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annotate Small_CPU/Src/compass.c @ 657:9513a92b293b
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| author | heinrichs weikamp |
|---|---|
| date | Mon, 26 Apr 2021 15:03:04 +0200 |
| parents | 08af5d707c5a |
| children |
| rev | line source |
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| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file compass.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 27-March-2014 | |
| 6 * @version V0.2.0 | |
| 7 * @since 21-April-2016 | |
| 8 * @brief for Honeywell Compass and ST LSM303D | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 V0.1.0 09-March-2016 | |
| 15 V0.2.0 21-April-2016 Orientation fixed for LSM303D, | |
| 16 roll and pitch added to calibration output, | |
| 17 orientation double checked with datasheets and layout | |
| 18 as well as with value output during calibration | |
| 19 V0.2.1 19-May-2016 New date rate config and full-scale selection | |
| 20 | |
| 21 @endverbatim | |
| 22 ****************************************************************************** | |
| 23 * @attention | |
| 24 * | |
| 25 * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> | |
| 26 * | |
| 27 ****************************************************************************** | |
| 28 */ | |
| 29 | |
| 30 #include <math.h> | |
| 31 #include <string.h> | |
| 32 | |
| 33 #include "compass.h" | |
| 34 #include "compass_LSM303D.h" | |
| 35 | |
| 36 #include "i2c.h" | |
| 219 | 37 #include "spi.h" |
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38 #include "scheduler.h" |
| 38 | 39 #include "RTE_FlashAccess.h" // to store compass_calib_data |
| 40 | |
| 41 #include "stm32f4xx_hal.h" | |
| 42 | |
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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 | |
| 47 /// crazy compass calibration stuff | |
| 48 typedef struct | |
| 49 { | |
| 50 unsigned short int compass_N; | |
| 51 float Su, Sv, Sw; | |
| 52 float Suu, Svv, Sww, Suv, Suw, Svw; | |
| 53 float Suuu, Svvv, Swww; | |
| 54 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
| 55 } SCompassCalib; | |
| 56 | |
| 57 | |
| 58 #define Q_PI (18000) | |
| 59 #define Q_PIO2 (9000) | |
| 60 | |
| 61 | |
| 62 | |
| 63 ////////////////////////////////////////////////////////////////////////////// | |
| 64 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
| 65 // | |
| 66 #define K1 (5701) // Needs K1/2**16 | |
| 67 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
| 68 #define K3 ( 446) // Needs K3/2**80 | |
| 69 | |
| 70 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
| 71 | |
| 72 typedef short int Int16; | |
| 73 typedef signed char Int8; | |
| 74 typedef Int16 Angle; | |
| 75 | |
| 76 | |
| 77 /// The (filtered) components of the magnetometer sensor | |
| 78 int16_t compass_DX_f; ///< output from sensor | |
| 79 int16_t compass_DY_f; ///< output from sensor | |
| 80 int16_t compass_DZ_f; ///< output from sensor | |
| 81 | |
| 82 | |
| 83 /// Found soft-iron calibration values, deduced from already filtered values | |
| 84 int16_t compass_CX_f; ///< calibration value | |
| 85 int16_t compass_CY_f; ///< calibration value | |
| 86 int16_t compass_CZ_f; ///< calibration value | |
| 87 | |
| 88 | |
| 89 /// The (filtered) components of the accelerometer sensor | |
| 90 int16_t accel_DX_f; ///< output from sensor | |
| 91 int16_t accel_DY_f; ///< output from sensor | |
| 92 int16_t accel_DZ_f; ///< output from sensor | |
| 93 | |
| 94 | |
| 95 /// The compass result values | |
| 96 float compass_heading; ///< the final result calculated in compass_calc() | |
| 97 float compass_roll; ///< the final result calculated in compass_calc() | |
| 98 float compass_pitch; ///< the final result calculated in compass_calc() | |
| 99 | |
| 100 | |
| 101 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
| 102 | |
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103 uint8_t hardwareCompass = compass_generation_undef; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0) |
| 38 | 104 |
| 105 /// LSM303D variables | |
| 106 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 107 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 108 | |
| 109 | |
| 110 // struct accel_scale _accel_scale; | |
| 111 unsigned _accel_range_m_s2; | |
| 112 float _accel_range_scale; | |
| 113 unsigned _accel_samplerate; | |
| 114 unsigned _accel_onchip_filter_bandwith; | |
| 115 | |
| 116 // struct mag_scale _mag_scale; | |
| 117 unsigned _mag_range_ga; | |
| 118 float _mag_range_scale; | |
| 119 unsigned _mag_samplerate; | |
| 120 | |
| 121 // default scale factors | |
| 122 float _accel_scale_x_offset = 0.0f; | |
| 123 float _accel_scale_x_scale = 1.0f; | |
| 124 float _accel_scale_y_offset = 0.0f; | |
| 125 float _accel_scale_y_scale = 1.0f; | |
| 126 float _accel_scale_z_offset = 0.0f; | |
| 127 float _accel_scale_z_scale = 1.0f; | |
| 128 | |
| 129 float _mag_scale_x_offset = 0.0f; | |
| 130 float _mag_scale_x_scale = 1.0f; | |
| 131 float _mag_scale_y_offset = 0.0f; | |
| 132 float _mag_scale_y_scale = 1.0f; | |
| 133 float _mag_scale_z_offset = 0.0f; | |
| 134 float _mag_scale_z_scale = 1.0f; | |
| 135 | |
| 136 | |
| 137 /* External function prototypes ----------------------------------------------*/ | |
| 138 | |
| 139 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 140 | |
| 141 /* Private function prototypes -----------------------------------------------*/ | |
| 142 | |
| 143 void compass_reset_calibration(SCompassCalib *g); | |
| 144 void compass_add_calibration(SCompassCalib *g); | |
| 145 void compass_solve_calibration(SCompassCalib *g); | |
| 146 | |
| 147 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
| 148 void compass_sleep_HMC5883L(void); | |
| 149 void compass_read_HMC5883L(void); | |
| 150 | |
| 151 void accelerator_init_MMA8452Q(void); | |
| 152 void accelerator_sleep_MMA8452Q(void); | |
| 153 void acceleration_read_MMA8452Q(void); | |
| 154 | |
| 155 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
| 156 void compass_sleep_LSM303D(void); | |
| 157 void compass_read_LSM303D(void); | |
| 158 void acceleration_read_LSM303D(void); | |
| 159 | |
| 357 | 160 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain); |
| 161 void compass_sleep_LSM303AGR(void); | |
| 162 void compass_read_LSM303AGR(void); | |
| 163 void acceleration_read_LSM303AGR(void); | |
| 164 | |
| 38 | 165 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); |
| 166 int compass_calib_common(void); | |
| 167 | |
| 168 void compass_calc_roll_pitch_only(void); | |
| 169 | |
| 170 void rotate_mag_3f(float *x, float *y, float *z); | |
| 171 void rotate_accel_3f(float *x, float *y, float *z); | |
| 172 | |
| 173 | |
| 174 /* Exported functions --------------------------------------------------------*/ | |
| 175 | |
| 176 | |
| 177 // =============================================================================== | |
| 178 // compass_init | |
| 179 /// @brief This might be called several times with different gain values during calibration | |
| 180 /// On first call it figures out which hardware is integrated | |
| 181 /// | |
| 182 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
| 183 // =============================================================================== | |
| 184 | |
| 185 void compass_init(uint8_t fast, uint8_t gain) | |
| 186 { | |
| 187 | |
| 188 // don't call again with fast, gain in calib mode etc. | |
| 189 // if unknown | |
| 190 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
| 191 { | |
| 192 return; | |
| 193 } | |
| 194 | |
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195 if(hardwareCompass == compass_generation_undef) /* check if compass had been detected before */ |
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196 { |
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197 tfull32 dataBlock[4]; |
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198 if(BFA_readLastDataBlock(dataBlock) == BFA_OK) |
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199 { |
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200 if(dataBlock[3].Word16.hi16 == BFA_calc_Block_Checksum(dataBlock)) |
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201 { |
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202 compass_CX_f = dataBlock[0].Word16.low16; |
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203 compass_CY_f = dataBlock[0].Word16.hi16; |
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204 compass_CZ_f = dataBlock[1].Word16.low16; |
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205 hardwareCompass = dataBlock[1].Word16.hi16; |
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206 if(hardwareCompass >= compass_generation_future) /* no generation stored (including COMPASS_NOT_RECOGNIZED) */ |
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207 { |
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208 hardwareCompass = compass_generation_undef; |
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209 } |
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210 } |
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211 } |
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212 } |
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213 |
| 38 | 214 // old code but without else |
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215 if(hardwareCompass == compass_generation_undef) |
| 38 | 216 { |
| 217 uint8_t data = WHO_AM_I; | |
| 218 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 219 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 220 if(data == WHOIAM_VALUE_LSM303D) |
| 221 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 222 data = WHO_AM_I; |
| 223 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 224 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 225 if(data == WHOIAM_VALUE_LSM303AGR) |
| 226 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 227 } |
| 228 | |
| 180 | 229 /* No compass identified => Retry */ |
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230 if(hardwareCompass == compass_generation_undef) |
| 38 | 231 { |
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232 I2C_DeInit(); |
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233 HAL_Delay(100); |
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234 MX_I2C1_Init(); |
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235 HAL_Delay(100); |
| 38 | 236 uint8_t data = WHO_AM_I; |
| 237 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 238 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 239 if(data == WHOIAM_VALUE_LSM303D) |
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240 { |
| 357 | 241 hardwareCompass = compass_generation2; //LSM303D; |
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242 } |
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243 else |
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244 { |
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245 data = WHO_AM_I; |
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246 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); |
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247 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); |
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248 if(data == WHOIAM_VALUE_LSM303AGR) |
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249 hardwareCompass = compass_generation3; //LSM303AGR; |
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250 } |
| 38 | 251 } |
| 70 | 252 |
| 180 | 253 /* Assume that a HMC5883L is equipped by default if detection still failed */ |
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254 if(hardwareCompass == compass_generation_undef) |
| 357 | 255 hardwareCompass = compass_generation1; //HMC5883L; |
| 38 | 256 |
| 257 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
| 258 | |
| 358 | 259 // test if both chips of the two-chip solution (gen 1) are present |
| 357 | 260 if(hardwareCompass == compass_generation1) // HMC5883L) |
| 38 | 261 { |
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262 HAL_Delay(100); |
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263 I2C_DeInit(); |
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264 HAL_Delay(100); |
| 358 | 265 MX_I2C1_Init(); |
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266 HAL_Delay(100); |
| 38 | 267 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q |
| 268 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
| 269 if(resultOfOperationHMC_MMA == HAL_OK) | |
| 270 { | |
| 357 | 271 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it |
| 38 | 272 } |
| 273 else | |
| 274 { | |
| 275 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
| 276 } | |
| 277 } | |
| 278 | |
| 357 | 279 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 280 compass_init_LSM303D(fast, gain); |
| 357 | 281 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 282 compass_init_LSM303AGR(fast, gain); | |
| 283 if(hardwareCompass == compass_generation1) //HMC5883L) | |
| 38 | 284 compass_init_HMC5883L(fast, gain); |
| 285 | |
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286 if(global.deviceDataSendToMaster.hw_Info.compass == 0) |
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287 { |
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288 global.deviceDataSendToMaster.hw_Info.compass = hardwareCompass; |
| 559 | 289 global.deviceDataSendToMaster.hw_Info.checkCompass = 1; |
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290 } |
| 38 | 291 } |
| 292 | |
| 293 | |
| 294 // =============================================================================== | |
| 295 // compass_calib | |
| 296 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
| 297 // =============================================================================== | |
| 298 int compass_calib(void) | |
| 299 { | |
| 357 | 300 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 301 { |
| 302 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
| 303 int out = compass_calib_common(); | |
| 304 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
| 305 return out; | |
| 306 } | |
| 307 else | |
| 357 | 308 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 309 { | |
| 310 return compass_calib_common(); | |
| 311 } | |
| 312 else | |
| 313 if(hardwareCompass == compass_generation3) //LSM303AGR) | |
| 38 | 314 { |
| 315 return compass_calib_common(); | |
| 316 } | |
| 317 else | |
| 318 { | |
| 319 return 0; // standard answer of compass_calib_common(); | |
| 320 } | |
| 321 | |
| 322 | |
| 323 } | |
| 324 | |
| 325 | |
| 326 // =============================================================================== | |
| 327 // compass_sleep | |
| 328 /// @brief low power mode | |
| 329 // =============================================================================== | |
| 330 void compass_sleep(void) | |
| 331 { | |
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332 if(hardwareCompass == compass_generation2) //LSM303D |
| 38 | 333 compass_sleep_LSM303D(); |
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334 if(hardwareCompass == compass_generation1) //HMC5883L |
| 38 | 335 compass_sleep_HMC5883L(); |
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336 if(hardwareCompass == compass_generation3) //LSM303AGR |
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337 compass_sleep_LSM303AGR(); |
| 38 | 338 } |
| 339 | |
| 340 | |
| 341 // =============================================================================== | |
| 342 // compass_read | |
| 343 /// @brief reads magnetometer and accelerometer for LSM303D, | |
| 344 /// otherwise magnetometer only | |
| 345 // =============================================================================== | |
| 346 void compass_read(void) | |
| 347 { | |
| 357 | 348 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 349 compass_read_LSM303D(); |
| 357 | 350 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 351 compass_read_HMC5883L(); |
| 357 | 352 if(hardwareCompass == compass_generation3) //LSM303AGR) |
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353 compass_read_LSM303AGR(); |
| 357 | 354 |
| 38 | 355 } |
| 356 | |
| 357 | |
| 358 // =============================================================================== | |
| 359 // accelerator_init | |
| 360 /// @brief empty for for LSM303D | |
| 361 // =============================================================================== | |
| 362 void accelerator_init(void) | |
| 363 { | |
| 357 | 364 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 365 accelerator_init_MMA8452Q(); |
| 366 } | |
| 367 | |
| 368 | |
| 369 // =============================================================================== | |
| 370 // accelerator_sleep | |
| 371 /// @brief empty for for LSM303D | |
| 372 // =============================================================================== | |
| 373 void accelerator_sleep(void) | |
| 374 { | |
| 357 | 375 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 376 accelerator_sleep_MMA8452Q(); |
| 377 } | |
| 378 | |
| 379 | |
| 380 // =============================================================================== | |
| 381 // acceleration_read | |
| 382 /// @brief empty for for LSM303D | |
| 383 // =============================================================================== | |
| 384 void acceleration_read(void) | |
| 385 { | |
| 357 | 386 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 387 acceleration_read_LSM303D(); |
| 357 | 388 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 389 acceleration_read_MMA8452Q(); |
| 357 | 390 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 391 acceleration_read_LSM303AGR(); | |
| 38 | 392 } |
| 393 | |
| 394 | |
| 395 /* Private functions ---------------------------------------------------------*/ | |
| 396 | |
| 397 // =============================================================================== | |
| 357 | 398 // LSM303AGR_read_reg |
| 399 // =============================================================================== | |
| 400 uint8_t LSM303AGR_read_reg(uint8_t addr) | |
| 401 { | |
| 402 uint8_t data; | |
| 403 | |
| 404 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1); | |
| 405 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1); | |
| 406 return data; | |
| 407 } | |
| 408 | |
| 409 | |
| 410 // =============================================================================== | |
| 411 // LSM303AGR_write_reg | |
| 412 // =============================================================================== | |
| 413 void LSM303AGR_write_reg(uint8_t addr, uint8_t value) | |
| 414 { | |
| 415 uint8_t data[2]; | |
| 416 | |
| 417 data[0] = addr; | |
| 418 data[1] = value; | |
| 419 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2); | |
| 420 } | |
| 421 | |
| 422 // =============================================================================== | |
| 423 // LSM303AGR_acc_write_reg | |
| 424 // =============================================================================== | |
| 425 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value) | |
| 426 { | |
| 427 uint8_t data[2]; | |
| 428 | |
| 429 data[0] = addr; | |
| 430 data[1] = value; | |
| 431 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2); | |
| 432 } | |
| 433 | |
| 434 | |
| 435 // =============================================================================== | |
| 436 // LSM303AGR_write_checked_reg | |
| 437 // =============================================================================== | |
| 438 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value) | |
| 439 { | |
| 440 LSM303AGR_write_reg(addr, value); | |
| 441 } | |
| 442 | |
| 443 // =============================================================================== | |
| 444 // LSM303AGR_acc_write_checked_reg | |
| 445 // =============================================================================== | |
| 446 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value) | |
| 447 { | |
| 448 LSM303AGR_acc_write_reg(addr, value); | |
| 449 } | |
| 450 | |
| 451 // =============================================================================== | |
| 38 | 452 // LSM303D_read_reg |
| 453 // =============================================================================== | |
| 454 uint8_t LSM303D_read_reg(uint8_t addr) | |
| 455 { | |
| 456 uint8_t data; | |
| 457 | |
| 458 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
| 459 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 460 return data; | |
| 461 } | |
| 462 | |
| 463 | |
| 464 // =============================================================================== | |
| 465 // LSM303D_write_reg | |
| 466 // =============================================================================== | |
| 467 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
| 468 { | |
| 469 uint8_t data[2]; | |
| 470 | |
| 471 /* enable accel*/ | |
| 472 data[0] = addr; | |
| 473 data[1] = value; | |
| 474 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 475 } | |
| 476 | |
| 477 | |
| 478 // =============================================================================== | |
| 479 // LSM303D_write_checked_reg | |
| 480 // =============================================================================== | |
| 481 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
| 482 { | |
| 483 LSM303D_write_reg(addr, value); | |
| 484 } | |
| 485 | |
| 486 | |
| 487 // =============================================================================== | |
| 488 // LSM303D_modify_reg | |
| 489 // =============================================================================== | |
| 490 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
| 491 { | |
| 492 uint8_t val; | |
| 493 | |
| 494 val = LSM303D_read_reg(reg); | |
| 495 val &= ~clearbits; | |
| 496 val |= setbits; | |
| 497 LSM303D_write_checked_reg(reg, val); | |
| 498 } | |
| 499 | |
| 500 // =============================================================================== | |
| 501 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
| 502 // =============================================================================== | |
| 503 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
| 504 { | |
| 505 uint8_t setbits = 0; | |
| 506 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
| 507 | |
| 508 if (bandwidth == 0) { | |
| 509 bandwidth = 773; | |
| 510 } | |
| 511 | |
| 512 if (bandwidth <= 50) { | |
| 513 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
| 514 _accel_onchip_filter_bandwith = 50; | |
| 515 | |
| 516 } else if (bandwidth <= 194) { | |
| 517 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
| 518 _accel_onchip_filter_bandwith = 194; | |
| 519 | |
| 520 } else if (bandwidth <= 362) { | |
| 521 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
| 522 _accel_onchip_filter_bandwith = 362; | |
| 523 | |
| 524 } else if (bandwidth <= 773) { | |
| 525 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
| 526 _accel_onchip_filter_bandwith = 773; | |
| 527 | |
| 528 } else { | |
| 529 return -1; | |
| 530 } | |
| 531 | |
| 532 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
| 533 | |
| 534 return 0; | |
| 535 } | |
| 536 | |
| 537 | |
| 538 // =============================================================================== | |
| 539 // LSM303D_accel_set_driver_lowpass_filter | |
| 540 // =============================================================================== | |
| 541 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
| 542 { | |
| 543 /* | |
| 544 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
| 545 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
| 546 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
| 547 */ | |
| 548 return 0; | |
| 549 } | |
| 550 | |
| 551 | |
| 552 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
| 553 // =============================================================================== | |
| 554 // rotate_mag_3f | |
| 555 /// @brief swap axis in convient way, by hw | |
| 556 /// @param *x raw input is set to *y input | |
| 557 /// @param *y raw input is set to -*x input | |
| 558 /// @param *z raw is not touched | |
| 559 // =============================================================================== | |
| 560 void rotate_mag_3f(float *x, float *y, float *z) | |
| 561 { | |
| 562 return; | |
| 563 /* | |
| 564 *x = *x; // HMC: *x = -*y | |
| 565 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
| 566 *z = *z; // HMC: *z = *z | |
| 567 */ | |
| 568 } | |
| 569 | |
| 570 | |
| 571 // =============================================================================== | |
| 572 // rotate_accel_3f | |
| 573 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
| 574 /// @param *x raw input, output is with sign change | |
| 575 /// @param *y raw input, output is with sign change | |
| 576 /// @param *z raw input, output is with sign change | |
| 577 // =============================================================================== | |
| 578 void rotate_accel_3f(float *x, float *y, float *z) | |
| 579 { | |
| 580 *x = -*x; | |
| 581 *y = -*y; | |
| 582 *z = -*z; | |
| 583 /* tested: | |
| 584 x = x, y =-y, z=-z: does not work with roll | |
| 585 x = x, y =y, z=-z: does not work with pitch | |
| 586 x = x, y =y, z=z: does not work at all | |
| 587 */ | |
| 588 } | |
| 589 | |
| 590 | |
| 591 // =============================================================================== | |
| 357 | 592 // compass_init_LSM303D |
| 38 | 593 /// This might be called several times with different gain values during calibration |
| 594 /// but gain change is not supported at the moment. | |
| 595 /// | |
| 596 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 597 // =============================================================================== | |
| 598 | |
| 599 //uint8_t testCompassLS303D[11]; | |
| 600 | |
| 601 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
| 602 { | |
| 603 if(fast == 0) | |
| 604 { | |
| 605 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
|
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606 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 BDU and all axis |
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607 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); // 50Hz anti alias filter |
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608 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); // no interrupts |
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609 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); // no interrupts |
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610 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 High resolution |
| 38 | 611 } |
| 612 else | |
| 613 { | |
| 614 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 615 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
| 616 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 617 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 618 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 619 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
| 620 } | |
| 621 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
| 622 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
| 623 | |
| 624 return; | |
| 625 } | |
| 626 | |
| 627 | |
| 628 // =============================================================================== | |
| 629 // compass_sleep_LSM303D | |
| 357 | 630 // @brief Gen 2 chip |
| 38 | 631 // =============================================================================== |
| 632 void compass_sleep_LSM303D(void) | |
| 633 { | |
| 634 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
| 635 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
| 636 } | |
| 637 | |
| 638 | |
| 639 // =============================================================================== | |
| 640 // acceleration_read_LSM303D | |
| 357 | 641 // output is accel_DX_f, accel_DY_f, accel_DZ_f |
| 38 | 642 // =============================================================================== |
| 643 void acceleration_read_LSM303D(void) | |
| 644 { | |
| 645 uint8_t data; | |
| 646 float xraw_f, yraw_f, zraw_f; | |
| 647 float accel_report_x, accel_report_y, accel_report_z; | |
| 648 | |
| 649 memset(accDataBuffer,0,6); | |
| 650 | |
| 651 accel_DX_f = 0; | |
| 652 accel_DY_f = 0; | |
| 653 accel_DZ_f = 0; | |
| 654 | |
| 655 for(int i=0;i<6;i++) | |
| 656 { | |
| 657 data = ADDR_OUT_X_L_A + i; | |
| 658 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 659 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
| 660 } | |
| 661 | |
| 662 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 663 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 664 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 665 | |
| 666 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 667 | |
| 668 // mh | |
| 669 accel_report_x = xraw_f; | |
| 670 accel_report_y = yraw_f; | |
| 671 accel_report_z = zraw_f; | |
| 672 | |
| 673 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 674 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 675 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 676 } | |
| 677 | |
| 678 | |
| 679 // =============================================================================== | |
| 680 // compass_read_LSM303D | |
| 681 /// | |
| 682 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 683 // =============================================================================== | |
| 684 void compass_read_LSM303D(void) | |
| 685 { | |
| 686 uint8_t data; | |
| 687 // float xraw_f, yraw_f, zraw_f; | |
| 688 // float mag_report_x, mag_report_y, mag_report_z; | |
| 689 | |
| 690 memset(magDataBuffer,0,6); | |
| 691 | |
| 692 compass_DX_f = 0; | |
| 693 compass_DY_f = 0; | |
| 694 compass_DZ_f = 0; | |
| 695 | |
| 696 for(int i=0;i<6;i++) | |
| 697 { | |
| 698 data = ADDR_OUT_X_L_M + i; | |
| 699 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 700 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
| 701 } | |
| 702 | |
| 703 // mh 160620 flip x and y if flip display | |
| 704 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 705 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 706 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 707 // no rotation | |
| 708 return; | |
| 357 | 709 } |
| 710 | |
| 711 | |
| 712 // =============================================================================== | |
| 713 // compass_init_LSM303AGR | |
| 714 /// This might be called several times with different gain values during calibration | |
| 715 /// but gain change is not supported at the moment. | |
| 716 /// | |
| 717 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 718 // =============================================================================== | |
| 38 | 719 |
| 357 | 720 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain) |
| 721 { | |
| 722 if(fast == 0) | |
| 723 { | |
| 358 | 724 // init compass |
|
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725 LSM303AGR_write_checked_reg(0x60, 0x80); // CFG_REG_A_M 10Hz continuous measurement |
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726 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M Enable offset cancellation and low pass filter |
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727 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M Avoid incoherence (BDU) |
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728 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M No interrupts |
| 358 | 729 |
| 730 // init accel (Same chip, but different address...) | |
| 731 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
|
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732 LSM303AGR_acc_write_checked_reg(0x20, 0x27); // CTRL_REG1_A (10Hz, x,y,z = ON, low power mode) |
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733 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A (High pass filter normal mode) |
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734 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A (no interrupts) |
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735 LSM303AGR_acc_write_checked_reg(0x23, 0x88); // CTRL_REG4_A, High Resolution Mode enabled, enable BDU |
| 357 | 736 } |
| 737 else | |
| 738 { | |
| 358 | 739 // init compass |
| 740 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz | |
| 357 | 741 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M |
| 742 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 743 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 744 | |
| 745 // init accel (Same chip, but different address...) | |
| 746 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
|
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747 LSM303AGR_acc_write_checked_reg(0x20, 0x47); // CTRL_REG1_A (50Hz, x,y,z = ON) |
| 358 | 748 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A |
| 749 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
|
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750 LSM303AGR_acc_write_checked_reg(0x23, 0x88); // CTRL_REG4_A, High Resolution Mode enabled |
| 357 | 751 } |
| 752 | |
| 753 return; | |
| 754 } | |
| 755 | |
| 756 | |
| 757 // =============================================================================== | |
| 758 // compass_sleep_LSM303D | |
| 759 // @brief Gen 2 chip | |
| 760 // =============================================================================== | |
| 761 void compass_sleep_LSM303AGR(void) | |
| 762 { | |
|
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763 LSM303AGR_write_checked_reg(0x60, 0x13); // low power and idle mode |
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764 LSM303AGR_write_checked_reg(0x61, 0x04); // pulse only at power on |
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765 LSM303AGR_write_checked_reg(0x62, 0x51); // int mag pin used (?), BDU and DRDY is output |
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766 LSM303AGR_write_checked_reg(0x63, 0x00); // no interrupts |
| 357 | 767 |
| 768 | |
|
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769 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // temperature off |
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770 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // power down |
| 357 | 771 } |
| 772 | |
| 38 | 773 |
| 357 | 774 // =============================================================================== |
| 775 // acceleration_read_LSM303AGR | |
| 776 // output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 777 // =============================================================================== | |
| 778 void acceleration_read_LSM303AGR(void) | |
| 779 { | |
| 780 uint8_t data; | |
| 781 float xraw_f, yraw_f, zraw_f; | |
| 782 float accel_report_x, accel_report_y, accel_report_z; | |
| 783 | |
| 784 memset(accDataBuffer,0,6); | |
| 785 | |
| 786 accel_DX_f = 0; | |
| 787 accel_DY_f = 0; | |
| 788 accel_DZ_f = 0; | |
| 789 | |
| 790 for(int i=0;i<6;i++) | |
| 791 { | |
| 358 | 792 data = 0x28 + i; // OUT_X_L_A |
| 357 | 793 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); |
| 794 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1); | |
| 795 } | |
| 796 | |
| 797 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 798 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 799 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 800 | |
| 801 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 802 | |
| 803 // mh | |
| 804 accel_report_x = xraw_f; | |
| 805 accel_report_y = yraw_f; | |
| 358 | 806 accel_report_z = -zraw_f; // flip Z in gen 2 hardware |
| 357 | 807 |
| 808 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 809 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 810 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 811 } | |
| 812 | |
| 813 | |
| 814 // =============================================================================== | |
| 815 // compass_read_LSM303AGR | |
| 816 /// | |
| 817 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 818 // =============================================================================== | |
| 819 void compass_read_LSM303AGR(void) | |
| 820 { | |
| 821 uint8_t data; | |
| 822 // float xraw_f, yraw_f, zraw_f; | |
| 823 // float mag_report_x, mag_report_y, mag_report_z; | |
| 824 | |
| 825 memset(magDataBuffer,0,6); | |
| 826 | |
| 827 compass_DX_f = 0; | |
| 828 compass_DY_f = 0; | |
| 829 compass_DZ_f = 0; | |
| 830 | |
| 831 for(int i=0;i<6;i++) | |
| 832 { | |
| 833 data = 0x68 + i; // OUTX_L_REG_M | |
| 834 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1); | |
| 835 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1); | |
| 836 } | |
| 837 | |
| 838 // mh 160620 flip x and y if flip display | |
| 839 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 840 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 841 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 358 | 842 |
| 843 // align axis in gen 2 hardware | |
| 844 compass_DZ_f *= -1; | |
| 845 | |
| 357 | 846 return; |
| 38 | 847 } |
| 848 | |
| 849 | |
| 850 // -------------------------------------------------------------------------------- | |
| 851 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
| 852 // -------------------------------------------------------------------------------- | |
| 853 | |
| 854 // =============================================================================== | |
| 855 // compass_init_HMC5883L | |
| 856 /// @brief The horrible Honeywell compass chip | |
| 857 /// This might be called several times during calibration | |
| 858 /// | |
| 859 /// @param fast: 1 is fast mode, 0 is normal mode | |
| 860 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 861 // =============================================================================== | |
| 862 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
| 863 { | |
| 864 uint8_t write_buffer[4]; | |
| 865 | |
| 866 compass_gain = gain; | |
| 867 uint16_t length = 0; | |
| 868 write_buffer[0] = 0x00; // 00 = config Register A | |
| 869 | |
| 870 if( fast ) | |
| 871 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
| 872 else | |
| 873 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
| 874 | |
| 875 switch(gain) | |
| 876 { | |
| 877 case 7: | |
| 878 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
| 879 break; | |
| 880 case 6: | |
| 881 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
| 882 break; | |
| 883 case 5: | |
| 884 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
| 885 break; | |
| 886 case 4: | |
| 887 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
| 888 break; | |
| 889 case 3: | |
| 890 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
| 891 break; | |
| 892 case 2: | |
| 893 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
| 894 break; | |
| 895 case 1: | |
| 896 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
| 897 break; | |
| 898 case 0: | |
| 899 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
| 900 break; | |
| 901 } | |
| 902 write_buffer[3] = 0x00; // Mode: continuous mode | |
| 903 length = 4; | |
| 904 //hmc_twi_write(0); | |
| 905 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 906 } | |
| 907 | |
| 908 | |
| 909 | |
| 910 // =============================================================================== | |
| 911 // compass_sleep_HMC5883L | |
| 912 /// @brief Power-down mode for Honeywell compass chip | |
| 913 // =============================================================================== | |
| 914 void compass_sleep_HMC5883L(void) | |
| 915 { | |
| 916 uint8_t write_buffer[4]; | |
| 917 uint16_t length = 0; | |
| 918 | |
| 919 write_buffer[0] = 0x00; // 00 = config Register A | |
| 920 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
| 921 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
| 922 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
| 923 length = 4; | |
| 924 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 925 } | |
| 926 | |
| 927 | |
| 928 // =============================================================================== | |
| 929 // accelerator_init_MMA8452Q | |
| 930 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
| 931 // =============================================================================== | |
| 932 void accelerator_init_MMA8452Q(void) | |
| 933 { | |
| 934 uint8_t write_buffer[4]; | |
| 935 uint16_t length = 0; | |
| 936 //HAL_Delay(1); | |
| 937 //return; | |
| 938 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
| 939 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
| 940 length = 2; | |
| 941 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 942 //HAL_Delay(1); | |
| 943 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 944 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
| 945 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
| 946 length = 3; | |
| 947 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 948 | |
| 949 //HAL_Delay(1); | |
| 950 //hw_delay_us(100); | |
| 951 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 952 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
| 953 length = 2; | |
| 954 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 955 /* | |
| 956 HAL_Delay(6); | |
| 957 compass_read(); | |
| 958 HAL_Delay(1); | |
| 959 acceleration_read(); | |
| 960 | |
| 961 compass_calc(); | |
| 962 */ | |
| 963 } | |
| 964 | |
| 965 | |
| 966 // =============================================================================== | |
| 967 // accelerator_sleep_MMA8452Q | |
| 968 /// @brief compass_sleep_HMC5883L | |
| 969 // =============================================================================== | |
| 970 void accelerator_sleep_MMA8452Q(void) | |
| 971 { | |
| 972 uint16_t length = 0; | |
| 973 uint8_t write_buffer[4]; | |
| 974 | |
| 975 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 976 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
| 977 length = 2; | |
| 978 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 979 } | |
| 980 | |
| 981 | |
| 982 // =============================================================================== | |
| 983 // compass_read_HMC5883L | |
| 984 /// @brief The new ST 303D - get ALL data and store in static variables | |
| 985 /// | |
| 986 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 987 // =============================================================================== | |
| 988 void compass_read_HMC5883L(void) | |
| 989 { | |
| 990 uint8_t buffer[20]; | |
| 991 compass_DX_f = 0; | |
| 992 compass_DY_f = 0; | |
| 993 compass_DZ_f = 0; | |
| 994 uint8_t length = 0; | |
| 995 uint8_t read_buffer[6]; | |
| 996 signed_tword data; | |
| 997 for(int i = 0; i<6;i++) | |
| 998 read_buffer[i] = 0; | |
| 999 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
| 1000 length = 1; | |
| 1001 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
| 1002 length = 6; | |
| 1003 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
| 1004 | |
| 1005 | |
| 1006 data.Byte.hi = read_buffer[0]; | |
| 1007 data.Byte.low = read_buffer[1]; | |
| 1008 //Y = Z | |
| 1009 compass_DY_f = - data.Word; | |
| 1010 | |
| 1011 data.Byte.hi = read_buffer[2]; | |
| 1012 data.Byte.low = read_buffer[3]; | |
| 1013 compass_DZ_f = data.Word; | |
| 1014 | |
| 1015 data.Byte.hi = read_buffer[4]; | |
| 1016 data.Byte.low = read_buffer[5]; | |
| 1017 //X = -Y | |
| 1018 compass_DX_f = data.Word; | |
| 1019 } | |
| 1020 | |
| 1021 | |
| 1022 // =============================================================================== | |
| 1023 // acceleration_read_MMA8452Q | |
| 1024 /// @brief The old MMA8452Q used with the Honeywell compass | |
| 1025 /// get the acceleration data and store in static variables | |
| 1026 /// | |
| 1027 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1028 // =============================================================================== | |
| 1029 void acceleration_read_MMA8452Q(void) | |
| 1030 { | |
| 1031 uint8_t buffer[20]; | |
| 1032 accel_DX_f = 0; | |
| 1033 accel_DY_f = 0; | |
| 1034 accel_DZ_f = 0; | |
| 1035 uint8_t length = 0; | |
| 1036 // bit8_Type status ; | |
| 1037 uint8_t read_buffer[7]; | |
| 1038 signed_tword data; | |
| 1039 for(int i = 0; i<6;i++) | |
| 1040 read_buffer[i] = 0; | |
| 1041 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
| 1042 length = 1; | |
| 1043 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
| 1044 length = 7; | |
| 1045 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
| 1046 | |
| 1047 // status.uw = read_buffer[0]; | |
| 1048 data.Byte.hi = read_buffer[1]; | |
| 1049 data.Byte.low = read_buffer[2]; | |
| 1050 accel_DX_f =data.Word/16; | |
| 1051 data.Byte.hi = read_buffer[3]; | |
| 1052 data.Byte.low = read_buffer[4]; | |
| 1053 accel_DY_f =data.Word/16; | |
| 1054 data.Byte.hi = read_buffer[5]; | |
| 1055 data.Byte.low = read_buffer[6]; | |
| 1056 accel_DZ_f =data.Word/16; | |
| 1057 | |
| 1058 accel_DX_f *= -1; | |
| 1059 accel_DY_f *= -1; | |
| 1060 accel_DZ_f *= -1; | |
| 1061 } | |
| 1062 | |
| 1063 | |
| 1064 // =============================================================================== | |
| 1065 // compass_calc_roll_pitch_only | |
| 1066 /// @brief only the roll and pitch parts of compass_calc() | |
| 1067 /// | |
| 1068 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1069 /// output is compass_pitch and compass_roll | |
| 1070 // =============================================================================== | |
| 1071 void compass_calc_roll_pitch_only(void) | |
| 1072 { | |
| 1073 float sinPhi, cosPhi; | |
| 1074 float Phi, Teta; | |
| 1075 | |
| 1076 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1077 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1078 compass_roll = Phi * 180.0f /PI; | |
| 1079 sinPhi = sinf(Phi); | |
| 1080 cosPhi = cosf(Phi); | |
| 1081 | |
| 1082 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1083 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1084 compass_pitch = Teta * 180.0f /PI; | |
| 1085 } | |
| 1086 | |
| 1087 | |
| 1088 // =============================================================================== | |
| 1089 // compass_calc | |
| 1090 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1091 /// | |
| 1092 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1093 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1094 /// output is compass_heading, compass_pitch and compass_roll | |
| 1095 // =============================================================================== | |
| 1096 void compass_calc(void) | |
| 1097 { | |
| 1098 float sinPhi, cosPhi, sinTeta, cosTeta; | |
| 1099 float Phi, Teta, Psi; | |
| 1100 int16_t iBfx, iBfy; | |
| 1101 int16_t iBpx, iBpy, iBpz; | |
| 1102 | |
| 1103 //---- Make hard iron correction ----------------------------------------- | |
| 1104 // Measured magnetometer orientation, measured ok. | |
| 1105 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
| 1106 iBpx = compass_DX_f - compass_CX_f; // X | |
| 1107 iBpy = compass_DY_f - compass_CY_f; // Y | |
| 1108 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
| 1109 | |
| 1110 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1111 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
| 1112 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1113 compass_roll = Phi * 180.0f /PI; | |
| 1114 sinPhi = sinf(Phi); | |
| 1115 cosPhi = cosf(Phi); | |
| 1116 | |
| 1117 //---- rotate by roll angle (-Phi) --------------------------------------- | |
| 1118 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
| 1119 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
| 1120 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
| 1121 | |
| 1122 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1123 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
| 1124 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
| 1125 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1126 compass_pitch = Teta * 180.0f /PI; | |
| 1127 sinTeta = sinf(Teta); | |
| 1128 cosTeta = cosf(Teta); | |
| 1129 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
| 1130 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
| 1131 | |
| 1132 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
| 1133 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
| 1134 | |
| 1135 //---- Detect uncalibrated compass --------------------------------------- | |
| 1136 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
| 1137 { | |
| 1138 compass_heading = -1; | |
| 1139 return; | |
| 1140 } | |
| 1141 | |
| 1142 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
| 1143 // Result in degree (no need of 0.01 deg precision... | |
| 1144 Psi = atan2f(-iBfy,iBfx); | |
| 1145 compass_heading = Psi * 180.0f /PI; | |
| 1146 // Result in 0..360 range: | |
| 1147 if( compass_heading < 0 ) | |
| 1148 compass_heading += 360; | |
| 1149 } | |
| 1150 | |
| 1151 | |
| 1152 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1153 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1154 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1155 | |
| 1156 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
| 1157 | |
| 1158 // =============================================================================== | |
| 1159 // compass_reset_calibration | |
| 1160 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1161 /// | |
| 1162 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1163 /// | |
| 1164 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1165 /// all is set to zero here | |
| 1166 // =============================================================================== | |
| 1167 void compass_reset_calibration(SCompassCalib *g) | |
| 1168 { | |
| 1169 g->compass_N = 0; | |
| 1170 g->Su = g->Sv = g->Sw = 0.0; | |
| 1171 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
| 1172 g->Suuu = g->Svvv = g->Swww = 0.0; | |
| 1173 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
| 1174 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
| 1175 } | |
| 1176 | |
| 1177 | |
| 1178 // =============================================================================== | |
| 1179 // compass_add_calibration | |
| 1180 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1181 /// | |
| 1182 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1183 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1184 /// output is struct g | |
| 1185 /// | |
| 1186 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1187 // =============================================================================== | |
| 1188 void compass_add_calibration(SCompassCalib *g) | |
| 1189 { | |
| 1190 float u, v, w; | |
| 1191 | |
| 1192 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
| 1193 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
| 1194 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
| 1195 | |
| 1196 g->compass_N++; | |
| 1197 g->Su += u; | |
| 1198 g->Sv += v; | |
| 1199 g->Sw += w; | |
| 1200 g->Suv += u*v; | |
| 1201 g->Suw += u*w; | |
| 1202 g->Svw += v*w; | |
| 1203 g->Suu += u*u; | |
| 1204 g->Suuu += u*u*u; | |
| 1205 g->Suuv += v*u*u; | |
| 1206 g->Suuw += w*u*u; | |
| 1207 g->Svv += v*v; | |
| 1208 g->Svvv += v*v*v; | |
| 1209 g->Svvu += u*v*v; | |
| 1210 g->Svvw += w*v*v; | |
| 1211 g->Sww += w*w; | |
| 1212 g->Swww += w*w*w; | |
| 1213 g->Swwu += u*w*w; | |
| 1214 g->Swwv += v*w*w; | |
| 1215 } | |
| 1216 | |
| 1217 ////////////////////////////////////////////////////////////////////////////// | |
| 1218 | |
| 1219 // =============================================================================== | |
| 1220 // compass_solve_calibration | |
| 1221 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1222 /// | |
| 1223 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1224 /// output is struct g | |
| 1225 /// | |
| 1226 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1227 // =============================================================================== | |
| 1228 void compass_solve_calibration(SCompassCalib *g) | |
| 1229 { | |
| 1230 float yu, yv, yw; | |
| 1231 float delta; | |
| 1232 float uc, vc, wc; | |
| 1233 | |
| 1234 | |
| 1235 //---- Normalize partial sums -------------------------------------------- | |
| 1236 // | |
| 1237 // u, v, w should be centered on the mean value um, vm, wm: | |
| 1238 // x = u + um, with um = Sx/N | |
| 1239 // | |
| 1240 // So: | |
| 1241 // (u + um)**2 = u**2 + 2u*um + um**2 | |
| 1242 // Su = 0, um = Sx/N | |
| 1243 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
| 1244 // Suu = Sxx - Sx**2/N | |
| 1245 yu = g->Su/g->compass_N; | |
| 1246 yv = g->Sv/g->compass_N; | |
| 1247 yw = g->Sw/g->compass_N; | |
| 1248 | |
| 1249 g->Suu -= g->Su*yu; | |
| 1250 g->Svv -= g->Sv*yv; | |
| 1251 g->Sww -= g->Sw*yw; | |
| 1252 | |
| 1253 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
| 1254 // Sxy = Suv + N * um vm | |
| 1255 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
| 1256 g->Suv -= g->Su*yv; | |
| 1257 g->Suw -= g->Su*yw; | |
| 1258 g->Svw -= g->Sv*yw; | |
| 1259 | |
| 1260 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
| 1261 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
| 1262 // Su = 0, um = Sx/N: | |
| 1263 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
| 1264 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
| 1265 | |
| 1266 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
| 1267 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
| 1268 // | |
| 1269 // Su = 0, Sv = 0, vm = Sy/N: | |
| 1270 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
| 1271 // | |
| 1272 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
| 1273 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
| 1274 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
| 1275 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
| 1276 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
| 1277 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
| 1278 | |
| 1279 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
| 1280 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
| 1281 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
| 1282 | |
| 1283 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
| 1284 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
| 1285 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
| 1286 | |
| 1287 //---- Solve the system -------------------------------------------------- | |
| 1288 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
| 1289 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
| 1290 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
| 1291 // Note this is symetric, with a positiv diagonal, hence | |
| 1292 // it always have a uniq solution. | |
| 1293 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
| 1294 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
| 1295 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
| 1296 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1297 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1298 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
| 1299 | |
| 1300 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1301 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1302 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
| 1303 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
| 1304 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
| 1305 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
| 1306 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
| 1307 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
| 1308 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
| 1309 | |
| 1310 // Back to uncentered coordinates: | |
| 1311 // xc = um + uc | |
| 1312 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
| 1313 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
| 1314 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
| 1315 | |
| 1316 // Then save the new calibrated center: | |
| 1317 compass_CX_f = (short)(32768 * uc); | |
| 1318 compass_CY_f = (short)(32768 * vc); | |
| 1319 compass_CZ_f = (short)(32768 * wc); | |
| 1320 } | |
| 1321 | |
| 1322 | |
| 1323 // =============================================================================== | |
| 1324 // compass_calib | |
| 1325 /// @brief the main loop for calibration | |
| 1326 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1327 /// 160704 removed -4096 limit for LSM303D | |
| 1328 /// | |
| 1329 /// @return always 0 | |
| 1330 // =============================================================================== | |
| 1331 int compass_calib_common(void) | |
| 1332 { | |
|
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1333 SCompassCalib g; |
| 38 | 1334 |
| 1335 // Starts with no calibration at all: | |
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1336 compass_reset_calibration(&g); |
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1337 uint32_t tickstart = 0; |
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1338 tickstart = HAL_GetTick(); |
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1339 /* run calibration for one minute */ |
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1340 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000) |
| 38 | 1341 { |
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1342 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)) |
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1343 { |
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1344 HAL_Delay(1); |
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1345 } |
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1346 compass_read(); |
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1347 acceleration_read(); |
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1348 compass_calc_roll_pitch_only(); |
| 38 | 1349 |
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1350 if((hardwareCompass == compass_generation1 ) //HMC5883L) |
| 38 | 1351 &&((compass_DX_f == -4096) || |
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1352 (compass_DY_f == -4096) || |
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1353 (compass_DZ_f == -4096) )) |
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1354 { |
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1355 if(compass_gain == 0) |
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1356 return -1; |
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1357 compass_gain--; |
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1358 compass_init(1, compass_gain); |
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1359 compass_reset_calibration(&g); |
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1360 continue; |
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1361 } |
| 38 | 1362 |
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1363 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); |
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1364 compass_add_calibration(&g); |
| 104 | 1365 } |
| 38 | 1366 |
| 1367 compass_solve_calibration(&g); | |
| 1368 | |
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1369 if((hardwareCompass != compass_generation_undef) /* if compass is not know at this point in time storing data makes no sense */ |
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1370 && (hardwareCompass != COMPASS_NOT_RECOGNIZED)) |
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1371 { |
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1372 tfull32 dataBlock[4]; |
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1373 dataBlock[0].Word16.low16 = compass_CX_f; |
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1374 dataBlock[0].Word16.hi16 = compass_CY_f; |
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1375 dataBlock[1].Word16.low16 = compass_CZ_f; |
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1376 dataBlock[1].Word16.hi16 = hardwareCompass; |
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1377 dataBlock[2].Full32 = 0x7FFFFFFF; |
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1378 dataBlock[3].Word16.low16 = 0xFFFF; |
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1379 dataBlock[3].Word16.hi16 = BFA_calc_Block_Checksum(dataBlock); |
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1380 BFA_writeDataBlock(dataBlock); |
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1381 } |
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1382 return 0; |
| 38 | 1383 } |
| 1384 |