Mercurial > public > ostc4
annotate Small_CPU/Src/compass.c @ 179:a492a7a457b7 Cleanup_Compass_Wireless
Starting 'Cleanup_Compass_Wireless' branch
| author | ideenmodellierer |
|---|---|
| date | Wed, 13 Mar 2019 20:53:05 +0100 |
| parents | 14e4c83a7559 |
| children | 9ecc2e60418d |
| 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 #include "compass_LSM303DLHC.h" | |
| 36 | |
| 37 #include "i2c.h" | |
| 38 #include "RTE_FlashAccess.h" // to store compass_calib_data | |
| 39 | |
| 40 #include "stm32f4xx_hal.h" | |
| 41 | |
| 42 #define MODE_LSM303DLHC | |
| 43 #define TEST_IF_HMC5883L | |
| 44 //#define COMPASS_DEACTIVATE | |
| 45 | |
| 46 /// split byte to bits | |
| 47 typedef struct{ | |
| 48 uint8_t bit0:1; ///< split byte to bits | |
| 49 uint8_t bit1:1; ///< split byte to bits | |
| 50 uint8_t bit2:1; ///< split byte to bits | |
| 51 uint8_t bit3:1; ///< split byte to bits | |
| 52 uint8_t bit4:1; ///< split byte to bits | |
| 53 uint8_t bit5:1; ///< split byte to bits | |
| 54 uint8_t bit6:1; ///< split byte to bits | |
| 55 uint8_t bit7:1; ///< split byte to bits | |
| 56 } ubit8_t; | |
| 57 | |
| 58 | |
| 59 /// split byte to bits | |
| 60 typedef union{ | |
| 61 ubit8_t ub; ///< split byte to bits | |
| 62 uint8_t uw; ///< split byte to bits | |
| 63 } bit8_Type; | |
| 64 | |
| 65 | |
| 66 /// split word to 2 bytes | |
| 67 typedef struct{ | |
| 68 uint8_t low; ///< split word to 2 bytes | |
| 69 uint8_t hi; ///< split word to 2 bytes | |
| 70 } two_byte; | |
| 71 | |
| 72 | |
| 73 /// split word to 2 bytes | |
| 74 typedef union{ | |
| 75 two_byte Byte; ///< split word to 2 bytes | |
| 76 uint16_t Word; ///< split word to 2 bytes | |
| 77 } tword; | |
| 78 | |
| 79 | |
| 80 /// split signed word to 2 bytes | |
| 81 typedef union{ | |
| 82 two_byte Byte; ///< split signed word to 2 bytes | |
| 83 int16_t Word; ///< split signed word to 2 bytes | |
| 84 } signed_tword; | |
| 85 | |
| 86 | |
| 87 /// split full32 to 2 words | |
| 88 typedef struct{ | |
| 89 uint16_t low16; ///< split word to 2 bytes | |
| 90 uint16_t hi16; ///< split word to 2 bytes | |
| 91 } two_word; | |
| 92 | |
| 93 typedef union{ | |
| 94 two_word Word16; ///< split word to 2 bytes | |
| 95 uint32_t Full32; ///< split word to 2 bytes | |
| 96 } tfull32; | |
| 97 | |
| 98 | |
| 99 /// crazy compass calibration stuff | |
| 100 typedef struct | |
| 101 { | |
| 102 unsigned short int compass_N; | |
| 103 float Su, Sv, Sw; | |
| 104 float Suu, Svv, Sww, Suv, Suw, Svw; | |
| 105 float Suuu, Svvv, Swww; | |
| 106 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
| 107 } SCompassCalib; | |
| 108 | |
| 109 | |
| 110 #define Q_PI (18000) | |
| 111 #define Q_PIO2 (9000) | |
| 112 | |
| 113 #define HMC5883L (1) ///< id used with hardwareCompass | |
| 114 #define LSM303D (2) ///< id used with hardwareCompass | |
| 115 #define LSM303DLHC (3) ///< id used with hardwareCompass | |
| 116 #define COMPASS_NOT_RECOGNIZED (4) ///< id used with hardwareCompass | |
| 117 | |
| 118 | |
| 119 ////////////////////////////////////////////////////////////////////////////// | |
| 120 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
| 121 // | |
| 122 #define K1 (5701) // Needs K1/2**16 | |
| 123 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
| 124 #define K3 ( 446) // Needs K3/2**80 | |
| 125 | |
| 126 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
| 127 | |
| 128 typedef short int Int16; | |
| 129 typedef signed char Int8; | |
| 130 typedef Int16 Angle; | |
| 131 | |
| 132 | |
| 133 /// The (filtered) components of the magnetometer sensor | |
| 134 int16_t compass_DX_f; ///< output from sensor | |
| 135 int16_t compass_DY_f; ///< output from sensor | |
| 136 int16_t compass_DZ_f; ///< output from sensor | |
| 137 | |
| 138 | |
| 139 /// Found soft-iron calibration values, deduced from already filtered values | |
| 140 int16_t compass_CX_f; ///< calibration value | |
| 141 int16_t compass_CY_f; ///< calibration value | |
| 142 int16_t compass_CZ_f; ///< calibration value | |
| 143 | |
| 144 | |
| 145 /// The (filtered) components of the accelerometer sensor | |
| 146 int16_t accel_DX_f; ///< output from sensor | |
| 147 int16_t accel_DY_f; ///< output from sensor | |
| 148 int16_t accel_DZ_f; ///< output from sensor | |
| 149 | |
| 150 | |
| 151 /// The compass result values | |
| 152 float compass_heading; ///< the final result calculated in compass_calc() | |
| 153 float compass_roll; ///< the final result calculated in compass_calc() | |
| 154 float compass_pitch; ///< the final result calculated in compass_calc() | |
| 155 | |
| 156 | |
| 157 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
| 158 | |
| 159 uint8_t hardwareCompass = 0; ///< either HMC5883L or LSM303D or not defined yet ( = 0 ) | |
| 160 | |
| 161 /// LSM303D variables | |
| 162 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 163 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 164 | |
| 165 //uint16_t velMag = 0; | |
| 166 //uint16_t velAcc = 0; | |
| 167 | |
| 168 //uint16_t magODR[] = {31,62,125,250,500,1000,2000}; | |
| 169 //uint16_t accODR[] = {0,31,62,125,250,500,1000,2000,4000,8000,16000}; | |
| 170 //uint8_t fastest = 10; //no sensor is the fastest | |
| 171 //uint8_t datas1 = 0; | |
| 172 //uint8_t zoffFlag = 0; | |
| 173 //uint8_t sendFlag = 0; | |
| 174 | |
| 175 | |
| 176 // all by pixhawk code: | |
| 177 | |
| 178 // struct accel_scale _accel_scale; | |
| 179 unsigned _accel_range_m_s2; | |
| 180 float _accel_range_scale; | |
| 181 unsigned _accel_samplerate; | |
| 182 unsigned _accel_onchip_filter_bandwith; | |
| 183 | |
| 184 // struct mag_scale _mag_scale; | |
| 185 unsigned _mag_range_ga; | |
| 186 float _mag_range_scale; | |
| 187 unsigned _mag_samplerate; | |
| 188 | |
| 189 // default scale factors | |
| 190 float _accel_scale_x_offset = 0.0f; | |
| 191 float _accel_scale_x_scale = 1.0f; | |
| 192 float _accel_scale_y_offset = 0.0f; | |
| 193 float _accel_scale_y_scale = 1.0f; | |
| 194 float _accel_scale_z_offset = 0.0f; | |
| 195 float _accel_scale_z_scale = 1.0f; | |
| 196 | |
| 197 float _mag_scale_x_offset = 0.0f; | |
| 198 float _mag_scale_x_scale = 1.0f; | |
| 199 float _mag_scale_y_offset = 0.0f; | |
| 200 float _mag_scale_y_scale = 1.0f; | |
| 201 float _mag_scale_z_offset = 0.0f; | |
| 202 float _mag_scale_z_scale = 1.0f; | |
| 203 | |
| 204 | |
| 205 /* External function prototypes ----------------------------------------------*/ | |
| 206 | |
| 207 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 208 | |
| 209 /* Private function prototypes -----------------------------------------------*/ | |
| 210 | |
| 211 void compass_reset_calibration(SCompassCalib *g); | |
| 212 void compass_add_calibration(SCompassCalib *g); | |
| 213 void compass_solve_calibration(SCompassCalib *g); | |
| 214 | |
| 215 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
| 216 void compass_sleep_HMC5883L(void); | |
| 217 void compass_read_HMC5883L(void); | |
| 218 | |
| 219 void accelerator_init_MMA8452Q(void); | |
| 220 void accelerator_sleep_MMA8452Q(void); | |
| 221 void acceleration_read_MMA8452Q(void); | |
| 222 | |
| 223 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
| 224 void compass_sleep_LSM303D(void); | |
| 225 void compass_read_LSM303D(void); | |
| 226 void acceleration_read_LSM303D(void); | |
| 227 | |
| 228 void compass_init_LSM303DLHC(uint8_t fast, uint8_t gain); | |
| 229 void compass_sleep_LSM303DLHC(void); | |
| 230 void compass_read_LSM303DLHC(void); | |
| 231 void acceleration_read_LSM303DLHC(void); | |
| 232 | |
| 233 | |
| 234 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); | |
| 235 int compass_calib_common(void); | |
| 236 | |
| 237 void compass_calc_roll_pitch_only(void); | |
| 238 | |
| 239 void rotate_mag_3f(float *x, float *y, float *z); | |
| 240 void rotate_accel_3f(float *x, float *y, float *z); | |
| 241 | |
| 242 | |
| 243 /* Exported functions --------------------------------------------------------*/ | |
| 244 | |
| 245 | |
| 246 // =============================================================================== | |
| 247 // compass_init | |
| 248 /// @brief This might be called several times with different gain values during calibration | |
| 249 /// On first call it figures out which hardware is integrated | |
| 250 /// | |
| 251 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
| 252 // =============================================================================== | |
| 253 | |
| 254 uint8_t testCompassTypeDebug = 0xFF; | |
| 255 | |
| 256 void compass_init(uint8_t fast, uint8_t gain) | |
| 257 { | |
| 258 // quick off | |
| 259 #ifdef COMPASS_DEACTIVATE | |
| 260 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
| 261 #endif | |
| 262 | |
| 263 // don't call again with fast, gain in calib mode etc. | |
| 264 // if unknown | |
| 265 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
| 266 { | |
| 267 return; | |
| 268 } | |
| 269 | |
| 270 // old code but without else | |
| 271 if(hardwareCompass == 0) | |
| 272 { | |
| 273 uint8_t data = WHO_AM_I; | |
| 274 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 275 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 276 if(data == WHOIAM_VALUE) | |
| 277 hardwareCompass = LSM303D; | |
| 70 | 278 else |
| 279 hardwareCompass = HMC5883L; | |
| 38 | 280 } |
| 281 | |
| 282 | |
| 70 | 283 // k�nnte Probleme mit altem Chip machen |
| 284 // beim 303D f�hrt dieser Code dazu, dass WHOIAM_VALUE nicht geschickt wird!!! | |
| 38 | 285 |
| 286 #ifdef MODE_LSM303DLHC | |
| 287 HAL_StatusTypeDef resultOfOperation = HAL_TIMEOUT; | |
| 288 | |
| 289 if(hardwareCompass == 0) | |
| 290 { | |
| 291 uint8_t data = DLHC_CTRL_REG1_A; | |
| 292 resultOfOperation = I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, &data, 1); | |
| 293 if(resultOfOperation == HAL_OK) | |
| 294 { | |
| 295 I2C_Master_Receive( DEVICE_ACCELARATOR_303DLHC, &data, 1); | |
| 296 testCompassTypeDebug = data; | |
| 297 if((data & 0x0f) == 0x07) | |
| 298 { | |
| 299 hardwareCompass = LSM303DLHC; | |
| 300 } | |
| 301 } | |
| 302 else | |
| 303 { | |
| 304 testCompassTypeDebug = 0xEE; | |
| 305 } | |
| 306 } | |
| 307 | |
| 308 #endif | |
| 70 | 309 |
| 38 | 310 if(hardwareCompass == 0) |
| 311 { | |
| 312 uint8_t data = WHO_AM_I; | |
| 313 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 314 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 315 if(data == WHOIAM_VALUE) | |
| 316 hardwareCompass = LSM303D; | |
| 317 else | |
| 318 hardwareCompass = HMC5883L; | |
| 319 } | |
| 70 | 320 |
| 38 | 321 // was in else before ! |
| 322 if(hardwareCompass == 0) | |
| 323 hardwareCompass = HMC5883L; | |
| 324 | |
| 325 #ifdef TEST_IF_HMC5883L | |
| 326 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
| 327 | |
| 328 if(hardwareCompass == HMC5883L) | |
| 329 { | |
| 330 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q | |
| 331 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
| 332 if(resultOfOperationHMC_MMA == HAL_OK) | |
| 333 { | |
| 334 hardwareCompass = HMC5883L; // all fine, keep it | |
| 335 } | |
| 336 else | |
| 337 { | |
| 338 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
| 339 testCompassTypeDebug = 0xEC; | |
| 340 } | |
| 341 } | |
| 342 #endif | |
| 343 | |
| 344 | |
| 345 if(hardwareCompass == LSM303DLHC) | |
| 346 { | |
| 347 compass_init_LSM303DLHC(fast, gain); | |
| 348 } | |
| 349 else | |
| 350 if(hardwareCompass == LSM303D) | |
| 351 { | |
| 352 compass_init_LSM303D(fast, gain); | |
| 353 } | |
| 354 else | |
| 355 if(hardwareCompass == HMC5883L) | |
| 356 { | |
| 357 compass_init_HMC5883L(fast, gain); | |
| 358 } | |
| 359 | |
| 360 tfull32 dataBlock[4]; | |
| 361 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK) | |
| 362 { | |
| 363 compass_CX_f = dataBlock[0].Word16.low16; | |
| 364 compass_CY_f = dataBlock[0].Word16.hi16; | |
| 365 compass_CZ_f = dataBlock[1].Word16.low16; | |
| 366 } | |
| 367 | |
| 368 } | |
| 369 | |
| 370 | |
| 371 // =============================================================================== | |
| 372 // compass_calib | |
| 373 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
| 374 // =============================================================================== | |
| 375 int compass_calib(void) | |
| 376 { | |
| 377 if(hardwareCompass == LSM303DLHC) | |
| 378 { | |
| 70 | 379 return compass_calib_common(); // 170821 zur Zeit kein lowpass filtering gefunden, nur high pass auf dem Register ohne Erkl�rung |
| 38 | 380 } |
| 381 else | |
| 382 if(hardwareCompass == LSM303D) | |
| 383 { | |
| 384 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
| 385 int out = compass_calib_common(); | |
| 386 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
| 387 return out; | |
| 388 } | |
| 389 else | |
| 390 if(hardwareCompass == HMC5883L) | |
| 391 { | |
| 392 return compass_calib_common(); | |
| 393 } | |
| 394 else | |
| 395 { | |
| 396 return 0; // standard answer of compass_calib_common(); | |
| 397 } | |
| 398 | |
| 399 | |
| 400 } | |
| 401 | |
| 402 | |
| 403 // =============================================================================== | |
| 404 // compass_sleep | |
| 405 /// @brief low power mode | |
| 406 // =============================================================================== | |
| 407 void compass_sleep(void) | |
| 408 { | |
| 409 if(hardwareCompass == LSM303DLHC) | |
| 410 { | |
| 411 compass_sleep_LSM303DLHC(); | |
| 412 } | |
| 413 else | |
| 414 if(hardwareCompass == LSM303D) | |
| 415 { | |
| 416 compass_sleep_LSM303D(); | |
| 417 } | |
| 418 else | |
| 419 if(hardwareCompass == HMC5883L) | |
| 420 { | |
| 421 compass_sleep_HMC5883L(); | |
| 422 } | |
| 423 } | |
| 424 | |
| 425 | |
| 426 // =============================================================================== | |
| 427 // compass_read | |
| 428 /// @brief reads magnetometer and accelerometer for LSM303D, | |
| 429 /// otherwise magnetometer only | |
| 430 // =============================================================================== | |
| 431 void compass_read(void) | |
| 432 { | |
| 433 if(hardwareCompass == LSM303DLHC) | |
| 434 { | |
| 435 compass_read_LSM303DLHC(); | |
| 436 } | |
| 437 else | |
| 438 if(hardwareCompass == LSM303D) | |
| 439 { | |
| 440 compass_read_LSM303D(); | |
| 441 } | |
| 442 else | |
| 443 if(hardwareCompass == HMC5883L) | |
| 444 { | |
| 445 compass_read_HMC5883L(); | |
| 446 } | |
| 447 } | |
| 448 | |
| 449 | |
| 450 // =============================================================================== | |
| 451 // accelerator_init | |
| 452 /// @brief empty for for LSM303D | |
| 453 // =============================================================================== | |
| 454 void accelerator_init(void) | |
| 455 { | |
| 456 // if((hardwareCompass != LSM303D) && (hardwareCompass != LSM303DLHC)) | |
| 457 if(hardwareCompass == HMC5883L) | |
| 458 accelerator_init_MMA8452Q(); | |
| 459 } | |
| 460 | |
| 461 | |
| 462 // =============================================================================== | |
| 463 // accelerator_sleep | |
| 464 /// @brief empty for for LSM303D | |
| 465 // =============================================================================== | |
| 466 void accelerator_sleep(void) | |
| 467 { | |
| 468 // if((hardwareCompass != LSM303D) && (hardwareCompass != LSM303DLHC)) | |
| 469 if(hardwareCompass == HMC5883L) | |
| 470 accelerator_sleep_MMA8452Q(); | |
| 471 } | |
| 472 | |
| 473 | |
| 474 // =============================================================================== | |
| 475 // acceleration_read | |
| 476 /// @brief empty for for LSM303D | |
| 477 // =============================================================================== | |
| 478 void acceleration_read(void) | |
| 479 { | |
| 480 if(hardwareCompass == LSM303DLHC) | |
| 481 { | |
| 482 acceleration_read_LSM303DLHC(); | |
| 483 } | |
| 484 else | |
| 485 if(hardwareCompass == LSM303D) | |
| 486 { | |
| 487 acceleration_read_LSM303D(); | |
| 488 } | |
| 489 else | |
| 490 if(hardwareCompass == HMC5883L) | |
| 491 { | |
| 492 acceleration_read_MMA8452Q(); | |
| 493 } | |
| 494 } | |
| 495 | |
| 496 | |
| 497 /* Private functions ---------------------------------------------------------*/ | |
| 498 | |
| 499 // =============================================================================== | |
| 500 // LSM303D_read_reg | |
| 501 /// @brief tiny helpers by pixhawk | |
| 502 // =============================================================================== | |
| 503 uint8_t LSM303D_read_reg(uint8_t addr) | |
| 504 { | |
| 505 uint8_t data; | |
| 506 | |
| 507 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
| 508 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 509 return data; | |
| 510 } | |
| 511 | |
| 512 | |
| 513 // =============================================================================== | |
| 514 // LSM303D_write_reg | |
| 515 /// @brief tiny helpers by pixhawk | |
| 516 // =============================================================================== | |
| 517 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
| 518 { | |
| 519 uint8_t data[2]; | |
| 520 | |
| 521 /* enable accel*/ | |
| 522 data[0] = addr; | |
| 523 data[1] = value; | |
| 524 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 525 } | |
| 526 | |
| 527 | |
| 528 // =============================================================================== | |
| 529 // LSM303D_write_checked_reg | |
| 530 /// @brief tiny helpers by pixhawk. This runs unchecked at the moment. | |
| 531 // =============================================================================== | |
| 532 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
| 533 { | |
| 534 LSM303D_write_reg(addr, value); | |
| 535 } | |
| 536 | |
| 537 | |
| 538 // =============================================================================== | |
| 539 // LSM303D_modify_reg | |
| 540 /// @brief tiny helpers by pixhawk | |
| 541 // =============================================================================== | |
| 542 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
| 543 { | |
| 544 uint8_t val; | |
| 545 | |
| 546 val = LSM303D_read_reg(reg); | |
| 547 val &= ~clearbits; | |
| 548 val |= setbits; | |
| 549 LSM303D_write_checked_reg(reg, val); | |
| 550 } | |
| 551 | |
| 552 | |
| 553 | |
| 554 // =============================================================================== | |
| 555 // LSM303DLHC_accelerator_read_req | |
| 556 /// @brief | |
| 557 // =============================================================================== | |
| 558 uint8_t LSM303DLHC_accelerator_read_req(uint8_t addr) | |
| 559 { | |
| 560 uint8_t data; | |
| 561 | |
| 562 I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, &addr, 1); | |
| 563 I2C_Master_Receive( DEVICE_ACCELARATOR_303DLHC, &data, 1); | |
| 564 return data; | |
| 565 } | |
| 566 | |
| 567 | |
| 568 // =============================================================================== | |
| 569 // LSM303DLHC_accelerator_write_req | |
| 570 /// @brief | |
| 571 // =============================================================================== | |
| 572 void LSM303DLHC_accelerator_write_req(uint8_t addr, uint8_t value) | |
| 573 { | |
| 574 uint8_t data[2]; | |
| 575 | |
| 576 /* enable accel*/ | |
| 577 data[0] = addr; | |
| 578 data[1] = value; | |
| 579 I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, data, 2); | |
| 580 } | |
| 581 | |
| 582 /* | |
| 583 // =============================================================================== | |
| 584 // LSM303D_accel_set_range | |
| 585 /// @brief tiny helpers by pixhawk | |
| 586 // =============================================================================== | |
| 587 int LSM303D_accel_set_range(unsigned max_g) | |
| 588 { | |
| 589 uint8_t setbits = 0; | |
| 590 uint8_t clearbits = REG2_FULL_SCALE_BITS_A; | |
| 591 float new_scale_g_digit = 0.0f; | |
| 592 | |
| 593 if (max_g == 0) { | |
| 594 max_g = 16; | |
| 595 } | |
| 596 | |
| 597 if (max_g <= 2) { | |
| 598 _accel_range_m_s2 = 2.0f * LSM303D_ONE_G; | |
| 599 setbits |= REG2_FULL_SCALE_2G_A; | |
| 600 new_scale_g_digit = 0.061e-3f; | |
| 601 | |
| 602 } else if (max_g <= 4) { | |
| 603 _accel_range_m_s2 = 4.0f * LSM303D_ONE_G; | |
| 604 setbits |= REG2_FULL_SCALE_4G_A; | |
| 605 new_scale_g_digit = 0.122e-3f; | |
| 606 | |
| 607 } else if (max_g <= 6) { | |
| 608 _accel_range_m_s2 = 6.0f * LSM303D_ONE_G; | |
| 609 setbits |= REG2_FULL_SCALE_6G_A; | |
| 610 new_scale_g_digit = 0.183e-3f; | |
| 611 | |
| 612 } else if (max_g <= 8) { | |
| 613 _accel_range_m_s2 = 8.0f * LSM303D_ONE_G; | |
| 614 setbits |= REG2_FULL_SCALE_8G_A; | |
| 615 new_scale_g_digit = 0.244e-3f; | |
| 616 | |
| 617 } else if (max_g <= 16) { | |
| 618 _accel_range_m_s2 = 16.0f * LSM303D_ONE_G; | |
| 619 setbits |= REG2_FULL_SCALE_16G_A; | |
| 620 new_scale_g_digit = 0.732e-3f; | |
| 621 | |
| 622 } else { | |
| 623 return -1; | |
| 624 } | |
| 625 | |
| 626 _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G; | |
| 627 | |
| 628 | |
| 629 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
| 630 | |
| 631 return 0; | |
| 632 } | |
| 633 */ | |
| 634 /* | |
| 635 // =============================================================================== | |
| 636 // LSM303D_mag_set_range | |
| 637 /// @brief tiny helpers by pixhawk | |
| 638 // =============================================================================== | |
| 639 int LSM303D_mag_set_range(unsigned max_ga) | |
| 640 { | |
| 641 uint8_t setbits = 0; | |
| 642 uint8_t clearbits = REG6_FULL_SCALE_BITS_M; | |
| 643 float new_scale_ga_digit = 0.0f; | |
| 644 | |
| 645 if (max_ga == 0) { | |
| 646 max_ga = 12; | |
| 647 } | |
| 648 | |
| 649 if (max_ga <= 2) { | |
| 650 _mag_range_ga = 2; | |
| 651 setbits |= REG6_FULL_SCALE_2GA_M; | |
| 652 new_scale_ga_digit = 0.080e-3f; | |
| 653 | |
| 654 } else if (max_ga <= 4) { | |
| 655 _mag_range_ga = 4; | |
| 656 setbits |= REG6_FULL_SCALE_4GA_M; | |
| 657 new_scale_ga_digit = 0.160e-3f; | |
| 658 | |
| 659 } else if (max_ga <= 8) { | |
| 660 _mag_range_ga = 8; | |
| 661 setbits |= REG6_FULL_SCALE_8GA_M; | |
| 662 new_scale_ga_digit = 0.320e-3f; | |
| 663 | |
| 664 } else if (max_ga <= 12) { | |
| 665 _mag_range_ga = 12; | |
| 666 setbits |= REG6_FULL_SCALE_12GA_M; | |
| 667 new_scale_ga_digit = 0.479e-3f; | |
| 668 | |
| 669 } else { | |
| 670 return -1; | |
| 671 } | |
| 672 | |
| 673 _mag_range_scale = new_scale_ga_digit; | |
| 674 | |
| 675 LSM303D_modify_reg(ADDR_CTRL_REG6, clearbits, setbits); | |
| 676 | |
| 677 return 0; | |
| 678 } | |
| 679 */ | |
| 680 | |
| 681 // =============================================================================== | |
| 682 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
| 683 /// @brief tiny helpers by pixhawk | |
| 684 // =============================================================================== | |
| 685 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
| 686 { | |
| 687 uint8_t setbits = 0; | |
| 688 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
| 689 | |
| 690 if (bandwidth == 0) { | |
| 691 bandwidth = 773; | |
| 692 } | |
| 693 | |
| 694 if (bandwidth <= 50) { | |
| 695 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
| 696 _accel_onchip_filter_bandwith = 50; | |
| 697 | |
| 698 } else if (bandwidth <= 194) { | |
| 699 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
| 700 _accel_onchip_filter_bandwith = 194; | |
| 701 | |
| 702 } else if (bandwidth <= 362) { | |
| 703 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
| 704 _accel_onchip_filter_bandwith = 362; | |
| 705 | |
| 706 } else if (bandwidth <= 773) { | |
| 707 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
| 708 _accel_onchip_filter_bandwith = 773; | |
| 709 | |
| 710 } else { | |
| 711 return -1; | |
| 712 } | |
| 713 | |
| 714 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
| 715 | |
| 716 return 0; | |
| 717 } | |
| 718 | |
| 719 | |
| 720 // =============================================================================== | |
| 721 // LSM303D_accel_set_driver_lowpass_filter | |
| 722 /// @brief tiny helpers by pixhawk. This one is not used at the moment! | |
| 723 // =============================================================================== | |
| 724 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
| 725 { | |
| 726 /* | |
| 727 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
| 728 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
| 729 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
| 730 */ | |
| 731 return 0; | |
| 732 } | |
| 733 | |
| 734 /* unused 170821 | |
| 735 // =============================================================================== | |
| 736 // LSM303D_accel_set_samplerate | |
| 737 /// @brief tiny helpers by pixhawk | |
| 738 // =============================================================================== | |
| 739 int LSM303D_accel_set_samplerate(unsigned frequency) | |
| 740 { | |
| 741 uint8_t setbits = 0; | |
| 742 uint8_t clearbits = REG1_RATE_BITS_A; | |
| 743 | |
| 744 // if (frequency == 0 || frequency == ACCEL_SAMPLERATE_DEFAULT) { | |
| 745 frequency = 1600; | |
| 746 // } | |
| 747 | |
| 748 if (frequency <= 3) { | |
| 749 setbits |= REG1_RATE_3_125HZ_A; | |
| 750 _accel_samplerate = 3; | |
| 751 | |
| 752 } else if (frequency <= 6) { | |
| 753 setbits |= REG1_RATE_6_25HZ_A; | |
| 754 _accel_samplerate = 6; | |
| 755 | |
| 756 } else if (frequency <= 12) { | |
| 757 setbits |= REG1_RATE_12_5HZ_A; | |
| 758 _accel_samplerate = 12; | |
| 759 | |
| 760 } else if (frequency <= 25) { | |
| 761 setbits |= REG1_RATE_25HZ_A; | |
| 762 _accel_samplerate = 25; | |
| 763 | |
| 764 } else if (frequency <= 50) { | |
| 765 setbits |= REG1_RATE_50HZ_A; | |
| 766 _accel_samplerate = 50; | |
| 767 | |
| 768 } else if (frequency <= 100) { | |
| 769 setbits |= REG1_RATE_100HZ_A; | |
| 770 _accel_samplerate = 100; | |
| 771 | |
| 772 } else if (frequency <= 200) { | |
| 773 setbits |= REG1_RATE_200HZ_A; | |
| 774 _accel_samplerate = 200; | |
| 775 | |
| 776 } else if (frequency <= 400) { | |
| 777 setbits |= REG1_RATE_400HZ_A; | |
| 778 _accel_samplerate = 400; | |
| 779 | |
| 780 } else if (frequency <= 800) { | |
| 781 setbits |= REG1_RATE_800HZ_A; | |
| 782 _accel_samplerate = 800; | |
| 783 | |
| 784 } else if (frequency <= 1600) { | |
| 785 setbits |= REG1_RATE_1600HZ_A; | |
| 786 _accel_samplerate = 1600; | |
| 787 | |
| 788 } else { | |
| 789 return -1; | |
| 790 } | |
| 791 | |
| 792 LSM303D_modify_reg(ADDR_CTRL_REG1, clearbits, setbits); | |
| 793 return 0; | |
| 794 } | |
| 795 // =============================================================================== | |
| 796 // LSM303D_mag_set_samplerate | |
| 797 /// @brief tiny helpers by pixhawk | |
| 798 // =============================================================================== | |
| 799 int LSM303D_mag_set_samplerate(unsigned frequency) | |
| 800 { | |
| 801 uint8_t setbits = 0; | |
| 802 uint8_t clearbits = REG5_RATE_BITS_M; | |
| 803 | |
| 804 if (frequency == 0) { | |
| 805 frequency = 100; | |
| 806 } | |
| 807 | |
| 808 if (frequency <= 3) { | |
| 809 setbits |= REG5_RATE_3_125HZ_M; | |
| 810 _mag_samplerate = 25; | |
| 811 | |
| 812 } else if (frequency <= 6) { | |
| 813 setbits |= REG5_RATE_6_25HZ_M; | |
| 814 _mag_samplerate = 25; | |
| 815 | |
| 816 } else if (frequency <= 12) { | |
| 817 setbits |= REG5_RATE_12_5HZ_M; | |
| 818 _mag_samplerate = 25; | |
| 819 | |
| 820 } else if (frequency <= 25) { | |
| 821 setbits |= REG5_RATE_25HZ_M; | |
| 822 _mag_samplerate = 25; | |
| 823 | |
| 824 } else if (frequency <= 50) { | |
| 825 setbits |= REG5_RATE_50HZ_M; | |
| 826 _mag_samplerate = 50; | |
| 827 | |
| 828 } else if (frequency <= 100) { | |
| 829 setbits |= REG5_RATE_100HZ_M; | |
| 830 _mag_samplerate = 100; | |
| 831 | |
| 832 } else { | |
| 833 return -1; | |
| 834 } | |
| 835 | |
| 836 LSM303D_modify_reg(ADDR_CTRL_REG5, clearbits, setbits); | |
| 837 return 0; | |
| 838 } | |
| 839 */ | |
| 840 | |
| 841 | |
| 842 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
| 843 // =============================================================================== | |
| 844 // rotate_mag_3f | |
| 845 /// @brief swap axis in convient way, by hw | |
| 846 /// @param *x raw input is set to *y input | |
| 847 /// @param *y raw input is set to -*x input | |
| 848 /// @param *z raw is not touched | |
| 849 // =============================================================================== | |
| 850 void rotate_mag_3f(float *x, float *y, float *z) | |
| 851 { | |
| 852 return; | |
| 853 /* | |
| 854 *x = *x; // HMC: *x = -*y | |
| 855 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
| 856 *z = *z; // HMC: *z = *z | |
| 857 */ | |
| 858 } | |
| 859 | |
| 860 | |
| 861 // =============================================================================== | |
| 862 // rotate_accel_3f | |
| 863 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
| 864 /// @param *x raw input, output is with sign change | |
| 865 /// @param *y raw input, output is with sign change | |
| 866 /// @param *z raw input, output is with sign change | |
| 867 // =============================================================================== | |
| 868 void rotate_accel_3f(float *x, float *y, float *z) | |
| 869 { | |
| 870 *x = -*x; | |
| 871 *y = -*y; | |
| 872 *z = -*z; | |
| 873 /* tested: | |
| 874 x = x, y =-y, z=-z: does not work with roll | |
| 875 x = x, y =y, z=-z: does not work with pitch | |
| 876 x = x, y =y, z=z: does not work at all | |
| 877 */ | |
| 878 } | |
| 879 | |
| 880 | |
| 881 // =============================================================================== | |
| 882 // compass_init_LSM303D by PIXhawk (LSM303D::reset()) | |
| 883 // https://raw.githubusercontent.com/PX4/Firmware/master/src/drivers/lsm303d/lsm303d.cpp | |
| 884 /// @brief The new ST 303D | |
| 885 /// This might be called several times with different gain values during calibration | |
| 886 /// but gain change is not supported at the moment. | |
| 887 /// | |
| 888 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 889 // =============================================================================== | |
| 890 | |
| 891 //uint8_t testCompassLS303D[11]; | |
| 892 | |
| 893 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
| 894 { | |
| 895 // matthias version 160620 | |
| 896 if(fast == 0) | |
| 897 { | |
| 898 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 899 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
| 900 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 901 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 902 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 903 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
| 904 } | |
| 905 else | |
| 906 { | |
| 907 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 908 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
| 909 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 910 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 911 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 912 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
| 913 } | |
| 914 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
| 915 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
| 916 | |
| 917 /* | |
| 918 uint8_t data; | |
| 919 for(int i=0;i<11;i++) | |
| 920 { | |
| 921 data = ADDR_INT_THS_L_M + i; | |
| 922 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 923 I2C_Master_Receive( DEVICE_COMPASS_303D, &testCompassLS303D[i], 1); | |
| 924 } | |
| 925 */ | |
| 926 | |
| 927 return; | |
| 928 /* | |
| 929 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); // modifies ADDR_CTRL_REG2 | |
| 930 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); // modifies ADDR_CTRL_REG1 | |
| 931 | |
| 932 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA); | |
| 933 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE); | |
| 934 */ | |
| 935 | |
| 936 /* | |
| 937 // my stuff hw | |
| 938 // enable accel | |
| 939 LSM303D_write_checked_reg(ADDR_CTRL_REG1, | |
| 940 REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A); | |
| 941 | |
| 942 // enable mag | |
| 943 LSM303D_write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M); | |
| 944 LSM303D_write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T); | |
| 945 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1 | |
| 946 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2 | |
| 947 | |
| 948 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); | |
| 949 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); | |
| 950 LSM303D_accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ); | |
| 951 //LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting | |
| 952 | |
| 953 // we setup the anti-alias on-chip filter as 50Hz. We believe | |
| 954 // this operates in the analog domain, and is critical for | |
| 955 // anti-aliasing. The 2 pole software filter is designed to | |
| 956 // operate in conjunction with this on-chip filter | |
| 957 if(fast) | |
| 958 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting | |
| 959 else | |
| 960 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
| 961 | |
| 962 | |
| 963 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA); | |
| 964 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE); | |
| 965 */ | |
| 966 } | |
| 967 | |
| 968 | |
| 969 // =============================================================================== | |
| 970 // compass_sleep_LSM303D | |
| 971 /// @brief The new compass chip, hopefully this works! | |
| 972 // =============================================================================== | |
| 973 void compass_sleep_LSM303D(void) | |
| 974 { | |
| 975 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
| 976 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
| 977 } | |
| 978 | |
| 979 | |
| 980 // =============================================================================== | |
| 981 // acceleration_read_LSM303D | |
| 982 /// @brief The new LSM303D, code by pixhawk | |
| 983 /// | |
| 984 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 985 // =============================================================================== | |
| 986 void acceleration_read_LSM303D(void) | |
| 987 { | |
| 988 uint8_t data; | |
| 989 float xraw_f, yraw_f, zraw_f; | |
| 990 float accel_report_x, accel_report_y, accel_report_z; | |
| 991 | |
| 992 memset(accDataBuffer,0,6); | |
| 993 | |
| 994 accel_DX_f = 0; | |
| 995 accel_DY_f = 0; | |
| 996 accel_DZ_f = 0; | |
| 997 | |
| 998 for(int i=0;i<6;i++) | |
| 999 { | |
| 1000 data = ADDR_OUT_X_L_A + i; | |
| 1001 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 1002 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
| 1003 } | |
| 1004 | |
| 1005 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 1006 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 1007 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 1008 | |
| 1009 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 1010 | |
| 1011 // mh | |
| 1012 accel_report_x = xraw_f; | |
| 1013 accel_report_y = yraw_f; | |
| 1014 accel_report_z = zraw_f; | |
| 1015 | |
| 1016 // my stuff | |
| 1017 /* | |
| 1018 accel_report_x = ((xraw_f * _accel_range_scale) - _accel_scale_x_offset) * _accel_scale_x_scale; | |
| 1019 accel_report_y = ((yraw_f * _accel_range_scale) - _accel_scale_y_offset) * _accel_scale_y_scale; | |
| 1020 accel_report_z = ((zraw_f * _accel_range_scale) - _accel_scale_z_offset) * _accel_scale_z_scale; | |
| 1021 */ | |
| 1022 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 1023 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 1024 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 1025 } | |
| 1026 /* special code after accel_report_z = ... | |
| 1027 * prior to output | |
| 1028 // we have logs where the accelerometers get stuck at a fixed | |
| 1029 // large value. We want to detect this and mark the sensor as | |
| 1030 // being faulty | |
| 1031 | |
| 1032 if (fabsf(_last_accel[0] - x_in_new) < 0.001f && | |
| 1033 fabsf(_last_accel[1] - y_in_new) < 0.001f && | |
| 1034 fabsf(_last_accel[2] - z_in_new) < 0.001f && | |
| 1035 fabsf(x_in_new) > 20 && | |
| 1036 fabsf(y_in_new) > 20 && | |
| 1037 fabsf(z_in_new) > 20) { | |
| 1038 _constant_accel_count += 1; | |
| 1039 | |
| 1040 } else { | |
| 1041 _constant_accel_count = 0; | |
| 1042 } | |
| 1043 | |
| 1044 if (_constant_accel_count > 100) { | |
| 1045 // we've had 100 constant accel readings with large | |
| 1046 // values. The sensor is almost certainly dead. We | |
| 1047 // will raise the error_count so that the top level | |
| 1048 // flight code will know to avoid this sensor, but | |
| 1049 // we'll still give the data so that it can be logged | |
| 1050 // and viewed | |
| 1051 perf_count(_bad_values); | |
| 1052 _constant_accel_count = 0; | |
| 1053 } | |
| 1054 | |
| 1055 _last_accel[0] = x_in_new; | |
| 1056 _last_accel[1] = y_in_new; | |
| 1057 _last_accel[2] = z_in_new; | |
| 1058 | |
| 1059 accel_report.x = _accel_filter_x.apply(x_in_new); | |
| 1060 accel_report.y = _accel_filter_y.apply(y_in_new); | |
| 1061 accel_report.z = _accel_filter_z.apply(z_in_new); | |
| 1062 | |
| 1063 math::Vector<3> aval(x_in_new, y_in_new, z_in_new); | |
| 1064 math::Vector<3> aval_integrated; | |
| 1065 | |
| 1066 bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt); | |
| 1067 accel_report.x_integral = aval_integrated(0); | |
| 1068 accel_report.y_integral = aval_integrated(1); | |
| 1069 accel_report.z_integral = aval_integrated(2); | |
| 1070 */ | |
| 1071 | |
| 1072 | |
| 1073 // =============================================================================== | |
| 1074 // compass_read_LSM303D | |
| 1075 /// @brief The new LSM303D, code by pixhawk | |
| 1076 /// | |
| 1077 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1078 // =============================================================================== | |
| 1079 void compass_read_LSM303D(void) | |
| 1080 { | |
| 1081 uint8_t data; | |
| 1082 // float xraw_f, yraw_f, zraw_f; | |
| 1083 // float mag_report_x, mag_report_y, mag_report_z; | |
| 1084 | |
| 1085 memset(magDataBuffer,0,6); | |
| 1086 | |
| 1087 compass_DX_f = 0; | |
| 1088 compass_DY_f = 0; | |
| 1089 compass_DZ_f = 0; | |
| 1090 | |
| 1091 for(int i=0;i<6;i++) | |
| 1092 { | |
| 1093 data = ADDR_OUT_X_L_M + i; | |
| 1094 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 1095 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
| 1096 } | |
| 1097 | |
| 1098 // mh 160620 flip x and y if flip display | |
| 1099 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 1100 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 1101 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 1102 // no rotation | |
| 1103 return; | |
| 1104 /* | |
| 1105 // my stuff | |
| 1106 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))) / 10) - 200; | |
| 1107 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))) / 10) - 200; | |
| 1108 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))) / 10) - 200; | |
| 1109 */ | |
| 1110 // old | |
| 1111 /* | |
| 1112 xraw_f = ((float)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 1113 yraw_f = ((float)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 1114 zraw_f = ((float)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 1115 | |
| 1116 rotate_mag_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 1117 | |
| 1118 compass_DX_f = (int16_t)((xraw_f * 0.1f) - 200.0f); | |
| 1119 compass_DY_f = (int16_t)((yraw_f * 0.1f) - 200.0f); | |
| 1120 compass_DZ_f = (int16_t)((zraw_f * 0.1f) - 200.0f); | |
| 1121 */ | |
| 1122 /* | |
| 1123 mag_report_x = ((xraw_f * _mag_range_scale) - _mag_scale_x_offset) * _mag_scale_x_scale; | |
| 1124 mag_report_y = ((yraw_f * _mag_range_scale) - _mag_scale_y_offset) * _mag_scale_y_scale; | |
| 1125 mag_report_z = ((zraw_f * _mag_range_scale) - _mag_scale_z_offset) * _mag_scale_z_scale; | |
| 1126 | |
| 1127 compass_DX_f = (int16_t)(mag_report_x * 1000.0f); // 1000.0 is just a wild guess by hw | |
| 1128 compass_DY_f = (int16_t)(mag_report_y * 1000.0f); | |
| 1129 compass_DZ_f = (int16_t)(mag_report_z * 1000.0f); | |
| 1130 */ | |
| 1131 } | |
| 1132 | |
| 1133 | |
| 1134 // =============================================================================== | |
| 1135 // compass_init_LSM303DLHC | |
| 1136 /// @brief The new ST 303DLHC 2017/2018 | |
| 1137 /// This might be called several times with different gain values during calibration | |
| 1138 /// but gain change is not supported at the moment. | |
| 1139 /// parts from KOMPASS LSM303DLH-compass-app-note.pdf | |
| 1140 /// | |
| 1141 /// @param gain: | |
| 1142 /// @param fast: | |
| 1143 // =============================================================================== | |
| 1144 | |
| 1145 | |
| 1146 | |
| 1147 void compass_init_LSM303DLHC(uint8_t fast, uint8_t gain) | |
| 1148 { | |
| 1149 // acceleration | |
| 1150 // todo : BDU an (wie 303D) und high res, beides in REG4 | |
| 70 | 1151 //LSM303D_write_checked_reg(DLHC_CTRL_REG2_A,0x00); // 0x00 default, hier k�nnte filter sein 0x8?80, cutoff freq. not beschrieben |
| 38 | 1152 |
| 1153 if(fast == 0) | |
| 1154 { | |
| 1155 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x27); // 10 hz | |
| 1156 } | |
| 1157 else | |
| 1158 { | |
| 1159 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x57); // 100 hz | |
| 1160 } | |
| 1161 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x88); // 0x88: BDU + HighRes, BDU ist doof! | |
| 1162 LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x00); // 0x00 little-endian, ist's immer | |
| 1163 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x08); // 0x08: HighRes | |
| 1164 //LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x80); // | |
| 1165 | |
| 1166 | |
| 1167 // compass | |
| 1168 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x10); // 15 Hz | |
| 1169 | |
| 1170 if(fast == 0) | |
| 1171 { | |
| 1172 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x10); // 15 Hz | |
| 1173 } | |
| 1174 else | |
| 1175 { | |
| 1176 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x18); // 75 Hz | |
| 1177 } | |
| 1178 LSM303D_write_checked_reg(DLHC_CRB_REG_M,0x20); // 0x60: 2.5 Gauss ,0x40: +/-1.9 Gauss,0x20: +/-1.3 Gauss | |
| 1179 LSM303D_write_checked_reg(DLHC_MR_REG_M,0x00); //continuous conversation | |
| 1180 | |
| 1181 | |
| 1182 | |
| 1183 return; | |
| 1184 | |
| 1185 | |
| 1186 // LSM303D_write_checked_reg(,); | |
| 1187 // LSM303D_write_checked_reg(DLHC_CTRL_REG1_A, 0x27); // 0x27 = acc. normal mode with ODR 50Hz - passt nicht mit datenblatt!! | |
| 70 | 1188 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x40); // 0x40 = full scale range �2 gauss in continuous data update mode and change the little-endian to a big-endian structure. |
| 38 | 1189 |
| 1190 if(fast == 0) | |
| 1191 { | |
| 1192 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x27); // 0x27 = acc. normal mode, all axes, with ODR 10HZ laut LSM303DLHC, page 25/42 | |
| 1193 // | |
| 70 | 1194 //LSM303D_write_checked_reg(DLHC_CTRL_REG2_A,0x00); // 0x00 default, hier k�nnte filter sein 0x8?80, cutoff freq. not beschrieben |
| 38 | 1195 //LSM303D_write_checked_reg(DLHC_CTRL_REG3_A,0x00); // 0x00 default |
| 1196 // | |
| 1197 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG4_A, 0x00); // 0x00 = ich glaube little-endian ist gut | |
| 1198 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x40); // 0x00 = ich glaube little-endian ist gut | |
| 1199 // | |
| 1200 //LSM303D_write_checked_reg(DLHC_CTRL_REG5_A,0x00); // 0x00 default | |
| 1201 //LSM303D_write_checked_reg(DLHC_CTRL_REG6_A,0x00); // 0x00 default | |
| 1202 // magnetic sensor | |
| 1203 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x10); // 15 Hz | |
| 1204 } | |
| 1205 else | |
| 1206 { | |
| 1207 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x57); // 0x57 = acc. normal mode, all axes, with ODR 100HZ, LSM303DLHC, page 25/42 | |
| 1208 // | |
| 70 | 1209 //LSM303D_write_checked_reg(DLHC_CTRL_REG2_A,0x00); // 0x00 default, hier k�nnte filter sein 0x8?80, cutoff freq. not beschrieben |
| 38 | 1210 //LSM303D_write_checked_reg(DLHC_CTRL_REG3_A,0x00); // 0x00 default |
| 1211 // | |
| 1212 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG4_A, 0x00); // 0x00 = ich glaube little-endian ist gut | |
| 1213 // LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x40); // 0x00 = ich glaube little-endian ist gut | |
| 1214 // | |
| 1215 //LSM303D_write_checked_reg(DLHC_CTRL_REG5_A,0x00); // 0x00 default | |
| 1216 //LSM303D_write_checked_reg(DLHC_CTRL_REG6_A,0x00); // 0x00 default | |
| 1217 // magnetic sensor | |
| 1218 LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x18); // 75 Hz | |
| 1219 } | |
| 1220 LSM303D_write_checked_reg(DLHC_CRB_REG_M,0x02); // +/-1.9 Gauss | |
| 1221 LSM303D_write_checked_reg(DLHC_MR_REG_M,0x00); //continuous conversation | |
| 1222 | |
| 1223 | |
| 1224 /* | |
| 1225 // matthias version 160620 | |
| 1226 if(fast == 0) | |
| 1227 { | |
| 1228 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 1229 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
| 1230 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); // anti alias 50 Hz (minimum) | |
| 1231 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 1232 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 1233 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
| 1234 } | |
| 1235 else | |
| 1236 { | |
| 1237 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 1238 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
| 1239 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 1240 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 1241 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 1242 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
| 1243 } | |
| 1244 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
| 1245 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
| 1246 */ | |
| 1247 return; | |
| 1248 } | |
| 1249 | |
| 1250 // =============================================================================== | |
| 1251 // compass_sleep_LSM303DLHC | |
| 1252 /// @brief The new 2017/2018 compass chip. | |
| 1253 // =============================================================================== | |
| 1254 void compass_sleep_LSM303DLHC(void) | |
| 1255 { | |
| 1256 LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x07); // CTRL_REG1_A: linear acceleration Power-down mode | |
| 1257 LSM303D_write_checked_reg(DLHC_MR_REG_M, 0x02); // MR_REG_M: magnetic sensor Power-down mode | |
| 1258 } | |
| 1259 | |
| 1260 | |
| 1261 // =============================================================================== | |
| 1262 // compass_read_LSM303DLHC | |
| 1263 /// @brief The new 2017/2018 compass chip. | |
| 1264 // =============================================================================== | |
| 1265 void compass_read_LSM303DLHC(void) | |
| 1266 { | |
| 1267 uint8_t data; | |
| 1268 | |
| 1269 memset(magDataBuffer,0,6); | |
| 1270 | |
| 1271 compass_DX_f = 0; | |
| 1272 compass_DY_f = 0; | |
| 1273 compass_DZ_f = 0; | |
| 1274 | |
| 1275 for(int i=0;i<6;i++) | |
| 1276 { | |
| 1277 data = DLHC_OUT_X_L_M + i; | |
| 1278 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 1279 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
| 1280 } | |
| 1281 | |
| 1282 // 303DLHC new order | |
| 1283 compass_DX_f = (((int16_t)((magDataBuffer[0] << 8) | (magDataBuffer[1])))); | |
| 1284 compass_DZ_f = (((int16_t)((magDataBuffer[2] << 8) | (magDataBuffer[3])))); | |
| 1285 compass_DY_f = (((int16_t)((magDataBuffer[4] << 8) | (magDataBuffer[5])))); | |
| 1286 | |
| 1287 // no rotation, otherwise see compass_read_LSM303D() | |
| 1288 return; | |
| 1289 } | |
| 1290 | |
| 1291 | |
| 1292 // =============================================================================== | |
| 1293 // acceleration_read_LSM303DLHC | |
| 1294 /// @brief The new 2017/2018 compass chip. | |
| 1295 // =============================================================================== | |
| 1296 void acceleration_read_LSM303DLHC(void) | |
| 1297 { | |
| 1298 uint8_t data; | |
| 1299 float xraw_f, yraw_f, zraw_f; | |
| 1300 float accel_report_x, accel_report_y, accel_report_z; | |
| 1301 | |
| 1302 memset(accDataBuffer,0,6); | |
| 1303 | |
| 1304 accel_DX_f = 0; | |
| 1305 accel_DY_f = 0; | |
| 1306 accel_DZ_f = 0; | |
| 1307 | |
| 1308 for(int i=0;i<6;i++) | |
| 1309 { | |
| 1310 data = DLHC_OUT_X_L_A + i; | |
| 1311 I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, &data, 1); | |
| 1312 I2C_Master_Receive( DEVICE_ACCELARATOR_303DLHC, &accDataBuffer[i], 1); | |
| 1313 } | |
| 1314 | |
| 1315 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 1316 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 1317 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 1318 | |
| 1319 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 1320 | |
| 70 | 1321 // mh f�r 303D |
| 38 | 1322 accel_report_x = xraw_f; |
| 1323 accel_report_y = yraw_f; | |
| 1324 accel_report_z = zraw_f; | |
| 1325 | |
| 1326 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 1327 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 1328 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 1329 } | |
| 1330 | |
| 1331 | |
| 1332 // -------------------------------------------------------------------------------- | |
| 1333 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
| 1334 // -------------------------------------------------------------------------------- | |
| 1335 | |
| 1336 // =============================================================================== | |
| 1337 // compass_init_HMC5883L | |
| 1338 /// @brief The horrible Honeywell compass chip | |
| 1339 /// This might be called several times during calibration | |
| 1340 /// | |
| 1341 /// @param fast: 1 is fast mode, 0 is normal mode | |
| 1342 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 1343 // =============================================================================== | |
| 1344 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
| 1345 { | |
| 1346 uint8_t write_buffer[4]; | |
| 1347 | |
| 1348 compass_gain = gain; | |
| 1349 uint16_t length = 0; | |
| 1350 write_buffer[0] = 0x00; // 00 = config Register A | |
| 1351 | |
| 1352 if( fast ) | |
| 1353 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
| 1354 else | |
| 1355 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
| 1356 | |
| 1357 switch(gain) | |
| 1358 { | |
| 1359 case 7: | |
| 1360 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
| 1361 break; | |
| 1362 case 6: | |
| 1363 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
| 1364 break; | |
| 1365 case 5: | |
| 1366 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
| 1367 break; | |
| 1368 case 4: | |
| 1369 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
| 1370 break; | |
| 1371 case 3: | |
| 1372 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
| 1373 break; | |
| 1374 case 2: | |
| 1375 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
| 1376 break; | |
| 1377 case 1: | |
| 1378 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
| 1379 break; | |
| 1380 case 0: | |
| 1381 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
| 1382 break; | |
| 1383 } | |
| 1384 write_buffer[3] = 0x00; // Mode: continuous mode | |
| 1385 length = 4; | |
| 1386 //hmc_twi_write(0); | |
| 1387 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 1388 } | |
| 1389 | |
| 1390 | |
| 1391 | |
| 1392 // =============================================================================== | |
| 1393 // compass_sleep_HMC5883L | |
| 1394 /// @brief Power-down mode for Honeywell compass chip | |
| 1395 // =============================================================================== | |
| 1396 void compass_sleep_HMC5883L(void) | |
| 1397 { | |
| 1398 uint8_t write_buffer[4]; | |
| 1399 uint16_t length = 0; | |
| 1400 | |
| 1401 write_buffer[0] = 0x00; // 00 = config Register A | |
| 1402 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
| 1403 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
| 1404 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
| 1405 length = 4; | |
| 1406 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 1407 } | |
| 1408 | |
| 1409 | |
| 1410 // =============================================================================== | |
| 1411 // accelerator_init_MMA8452Q | |
| 1412 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
| 1413 // =============================================================================== | |
| 1414 void accelerator_init_MMA8452Q(void) | |
| 1415 { | |
| 1416 uint8_t write_buffer[4]; | |
| 1417 uint16_t length = 0; | |
| 1418 //HAL_Delay(1); | |
| 1419 //return; | |
| 1420 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
| 1421 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
| 1422 length = 2; | |
| 1423 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 1424 //HAL_Delay(1); | |
| 1425 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 1426 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
| 1427 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
| 1428 length = 3; | |
| 1429 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 1430 | |
| 1431 //HAL_Delay(1); | |
| 1432 //hw_delay_us(100); | |
| 1433 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 1434 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
| 1435 length = 2; | |
| 1436 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 1437 /* | |
| 1438 HAL_Delay(6); | |
| 1439 compass_read(); | |
| 1440 HAL_Delay(1); | |
| 1441 acceleration_read(); | |
| 1442 | |
| 1443 compass_calc(); | |
| 1444 */ | |
| 1445 } | |
| 1446 | |
| 1447 | |
| 1448 // =============================================================================== | |
| 1449 // accelerator_sleep_MMA8452Q | |
| 1450 /// @brief compass_sleep_HMC5883L | |
| 1451 // =============================================================================== | |
| 1452 void accelerator_sleep_MMA8452Q(void) | |
| 1453 { | |
| 1454 uint16_t length = 0; | |
| 1455 uint8_t write_buffer[4]; | |
| 1456 | |
| 1457 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 1458 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
| 1459 length = 2; | |
| 1460 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 1461 } | |
| 1462 | |
| 1463 | |
| 1464 // =============================================================================== | |
| 1465 // compass_read_HMC5883L | |
| 1466 /// @brief The new ST 303D - get ALL data and store in static variables | |
| 1467 /// | |
| 1468 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1469 // =============================================================================== | |
| 1470 void compass_read_HMC5883L(void) | |
| 1471 { | |
| 1472 uint8_t buffer[20]; | |
| 1473 compass_DX_f = 0; | |
| 1474 compass_DY_f = 0; | |
| 1475 compass_DZ_f = 0; | |
| 1476 uint8_t length = 0; | |
| 1477 uint8_t read_buffer[6]; | |
| 1478 signed_tword data; | |
| 1479 for(int i = 0; i<6;i++) | |
| 1480 read_buffer[i] = 0; | |
| 1481 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
| 1482 length = 1; | |
| 1483 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
| 1484 length = 6; | |
| 1485 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
| 1486 | |
| 1487 | |
| 1488 data.Byte.hi = read_buffer[0]; | |
| 1489 data.Byte.low = read_buffer[1]; | |
| 1490 //Y = Z | |
| 1491 compass_DY_f = - data.Word; | |
| 1492 | |
| 1493 data.Byte.hi = read_buffer[2]; | |
| 1494 data.Byte.low = read_buffer[3]; | |
| 1495 compass_DZ_f = data.Word; | |
| 1496 | |
| 1497 data.Byte.hi = read_buffer[4]; | |
| 1498 data.Byte.low = read_buffer[5]; | |
| 1499 //X = -Y | |
| 1500 compass_DX_f = data.Word; | |
| 1501 } | |
| 1502 | |
| 1503 | |
| 1504 // =============================================================================== | |
| 1505 // acceleration_read_MMA8452Q | |
| 1506 /// @brief The old MMA8452Q used with the Honeywell compass | |
| 1507 /// get the acceleration data and store in static variables | |
| 1508 /// | |
| 1509 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1510 // =============================================================================== | |
| 1511 void acceleration_read_MMA8452Q(void) | |
| 1512 { | |
| 1513 uint8_t buffer[20]; | |
| 1514 accel_DX_f = 0; | |
| 1515 accel_DY_f = 0; | |
| 1516 accel_DZ_f = 0; | |
| 1517 uint8_t length = 0; | |
| 1518 // bit8_Type status ; | |
| 1519 uint8_t read_buffer[7]; | |
| 1520 signed_tword data; | |
| 1521 for(int i = 0; i<6;i++) | |
| 1522 read_buffer[i] = 0; | |
| 1523 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
| 1524 length = 1; | |
| 1525 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
| 1526 length = 7; | |
| 1527 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
| 1528 | |
| 1529 // status.uw = read_buffer[0]; | |
| 1530 data.Byte.hi = read_buffer[1]; | |
| 1531 data.Byte.low = read_buffer[2]; | |
| 1532 accel_DX_f =data.Word/16; | |
| 1533 data.Byte.hi = read_buffer[3]; | |
| 1534 data.Byte.low = read_buffer[4]; | |
| 1535 accel_DY_f =data.Word/16; | |
| 1536 data.Byte.hi = read_buffer[5]; | |
| 1537 data.Byte.low = read_buffer[6]; | |
| 1538 accel_DZ_f =data.Word/16; | |
| 1539 | |
| 1540 accel_DX_f *= -1; | |
| 1541 accel_DY_f *= -1; | |
| 1542 accel_DZ_f *= -1; | |
| 1543 } | |
| 1544 | |
| 1545 | |
| 1546 // =============================================================================== | |
| 1547 // compass_calc_roll_pitch_only | |
| 1548 /// @brief only the roll and pitch parts of compass_calc() | |
| 1549 /// | |
| 1550 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1551 /// output is compass_pitch and compass_roll | |
| 1552 // =============================================================================== | |
| 1553 void compass_calc_roll_pitch_only(void) | |
| 1554 { | |
| 1555 float sinPhi, cosPhi; | |
| 1556 float Phi, Teta; | |
| 1557 | |
| 1558 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1559 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1560 compass_roll = Phi * 180.0f /PI; | |
| 1561 sinPhi = sinf(Phi); | |
| 1562 cosPhi = cosf(Phi); | |
| 1563 | |
| 1564 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1565 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1566 compass_pitch = Teta * 180.0f /PI; | |
| 1567 } | |
| 1568 | |
| 1569 | |
| 1570 // =============================================================================== | |
| 1571 // compass_calc | |
| 1572 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1573 /// | |
| 1574 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1575 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1576 /// output is compass_heading, compass_pitch and compass_roll | |
| 1577 // =============================================================================== | |
| 1578 void compass_calc(void) | |
| 1579 { | |
| 1580 float sinPhi, cosPhi, sinTeta, cosTeta; | |
| 1581 float Phi, Teta, Psi; | |
| 1582 int16_t iBfx, iBfy; | |
| 1583 int16_t iBpx, iBpy, iBpz; | |
| 1584 | |
| 1585 //---- Make hard iron correction ----------------------------------------- | |
| 1586 // Measured magnetometer orientation, measured ok. | |
| 1587 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
| 1588 iBpx = compass_DX_f - compass_CX_f; // X | |
| 1589 iBpy = compass_DY_f - compass_CY_f; // Y | |
| 1590 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
| 1591 | |
| 1592 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1593 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
| 1594 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1595 compass_roll = Phi * 180.0f /PI; | |
| 1596 sinPhi = sinf(Phi); | |
| 1597 cosPhi = cosf(Phi); | |
| 1598 | |
| 1599 //---- rotate by roll angle (-Phi) --------------------------------------- | |
| 1600 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
| 1601 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
| 1602 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
| 1603 | |
| 1604 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1605 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
| 1606 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
| 1607 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1608 compass_pitch = Teta * 180.0f /PI; | |
| 1609 sinTeta = sinf(Teta); | |
| 1610 cosTeta = cosf(Teta); | |
| 1611 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
| 1612 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
| 1613 | |
| 1614 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
| 1615 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
| 1616 | |
| 1617 //---- Detect uncalibrated compass --------------------------------------- | |
| 1618 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
| 1619 { | |
| 1620 compass_heading = -1; | |
| 1621 return; | |
| 1622 } | |
| 1623 | |
| 1624 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
| 1625 // Result in degree (no need of 0.01 deg precision... | |
| 1626 Psi = atan2f(-iBfy,iBfx); | |
| 1627 compass_heading = Psi * 180.0f /PI; | |
| 1628 // Result in 0..360 range: | |
| 1629 if( compass_heading < 0 ) | |
| 1630 compass_heading += 360; | |
| 1631 } | |
| 1632 | |
| 1633 | |
| 1634 /* | |
| 1635 // =============================================================================== | |
| 1636 // compass_calc_mini_during_calibration | |
| 1637 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1638 /// | |
| 1639 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1640 /// output is compass_pitch and compass_roll | |
| 1641 // =============================================================================== | |
| 1642 void compass_calc_mini_during_calibration(void) | |
| 1643 { | |
| 1644 float sinPhi, cosPhi; | |
| 1645 float Phi, Teta; | |
| 1646 | |
| 1647 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1648 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
| 1649 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1650 compass_roll = Phi * 180.0f /PI; | |
| 1651 sinPhi = sinf(Phi); | |
| 1652 cosPhi = cosf(Phi); | |
| 1653 | |
| 1654 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1655 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
| 1656 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1657 compass_pitch = Teta * 180.0f /PI; | |
| 1658 } | |
| 1659 */ | |
| 1660 | |
| 1661 | |
| 1662 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1663 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1664 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1665 | |
| 1666 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
| 1667 | |
| 1668 // =============================================================================== | |
| 1669 // compass_reset_calibration | |
| 1670 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1671 /// | |
| 1672 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1673 /// | |
| 1674 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1675 /// all is set to zero here | |
| 1676 // =============================================================================== | |
| 1677 void compass_reset_calibration(SCompassCalib *g) | |
| 1678 { | |
| 1679 g->compass_N = 0; | |
| 1680 g->Su = g->Sv = g->Sw = 0.0; | |
| 1681 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
| 1682 g->Suuu = g->Svvv = g->Swww = 0.0; | |
| 1683 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
| 1684 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
| 1685 } | |
| 1686 | |
| 1687 | |
| 1688 // =============================================================================== | |
| 1689 // compass_add_calibration | |
| 1690 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1691 /// | |
| 1692 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1693 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1694 /// output is struct g | |
| 1695 /// | |
| 1696 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1697 // =============================================================================== | |
| 1698 void compass_add_calibration(SCompassCalib *g) | |
| 1699 { | |
| 1700 float u, v, w; | |
| 1701 | |
| 1702 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
| 1703 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
| 1704 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
| 1705 | |
| 1706 g->compass_N++; | |
| 1707 g->Su += u; | |
| 1708 g->Sv += v; | |
| 1709 g->Sw += w; | |
| 1710 g->Suv += u*v; | |
| 1711 g->Suw += u*w; | |
| 1712 g->Svw += v*w; | |
| 1713 g->Suu += u*u; | |
| 1714 g->Suuu += u*u*u; | |
| 1715 g->Suuv += v*u*u; | |
| 1716 g->Suuw += w*u*u; | |
| 1717 g->Svv += v*v; | |
| 1718 g->Svvv += v*v*v; | |
| 1719 g->Svvu += u*v*v; | |
| 1720 g->Svvw += w*v*v; | |
| 1721 g->Sww += w*w; | |
| 1722 g->Swww += w*w*w; | |
| 1723 g->Swwu += u*w*w; | |
| 1724 g->Swwv += v*w*w; | |
| 1725 } | |
| 1726 | |
| 1727 ////////////////////////////////////////////////////////////////////////////// | |
| 1728 | |
| 1729 // =============================================================================== | |
| 1730 // compass_solve_calibration | |
| 1731 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1732 /// | |
| 1733 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1734 /// output is struct g | |
| 1735 /// | |
| 1736 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1737 // =============================================================================== | |
| 1738 void compass_solve_calibration(SCompassCalib *g) | |
| 1739 { | |
| 1740 float yu, yv, yw; | |
| 1741 float delta; | |
| 1742 float uc, vc, wc; | |
| 1743 | |
| 1744 | |
| 1745 //---- Normalize partial sums -------------------------------------------- | |
| 1746 // | |
| 1747 // u, v, w should be centered on the mean value um, vm, wm: | |
| 1748 // x = u + um, with um = Sx/N | |
| 1749 // | |
| 1750 // So: | |
| 1751 // (u + um)**2 = u**2 + 2u*um + um**2 | |
| 1752 // Su = 0, um = Sx/N | |
| 1753 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
| 1754 // Suu = Sxx - Sx**2/N | |
| 1755 yu = g->Su/g->compass_N; | |
| 1756 yv = g->Sv/g->compass_N; | |
| 1757 yw = g->Sw/g->compass_N; | |
| 1758 | |
| 1759 g->Suu -= g->Su*yu; | |
| 1760 g->Svv -= g->Sv*yv; | |
| 1761 g->Sww -= g->Sw*yw; | |
| 1762 | |
| 1763 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
| 1764 // Sxy = Suv + N * um vm | |
| 1765 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
| 1766 g->Suv -= g->Su*yv; | |
| 1767 g->Suw -= g->Su*yw; | |
| 1768 g->Svw -= g->Sv*yw; | |
| 1769 | |
| 1770 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
| 1771 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
| 1772 // Su = 0, um = Sx/N: | |
| 1773 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
| 1774 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
| 1775 | |
| 1776 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
| 1777 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
| 1778 // | |
| 1779 // Su = 0, Sv = 0, vm = Sy/N: | |
| 1780 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
| 1781 // | |
| 1782 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
| 1783 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
| 1784 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
| 1785 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
| 1786 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
| 1787 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
| 1788 | |
| 1789 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
| 1790 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
| 1791 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
| 1792 | |
| 1793 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
| 1794 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
| 1795 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
| 1796 | |
| 1797 //---- Solve the system -------------------------------------------------- | |
| 1798 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
| 1799 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
| 1800 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
| 1801 // Note this is symetric, with a positiv diagonal, hence | |
| 1802 // it always have a uniq solution. | |
| 1803 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
| 1804 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
| 1805 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
| 1806 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1807 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1808 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
| 1809 | |
| 1810 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1811 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1812 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
| 1813 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
| 1814 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
| 1815 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
| 1816 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
| 1817 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
| 1818 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
| 1819 | |
| 1820 // Back to uncentered coordinates: | |
| 1821 // xc = um + uc | |
| 1822 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
| 1823 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
| 1824 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
| 1825 | |
| 1826 // Then save the new calibrated center: | |
| 1827 compass_CX_f = (short)(32768 * uc); | |
| 1828 compass_CY_f = (short)(32768 * vc); | |
| 1829 compass_CZ_f = (short)(32768 * wc); | |
| 1830 } | |
| 1831 | |
| 1832 | |
| 1833 // =============================================================================== | |
| 1834 // compass_calib | |
| 1835 /// @brief the main loop for calibration | |
| 1836 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1837 /// 160704 removed -4096 limit for LSM303D | |
| 1838 /// | |
| 1839 /// @return always 0 | |
| 1840 // =============================================================================== | |
| 1841 int compass_calib_common(void) | |
| 1842 { | |
| 1843 SCompassCalib g; | |
| 1844 | |
| 1845 // Starts with no calibration at all: | |
| 1846 compass_reset_calibration(&g); | |
| 1847 | |
| 1848 int64_t tickstart = 0; | |
| 1849 uint32_t ticks = 0; | |
| 1850 uint32_t lasttick = 0; | |
| 1851 tickstart = HAL_GetTick(); | |
| 1852 // Eine Minute kalibrieren | |
| 1853 while((ticks) < 60 * 1000) | |
| 1854 { | |
| 1855 compass_read(); | |
| 1856 acceleration_read(); | |
| 1857 compass_calc_roll_pitch_only(); | |
| 1858 | |
| 1859 if((hardwareCompass == HMC5883L) | |
| 1860 &&((compass_DX_f == -4096) || | |
| 1861 (compass_DY_f == -4096) || | |
| 1862 (compass_DZ_f == -4096) )) | |
| 1863 { | |
| 1864 if(compass_gain == 0) | |
| 1865 return -1; | |
| 1866 compass_gain--; | |
| 1867 | |
| 1868 compass_init(1, compass_gain); | |
| 1869 compass_reset_calibration(&g); | |
| 1870 //tickstart = HAL_GetTick(); | |
| 1871 continue; | |
| 1872 } | |
| 1873 | |
| 1874 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); | |
| 104 | 1875 compass_add_calibration(&g); |
| 38 | 1876 HAL_Delay(1); |
| 1877 lasttick = HAL_GetTick(); | |
| 1878 if(lasttick == 0) | |
| 1879 { | |
| 1880 tickstart = -ticks; | |
| 1881 } | |
| 104 | 1882 HAL_Delay(1); |
| 38 | 1883 ticks = lasttick - tickstart; |
|
147
14e4c83a7559
Forward compass data during calibration mode
Ideenmodellierer
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104
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changeset
|
1884 SPI_Evaluate_RX_Data(); |
| 104 | 1885 } |
| 38 | 1886 |
| 1887 compass_solve_calibration(&g); | |
| 1888 | |
| 1889 tfull32 dataBlock[4]; | |
| 1890 dataBlock[0].Word16.low16 = compass_CX_f; | |
| 1891 dataBlock[0].Word16.hi16 = compass_CY_f; | |
| 1892 dataBlock[1].Word16.low16 = compass_CZ_f; | |
| 1893 dataBlock[1].Word16.hi16 = 0xFFFF; | |
| 1894 dataBlock[2].Full32 = 0x7FFFFFFF; | |
| 1895 dataBlock[3].Full32 = 0x7FFFFFFF; | |
| 1896 BFA_writeDataBlock((uint32_t *)dataBlock); | |
| 1897 | |
| 1898 return 0; | |
| 1899 } | |
| 1900 | |
| 1901 // //////////////////////////// TEST CODE ///////////////////////////////////// | |
| 1902 | |
| 1903 | |
| 1904 | |
| 1905 //#include <QtDebug> | |
| 1906 //#include <stdio.h> | |
| 1907 //#include <math.h> | |
| 1908 /*#include <stdlib.h> | |
| 1909 | |
| 1910 short compass_DX_f, compass_DY_f, compass_DZ_f; | |
| 1911 short compass_CX_f, compass_CY_f, compass_CZ_f; | |
| 1912 | |
| 1913 inline float uniform(void) { | |
| 1914 return (rand() & 0xFFFF) / 65536.0f; | |
| 1915 } | |
| 1916 inline float sqr(float x) { | |
| 1917 return x*x; | |
| 1918 } | |
| 1919 | |
| 1920 static const float radius = 0.21f; | |
| 1921 static const float cx = 0.79f, cy = -0.46f, cz = 0.24f; | |
| 1922 // const float cx = 0, cy = 0, cz = 0; | |
| 1923 | |
| 1924 float check_compass_calib(void) | |
| 1925 { | |
| 1926 | |
| 1927 // Starts with no calibration at all: | |
| 1928 compass_CX_f = compass_CY_f = compass_CZ_f = 0; | |
| 1929 | |
| 1930 // Try 10 recalibration passes: | |
| 1931 for(int p=0; p<10; ++p) | |
| 1932 { | |
| 1933 compass_reset_calibration(); | |
| 1934 | |
| 1935 //---- Generates random points on a sphere ------------------------------- | |
| 1936 // of radius,center (cx, cy, cz): | |
| 1937 for(int i=0; i<100; ++i) | |
| 1938 { | |
| 1939 float theta = uniform()*360.0f; | |
| 1940 float phi = uniform()*180.0f - 90.0f; | |
| 1941 | |
| 1942 float x = cx + radius * cosf(phi)*cosf(theta); | |
| 1943 float y = cy + radius * cosf(phi)*sinf(theta); | |
| 1944 float z = cz + radius * sinf(phi); | |
| 1945 | |
| 1946 compass_DX_f = (short)(32768 * x); | |
| 1947 compass_DY_f = (short)(32768 * y); | |
| 1948 compass_DZ_f = (short)(32768 * z); | |
| 1949 compass_add_calibration(); | |
| 1950 } | |
| 1951 | |
| 1952 compass_solve_calibration(); | |
| 1953 //qDebug() << "Center =" | |
| 1954 // << compass_CX_f/32768.0f | |
| 1955 // << compass_CY_f/32768.0f | |
| 1956 // << compass_CZ_f/32768.0f; | |
| 1957 | |
| 1958 float r2 = sqr(compass_CX_f/32768.0f - cx) | |
| 1959 + sqr(compass_CY_f/32768.0f - cy) | |
| 1960 + sqr(compass_CZ_f/32768.0f - cz); | |
| 1961 if( r2 > 0.01f*0.01f ) | |
| 1962 return sqrtf(r2); | |
| 1963 } | |
| 1964 return 0; | |
| 1965 }*/ | |
| 1966 | |
| 1967 | |
| 1968 | |
| 1969 /* | |
| 1970 void compass_read_LSM303D_v3(void) | |
| 1971 { | |
| 1972 uint8_t data; | |
| 1973 | |
| 1974 memset(magDataBuffer,0,6); | |
| 1975 | |
| 1976 compass_DX_f = 0; | |
| 1977 compass_DY_f = 0; | |
| 1978 compass_DZ_f = 0; | |
| 1979 | |
| 1980 //magnetometer multi read, order xl,xh, yl,yh, zl, zh | |
| 1981 data = REG_MAG_DATA_ADDR; | |
| 1982 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 1983 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6); | |
| 1984 | |
| 1985 compass_DX_f = ((int16_t)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 1986 compass_DY_f = ((int16_t)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 1987 compass_DZ_f = ((int16_t)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 1988 | |
| 1989 // compass_DX_f = compass_DX_f * stat->sensitivity_mag; | |
| 1990 // compass_DY_f = compass_DY_f * stat->sensitivity_mag; | |
| 1991 // compass_DZ_f = compass_DZ_f * stat->sensitivity_mag; | |
| 1992 } | |
| 1993 | |
| 1994 | |
| 1995 // =============================================================================== | |
| 1996 // compass_init_LSM303D by STMicroelectronics 2013 V1.0.5 2013/Oct/23 | |
| 1997 /// @brief The new ST 303D | |
| 1998 /// This might be called several times with different gain values during calibration | |
| 1999 /// | |
| 2000 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 2001 // =============================================================================== | |
| 2002 | |
| 2003 void compass_init_LSM303D_v3(uint8_t gain) | |
| 2004 { | |
| 2005 uint8_t data[10]; | |
| 2006 | |
| 2007 // CNTRL1 | |
| 2008 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz) | |
| 2009 // 0xxx block data update off | |
| 2010 // x111 enable all three axes | |
| 2011 | |
| 2012 // CNTRL5 | |
| 2013 // 0xxx xxxx temp sensor off | |
| 2014 // x00x xxxx magnetic resolution | |
| 2015 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz)) | |
| 2016 // xxxx xx00 latch irq requests off | |
| 2017 | |
| 2018 // CNTRL7 | |
| 2019 // 00xx high pass filter mode, 00 normal mode | |
| 2020 // xx0x filter for acceleration data bypassed | |
| 2021 // xxx0 temperature sensor mode only off | |
| 2022 // x0xx magnetic data low-power mode off | |
| 2023 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down) | |
| 2024 | |
| 2025 data[0] = CNTRL0; | |
| 2026 data[1] = 0x00; | |
| 2027 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 2028 | |
| 2029 // acc | |
| 2030 data[0] = CNTRL1; | |
| 2031 data[1] = 0x00; | |
| 2032 data[2] = 0x0F; | |
| 2033 data[3] = 0x00; | |
| 2034 data[4] = 0x00; | |
| 2035 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5); | |
| 2036 | |
| 2037 // mag | |
| 2038 data[0] = CNTRL3; | |
| 2039 data[1] = 0x00; | |
| 2040 data[2] = 0x00; | |
| 2041 data[3] = 0x18; | |
| 2042 data[4] = 0x20; | |
| 2043 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5); | |
| 2044 | |
| 2045 data[0] = CNTRL7; | |
| 2046 data[1] = ((MSMS_MASK & CONTINUOS_CONVERSION) | | |
| 2047 ((~MSMS_MASK) & CNTRL7_RESUME_VALUE)); | |
| 2048 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 2049 | |
| 2050 HAL_Delay(100); | |
| 2051 } | |
| 2052 | |
| 2053 | |
| 2054 // =============================================================================== | |
| 2055 // compass_init_LSM303D by nordevx for arduion | |
| 2056 /// @brief The new ST 303D | |
| 2057 /// This might be called several times with different gain values during calibration | |
| 2058 /// | |
| 2059 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 2060 // =============================================================================== | |
| 2061 void compass_init_LSM303D_v2(uint8_t gain) | |
| 2062 { | |
| 2063 uint8_t data[2]; | |
| 2064 | |
| 2065 // CNTRL1 | |
| 2066 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz) | |
| 2067 // 0xxx block data update off | |
| 2068 // x111 enable all three axes | |
| 2069 | |
| 2070 // CNTRL5 | |
| 2071 // 0xxx xxxx temp sensor off | |
| 2072 // x00x xxxx magnetic resolution | |
| 2073 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz)) | |
| 2074 // xxxx xx00 latch irq requests off | |
| 2075 | |
| 2076 // CNTRL7 | |
| 2077 // 00xx high pass filter mode, 00 normal mode | |
| 2078 // xx0x filter for acceleration data bypassed | |
| 2079 // xxx0 temperature sensor mode only off | |
| 2080 // x0xx magnetic data low-power mode off | |
| 2081 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down) | |
| 2082 | |
| 2083 data[0] = CNTRL1; | |
| 2084 data[1] = 0x37; //0b 0011 0111 | |
| 2085 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 2086 | |
| 2087 data[0] = CNTRL5; | |
| 2088 data[1] = 0x08; // 0b 0000 1000 | |
| 2089 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 2090 | |
| 2091 data[0] = CNTRL7; | |
| 2092 data[1] = 0x00; // 0b 0000 0000 | |
| 2093 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 2094 | |
| 2095 HAL_Delay(100); | |
| 2096 } | |
| 2097 | |
| 2098 | |
| 2099 // =============================================================================== | |
| 2100 // compass_init_LSM303D_v1 by ST lsm303d.c | |
| 2101 /// @brief The new ST 303D | |
| 2102 /// This might be called several times with different gain values during calibration | |
| 2103 /// | |
| 2104 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 2105 // =============================================================================== | |
| 2106 void compass_init_LSM303D_v1(uint8_t gain) | |
| 2107 { | |
| 2108 uint8_t data; | |
| 2109 | |
| 2110 compass_gain = gain; | |
| 2111 | |
| 2112 memset(magDataBuffer,0,6); | |
| 2113 memset(accDataBuffer,0,6); | |
| 2114 | |
| 2115 data = CNTRL5; | |
| 2116 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 2117 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 2118 data = (data & 0x1c) >> 2; | |
| 2119 velMag = magODR[data]; | |
| 2120 | |
| 2121 data = CNTRL1; | |
| 2122 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 2123 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 2124 data = (data & 0xf0) >> 4; | |
| 2125 velAcc = accODR[data]; | |
| 2126 | |
| 2127 data = CNTRL7; | |
| 2128 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 2129 I2C_Master_Receive( DEVICE_COMPASS_303D, &datas1, 1); | |
| 2130 datas1 = (datas1 & 0x02); | |
| 2131 | |
| 2132 //if mag is not pd | |
| 2133 //mag is bigger than gyro | |
| 2134 if( (velMag < velAcc) || datas1 != 0 ) { | |
| 2135 //acc is the biggest | |
| 2136 fastest = ACC_IS_FASTEST; | |
| 2137 } | |
| 2138 else { | |
| 2139 //acc is the biggest | |
| 2140 fastest = MAG_IS_FASTEST; | |
| 2141 } | |
| 2142 | |
| 2143 zoffFlag = 1; | |
| 2144 | |
| 2145 if( fastest == MAG_IS_FASTEST) | |
| 2146 { | |
| 2147 data = STATUS_REG_M; | |
| 2148 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 2149 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 2150 | |
| 2151 // if(ValBit(data, ZYXMDA)) { | |
| 2152 sendFlag = 1; | |
| 2153 // } | |
| 2154 | |
| 2155 } | |
| 2156 else if(fastest == ACC_IS_FASTEST) | |
| 2157 { | |
| 2158 data = STATUS_REG_A; | |
| 2159 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 2160 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 2161 // if(ValBit(data, DATAREADY_BIT)) { | |
| 2162 sendFlag = 1; | |
| 2163 // } | |
| 2164 } | |
| 2165 } | |
| 2166 | |
| 2167 // =============================================================================== | |
| 2168 // compass_read_LSM303D | |
| 2169 /// @brief The new LSM303D :-) | |
| 2170 /// | |
| 2171 /// output is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
| 2172 // =============================================================================== | |
| 2173 void compass_read_LSM303D_v2(void) | |
| 2174 { | |
| 2175 uint8_t data; | |
| 2176 | |
| 2177 memset(magDataBuffer,0,6); | |
| 2178 memset(accDataBuffer,0,6); | |
| 2179 | |
| 2180 compass_DX_f = 0; | |
| 2181 compass_DY_f = 0; | |
| 2182 compass_DZ_f = 0; | |
| 2183 | |
| 2184 accel_DX_f = 0; | |
| 2185 accel_DY_f = 0; | |
| 2186 accel_DZ_f = 0; | |
| 2187 | |
| 2188 //Accelerometer multi read, order xl,xh, yl,yh, zl, zh | |
| 2189 data = REG_ACC_DATA_ADDR; | |
| 2190 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 2191 I2C_Master_Receive( DEVICE_COMPASS_303D, accDataBuffer, 6); | |
| 2192 | |
| 2193 //magnetometer multi read, order xl,xh, yl,yh, zl, zh | |
| 2194 data = OUT_X_L_M; | |
| 2195 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 2196 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6); | |
| 2197 | |
| 2198 accel_DX_f = ((int16_t)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 2199 accel_DY_f = ((int16_t)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 2200 accel_DZ_f = ((int16_t)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 2201 | |
| 2202 // accel_DX_f = accel_DX_f * stat->sensitivity_acc; | |
| 2203 // accel_DY_f = accel_DY_f * stat->sensitivity_acc; | |
| 2204 // accel_DZ_f = accel_DZ_f * stat->sensitivity_acc; | |
| 2205 | |
| 2206 | |
| 2207 compass_DX_f = magDataBuffer[1]; | |
| 2208 compass_DX_f *= 256; | |
| 2209 compass_DX_f += magDataBuffer[0]; | |
| 2210 | |
| 2211 compass_DY_f = magDataBuffer[3]; | |
| 2212 compass_DY_f *= 256; | |
| 2213 compass_DY_f += magDataBuffer[2]; | |
| 2214 | |
| 2215 compass_DY_f = magDataBuffer[5]; | |
| 2216 compass_DY_f *= 256; | |
| 2217 compass_DY_f += magDataBuffer[4]; | |
| 2218 | |
| 2219 } | |
| 2220 | |
| 2221 | |
| 2222 */ | |
| 2223 |