compass chip | |
| 929 // =============================================================================== | |
| 930 void compass_sleep_HMC5883L(void) | |
| 931 { | |
| 932 uint8_t write_buffer[4]; | |
| 933 uint16_t length = 0; | |
| 934 | |
| 935 write_buffer[0] = 0x00; // 00 = config Register A | |
| 936 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
| 937 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
| 938 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
| 939 length = 4; | |
| 940 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 941 } | |
| 942 | |
| 943 | |
| 944 // =============================================================================== | |
| 945 // accelerator_init_MMA8452Q | |
| 946 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
| 947 // =============================================================================== | |
| 948 void accelerator_init_MMA8452Q(void) | |
| 949 { | |
| 950 uint8_t write_buffer[4]; | |
| 951 uint16_t length = 0; | |
| 952 //HAL_Delay(1); | |
| 953 //return; | |
| 954 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
| 955 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
| 956 length = 2; | |
| 957 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 958 //HAL_Delay(1); | |
| 959 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 960 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
| 961 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
| 962 length = 3; | |
| 963 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 964 | |
| 965 //HAL_Delay(1); | |
| 966 //hw_delay_us(100); | |
| 967 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 968 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
| 969 length = 2; | |
| 970 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 971 /* | |
| 972 HAL_Delay(6); | |
| 973 compass_read(); | |
| 974 HAL_Delay(1); | |
| 975 acceleration_read(); | |
| 976 | |
| 977 compass_calc(); | |
| 978 */ | |
| 979 } | |
| 980 | |
| 981 | |
| 982 // =============================================================================== | |
| 983 // accelerator_sleep_MMA8452Q | |
| 984 /// @brief compass_sleep_HMC5883L | |
| 985 // =============================================================================== | |
| 986 void accelerator_sleep_MMA8452Q(void) | |
| 987 { | |
| 988 uint16_t length = 0; | |
| 989 uint8_t write_buffer[4]; | |
| 990 | |
| 991 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 992 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
| 993 length = 2; | |
| 994 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 995 } | |
| 996 | |
| 997 | |
| 998 // =============================================================================== | |
| 999 // compass_read_HMC5883L | |
| 1000 /// @brief The new ST 303D - get ALL data and store in static variables | |
| 1001 /// | |
| 1002 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1003 // =============================================================================== | |
| 1004 void compass_read_HMC5883L(void) | |
| 1005 { | |
| 1006 uint8_t buffer[20]; | |
| 1007 compass_DX_f = 0; | |
| 1008 compass_DY_f = 0; | |
| 1009 compass_DZ_f = 0; | |
| 1010 uint8_t length = 0; | |
| 1011 uint8_t read_buffer[6]; | |
| 1012 signed_tword data; | |
| 1013 for(int i = 0; i<6;i++) | |
| 1014 read_buffer[i] = 0; | |
| 1015 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
| 1016 length = 1; | |
| 1017 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
| 1018 length = 6; | |
| 1019 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
| 1020 | |
| 1021 | |
| 1022 data.Byte.hi = read_buffer[0]; | |
| 1023 data.Byte.low = read_buffer[1]; | |
| 1024 //Y = Z | |
| 1025 compass_DY_f = - data.Word; | |
| 1026 | |
| 1027 data.Byte.hi = read_buffer[2]; | |
| 1028 data.Byte.low = read_buffer[3]; | |
| 1029 compass_DZ_f = data.Word; | |
| 1030 | |
| 1031 data.Byte.hi = read_buffer[4]; | |
| 1032 data.Byte.low = read_buffer[5]; | |
| 1033 //X = -Y | |
| 1034 compass_DX_f = data.Word; | |
| 1035 } | |
| 1036 | |
| 1037 | |
| 1038 // =============================================================================== | |
| 1039 // acceleration_read_MMA8452Q | |
| 1040 /// @brief The old MMA8452Q used with the Honeywell compass | |
| 1041 /// get the acceleration data and store in static variables | |
| 1042 /// | |
| 1043 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1044 // =============================================================================== | |
| 1045 void acceleration_read_MMA8452Q(void) | |
| 1046 { | |
| 1047 uint8_t buffer[20]; | |
| 1048 accel_DX_f = 0; | |
| 1049 accel_DY_f = 0; | |
| 1050 accel_DZ_f = 0; | |
| 1051 uint8_t length = 0; | |
| 1052 // bit8_Type status ; | |
| 1053 uint8_t read_buffer[7]; | |
| 1054 signed_tword data; | |
| 1055 for(int i = 0; i<6;i++) | |
| 1056 read_buffer[i] = 0; | |
| 1057 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
| 1058 length = 1; | |
| 1059 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
| 1060 length = 7; | |
| 1061 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
| 1062 | |
| 1063 // status.uw = read_buffer[0]; | |
| 1064 data.Byte.hi = read_buffer[1]; | |
| 1065 data.Byte.low = read_buffer[2]; | |
| 1066 accel_DX_f =data.Word/16; | |
| 1067 data.Byte.hi = read_buffer[3]; | |
| 1068 data.Byte.low = read_buffer[4]; | |
| 1069 accel_DY_f =data.Word/16; | |
| 1070 data.Byte.hi = read_buffer[5]; | |
| 1071 data.Byte.low = read_buffer[6]; | |
| 1072 accel_DZ_f =data.Word/16; | |
| 1073 | |
| 1074 accel_DX_f *= -1; | |
| 1075 accel_DY_f *= -1; | |
| 1076 accel_DZ_f *= -1; | |
| 1077 } | |
| 1078 | |
| 1079 | |
| 1080 // =============================================================================== | |
| 1081 // compass_calc_roll_pitch_only | |
| 1082 /// @brief only the roll and pitch parts of compass_calc() | |
| 1083 /// | |
| 1084 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1085 /// output is compass_pitch and compass_roll | |
| 1086 // =============================================================================== | |
| 1087 void compass_calc_roll_pitch_only(void) | |
| 1088 { | |
| 1089 float sinPhi, cosPhi; | |
| 1090 float Phi, Teta; | |
| 1091 | |
| 1092 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1093 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1094 compass_roll = Phi * 180.0f /PI; | |
| 1095 sinPhi = sinf(Phi); | |
| 1096 cosPhi = cosf(Phi); | |
| 1097 | |
| 1098 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1099 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1100 compass_pitch = Teta * 180.0f /PI; | |
| 1101 } | |
| 1102 | |
| 1103 | |
| 1104 // =============================================================================== | |
| 1105 // compass_calc | |
| 1106 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1107 /// | |
| 1108 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1109 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1110 /// output is compass_heading, compass_pitch and compass_roll | |
| 1111 // =============================================================================== | |
| 1112 void compass_calc(void) | |
| 1113 { | |
| 1114 float sinPhi, cosPhi, sinTeta, cosTeta; | |
| 1115 float Phi, Teta, Psi; | |
| 1116 int16_t iBfx, iBfy; | |
| 1117 int16_t iBpx, iBpy, iBpz; | |
| 1118 | |
| 1119 //---- Make hard iron correction ----------------------------------------- | |
| 1120 // Measured magnetometer orientation, measured ok. | |
| 1121 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
| 1122 iBpx = compass_DX_f - compass_CX_f; // X | |
| 1123 iBpy = compass_DY_f - compass_CY_f; // Y | |
| 1124 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
| 1125 | |
| 1126 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1127 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
| 1128 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1129 compass_roll = Phi * 180.0f /PI; | |
| 1130 sinPhi = sinf(Phi); | |
| 1131 cosPhi = cosf(Phi); | |
| 1132 | |
| 1133 //---- rotate by roll angle (-Phi) --------------------------------------- | |
| 1134 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
| 1135 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
| 1136 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
| 1137 | |
| 1138 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1139 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
| 1140 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
| 1141 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1142 compass_pitch = Teta * 180.0f /PI; | |
| 1143 sinTeta = sinf(Teta); | |
| 1144 cosTeta = cosf(Teta); | |
| 1145 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
| 1146 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
| 1147 | |
| 1148 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
| 1149 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
| 1150 | |
| 1151 //---- Detect uncalibrated compass --------------------------------------- | |
| 1152 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
| 1153 { | |
| 1154 compass_heading = -1; | |
| 1155 return; | |
| 1156 } | |
| 1157 | |
| 1158 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
| 1159 // Result in degree (no need of 0.01 deg precision... | |
| 1160 Psi = atan2f(-iBfy,iBfx); | |
| 1161 compass_heading = Psi * 180.0f /PI; | |
| 1162 // Result in 0..360 range: | |
| 1163 if( compass_heading < 0 ) | |
| 1164 compass_heading += 360; | |
| 1165 } | |
| 1166 | |
| 1167 | |
| 1168 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1169 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1170 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1171 | |
| 1172 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
| 1173 | |
| 1174 // =============================================================================== | |
| 1175 // compass_reset_calibration | |
| 1176 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1177 /// | |
| 1178 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1179 /// | |
| 1180 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1181 /// all is set to zero here | |
| 1182 // =============================================================================== | |
| 1183 void compass_reset_calibration(SCompassCalib *g) | |
| 1184 { | |
| 1185 g->compass_N = 0; | |
| 1186 g->Su = g->Sv = g->Sw = 0.0; | |
| 1187 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
| 1188 g->Suuu = g->Svvv = g->Swww = 0.0; | |
| 1189 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
| 1190 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
| 1191 } | |
| 1192 | |
| 1193 | |
| 1194 // =============================================================================== | |
| 1195 // compass_add_calibration | |
| 1196 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1197 /// | |
| 1198 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1199 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1200 /// output is struct g | |
| 1201 /// | |
| 1202 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1203 // =============================================================================== | |
| 1204 void compass_add_calibration(SCompassCalib *g) | |
| 1205 { | |
| 1206 float u, v, w; | |
| 1207 | |
| 1208 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
| 1209 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
| 1210 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
| 1211 | |
| 1212 g->compass_N++; | |
| 1213 g->Su += u; | |
| 1214 g->Sv += v; | |
| 1215 g->Sw += w; | |
| 1216 g->Suv += u*v; | |
| 1217 g->Suw += u*w; | |
| 1218 g->Svw += v*w; | |
| 1219 g->Suu += u*u; | |
| 1220 g->Suuu += u*u*u; | |
| 1221 g->Suuv += v*u*u; | |
| 1222 g->Suuw += w*u*u; | |
| 1223 g->Svv += v*v; | |
| 1224 g->Svvv += v*v*v; | |
| 1225 g->Svvu += u*v*v; | |
| 1226 g->Svvw += w*v*v; | |
| 1227 g->Sww += w*w; | |
| 1228 g->Swww += w*w*w; | |
| 1229 g->Swwu += u*w*w; | |
| 1230 g->Swwv += v*w*w; | |
| 1231 } | |
| 1232 | |
| 1233 ////////////////////////////////////////////////////////////////////////////// | |
| 1234 | |
| 1235 // =============================================================================== | |
| 1236 // compass_solve_calibration | |
| 1237 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1238 /// | |
| 1239 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1240 /// output is struct g | |
| 1241 /// | |
| 1242 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1243 // =============================================================================== | |
| 1244 void compass_solve_calibration(SCompassCalib *g) | |
| 1245 { | |
| 1246 float yu, yv, yw; | |
| 1247 float delta; | |
| 1248 float uc, vc, wc; | |
| 1249 | |
| 1250 | |
| 1251 //---- Normalize partial sums -------------------------------------------- | |
| 1252 // | |
| 1253 // u, v, w should be centered on the mean value um, vm, wm: | |
| 1254 // x = u + um, with um = Sx/N | |
| 1255 // | |
| 1256 // So: | |
| 1257 // (u + um)**2 = u**2 + 2u*um + um**2 | |
| 1258 // Su = 0, um = Sx/N | |
| 1259 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
| 1260 // Suu = Sxx - Sx**2/N | |
| 1261 yu = g->Su/g->compass_N; | |
| 1262 yv = g->Sv/g->compass_N; | |
| 1263 yw = g->Sw/g->compass_N; | |
| 1264 | |
| 1265 g->Suu -= g->Su*yu; | |
| 1266 g->Svv -= g->Sv*yv; | |
| 1267 g->Sww -= g->Sw*yw; | |
| 1268 | |
| 1269 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
| 1270 // Sxy = Suv + N * um vm | |
| 1271 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
| 1272 g->Suv -= g->Su*yv; | |
| 1273 g->Suw -= g->Su*yw; | |
| 1274 g->Svw -= g->Sv*yw; | |
| 1275 | |
| 1276 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
| 1277 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
| 1278 // Su = 0, um = Sx/N: | |
| 1279 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
| 1280 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
| 1281 | |
| 1282 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
| 1283 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
| 1284 // | |
| 1285 // Su = 0, Sv = 0, vm = Sy/N: | |
| 1286 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
| 1287 // | |
| 1288 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
| 1289 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
| 1290 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
| 1291 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
| 1292 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
| 1293 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
| 1294 | |
| 1295 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
| 1296 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
| 1297 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
| 1298 | |
| 1299 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
| 1300 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
| 1301 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
| 1302 | |
| 1303 //---- Solve the system -------------------------------------------------- | |
| 1304 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
| 1305 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
| 1306 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
| 1307 // Note this is symetric, with a positiv diagonal, hence | |
| 1308 // it always have a uniq solution. | |
| 1309 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
| 1310 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
| 1311 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
| 1312 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1313 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1314 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
| 1315 | |
| 1316 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1317 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1318 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
| 1319 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
| 1320 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
| 1321 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
| 1322 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
| 1323 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
| 1324 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
| 1325 | |
| 1326 // Back to uncentered coordinates: | |
| 1327 // xc = um + uc | |
| 1328 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
| 1329 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
| 1330 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
| 1331 | |
| 1332 // Then save the new calibrated center: | |
| 1333 compass_CX_f = (short)(32768 * uc); | |
| 1334 compass_CY_f = (short)(32768 * vc); | |
| 1335 compass_CZ_f = (short)(32768 * wc); | |
| 1336 } | |
| 1337 | |
| 1338 | |
| 1339 // =============================================================================== | |
| 1340 // compass_calib | |
| 1341 /// @brief the main loop for calibration | |
| 1342 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1343 /// 160704 removed -4096 limit for LSM303D | |
| 1344 /// | |
| 1345 /// @return always 0 | |
| 1346 // =============================================================================== | |
| 1347 int compass_calib_common(void) | |
| 1348 { | |
|
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1349 SCompassCalib g; |
| 38 | 1350 |
| 1351 // Starts with no calibration at all: | |
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1352 compass_reset_calibration(&g); |
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1353 uint32_t tickstart = 0; |
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1354 tickstart = HAL_GetTick(); |
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1355 /* run calibration for one minute */ |
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1356 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000) |
| 38 | 1357 { |
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1358 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)) |
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1359 { |
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1360 HAL_Delay(1); |
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1361 } |
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1362 compass_read(); |
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1363 acceleration_read(); |
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1364 compass_calc_roll_pitch_only(); |
| 38 | 1365 |
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1366 if((hardwareCompass == compass_generation1 ) //HMC5883L) |
| 38 | 1367 &&((compass_DX_f == -4096) || |
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1368 (compass_DY_f == -4096) || |
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1369 (compass_DZ_f == -4096) )) |
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1370 { |
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1371 if(compass_gain == 0) |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1372 return -1; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1373 compass_gain--; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1374 compass_init(1, compass_gain); |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1375 compass_reset_calibration(&g); |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1376 continue; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1377 } |
| 38 | 1378 |
|
410
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1379 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1380 compass_add_calibration(&g); |
| 104 | 1381 } |
| 38 | 1382 |
| 1383 compass_solve_calibration(&g); | |
| 1384 | |
|
410
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1385 tfull32 dataBlock[4]; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1386 dataBlock[0].Word16.low16 = compass_CX_f; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1387 dataBlock[0].Word16.hi16 = compass_CY_f; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1388 dataBlock[1].Word16.low16 = compass_CZ_f; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1389 dataBlock[1].Word16.hi16 = 0xFFFF; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1390 dataBlock[2].Full32 = 0x7FFFFFFF; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1391 dataBlock[3].Full32 = 0x7FFFFFFF; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1392 BFA_writeDataBlock((uint32_t *)dataBlock); |
| 38 | 1393 |
|
410
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1394 return 0; |
| 38 | 1395 } |
| 1396 |