annotate Small_CPU/Src/compass.c @ 285:ab6c42d2d30b

add update files for testing purposes
author heinrichsweikamp
date Sun, 05 May 2019 11:06:02 +0200
parents f9b17e898a7a
children 49f5db6139d5
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1 /**
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2 ******************************************************************************
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3 * @file compass.c
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4 * @author heinrichs weikamp gmbh
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5 * @date 27-March-2014
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6 * @version V0.2.0
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7 * @since 21-April-2016
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8 * @brief for Honeywell Compass and ST LSM303D
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9 *
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10 @verbatim
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11 ==============================================================================
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12 ##### How to use #####
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13 ==============================================================================
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14 V0.1.0 09-March-2016
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15 V0.2.0 21-April-2016 Orientation fixed for LSM303D,
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16 roll and pitch added to calibration output,
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17 orientation double checked with datasheets and layout
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18 as well as with value output during calibration
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19 V0.2.1 19-May-2016 New date rate config and full-scale selection
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20
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21 @endverbatim
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22 ******************************************************************************
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23 * @attention
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24 *
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25 * <h2><center>&copy; COPYRIGHT(c) 2016 heinrichs weikamp</center></h2>
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26 *
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27 ******************************************************************************
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28 */
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29
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30 #include <math.h>
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31 #include <string.h>
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32
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33 #include "compass.h"
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34 #include "compass_LSM303D.h"
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35 #include "compass_LSM303DLHC.h"
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36
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37 #include "i2c.h"
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38 #include "spi.h"
38
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39 #include "RTE_FlashAccess.h" // to store compass_calib_data
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40
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41 #include "stm32f4xx_hal.h"
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42
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43 #define TEST_IF_HMC5883L
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44 //#define COMPASS_DEACTIVATE
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45
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46 /// split byte to bits
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47 typedef struct{
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48 uint8_t bit0:1; ///< split byte to bits
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49 uint8_t bit1:1; ///< split byte to bits
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50 uint8_t bit2:1; ///< split byte to bits
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51 uint8_t bit3:1; ///< split byte to bits
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52 uint8_t bit4:1; ///< split byte to bits
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53 uint8_t bit5:1; ///< split byte to bits
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54 uint8_t bit6:1; ///< split byte to bits
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55 uint8_t bit7:1; ///< split byte to bits
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56 } ubit8_t;
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57
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58
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59 /// split byte to bits
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60 typedef union{
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61 ubit8_t ub; ///< split byte to bits
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62 uint8_t uw; ///< split byte to bits
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63 } bit8_Type;
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64
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65
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66 /// split word to 2 bytes
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67 typedef struct{
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68 uint8_t low; ///< split word to 2 bytes
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69 uint8_t hi; ///< split word to 2 bytes
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70 } two_byte;
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71
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72
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73 /// split word to 2 bytes
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74 typedef union{
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75 two_byte Byte; ///< split word to 2 bytes
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76 uint16_t Word; ///< split word to 2 bytes
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77 } tword;
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78
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79
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80 /// split signed word to 2 bytes
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81 typedef union{
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82 two_byte Byte; ///< split signed word to 2 bytes
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83 int16_t Word; ///< split signed word to 2 bytes
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84 } signed_tword;
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85
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86
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87 /// split full32 to 2 words
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88 typedef struct{
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89 uint16_t low16; ///< split word to 2 bytes
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90 uint16_t hi16; ///< split word to 2 bytes
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91 } two_word;
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92
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93 typedef union{
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94 two_word Word16; ///< split word to 2 bytes
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95 uint32_t Full32; ///< split word to 2 bytes
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96 } tfull32;
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97
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98
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99 /// crazy compass calibration stuff
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100 typedef struct
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101 {
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102 unsigned short int compass_N;
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103 float Su, Sv, Sw;
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104 float Suu, Svv, Sww, Suv, Suw, Svw;
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105 float Suuu, Svvv, Swww;
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106 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv;
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107 } SCompassCalib;
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108
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109
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110 #define Q_PI (18000)
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111 #define Q_PIO2 (9000)
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112
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113 #define HMC5883L (1) ///< id used with hardwareCompass
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114 #define LSM303D (2) ///< id used with hardwareCompass
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115 #define COMPASS_NOT_RECOGNIZED (4) ///< id used with hardwareCompass
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116
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117
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118 //////////////////////////////////////////////////////////////////////////////
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119 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error
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120 //
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121 #define K1 (5701) // Needs K1/2**16
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122 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV
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123 #define K3 ( 446) // Needs K3/2**80
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124
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125 const float PI = 3.14159265; ///< pi, used in compass_calc()
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126
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127 typedef short int Int16;
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128 typedef signed char Int8;
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129 typedef Int16 Angle;
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130
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131
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132 /// The (filtered) components of the magnetometer sensor
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133 int16_t compass_DX_f; ///< output from sensor
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134 int16_t compass_DY_f; ///< output from sensor
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135 int16_t compass_DZ_f; ///< output from sensor
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136
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137
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138 /// Found soft-iron calibration values, deduced from already filtered values
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139 int16_t compass_CX_f; ///< calibration value
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140 int16_t compass_CY_f; ///< calibration value
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141 int16_t compass_CZ_f; ///< calibration value
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142
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143
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144 /// The (filtered) components of the accelerometer sensor
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145 int16_t accel_DX_f; ///< output from sensor
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146 int16_t accel_DY_f; ///< output from sensor
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147 int16_t accel_DZ_f; ///< output from sensor
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148
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149
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150 /// The compass result values
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151 float compass_heading; ///< the final result calculated in compass_calc()
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152 float compass_roll; ///< the final result calculated in compass_calc()
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153 float compass_pitch; ///< the final result calculated in compass_calc()
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154
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155
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156 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration
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157
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158 uint8_t hardwareCompass = 0; ///< either HMC5883L or LSM303D or not defined yet ( = 0 )
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159
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160 /// LSM303D variables
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161 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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162 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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163
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164 //uint16_t velMag = 0;
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165 //uint16_t velAcc = 0;
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166
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167 //uint16_t magODR[] = {31,62,125,250,500,1000,2000};
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168 //uint16_t accODR[] = {0,31,62,125,250,500,1000,2000,4000,8000,16000};
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169 //uint8_t fastest = 10; //no sensor is the fastest
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170 //uint8_t datas1 = 0;
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171 //uint8_t zoffFlag = 0;
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172 //uint8_t sendFlag = 0;
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173
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174
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175 // all by pixhawk code:
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176
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177 // struct accel_scale _accel_scale;
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178 unsigned _accel_range_m_s2;
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179 float _accel_range_scale;
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180 unsigned _accel_samplerate;
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181 unsigned _accel_onchip_filter_bandwith;
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182
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183 // struct mag_scale _mag_scale;
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184 unsigned _mag_range_ga;
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185 float _mag_range_scale;
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186 unsigned _mag_samplerate;
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187
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188 // default scale factors
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189 float _accel_scale_x_offset = 0.0f;
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190 float _accel_scale_x_scale = 1.0f;
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191 float _accel_scale_y_offset = 0.0f;
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192 float _accel_scale_y_scale = 1.0f;
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193 float _accel_scale_z_offset = 0.0f;
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194 float _accel_scale_z_scale = 1.0f;
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195
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196 float _mag_scale_x_offset = 0.0f;
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197 float _mag_scale_x_scale = 1.0f;
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198 float _mag_scale_y_offset = 0.0f;
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199 float _mag_scale_y_scale = 1.0f;
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200 float _mag_scale_z_offset = 0.0f;
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201 float _mag_scale_z_scale = 1.0f;
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202
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203
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204 /* External function prototypes ----------------------------------------------*/
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205
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206 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz);
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207
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208 /* Private function prototypes -----------------------------------------------*/
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209
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210 void compass_reset_calibration(SCompassCalib *g);
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211 void compass_add_calibration(SCompassCalib *g);
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212 void compass_solve_calibration(SCompassCalib *g);
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213
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214 void compass_init_HMC5883L(uint8_t fast, uint8_t gain);
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215 void compass_sleep_HMC5883L(void);
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216 void compass_read_HMC5883L(void);
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217
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218 void accelerator_init_MMA8452Q(void);
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219 void accelerator_sleep_MMA8452Q(void);
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220 void acceleration_read_MMA8452Q(void);
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221
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222 void compass_init_LSM303D(uint8_t fast, uint8_t gain);
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223 void compass_sleep_LSM303D(void);
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224 void compass_read_LSM303D(void);
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225 void acceleration_read_LSM303D(void);
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226
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227 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
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228 int compass_calib_common(void);
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229
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230 void compass_calc_roll_pitch_only(void);
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231
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232 void rotate_mag_3f(float *x, float *y, float *z);
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233 void rotate_accel_3f(float *x, float *y, float *z);
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234
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235
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236 /* Exported functions --------------------------------------------------------*/
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237
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238
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239 // ===============================================================================
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240 // compass_init
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241 /// @brief This might be called several times with different gain values during calibration
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242 /// On first call it figures out which hardware is integrated
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243 ///
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244 /// @param gain: 7 is max gain, compass_calib() might reduce it
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245 // ===============================================================================
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246
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247 uint8_t testCompassTypeDebug = 0xFF;
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248
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249 void compass_init(uint8_t fast, uint8_t gain)
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250 {
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251 // quick off
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252 #ifdef COMPASS_DEACTIVATE
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253 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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254 #endif
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255
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256 // don't call again with fast, gain in calib mode etc.
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257 // if unknown
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258 if(hardwareCompass == COMPASS_NOT_RECOGNIZED)
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259 {
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260 return;
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261 }
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262
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263 // old code but without else
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264 if(hardwareCompass == 0)
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265 {
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266 uint8_t data = WHO_AM_I;
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267 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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268 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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269 if(data == WHOIAM_VALUE)
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270 hardwareCompass = LSM303D;
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271 else
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272 hardwareCompass = HMC5883L;
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273 }
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274
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275 /* No compass identified => Retry */
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276 if(hardwareCompass == 0)
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277 {
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278 uint8_t data = WHO_AM_I;
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279 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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280 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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281 if(data == WHOIAM_VALUE)
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282 hardwareCompass = LSM303D;
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283 else
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284 hardwareCompass = HMC5883L;
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285 }
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286
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287 /* Assume that a HMC5883L is equipped by default if detection still failed */
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288 if(hardwareCompass == 0)
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289 hardwareCompass = HMC5883L;
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290
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291 #ifdef TEST_IF_HMC5883L
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292 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT;
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293
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294 if(hardwareCompass == HMC5883L)
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295 {
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296 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q
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297 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1);
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298 if(resultOfOperationHMC_MMA == HAL_OK)
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299 {
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300 hardwareCompass = HMC5883L; // all fine, keep it
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301 }
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302 else
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303 {
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304 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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305 testCompassTypeDebug = 0xEC;
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306 }
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307 }
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308 #endif
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309
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310 if(hardwareCompass == LSM303D)
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311 {
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312 compass_init_LSM303D(fast, gain);
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313 }
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314 else
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315 if(hardwareCompass == HMC5883L)
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316 {
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317 compass_init_HMC5883L(fast, gain);
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318 }
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319
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320 tfull32 dataBlock[4];
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321 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK)
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322 {
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323 compass_CX_f = dataBlock[0].Word16.low16;
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324 compass_CY_f = dataBlock[0].Word16.hi16;
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325 compass_CZ_f = dataBlock[1].Word16.low16;
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326 }
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327
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328 }
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329
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330
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331 // ===============================================================================
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332 // compass_calib
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333 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D
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334 // ===============================================================================
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335 int compass_calib(void)
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336 {
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337 if(hardwareCompass == LSM303D)
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338 {
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339 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773);
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340 int out = compass_calib_common();
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341 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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342 return out;
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343 }
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344 else
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345 if(hardwareCompass == HMC5883L)
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346 {
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347 return compass_calib_common();
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348 }
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349 else
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350 {
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351 return 0; // standard answer of compass_calib_common();
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352 }
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353
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354
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355 }
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356
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357
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358 // ===============================================================================
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359 // compass_sleep
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360 /// @brief low power mode
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361 // ===============================================================================
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362 void compass_sleep(void)
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363 {
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364 if(hardwareCompass == LSM303D)
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365 {
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366 compass_sleep_LSM303D();
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367 }
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368 else
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369 if(hardwareCompass == HMC5883L)
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370 {
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371 compass_sleep_HMC5883L();
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372 }
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373 }
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374
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375
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376 // ===============================================================================
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377 // compass_read
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378 /// @brief reads magnetometer and accelerometer for LSM303D,
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379 /// otherwise magnetometer only
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380 // ===============================================================================
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381 void compass_read(void)
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382 {
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383 if(hardwareCompass == LSM303D)
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384 {
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385 compass_read_LSM303D();
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386 }
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387 else
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388 if(hardwareCompass == HMC5883L)
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389 {
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390 compass_read_HMC5883L();
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391 }
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392 }
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393
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394
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395 // ===============================================================================
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396 // accelerator_init
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397 /// @brief empty for for LSM303D
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398 // ===============================================================================
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399 void accelerator_init(void)
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400 {
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401 if(hardwareCompass == HMC5883L)
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402 accelerator_init_MMA8452Q();
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403 }
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404
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405
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406 // ===============================================================================
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407 // accelerator_sleep
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408 /// @brief empty for for LSM303D
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409 // ===============================================================================
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410 void accelerator_sleep(void)
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411 {
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412 if(hardwareCompass == HMC5883L)
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413 accelerator_sleep_MMA8452Q();
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414 }
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415
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416
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417 // ===============================================================================
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418 // acceleration_read
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419 /// @brief empty for for LSM303D
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420 // ===============================================================================
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421 void acceleration_read(void)
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422 {
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423 if(hardwareCompass == LSM303D)
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424 {
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425 acceleration_read_LSM303D();
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426 }
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427 else
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428 if(hardwareCompass == HMC5883L)
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429 {
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430 acceleration_read_MMA8452Q();
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431 }
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432 }
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433
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434
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435 /* Private functions ---------------------------------------------------------*/
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436
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437 // ===============================================================================
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438 // LSM303D_read_reg
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439 /// @brief tiny helpers by pixhawk
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440 // ===============================================================================
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441 uint8_t LSM303D_read_reg(uint8_t addr)
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442 {
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443 uint8_t data;
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444
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445 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1);
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446 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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447 return data;
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448 }
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449
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450
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451 // ===============================================================================
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452 // LSM303D_write_reg
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453 /// @brief tiny helpers by pixhawk
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454 // ===============================================================================
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455 void LSM303D_write_reg(uint8_t addr, uint8_t value)
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456 {
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457 uint8_t data[2];
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458
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459 /* enable accel*/
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460 data[0] = addr;
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461 data[1] = value;
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462 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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463 }
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464
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465
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466 // ===============================================================================
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467 // LSM303D_write_checked_reg
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468 /// @brief tiny helpers by pixhawk. This runs unchecked at the moment.
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469 // ===============================================================================
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470 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value)
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471 {
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472 LSM303D_write_reg(addr, value);
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473 }
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474
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475
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476 // ===============================================================================
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477 // LSM303D_modify_reg
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478 /// @brief tiny helpers by pixhawk
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479 // ===============================================================================
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480 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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481 {
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482 uint8_t val;
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483
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484 val = LSM303D_read_reg(reg);
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485 val &= ~clearbits;
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486 val |= setbits;
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487 LSM303D_write_checked_reg(reg, val);
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488 }
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489
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490 /*
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491 // ===============================================================================
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492 // LSM303D_accel_set_range
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493 /// @brief tiny helpers by pixhawk
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494 // ===============================================================================
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495 int LSM303D_accel_set_range(unsigned max_g)
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496 {
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497 uint8_t setbits = 0;
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498 uint8_t clearbits = REG2_FULL_SCALE_BITS_A;
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499 float new_scale_g_digit = 0.0f;
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500
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501 if (max_g == 0) {
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502 max_g = 16;
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503 }
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504
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505 if (max_g <= 2) {
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506 _accel_range_m_s2 = 2.0f * LSM303D_ONE_G;
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507 setbits |= REG2_FULL_SCALE_2G_A;
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508 new_scale_g_digit = 0.061e-3f;
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509
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510 } else if (max_g <= 4) {
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511 _accel_range_m_s2 = 4.0f * LSM303D_ONE_G;
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512 setbits |= REG2_FULL_SCALE_4G_A;
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513 new_scale_g_digit = 0.122e-3f;
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514
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515 } else if (max_g <= 6) {
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516 _accel_range_m_s2 = 6.0f * LSM303D_ONE_G;
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517 setbits |= REG2_FULL_SCALE_6G_A;
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518 new_scale_g_digit = 0.183e-3f;
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519
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520 } else if (max_g <= 8) {
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521 _accel_range_m_s2 = 8.0f * LSM303D_ONE_G;
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522 setbits |= REG2_FULL_SCALE_8G_A;
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523 new_scale_g_digit = 0.244e-3f;
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524
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525 } else if (max_g <= 16) {
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526 _accel_range_m_s2 = 16.0f * LSM303D_ONE_G;
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527 setbits |= REG2_FULL_SCALE_16G_A;
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528 new_scale_g_digit = 0.732e-3f;
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529
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530 } else {
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531 return -1;
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532 }
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533
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534 _accel_range_scale = new_scale_g_digit * LSM303D_ONE_G;
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535
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536
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537 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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538
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539 return 0;
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540 }
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541 */
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diff changeset
542 /*
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543 // ===============================================================================
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544 // LSM303D_mag_set_range
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545 /// @brief tiny helpers by pixhawk
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546 // ===============================================================================
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547 int LSM303D_mag_set_range(unsigned max_ga)
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548 {
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549 uint8_t setbits = 0;
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550 uint8_t clearbits = REG6_FULL_SCALE_BITS_M;
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551 float new_scale_ga_digit = 0.0f;
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552
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553 if (max_ga == 0) {
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554 max_ga = 12;
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555 }
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parents:
diff changeset
556
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557 if (max_ga <= 2) {
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558 _mag_range_ga = 2;
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diff changeset
559 setbits |= REG6_FULL_SCALE_2GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
560 new_scale_ga_digit = 0.080e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
561
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
562 } else if (max_ga <= 4) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
563 _mag_range_ga = 4;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
564 setbits |= REG6_FULL_SCALE_4GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
565 new_scale_ga_digit = 0.160e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
566
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
567 } else if (max_ga <= 8) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
568 _mag_range_ga = 8;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
569 setbits |= REG6_FULL_SCALE_8GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
570 new_scale_ga_digit = 0.320e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
571
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
572 } else if (max_ga <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
573 _mag_range_ga = 12;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
574 setbits |= REG6_FULL_SCALE_12GA_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
575 new_scale_ga_digit = 0.479e-3f;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
576
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
577 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
578 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
579 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
580
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
581 _mag_range_scale = new_scale_ga_digit;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
582
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
583 LSM303D_modify_reg(ADDR_CTRL_REG6, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
584
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
585 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
586 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
587 */
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
588
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
589 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
590 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
591 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
592 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
593 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
594 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
595 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
596 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
597
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
598 if (bandwidth == 0) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
599 bandwidth = 773;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
600 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
601
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
602 if (bandwidth <= 50) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
603 setbits |= REG2_AA_FILTER_BW_50HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
604 _accel_onchip_filter_bandwith = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
605
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
606 } else if (bandwidth <= 194) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
607 setbits |= REG2_AA_FILTER_BW_194HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
608 _accel_onchip_filter_bandwith = 194;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
609
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
610 } else if (bandwidth <= 362) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
611 setbits |= REG2_AA_FILTER_BW_362HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
612 _accel_onchip_filter_bandwith = 362;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
613
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
614 } else if (bandwidth <= 773) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
615 setbits |= REG2_AA_FILTER_BW_773HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
616 _accel_onchip_filter_bandwith = 773;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
617
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
618 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
619 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
620 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
621
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
622 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
623
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
624 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
625 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
626
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
627
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
628 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
629 // LSM303D_accel_set_driver_lowpass_filter
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
630 /// @brief tiny helpers by pixhawk. This one is not used at the moment!
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
631 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
632 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
633 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
634 /*
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
635 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
636 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
637 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
638 */
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
639 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
640 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
641
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
642 /* unused 170821
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
643 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
644 // LSM303D_accel_set_samplerate
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
645 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
646 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
647 int LSM303D_accel_set_samplerate(unsigned frequency)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
648 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
649 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
650 uint8_t clearbits = REG1_RATE_BITS_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
651
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
652 // if (frequency == 0 || frequency == ACCEL_SAMPLERATE_DEFAULT) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
653 frequency = 1600;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
654 // }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
655
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
656 if (frequency <= 3) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
657 setbits |= REG1_RATE_3_125HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
658 _accel_samplerate = 3;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
659
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
660 } else if (frequency <= 6) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
661 setbits |= REG1_RATE_6_25HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
662 _accel_samplerate = 6;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
663
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
664 } else if (frequency <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
665 setbits |= REG1_RATE_12_5HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
666 _accel_samplerate = 12;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
667
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
668 } else if (frequency <= 25) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
669 setbits |= REG1_RATE_25HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
670 _accel_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
671
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
672 } else if (frequency <= 50) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
673 setbits |= REG1_RATE_50HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
674 _accel_samplerate = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
675
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
676 } else if (frequency <= 100) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
677 setbits |= REG1_RATE_100HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
678 _accel_samplerate = 100;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
679
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
680 } else if (frequency <= 200) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
681 setbits |= REG1_RATE_200HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
682 _accel_samplerate = 200;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
683
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
684 } else if (frequency <= 400) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
685 setbits |= REG1_RATE_400HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
686 _accel_samplerate = 400;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
687
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
688 } else if (frequency <= 800) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
689 setbits |= REG1_RATE_800HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
690 _accel_samplerate = 800;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
691
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
692 } else if (frequency <= 1600) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
693 setbits |= REG1_RATE_1600HZ_A;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
694 _accel_samplerate = 1600;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
695
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
696 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
697 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
698 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
699
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
700 LSM303D_modify_reg(ADDR_CTRL_REG1, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
701 return 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
702 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
703 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
704 // LSM303D_mag_set_samplerate
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
705 /// @brief tiny helpers by pixhawk
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
706 // ===============================================================================
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
707 int LSM303D_mag_set_samplerate(unsigned frequency)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
708 {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
709 uint8_t setbits = 0;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
710 uint8_t clearbits = REG5_RATE_BITS_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
711
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
712 if (frequency == 0) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
713 frequency = 100;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
714 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
715
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
716 if (frequency <= 3) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
717 setbits |= REG5_RATE_3_125HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
718 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
719
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
720 } else if (frequency <= 6) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
721 setbits |= REG5_RATE_6_25HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
722 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
723
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
724 } else if (frequency <= 12) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
725 setbits |= REG5_RATE_12_5HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
726 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
727
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
728 } else if (frequency <= 25) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
729 setbits |= REG5_RATE_25HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
730 _mag_samplerate = 25;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
731
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
732 } else if (frequency <= 50) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
733 setbits |= REG5_RATE_50HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
734 _mag_samplerate = 50;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
735
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
736 } else if (frequency <= 100) {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
737 setbits |= REG5_RATE_100HZ_M;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
738 _mag_samplerate = 100;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
739
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
740 } else {
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
741 return -1;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
742 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
743
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
744 LSM303D_modify_reg(ADDR_CTRL_REG5, clearbits, setbits);
5f11787b4f42 include in ostc4 repository
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745 return 0;
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746 }
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747 */
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parents:
diff changeset
748
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parents:
diff changeset
749
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parents:
diff changeset
750 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt
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751 // ===============================================================================
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752 // rotate_mag_3f
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diff changeset
753 /// @brief swap axis in convient way, by hw
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diff changeset
754 /// @param *x raw input is set to *y input
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parents:
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755 /// @param *y raw input is set to -*x input
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parents:
diff changeset
756 /// @param *z raw is not touched
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757 // ===============================================================================
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758 void rotate_mag_3f(float *x, float *y, float *z)
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759 {
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760 return;
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761 /*
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762 *x = *x; // HMC: *x = -*y
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763 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y
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diff changeset
764 *z = *z; // HMC: *z = *z
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765 */
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diff changeset
766 }
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heinrichsweikamp
parents:
diff changeset
767
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diff changeset
768
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769 // ===============================================================================
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770 // rotate_accel_3f
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771 /// @brief swap axis in convient way, by hw, same as MMA8452Q
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772 /// @param *x raw input, output is with sign change
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773 /// @param *y raw input, output is with sign change
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774 /// @param *z raw input, output is with sign change
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775 // ===============================================================================
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776 void rotate_accel_3f(float *x, float *y, float *z)
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777 {
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778 *x = -*x;
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779 *y = -*y;
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diff changeset
780 *z = -*z;
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781 /* tested:
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782 x = x, y =-y, z=-z: does not work with roll
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783 x = x, y =y, z=-z: does not work with pitch
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784 x = x, y =y, z=z: does not work at all
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785 */
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diff changeset
786 }
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heinrichsweikamp
parents:
diff changeset
787
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diff changeset
788
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789 // ===============================================================================
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790 // compass_init_LSM303D by PIXhawk (LSM303D::reset())
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791 // https://raw.githubusercontent.com/PX4/Firmware/master/src/drivers/lsm303d/lsm303d.cpp
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792 /// @brief The new ST 303D
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793 /// This might be called several times with different gain values during calibration
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794 /// but gain change is not supported at the moment.
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795 ///
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796 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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797 // ===============================================================================
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798
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799 //uint8_t testCompassLS303D[11];
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800
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801 void compass_init_LSM303D(uint8_t fast, uint8_t gain)
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802 {
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803 // matthias version 160620
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804 if(fast == 0)
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805 {
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806 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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807 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2
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808 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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809 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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810 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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811 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4
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812 }
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813 else
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814 {
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815 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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816 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
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817 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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818 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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819 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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820 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz
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821 }
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822 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
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823 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
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824
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825 /*
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diff changeset
826 uint8_t data;
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827 for(int i=0;i<11;i++)
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828 {
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829 data = ADDR_INT_THS_L_M + i;
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830 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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831 I2C_Master_Receive( DEVICE_COMPASS_303D, &testCompassLS303D[i], 1);
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832 }
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833 */
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diff changeset
834
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835 return;
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836 /*
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837 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G); // modifies ADDR_CTRL_REG2
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838 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE); // modifies ADDR_CTRL_REG1
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839
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840 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
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841 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
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842 */
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parents:
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843
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844 /*
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845 // my stuff hw
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846 // enable accel
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847 LSM303D_write_checked_reg(ADDR_CTRL_REG1,
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diff changeset
848 REG1_X_ENABLE_A | REG1_Y_ENABLE_A | REG1_Z_ENABLE_A | REG1_BDU_UPDATE | REG1_RATE_800HZ_A);
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diff changeset
849
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850 // enable mag
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851 LSM303D_write_checked_reg(ADDR_CTRL_REG7, REG7_CONT_MODE_M);
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852 LSM303D_write_checked_reg(ADDR_CTRL_REG5, REG5_RES_HIGH_M | REG5_ENABLE_T);
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853 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x04); // DRDY on ACCEL on INT1
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854 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x04); // DRDY on MAG on INT2
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diff changeset
855
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diff changeset
856 LSM303D_accel_set_range(LSM303D_ACCEL_DEFAULT_RANGE_G);
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857 LSM303D_accel_set_samplerate(LSM303D_ACCEL_DEFAULT_RATE);
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858 LSM303D_accel_set_driver_lowpass_filter((float)LSM303D_ACCEL_DEFAULT_RATE, (float)LSM303D_ACCEL_DEFAULT_DRIVER_FILTER_FREQ);
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859 //LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting
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860
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861 // we setup the anti-alias on-chip filter as 50Hz. We believe
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parents:
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862 // this operates in the analog domain, and is critical for
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863 // anti-aliasing. The 2 pole software filter is designed to
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864 // operate in conjunction with this on-chip filter
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diff changeset
865 if(fast)
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866 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); // factory setting
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diff changeset
867 else
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diff changeset
868 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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heinrichsweikamp
parents:
diff changeset
869
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diff changeset
870
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871 LSM303D_mag_set_range(LSM303D_MAG_DEFAULT_RANGE_GA);
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872 LSM303D_mag_set_samplerate(LSM303D_MAG_DEFAULT_RATE);
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873 */
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874 }
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parents:
diff changeset
875
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876
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877 // ===============================================================================
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diff changeset
878 // compass_sleep_LSM303D
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879 /// @brief The new compass chip, hopefully this works!
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880 // ===============================================================================
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881 void compass_sleep_LSM303D(void)
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882 {
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883 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode
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884 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode
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885 }
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886
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887
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888 // ===============================================================================
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889 // acceleration_read_LSM303D
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890 /// @brief The new LSM303D, code by pixhawk
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891 ///
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892 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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893 // ===============================================================================
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894 void acceleration_read_LSM303D(void)
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895 {
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diff changeset
896 uint8_t data;
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897 float xraw_f, yraw_f, zraw_f;
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898 float accel_report_x, accel_report_y, accel_report_z;
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diff changeset
899
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900 memset(accDataBuffer,0,6);
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diff changeset
901
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diff changeset
902 accel_DX_f = 0;
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903 accel_DY_f = 0;
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diff changeset
904 accel_DZ_f = 0;
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diff changeset
905
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906 for(int i=0;i<6;i++)
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diff changeset
907 {
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908 data = ADDR_OUT_X_L_A + i;
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909 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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diff changeset
910 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1);
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911 }
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diff changeset
912
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diff changeset
913 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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diff changeset
914 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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915 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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parents:
diff changeset
916
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parents:
diff changeset
917 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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parents:
diff changeset
918
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parents:
diff changeset
919 // mh
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diff changeset
920 accel_report_x = xraw_f;
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diff changeset
921 accel_report_y = yraw_f;
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diff changeset
922 accel_report_z = zraw_f;
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parents:
diff changeset
923
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parents:
diff changeset
924 // my stuff
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parents:
diff changeset
925 /*
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diff changeset
926 accel_report_x = ((xraw_f * _accel_range_scale) - _accel_scale_x_offset) * _accel_scale_x_scale;
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diff changeset
927 accel_report_y = ((yraw_f * _accel_range_scale) - _accel_scale_y_offset) * _accel_scale_y_scale;
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parents:
diff changeset
928 accel_report_z = ((zraw_f * _accel_range_scale) - _accel_scale_z_offset) * _accel_scale_z_scale;
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parents:
diff changeset
929 */
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diff changeset
930 accel_DX_f = ((int16_t)(accel_report_x));
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diff changeset
931 accel_DY_f = ((int16_t)(accel_report_y));
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diff changeset
932 accel_DZ_f = ((int16_t)(accel_report_z));
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parents:
diff changeset
933 }
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diff changeset
934 /* special code after accel_report_z = ...
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diff changeset
935 * prior to output
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heinrichsweikamp
parents:
diff changeset
936 // we have logs where the accelerometers get stuck at a fixed
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parents:
diff changeset
937 // large value. We want to detect this and mark the sensor as
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parents:
diff changeset
938 // being faulty
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parents:
diff changeset
939
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parents:
diff changeset
940 if (fabsf(_last_accel[0] - x_in_new) < 0.001f &&
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diff changeset
941 fabsf(_last_accel[1] - y_in_new) < 0.001f &&
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diff changeset
942 fabsf(_last_accel[2] - z_in_new) < 0.001f &&
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diff changeset
943 fabsf(x_in_new) > 20 &&
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diff changeset
944 fabsf(y_in_new) > 20 &&
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diff changeset
945 fabsf(z_in_new) > 20) {
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diff changeset
946 _constant_accel_count += 1;
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diff changeset
947
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948 } else {
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diff changeset
949 _constant_accel_count = 0;
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950 }
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951
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952 if (_constant_accel_count > 100) {
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953 // we've had 100 constant accel readings with large
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954 // values. The sensor is almost certainly dead. We
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diff changeset
955 // will raise the error_count so that the top level
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diff changeset
956 // flight code will know to avoid this sensor, but
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diff changeset
957 // we'll still give the data so that it can be logged
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diff changeset
958 // and viewed
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diff changeset
959 perf_count(_bad_values);
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960 _constant_accel_count = 0;
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diff changeset
961 }
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diff changeset
962
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963 _last_accel[0] = x_in_new;
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diff changeset
964 _last_accel[1] = y_in_new;
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965 _last_accel[2] = z_in_new;
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966
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967 accel_report.x = _accel_filter_x.apply(x_in_new);
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diff changeset
968 accel_report.y = _accel_filter_y.apply(y_in_new);
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diff changeset
969 accel_report.z = _accel_filter_z.apply(z_in_new);
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970
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diff changeset
971 math::Vector<3> aval(x_in_new, y_in_new, z_in_new);
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diff changeset
972 math::Vector<3> aval_integrated;
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diff changeset
973
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diff changeset
974 bool accel_notify = _accel_int.put(accel_report.timestamp, aval, aval_integrated, accel_report.integral_dt);
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diff changeset
975 accel_report.x_integral = aval_integrated(0);
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976 accel_report.y_integral = aval_integrated(1);
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diff changeset
977 accel_report.z_integral = aval_integrated(2);
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978 */
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diff changeset
979
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980
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981 // ===============================================================================
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parents:
diff changeset
982 // compass_read_LSM303D
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983 /// @brief The new LSM303D, code by pixhawk
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984 ///
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985 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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986 // ===============================================================================
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987 void compass_read_LSM303D(void)
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988 {
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diff changeset
989 uint8_t data;
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990 // float xraw_f, yraw_f, zraw_f;
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991 // float mag_report_x, mag_report_y, mag_report_z;
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992
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993 memset(magDataBuffer,0,6);
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994
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995 compass_DX_f = 0;
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996 compass_DY_f = 0;
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997 compass_DZ_f = 0;
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998
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999 for(int i=0;i<6;i++)
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1000 {
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1001 data = ADDR_OUT_X_L_M + i;
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1002 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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diff changeset
1003 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
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diff changeset
1004 }
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diff changeset
1005
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diff changeset
1006 // mh 160620 flip x and y if flip display
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diff changeset
1007 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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1008 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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diff changeset
1009 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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parents:
diff changeset
1010 // no rotation
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parents:
diff changeset
1011 return;
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parents:
diff changeset
1012 /*
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parents:
diff changeset
1013 // my stuff
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diff changeset
1014 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))) / 10) - 200;
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diff changeset
1015 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))) / 10) - 200;
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diff changeset
1016 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))) / 10) - 200;
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diff changeset
1017 */
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parents:
diff changeset
1018 // old
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parents:
diff changeset
1019 /*
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diff changeset
1020 xraw_f = ((float)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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1021 yraw_f = ((float)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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1022 zraw_f = ((float)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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diff changeset
1023
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diff changeset
1024 rotate_mag_3f(&xraw_f, &yraw_f, &zraw_f);
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diff changeset
1025
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diff changeset
1026 compass_DX_f = (int16_t)((xraw_f * 0.1f) - 200.0f);
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diff changeset
1027 compass_DY_f = (int16_t)((yraw_f * 0.1f) - 200.0f);
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parents:
diff changeset
1028 compass_DZ_f = (int16_t)((zraw_f * 0.1f) - 200.0f);
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parents:
diff changeset
1029 */
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parents:
diff changeset
1030 /*
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diff changeset
1031 mag_report_x = ((xraw_f * _mag_range_scale) - _mag_scale_x_offset) * _mag_scale_x_scale;
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heinrichsweikamp
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diff changeset
1032 mag_report_y = ((yraw_f * _mag_range_scale) - _mag_scale_y_offset) * _mag_scale_y_scale;
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heinrichsweikamp
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diff changeset
1033 mag_report_z = ((zraw_f * _mag_range_scale) - _mag_scale_z_offset) * _mag_scale_z_scale;
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heinrichsweikamp
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diff changeset
1034
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diff changeset
1035 compass_DX_f = (int16_t)(mag_report_x * 1000.0f); // 1000.0 is just a wild guess by hw
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diff changeset
1036 compass_DY_f = (int16_t)(mag_report_y * 1000.0f);
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diff changeset
1037 compass_DZ_f = (int16_t)(mag_report_z * 1000.0f);
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1038 */
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1039 }
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diff changeset
1040
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1041
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1042 // --------------------------------------------------------------------------------
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parents:
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1043 // ----------EARLIER COMPONENTS ---------------------------------------------------
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diff changeset
1044 // --------------------------------------------------------------------------------
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diff changeset
1045
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1046 // ===============================================================================
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parents:
diff changeset
1047 // compass_init_HMC5883L
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diff changeset
1048 /// @brief The horrible Honeywell compass chip
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diff changeset
1049 /// This might be called several times during calibration
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parents:
diff changeset
1050 ///
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diff changeset
1051 /// @param fast: 1 is fast mode, 0 is normal mode
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diff changeset
1052 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
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diff changeset
1053 // ===============================================================================
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diff changeset
1054 void compass_init_HMC5883L(uint8_t fast, uint8_t gain)
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parents:
diff changeset
1055 {
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diff changeset
1056 uint8_t write_buffer[4];
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parents:
diff changeset
1057
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parents:
diff changeset
1058 compass_gain = gain;
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parents:
diff changeset
1059 uint16_t length = 0;
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diff changeset
1060 write_buffer[0] = 0x00; // 00 = config Register A
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heinrichsweikamp
parents:
diff changeset
1061
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diff changeset
1062 if( fast )
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parents:
diff changeset
1063 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged
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parents:
diff changeset
1064 else
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diff changeset
1065 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged
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heinrichsweikamp
parents:
diff changeset
1066
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diff changeset
1067 switch(gain)
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parents:
diff changeset
1068 {
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diff changeset
1069 case 7:
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diff changeset
1070 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain
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parents:
diff changeset
1071 break;
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parents:
diff changeset
1072 case 6:
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diff changeset
1073 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain
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parents:
diff changeset
1074 break;
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diff changeset
1075 case 5:
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diff changeset
1076 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain
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parents:
diff changeset
1077 break;
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diff changeset
1078 case 4:
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diff changeset
1079 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain
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heinrichsweikamp
parents:
diff changeset
1080 break;
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1081 case 3:
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parents:
diff changeset
1082 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain
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parents:
diff changeset
1083 break;
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parents:
diff changeset
1084 case 2:
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parents:
diff changeset
1085 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain
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parents:
diff changeset
1086 break;
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parents:
diff changeset
1087 case 1:
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parents:
diff changeset
1088 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain
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parents:
diff changeset
1089 break;
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parents:
diff changeset
1090 case 0:
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parents:
diff changeset
1091 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain
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parents:
diff changeset
1092 break;
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parents:
diff changeset
1093 }
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parents:
diff changeset
1094 write_buffer[3] = 0x00; // Mode: continuous mode
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parents:
diff changeset
1095 length = 4;
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parents:
diff changeset
1096 //hmc_twi_write(0);
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parents:
diff changeset
1097 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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parents:
diff changeset
1098 }
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parents:
diff changeset
1099
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parents:
diff changeset
1100
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parents:
diff changeset
1101
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parents:
diff changeset
1102 // ===============================================================================
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parents:
diff changeset
1103 // compass_sleep_HMC5883L
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parents:
diff changeset
1104 /// @brief Power-down mode for Honeywell compass chip
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parents:
diff changeset
1105 // ===============================================================================
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parents:
diff changeset
1106 void compass_sleep_HMC5883L(void)
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parents:
diff changeset
1107 {
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parents:
diff changeset
1108 uint8_t write_buffer[4];
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parents:
diff changeset
1109 uint16_t length = 0;
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parents:
diff changeset
1110
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parents:
diff changeset
1111 write_buffer[0] = 0x00; // 00 = config Register A
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parents:
diff changeset
1112 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA
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parents:
diff changeset
1113 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB
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parents:
diff changeset
1114 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode
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parents:
diff changeset
1115 length = 4;
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parents:
diff changeset
1116 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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parents:
diff changeset
1117 }
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parents:
diff changeset
1118
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parents:
diff changeset
1119
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parents:
diff changeset
1120 // ===============================================================================
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parents:
diff changeset
1121 // accelerator_init_MMA8452Q
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parents:
diff changeset
1122 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass
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parents:
diff changeset
1123 // ===============================================================================
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diff changeset
1124 void accelerator_init_MMA8452Q(void)
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parents:
diff changeset
1125 {
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diff changeset
1126 uint8_t write_buffer[4];
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parents:
diff changeset
1127 uint16_t length = 0;
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parents:
diff changeset
1128 //HAL_Delay(1);
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parents:
diff changeset
1129 //return;
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parents:
diff changeset
1130 write_buffer[0] = 0x0E; // XYZ_DATA_CFG
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parents:
diff changeset
1131 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range
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parents:
diff changeset
1132 length = 2;
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parents:
diff changeset
1133 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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parents:
diff changeset
1134 //HAL_Delay(1);
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parents:
diff changeset
1135 write_buffer[0] = 0x2A; // CTRL_REG1
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parents:
diff changeset
1136 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode
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parents:
diff changeset
1137 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode
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parents:
diff changeset
1138 length = 3;
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heinrichsweikamp
parents:
diff changeset
1139 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1140
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parents:
diff changeset
1141 //HAL_Delay(1);
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parents:
diff changeset
1142 //hw_delay_us(100);
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parents:
diff changeset
1143 write_buffer[0] = 0x2A; // CTRL_REG1
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parents:
diff changeset
1144 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode
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heinrichsweikamp
parents:
diff changeset
1145 length = 2;
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heinrichsweikamp
parents:
diff changeset
1146 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1147 /*
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parents:
diff changeset
1148 HAL_Delay(6);
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parents:
diff changeset
1149 compass_read();
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parents:
diff changeset
1150 HAL_Delay(1);
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parents:
diff changeset
1151 acceleration_read();
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parents:
diff changeset
1152
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parents:
diff changeset
1153 compass_calc();
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heinrichsweikamp
parents:
diff changeset
1154 */
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parents:
diff changeset
1155 }
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heinrichsweikamp
parents:
diff changeset
1156
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heinrichsweikamp
parents:
diff changeset
1157
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heinrichsweikamp
parents:
diff changeset
1158 // ===============================================================================
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parents:
diff changeset
1159 // accelerator_sleep_MMA8452Q
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parents:
diff changeset
1160 /// @brief compass_sleep_HMC5883L
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heinrichsweikamp
parents:
diff changeset
1161 // ===============================================================================
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parents:
diff changeset
1162 void accelerator_sleep_MMA8452Q(void)
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parents:
diff changeset
1163 {
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parents:
diff changeset
1164 uint16_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1165 uint8_t write_buffer[4];
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parents:
diff changeset
1166
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parents:
diff changeset
1167 write_buffer[0] = 0x2A; // CTRL_REG1
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parents:
diff changeset
1168 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode
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heinrichsweikamp
parents:
diff changeset
1169 length = 2;
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parents:
diff changeset
1170 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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parents:
diff changeset
1171 }
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heinrichsweikamp
parents:
diff changeset
1172
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heinrichsweikamp
parents:
diff changeset
1173
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heinrichsweikamp
parents:
diff changeset
1174 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1175 // compass_read_HMC5883L
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heinrichsweikamp
parents:
diff changeset
1176 /// @brief The new ST 303D - get ALL data and store in static variables
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parents:
diff changeset
1177 ///
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parents:
diff changeset
1178 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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parents:
diff changeset
1179 // ===============================================================================
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parents:
diff changeset
1180 void compass_read_HMC5883L(void)
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heinrichsweikamp
parents:
diff changeset
1181 {
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parents:
diff changeset
1182 uint8_t buffer[20];
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heinrichsweikamp
parents:
diff changeset
1183 compass_DX_f = 0;
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heinrichsweikamp
parents:
diff changeset
1184 compass_DY_f = 0;
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heinrichsweikamp
parents:
diff changeset
1185 compass_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1186 uint8_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1187 uint8_t read_buffer[6];
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heinrichsweikamp
parents:
diff changeset
1188 signed_tword data;
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heinrichsweikamp
parents:
diff changeset
1189 for(int i = 0; i<6;i++)
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heinrichsweikamp
parents:
diff changeset
1190 read_buffer[i] = 0;
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heinrichsweikamp
parents:
diff changeset
1191 buffer[0] = 0x03; // 03 = Data Output X MSB Register
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heinrichsweikamp
parents:
diff changeset
1192 length = 1;
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heinrichsweikamp
parents:
diff changeset
1193 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length);
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heinrichsweikamp
parents:
diff changeset
1194 length = 6;
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heinrichsweikamp
parents:
diff changeset
1195 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1196
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heinrichsweikamp
parents:
diff changeset
1197
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parents:
diff changeset
1198 data.Byte.hi = read_buffer[0];
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parents:
diff changeset
1199 data.Byte.low = read_buffer[1];
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heinrichsweikamp
parents:
diff changeset
1200 //Y = Z
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heinrichsweikamp
parents:
diff changeset
1201 compass_DY_f = - data.Word;
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heinrichsweikamp
parents:
diff changeset
1202
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parents:
diff changeset
1203 data.Byte.hi = read_buffer[2];
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parents:
diff changeset
1204 data.Byte.low = read_buffer[3];
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parents:
diff changeset
1205 compass_DZ_f = data.Word;
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heinrichsweikamp
parents:
diff changeset
1206
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parents:
diff changeset
1207 data.Byte.hi = read_buffer[4];
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heinrichsweikamp
parents:
diff changeset
1208 data.Byte.low = read_buffer[5];
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heinrichsweikamp
parents:
diff changeset
1209 //X = -Y
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parents:
diff changeset
1210 compass_DX_f = data.Word;
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parents:
diff changeset
1211 }
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heinrichsweikamp
parents:
diff changeset
1212
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heinrichsweikamp
parents:
diff changeset
1213
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parents:
diff changeset
1214 // ===============================================================================
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parents:
diff changeset
1215 // acceleration_read_MMA8452Q
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parents:
diff changeset
1216 /// @brief The old MMA8452Q used with the Honeywell compass
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heinrichsweikamp
parents:
diff changeset
1217 /// get the acceleration data and store in static variables
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heinrichsweikamp
parents:
diff changeset
1218 ///
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heinrichsweikamp
parents:
diff changeset
1219 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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parents:
diff changeset
1220 // ===============================================================================
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parents:
diff changeset
1221 void acceleration_read_MMA8452Q(void)
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parents:
diff changeset
1222 {
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parents:
diff changeset
1223 uint8_t buffer[20];
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parents:
diff changeset
1224 accel_DX_f = 0;
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parents:
diff changeset
1225 accel_DY_f = 0;
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parents:
diff changeset
1226 accel_DZ_f = 0;
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heinrichsweikamp
parents:
diff changeset
1227 uint8_t length = 0;
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heinrichsweikamp
parents:
diff changeset
1228 // bit8_Type status ;
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heinrichsweikamp
parents:
diff changeset
1229 uint8_t read_buffer[7];
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heinrichsweikamp
parents:
diff changeset
1230 signed_tword data;
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heinrichsweikamp
parents:
diff changeset
1231 for(int i = 0; i<6;i++)
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heinrichsweikamp
parents:
diff changeset
1232 read_buffer[i] = 0;
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heinrichsweikamp
parents:
diff changeset
1233 buffer[0] = 0x00; // 03 = Data Output X MSB Register
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heinrichsweikamp
parents:
diff changeset
1234 length = 1;
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heinrichsweikamp
parents:
diff changeset
1235 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length);
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heinrichsweikamp
parents:
diff changeset
1236 length = 7;
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parents:
diff changeset
1237 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length);
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heinrichsweikamp
parents:
diff changeset
1238
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heinrichsweikamp
parents:
diff changeset
1239 // status.uw = read_buffer[0];
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heinrichsweikamp
parents:
diff changeset
1240 data.Byte.hi = read_buffer[1];
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heinrichsweikamp
parents:
diff changeset
1241 data.Byte.low = read_buffer[2];
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heinrichsweikamp
parents:
diff changeset
1242 accel_DX_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1243 data.Byte.hi = read_buffer[3];
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heinrichsweikamp
parents:
diff changeset
1244 data.Byte.low = read_buffer[4];
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heinrichsweikamp
parents:
diff changeset
1245 accel_DY_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1246 data.Byte.hi = read_buffer[5];
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heinrichsweikamp
parents:
diff changeset
1247 data.Byte.low = read_buffer[6];
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heinrichsweikamp
parents:
diff changeset
1248 accel_DZ_f =data.Word/16;
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heinrichsweikamp
parents:
diff changeset
1249
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heinrichsweikamp
parents:
diff changeset
1250 accel_DX_f *= -1;
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heinrichsweikamp
parents:
diff changeset
1251 accel_DY_f *= -1;
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parents:
diff changeset
1252 accel_DZ_f *= -1;
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parents:
diff changeset
1253 }
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heinrichsweikamp
parents:
diff changeset
1254
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heinrichsweikamp
parents:
diff changeset
1255
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heinrichsweikamp
parents:
diff changeset
1256 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1257 // compass_calc_roll_pitch_only
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heinrichsweikamp
parents:
diff changeset
1258 /// @brief only the roll and pitch parts of compass_calc()
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heinrichsweikamp
parents:
diff changeset
1259 ///
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1260 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1261 /// output is compass_pitch and compass_roll
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1262 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1263 void compass_calc_roll_pitch_only(void)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1264 {
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heinrichsweikamp
parents:
diff changeset
1265 float sinPhi, cosPhi;
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heinrichsweikamp
parents:
diff changeset
1266 float Phi, Teta;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1267
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1268 //---- Calculate sine and cosine of roll angle Phi -----------------------
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1269 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1270 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1271 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1272 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1273
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heinrichsweikamp
parents:
diff changeset
1274 //---- calculate sin and cosine of pitch angle Theta ---------------------
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1275 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1276 compass_pitch = Teta * 180.0f /PI;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1277 }
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heinrichsweikamp
parents:
diff changeset
1278
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1279
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heinrichsweikamp
parents:
diff changeset
1280 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1281 // compass_calc
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heinrichsweikamp
parents:
diff changeset
1282 /// @brief all the fancy stuff first implemented in OSTC3
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1283 ///
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heinrichsweikamp
parents:
diff changeset
1284 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1285 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1286 /// output is compass_heading, compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1287 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1288 void compass_calc(void)
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heinrichsweikamp
parents:
diff changeset
1289 {
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heinrichsweikamp
parents:
diff changeset
1290 float sinPhi, cosPhi, sinTeta, cosTeta;
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heinrichsweikamp
parents:
diff changeset
1291 float Phi, Teta, Psi;
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heinrichsweikamp
parents:
diff changeset
1292 int16_t iBfx, iBfy;
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heinrichsweikamp
parents:
diff changeset
1293 int16_t iBpx, iBpy, iBpz;
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heinrichsweikamp
parents:
diff changeset
1294
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heinrichsweikamp
parents:
diff changeset
1295 //---- Make hard iron correction -----------------------------------------
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heinrichsweikamp
parents:
diff changeset
1296 // Measured magnetometer orientation, measured ok.
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heinrichsweikamp
parents:
diff changeset
1297 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation.
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heinrichsweikamp
parents:
diff changeset
1298 iBpx = compass_DX_f - compass_CX_f; // X
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heinrichsweikamp
parents:
diff changeset
1299 iBpy = compass_DY_f - compass_CY_f; // Y
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heinrichsweikamp
parents:
diff changeset
1300 iBpz = compass_DZ_f - compass_CZ_f; // Z
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1301
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heinrichsweikamp
parents:
diff changeset
1302 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1303 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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heinrichsweikamp
parents:
diff changeset
1304 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1305 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1306 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1307 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1308
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heinrichsweikamp
parents:
diff changeset
1309 //---- rotate by roll angle (-Phi) ---------------------------------------
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heinrichsweikamp
parents:
diff changeset
1310 iBfy = iBpy * cosPhi - iBpz * sinPhi;
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heinrichsweikamp
parents:
diff changeset
1311 iBpz = iBpy * sinPhi + iBpz * cosPhi;
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heinrichsweikamp
parents:
diff changeset
1312 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos);
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heinrichsweikamp
parents:
diff changeset
1313
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heinrichsweikamp
parents:
diff changeset
1314 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1315 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1316 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421
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heinrichsweikamp
parents:
diff changeset
1317 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1318 compass_pitch = Teta * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1319 sinTeta = sinf(Teta);
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heinrichsweikamp
parents:
diff changeset
1320 cosTeta = cosf(Teta);
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heinrichsweikamp
parents:
diff changeset
1321 /* correct cosine if pitch not in range -90 to 90 degrees */
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heinrichsweikamp
parents:
diff changeset
1322 if( cosTeta < 0 ) cosTeta = -cosTeta;
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heinrichsweikamp
parents:
diff changeset
1323
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heinrichsweikamp
parents:
diff changeset
1324 ///---- de-rotate by pitch angle Theta -----------------------------------
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heinrichsweikamp
parents:
diff changeset
1325 iBfx = iBpx * cosTeta + iBpz * sinTeta;
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heinrichsweikamp
parents:
diff changeset
1326
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heinrichsweikamp
parents:
diff changeset
1327 //---- Detect uncalibrated compass ---------------------------------------
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heinrichsweikamp
parents:
diff changeset
1328 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f )
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heinrichsweikamp
parents:
diff changeset
1329 {
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heinrichsweikamp
parents:
diff changeset
1330 compass_heading = -1;
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heinrichsweikamp
parents:
diff changeset
1331 return;
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heinrichsweikamp
parents:
diff changeset
1332 }
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heinrichsweikamp
parents:
diff changeset
1333
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heinrichsweikamp
parents:
diff changeset
1334 //---- calculate current yaw = e-compass angle Psi -----------------------
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heinrichsweikamp
parents:
diff changeset
1335 // Result in degree (no need of 0.01 deg precision...
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heinrichsweikamp
parents:
diff changeset
1336 Psi = atan2f(-iBfy,iBfx);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1337 compass_heading = Psi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1338 // Result in 0..360 range:
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heinrichsweikamp
parents:
diff changeset
1339 if( compass_heading < 0 )
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heinrichsweikamp
parents:
diff changeset
1340 compass_heading += 360;
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heinrichsweikamp
parents:
diff changeset
1341 }
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heinrichsweikamp
parents:
diff changeset
1342
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heinrichsweikamp
parents:
diff changeset
1343
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heinrichsweikamp
parents:
diff changeset
1344 /*
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heinrichsweikamp
parents:
diff changeset
1345 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1346 // compass_calc_mini_during_calibration
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heinrichsweikamp
parents:
diff changeset
1347 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1348 ///
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heinrichsweikamp
parents:
diff changeset
1349 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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heinrichsweikamp
parents:
diff changeset
1350 /// output is compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1351 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1352 void compass_calc_mini_during_calibration(void)
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heinrichsweikamp
parents:
diff changeset
1353 {
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heinrichsweikamp
parents:
diff changeset
1354 float sinPhi, cosPhi;
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heinrichsweikamp
parents:
diff changeset
1355 float Phi, Teta;
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heinrichsweikamp
parents:
diff changeset
1356
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heinrichsweikamp
parents:
diff changeset
1357 //---- Calculate sine and cosine of roll angle Phi -----------------------
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heinrichsweikamp
parents:
diff changeset
1358 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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heinrichsweikamp
parents:
diff changeset
1359 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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heinrichsweikamp
parents:
diff changeset
1360 compass_roll = Phi * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1361 sinPhi = sinf(Phi);
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heinrichsweikamp
parents:
diff changeset
1362 cosPhi = cosf(Phi);
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heinrichsweikamp
parents:
diff changeset
1363
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heinrichsweikamp
parents:
diff changeset
1364 //---- calculate sin and cosine of pitch angle Theta ---------------------
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heinrichsweikamp
parents:
diff changeset
1365 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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heinrichsweikamp
parents:
diff changeset
1366 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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heinrichsweikamp
parents:
diff changeset
1367 compass_pitch = Teta * 180.0f /PI;
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heinrichsweikamp
parents:
diff changeset
1368 }
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heinrichsweikamp
parents:
diff changeset
1369 */
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heinrichsweikamp
parents:
diff changeset
1370
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heinrichsweikamp
parents:
diff changeset
1371
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heinrichsweikamp
parents:
diff changeset
1372 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1373 // // - Calibration - ///////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1374 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1375
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heinrichsweikamp
parents:
diff changeset
1376 /* can be lost during sleep as those are reset with compass_reset_calibration() */
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heinrichsweikamp
parents:
diff changeset
1377
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heinrichsweikamp
parents:
diff changeset
1378 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1379 // compass_reset_calibration
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heinrichsweikamp
parents:
diff changeset
1380 /// @brief all the fancy stuff first implemented in OSTC3
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1381 ///
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heinrichsweikamp
parents:
diff changeset
1382 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1383 ///
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heinrichsweikamp
parents:
diff changeset
1384 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1385 /// all is set to zero here
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heinrichsweikamp
parents:
diff changeset
1386 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1387 void compass_reset_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1388 {
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heinrichsweikamp
parents:
diff changeset
1389 g->compass_N = 0;
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heinrichsweikamp
parents:
diff changeset
1390 g->Su = g->Sv = g->Sw = 0.0;
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heinrichsweikamp
parents:
diff changeset
1391 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0;
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heinrichsweikamp
parents:
diff changeset
1392 g->Suuu = g->Svvv = g->Swww = 0.0;
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heinrichsweikamp
parents:
diff changeset
1393 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0;
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heinrichsweikamp
parents:
diff changeset
1394 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0;
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heinrichsweikamp
parents:
diff changeset
1395 }
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heinrichsweikamp
parents:
diff changeset
1396
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heinrichsweikamp
parents:
diff changeset
1397
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heinrichsweikamp
parents:
diff changeset
1398 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1399 // compass_add_calibration
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heinrichsweikamp
parents:
diff changeset
1400 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1401 ///
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heinrichsweikamp
parents:
diff changeset
1402 /// input is compass_DX_f, compass_DY_f, compass_DZ_f
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heinrichsweikamp
parents:
diff changeset
1403 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1404 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1405 ///
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heinrichsweikamp
parents:
diff changeset
1406 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1407 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1408 void compass_add_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1409 {
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heinrichsweikamp
parents:
diff changeset
1410 float u, v, w;
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heinrichsweikamp
parents:
diff changeset
1411
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heinrichsweikamp
parents:
diff changeset
1412 u = (compass_DX_f - compass_CX_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1413 v = (compass_DY_f - compass_CY_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1414 w = (compass_DZ_f - compass_CZ_f) / 32768.0f;
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heinrichsweikamp
parents:
diff changeset
1415
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heinrichsweikamp
parents:
diff changeset
1416 g->compass_N++;
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heinrichsweikamp
parents:
diff changeset
1417 g->Su += u;
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heinrichsweikamp
parents:
diff changeset
1418 g->Sv += v;
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heinrichsweikamp
parents:
diff changeset
1419 g->Sw += w;
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heinrichsweikamp
parents:
diff changeset
1420 g->Suv += u*v;
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heinrichsweikamp
parents:
diff changeset
1421 g->Suw += u*w;
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heinrichsweikamp
parents:
diff changeset
1422 g->Svw += v*w;
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heinrichsweikamp
parents:
diff changeset
1423 g->Suu += u*u;
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heinrichsweikamp
parents:
diff changeset
1424 g->Suuu += u*u*u;
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heinrichsweikamp
parents:
diff changeset
1425 g->Suuv += v*u*u;
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heinrichsweikamp
parents:
diff changeset
1426 g->Suuw += w*u*u;
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heinrichsweikamp
parents:
diff changeset
1427 g->Svv += v*v;
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heinrichsweikamp
parents:
diff changeset
1428 g->Svvv += v*v*v;
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heinrichsweikamp
parents:
diff changeset
1429 g->Svvu += u*v*v;
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heinrichsweikamp
parents:
diff changeset
1430 g->Svvw += w*v*v;
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heinrichsweikamp
parents:
diff changeset
1431 g->Sww += w*w;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1432 g->Swww += w*w*w;
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heinrichsweikamp
parents:
diff changeset
1433 g->Swwu += u*w*w;
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heinrichsweikamp
parents:
diff changeset
1434 g->Swwv += v*w*w;
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heinrichsweikamp
parents:
diff changeset
1435 }
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heinrichsweikamp
parents:
diff changeset
1436
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heinrichsweikamp
parents:
diff changeset
1437 //////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1438
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heinrichsweikamp
parents:
diff changeset
1439 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1440 // compass_solve_calibration
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heinrichsweikamp
parents:
diff changeset
1441 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1442 ///
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heinrichsweikamp
parents:
diff changeset
1443 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1444 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1445 ///
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heinrichsweikamp
parents:
diff changeset
1446 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1447 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1448 void compass_solve_calibration(SCompassCalib *g)
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heinrichsweikamp
parents:
diff changeset
1449 {
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heinrichsweikamp
parents:
diff changeset
1450 float yu, yv, yw;
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heinrichsweikamp
parents:
diff changeset
1451 float delta;
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heinrichsweikamp
parents:
diff changeset
1452 float uc, vc, wc;
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heinrichsweikamp
parents:
diff changeset
1453
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heinrichsweikamp
parents:
diff changeset
1454
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heinrichsweikamp
parents:
diff changeset
1455 //---- Normalize partial sums --------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1456 //
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heinrichsweikamp
parents:
diff changeset
1457 // u, v, w should be centered on the mean value um, vm, wm:
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heinrichsweikamp
parents:
diff changeset
1458 // x = u + um, with um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1459 //
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heinrichsweikamp
parents:
diff changeset
1460 // So:
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heinrichsweikamp
parents:
diff changeset
1461 // (u + um)**2 = u**2 + 2u*um + um**2
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heinrichsweikamp
parents:
diff changeset
1462 // Su = 0, um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1463 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1464 // Suu = Sxx - Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1465 yu = g->Su/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1466 yv = g->Sv/g->compass_N;
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parents:
diff changeset
1467 yw = g->Sw/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1468
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heinrichsweikamp
parents:
diff changeset
1469 g->Suu -= g->Su*yu;
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heinrichsweikamp
parents:
diff changeset
1470 g->Svv -= g->Sv*yv;
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parents:
diff changeset
1471 g->Sww -= g->Sw*yw;
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parents:
diff changeset
1472
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heinrichsweikamp
parents:
diff changeset
1473 // (u + um)(v + vm) = uv + u vm + v um + um vm
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heinrichsweikamp
parents:
diff changeset
1474 // Sxy = Suv + N * um vm
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heinrichsweikamp
parents:
diff changeset
1475 // Suv = Sxy - N * (Sx/N)(Sy/N);
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heinrichsweikamp
parents:
diff changeset
1476 g->Suv -= g->Su*yv;
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heinrichsweikamp
parents:
diff changeset
1477 g->Suw -= g->Su*yw;
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heinrichsweikamp
parents:
diff changeset
1478 g->Svw -= g->Sv*yw;
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heinrichsweikamp
parents:
diff changeset
1479
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heinrichsweikamp
parents:
diff changeset
1480 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3
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heinrichsweikamp
parents:
diff changeset
1481 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3
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heinrichsweikamp
parents:
diff changeset
1482 // Su = 0, um = Sx/N:
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heinrichsweikamp
parents:
diff changeset
1483 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3
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heinrichsweikamp
parents:
diff changeset
1484 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2
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heinrichsweikamp
parents:
diff changeset
1485
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parents:
diff changeset
1486 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm)
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heinrichsweikamp
parents:
diff changeset
1487 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm)
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heinrichsweikamp
parents:
diff changeset
1488 //
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heinrichsweikamp
parents:
diff changeset
1489 // Su = 0, Sv = 0, vm = Sy/N:
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heinrichsweikamp
parents:
diff changeset
1490 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm
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heinrichsweikamp
parents:
diff changeset
1491 //
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heinrichsweikamp
parents:
diff changeset
1492 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1493 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N
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heinrichsweikamp
parents:
diff changeset
1494 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1495 g->Suuu -= (3*g->Suu + g->Su*yu)*yu;
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heinrichsweikamp
parents:
diff changeset
1496 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1497 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu;
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heinrichsweikamp
parents:
diff changeset
1498
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parents:
diff changeset
1499 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv;
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parents:
diff changeset
1500 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv;
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parents:
diff changeset
1501 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv;
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heinrichsweikamp
parents:
diff changeset
1502
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parents:
diff changeset
1503 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw;
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heinrichsweikamp
parents:
diff changeset
1504 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw;
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heinrichsweikamp
parents:
diff changeset
1505 g->Swww -= (3*g->Sww + g->Sw*yw)*yw;
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heinrichsweikamp
parents:
diff changeset
1506
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heinrichsweikamp
parents:
diff changeset
1507 //---- Solve the system --------------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1508 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1509 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2
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heinrichsweikamp
parents:
diff changeset
1510 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2
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heinrichsweikamp
parents:
diff changeset
1511 // Note this is symetric, with a positiv diagonal, hence
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heinrichsweikamp
parents:
diff changeset
1512 // it always have a uniq solution.
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heinrichsweikamp
parents:
diff changeset
1513 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu);
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heinrichsweikamp
parents:
diff changeset
1514 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv);
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heinrichsweikamp
parents:
diff changeset
1515 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww);
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heinrichsweikamp
parents:
diff changeset
1516 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1517 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1518 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1519
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heinrichsweikamp
parents:
diff changeset
1520 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1521 - yv * (g->Suv * g->Sww - g->Svw * g->Suw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1522 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1523 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1524 - g->Suv * ( yu * g->Sww - yw * g->Suw)
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1525 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1526 wc = (g->Suu * (g->Svv * yw - g->Svw * yv )
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1527 - g->Suv * (g->Suv * yw - g->Svw * yu )
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1528 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1529
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heinrichsweikamp
parents:
diff changeset
1530 // Back to uncentered coordinates:
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heinrichsweikamp
parents:
diff changeset
1531 // xc = um + uc
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heinrichsweikamp
parents:
diff changeset
1532 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc;
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heinrichsweikamp
parents:
diff changeset
1533 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1534 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1535
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heinrichsweikamp
parents:
diff changeset
1536 // Then save the new calibrated center:
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heinrichsweikamp
parents:
diff changeset
1537 compass_CX_f = (short)(32768 * uc);
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heinrichsweikamp
parents:
diff changeset
1538 compass_CY_f = (short)(32768 * vc);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1539 compass_CZ_f = (short)(32768 * wc);
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1540 }
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heinrichsweikamp
parents:
diff changeset
1541
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heinrichsweikamp
parents:
diff changeset
1542
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heinrichsweikamp
parents:
diff changeset
1543 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1544 // compass_calib
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heinrichsweikamp
parents:
diff changeset
1545 /// @brief the main loop for calibration
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heinrichsweikamp
parents:
diff changeset
1546 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1547 /// 160704 removed -4096 limit for LSM303D
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heinrichsweikamp
parents:
diff changeset
1548 ///
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heinrichsweikamp
parents:
diff changeset
1549 /// @return always 0
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heinrichsweikamp
parents:
diff changeset
1550 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1551 int compass_calib_common(void)
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heinrichsweikamp
parents:
diff changeset
1552 {
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heinrichsweikamp
parents:
diff changeset
1553 SCompassCalib g;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1554
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heinrichsweikamp
parents:
diff changeset
1555 // Starts with no calibration at all:
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heinrichsweikamp
parents:
diff changeset
1556 compass_reset_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1557
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heinrichsweikamp
parents:
diff changeset
1558 int64_t tickstart = 0;
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heinrichsweikamp
parents:
diff changeset
1559 uint32_t ticks = 0;
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heinrichsweikamp
parents:
diff changeset
1560 uint32_t lasttick = 0;
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heinrichsweikamp
parents:
diff changeset
1561 tickstart = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1562 // Eine Minute kalibrieren
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heinrichsweikamp
parents:
diff changeset
1563 while((ticks) < 60 * 1000)
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heinrichsweikamp
parents:
diff changeset
1564 {
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heinrichsweikamp
parents:
diff changeset
1565 compass_read();
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heinrichsweikamp
parents:
diff changeset
1566 acceleration_read();
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heinrichsweikamp
parents:
diff changeset
1567 compass_calc_roll_pitch_only();
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heinrichsweikamp
parents:
diff changeset
1568
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heinrichsweikamp
parents:
diff changeset
1569 if((hardwareCompass == HMC5883L)
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heinrichsweikamp
parents:
diff changeset
1570 &&((compass_DX_f == -4096) ||
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heinrichsweikamp
parents:
diff changeset
1571 (compass_DY_f == -4096) ||
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heinrichsweikamp
parents:
diff changeset
1572 (compass_DZ_f == -4096) ))
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heinrichsweikamp
parents:
diff changeset
1573 {
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heinrichsweikamp
parents:
diff changeset
1574 if(compass_gain == 0)
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heinrichsweikamp
parents:
diff changeset
1575 return -1;
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heinrichsweikamp
parents:
diff changeset
1576 compass_gain--;
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heinrichsweikamp
parents:
diff changeset
1577
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heinrichsweikamp
parents:
diff changeset
1578 compass_init(1, compass_gain);
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heinrichsweikamp
parents:
diff changeset
1579 compass_reset_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1580 //tickstart = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1581 continue;
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heinrichsweikamp
parents:
diff changeset
1582 }
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heinrichsweikamp
parents:
diff changeset
1583
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heinrichsweikamp
parents:
diff changeset
1584 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f);
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1585 compass_add_calibration(&g);
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1586 HAL_Delay(1);
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heinrichsweikamp
parents:
diff changeset
1587 lasttick = HAL_GetTick();
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heinrichsweikamp
parents:
diff changeset
1588 if(lasttick == 0)
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heinrichsweikamp
parents:
diff changeset
1589 {
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heinrichsweikamp
parents:
diff changeset
1590 tickstart = -ticks;
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heinrichsweikamp
parents:
diff changeset
1591 }
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1592 HAL_Delay(1);
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1593 ticks = lasttick - tickstart;
147
14e4c83a7559 Forward compass data during calibration mode
Ideenmodellierer
parents: 104
diff changeset
1594 SPI_Evaluate_RX_Data();
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1595 }
38
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parents:
diff changeset
1596
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parents:
diff changeset
1597 compass_solve_calibration(&g);
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parents:
diff changeset
1598
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parents:
diff changeset
1599 tfull32 dataBlock[4];
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parents:
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1600 dataBlock[0].Word16.low16 = compass_CX_f;
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parents:
diff changeset
1601 dataBlock[0].Word16.hi16 = compass_CY_f;
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parents:
diff changeset
1602 dataBlock[1].Word16.low16 = compass_CZ_f;
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parents:
diff changeset
1603 dataBlock[1].Word16.hi16 = 0xFFFF;
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parents:
diff changeset
1604 dataBlock[2].Full32 = 0x7FFFFFFF;
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parents:
diff changeset
1605 dataBlock[3].Full32 = 0x7FFFFFFF;
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parents:
diff changeset
1606 BFA_writeDataBlock((uint32_t *)dataBlock);
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parents:
diff changeset
1607
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parents:
diff changeset
1608 return 0;
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parents:
diff changeset
1609 }
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parents:
diff changeset
1610
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parents:
diff changeset
1611 // //////////////////////////// TEST CODE /////////////////////////////////////
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diff changeset
1612
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parents:
diff changeset
1613
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1614
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parents:
diff changeset
1615 //#include <QtDebug>
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parents:
diff changeset
1616 //#include <stdio.h>
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parents:
diff changeset
1617 //#include <math.h>
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parents:
diff changeset
1618 /*#include <stdlib.h>
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parents:
diff changeset
1619
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parents:
diff changeset
1620 short compass_DX_f, compass_DY_f, compass_DZ_f;
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parents:
diff changeset
1621 short compass_CX_f, compass_CY_f, compass_CZ_f;
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parents:
diff changeset
1622
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parents:
diff changeset
1623 inline float uniform(void) {
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parents:
diff changeset
1624 return (rand() & 0xFFFF) / 65536.0f;
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parents:
diff changeset
1625 }
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parents:
diff changeset
1626 inline float sqr(float x) {
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parents:
diff changeset
1627 return x*x;
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parents:
diff changeset
1628 }
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parents:
diff changeset
1629
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parents:
diff changeset
1630 static const float radius = 0.21f;
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parents:
diff changeset
1631 static const float cx = 0.79f, cy = -0.46f, cz = 0.24f;
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parents:
diff changeset
1632 // const float cx = 0, cy = 0, cz = 0;
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parents:
diff changeset
1633
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parents:
diff changeset
1634 float check_compass_calib(void)
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parents:
diff changeset
1635 {
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parents:
diff changeset
1636
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parents:
diff changeset
1637 // Starts with no calibration at all:
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parents:
diff changeset
1638 compass_CX_f = compass_CY_f = compass_CZ_f = 0;
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parents:
diff changeset
1639
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parents:
diff changeset
1640 // Try 10 recalibration passes:
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parents:
diff changeset
1641 for(int p=0; p<10; ++p)
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parents:
diff changeset
1642 {
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parents:
diff changeset
1643 compass_reset_calibration();
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parents:
diff changeset
1644
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heinrichsweikamp
parents:
diff changeset
1645 //---- Generates random points on a sphere -------------------------------
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parents:
diff changeset
1646 // of radius,center (cx, cy, cz):
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parents:
diff changeset
1647 for(int i=0; i<100; ++i)
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parents:
diff changeset
1648 {
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parents:
diff changeset
1649 float theta = uniform()*360.0f;
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parents:
diff changeset
1650 float phi = uniform()*180.0f - 90.0f;
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parents:
diff changeset
1651
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parents:
diff changeset
1652 float x = cx + radius * cosf(phi)*cosf(theta);
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parents:
diff changeset
1653 float y = cy + radius * cosf(phi)*sinf(theta);
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parents:
diff changeset
1654 float z = cz + radius * sinf(phi);
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parents:
diff changeset
1655
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parents:
diff changeset
1656 compass_DX_f = (short)(32768 * x);
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parents:
diff changeset
1657 compass_DY_f = (short)(32768 * y);
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parents:
diff changeset
1658 compass_DZ_f = (short)(32768 * z);
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parents:
diff changeset
1659 compass_add_calibration();
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parents:
diff changeset
1660 }
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diff changeset
1661
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parents:
diff changeset
1662 compass_solve_calibration();
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parents:
diff changeset
1663 //qDebug() << "Center ="
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heinrichsweikamp
parents:
diff changeset
1664 // << compass_CX_f/32768.0f
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parents:
diff changeset
1665 // << compass_CY_f/32768.0f
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parents:
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1666 // << compass_CZ_f/32768.0f;
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parents:
diff changeset
1667
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parents:
diff changeset
1668 float r2 = sqr(compass_CX_f/32768.0f - cx)
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parents:
diff changeset
1669 + sqr(compass_CY_f/32768.0f - cy)
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parents:
diff changeset
1670 + sqr(compass_CZ_f/32768.0f - cz);
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parents:
diff changeset
1671 if( r2 > 0.01f*0.01f )
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parents:
diff changeset
1672 return sqrtf(r2);
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parents:
diff changeset
1673 }
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parents:
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1674 return 0;
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parents:
diff changeset
1675 }*/
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heinrichsweikamp
parents:
diff changeset
1676
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parents:
diff changeset
1677
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parents:
diff changeset
1678
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parents:
diff changeset
1679 /*
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heinrichsweikamp
parents:
diff changeset
1680 void compass_read_LSM303D_v3(void)
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parents:
diff changeset
1681 {
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parents:
diff changeset
1682 uint8_t data;
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heinrichsweikamp
parents:
diff changeset
1683
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parents:
diff changeset
1684 memset(magDataBuffer,0,6);
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parents:
diff changeset
1685
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parents:
diff changeset
1686 compass_DX_f = 0;
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parents:
diff changeset
1687 compass_DY_f = 0;
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parents:
diff changeset
1688 compass_DZ_f = 0;
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parents:
diff changeset
1689
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heinrichsweikamp
parents:
diff changeset
1690 //magnetometer multi read, order xl,xh, yl,yh, zl, zh
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parents:
diff changeset
1691 data = REG_MAG_DATA_ADDR;
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parents:
diff changeset
1692 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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parents:
diff changeset
1693 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6);
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parents:
diff changeset
1694
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parents:
diff changeset
1695 compass_DX_f = ((int16_t)( (int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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parents:
diff changeset
1696 compass_DY_f = ((int16_t)( (int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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heinrichsweikamp
parents:
diff changeset
1697 compass_DZ_f = ((int16_t)( (int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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heinrichsweikamp
parents:
diff changeset
1698
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parents:
diff changeset
1699 // compass_DX_f = compass_DX_f * stat->sensitivity_mag;
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parents:
diff changeset
1700 // compass_DY_f = compass_DY_f * stat->sensitivity_mag;
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parents:
diff changeset
1701 // compass_DZ_f = compass_DZ_f * stat->sensitivity_mag;
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parents:
diff changeset
1702 }
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parents:
diff changeset
1703
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diff changeset
1704
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parents:
diff changeset
1705 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1706 // compass_init_LSM303D by STMicroelectronics 2013 V1.0.5 2013/Oct/23
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parents:
diff changeset
1707 /// @brief The new ST 303D
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heinrichsweikamp
parents:
diff changeset
1708 /// This might be called several times with different gain values during calibration
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heinrichsweikamp
parents:
diff changeset
1709 ///
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parents:
diff changeset
1710 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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parents:
diff changeset
1711 // ===============================================================================
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parents:
diff changeset
1712
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parents:
diff changeset
1713 void compass_init_LSM303D_v3(uint8_t gain)
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parents:
diff changeset
1714 {
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parents:
diff changeset
1715 uint8_t data[10];
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parents:
diff changeset
1716
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heinrichsweikamp
parents:
diff changeset
1717 // CNTRL1
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heinrichsweikamp
parents:
diff changeset
1718 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz)
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heinrichsweikamp
parents:
diff changeset
1719 // 0xxx block data update off
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heinrichsweikamp
parents:
diff changeset
1720 // x111 enable all three axes
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heinrichsweikamp
parents:
diff changeset
1721
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heinrichsweikamp
parents:
diff changeset
1722 // CNTRL5
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heinrichsweikamp
parents:
diff changeset
1723 // 0xxx xxxx temp sensor off
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heinrichsweikamp
parents:
diff changeset
1724 // x00x xxxx magnetic resolution
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heinrichsweikamp
parents:
diff changeset
1725 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz))
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heinrichsweikamp
parents:
diff changeset
1726 // xxxx xx00 latch irq requests off
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heinrichsweikamp
parents:
diff changeset
1727
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heinrichsweikamp
parents:
diff changeset
1728 // CNTRL7
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heinrichsweikamp
parents:
diff changeset
1729 // 00xx high pass filter mode, 00 normal mode
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heinrichsweikamp
parents:
diff changeset
1730 // xx0x filter for acceleration data bypassed
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heinrichsweikamp
parents:
diff changeset
1731 // xxx0 temperature sensor mode only off
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heinrichsweikamp
parents:
diff changeset
1732 // x0xx magnetic data low-power mode off
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heinrichsweikamp
parents:
diff changeset
1733 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down)
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heinrichsweikamp
parents:
diff changeset
1734
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parents:
diff changeset
1735 data[0] = CNTRL0;
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heinrichsweikamp
parents:
diff changeset
1736 data[1] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1737 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
1738
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heinrichsweikamp
parents:
diff changeset
1739 // acc
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heinrichsweikamp
parents:
diff changeset
1740 data[0] = CNTRL1;
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heinrichsweikamp
parents:
diff changeset
1741 data[1] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1742 data[2] = 0x0F;
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heinrichsweikamp
parents:
diff changeset
1743 data[3] = 0x00;
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1744 data[4] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1745 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5);
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heinrichsweikamp
parents:
diff changeset
1746
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heinrichsweikamp
parents:
diff changeset
1747 // mag
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heinrichsweikamp
parents:
diff changeset
1748 data[0] = CNTRL3;
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heinrichsweikamp
parents:
diff changeset
1749 data[1] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1750 data[2] = 0x00;
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heinrichsweikamp
parents:
diff changeset
1751 data[3] = 0x18;
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heinrichsweikamp
parents:
diff changeset
1752 data[4] = 0x20;
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heinrichsweikamp
parents:
diff changeset
1753 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 5);
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heinrichsweikamp
parents:
diff changeset
1754
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heinrichsweikamp
parents:
diff changeset
1755 data[0] = CNTRL7;
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heinrichsweikamp
parents:
diff changeset
1756 data[1] = ((MSMS_MASK & CONTINUOS_CONVERSION) |
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heinrichsweikamp
parents:
diff changeset
1757 ((~MSMS_MASK) & CNTRL7_RESUME_VALUE));
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heinrichsweikamp
parents:
diff changeset
1758 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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heinrichsweikamp
parents:
diff changeset
1759
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heinrichsweikamp
parents:
diff changeset
1760 HAL_Delay(100);
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heinrichsweikamp
parents:
diff changeset
1761 }
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heinrichsweikamp
parents:
diff changeset
1762
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heinrichsweikamp
parents:
diff changeset
1763
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heinrichsweikamp
parents:
diff changeset
1764 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1765 // compass_init_LSM303D by nordevx for arduion
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heinrichsweikamp
parents:
diff changeset
1766 /// @brief The new ST 303D
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heinrichsweikamp
parents:
diff changeset
1767 /// This might be called several times with different gain values during calibration
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heinrichsweikamp
parents:
diff changeset
1768 ///
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heinrichsweikamp
parents:
diff changeset
1769 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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heinrichsweikamp
parents:
diff changeset
1770 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1771 void compass_init_LSM303D_v2(uint8_t gain)
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1772 {
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1773 uint8_t data[2];
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1774
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1775 // CNTRL1
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1776 // 0011 acceleration data rate 0011 = 12.5 Hz (3.125 Hz - 1600 Hz)
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1777 // 0xxx block data update off
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1778 // x111 enable all three axes
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1779
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1780 // CNTRL5
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1781 // 0xxx xxxx temp sensor off
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1782 // x00x xxxx magnetic resolution
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1783 // xxx0 1xxx magentic data rate 01 = 6,25 Hz (3.125 Hz - 50 Hz (100 Hz))
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1784 // xxxx xx00 latch irq requests off
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1785
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1786 // CNTRL7
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1787 // 00xx high pass filter mode, 00 normal mode
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1788 // xx0x filter for acceleration data bypassed
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1789 // xxx0 temperature sensor mode only off
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1790 // x0xx magnetic data low-power mode off
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1791 // xx00 magnetic sensor mode 00 = continous-conversion mode (default 10 power-down)
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1792
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1793 data[0] = CNTRL1;
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1794 data[1] = 0x37; //0b 0011 0111
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1795 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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1796
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1797 data[0] = CNTRL5;
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1798 data[1] = 0x08; // 0b 0000 1000
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1799 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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1800
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1801 data[0] = CNTRL7;
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1802 data[1] = 0x00; // 0b 0000 0000
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1803 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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1804
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1805 HAL_Delay(100);
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1806 }
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1807
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1808
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1809 // ===============================================================================
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1810 // compass_init_LSM303D_v1 by ST lsm303d.c
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1811 /// @brief The new ST 303D
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1812 /// This might be called several times with different gain values during calibration
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1813 ///
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1814 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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1815 // ===============================================================================
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1816 void compass_init_LSM303D_v1(uint8_t gain)
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1817 {
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1818 uint8_t data;
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1819
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1820 compass_gain = gain;
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1821
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1822 memset(magDataBuffer,0,6);
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1823 memset(accDataBuffer,0,6);
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1824
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1825 data = CNTRL5;
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1826 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1827 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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1828 data = (data & 0x1c) >> 2;
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1829 velMag = magODR[data];
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1830
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1831 data = CNTRL1;
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1832 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1833 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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1834 data = (data & 0xf0) >> 4;
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1835 velAcc = accODR[data];
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1836
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1837 data = CNTRL7;
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1838 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1839 I2C_Master_Receive( DEVICE_COMPASS_303D, &datas1, 1);
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1840 datas1 = (datas1 & 0x02);
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1841
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1842 //if mag is not pd
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1843 //mag is bigger than gyro
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1844 if( (velMag < velAcc) || datas1 != 0 ) {
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1845 //acc is the biggest
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1846 fastest = ACC_IS_FASTEST;
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1847 }
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1848 else {
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1849 //acc is the biggest
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1850 fastest = MAG_IS_FASTEST;
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1851 }
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1852
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1853 zoffFlag = 1;
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1854
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1855 if( fastest == MAG_IS_FASTEST)
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1856 {
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1857 data = STATUS_REG_M;
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1858 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1859 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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1860
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1861 // if(ValBit(data, ZYXMDA)) {
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1862 sendFlag = 1;
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1863 // }
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1864
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1865 }
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1866 else if(fastest == ACC_IS_FASTEST)
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1867 {
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1868 data = STATUS_REG_A;
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1869 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1870 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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1871 // if(ValBit(data, DATAREADY_BIT)) {
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1872 sendFlag = 1;
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1873 // }
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1874 }
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1875 }
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1876
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1877 // ===============================================================================
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1878 // compass_read_LSM303D
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1879 /// @brief The new LSM303D :-)
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1880 ///
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1881 /// output is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
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1882 // ===============================================================================
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1883 void compass_read_LSM303D_v2(void)
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1884 {
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1885 uint8_t data;
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1886
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1887 memset(magDataBuffer,0,6);
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1888 memset(accDataBuffer,0,6);
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1889
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1890 compass_DX_f = 0;
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1891 compass_DY_f = 0;
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1892 compass_DZ_f = 0;
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1893
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1894 accel_DX_f = 0;
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1895 accel_DY_f = 0;
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1896 accel_DZ_f = 0;
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1897
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1898 //Accelerometer multi read, order xl,xh, yl,yh, zl, zh
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1899 data = REG_ACC_DATA_ADDR;
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1900 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1901 I2C_Master_Receive( DEVICE_COMPASS_303D, accDataBuffer, 6);
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1902
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1903 //magnetometer multi read, order xl,xh, yl,yh, zl, zh
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1904 data = OUT_X_L_M;
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1905 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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1906 I2C_Master_Receive( DEVICE_COMPASS_303D, magDataBuffer, 6);
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1907
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1908 accel_DX_f = ((int16_t)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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1909 accel_DY_f = ((int16_t)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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1910 accel_DZ_f = ((int16_t)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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1911
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1912 // accel_DX_f = accel_DX_f * stat->sensitivity_acc;
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1913 // accel_DY_f = accel_DY_f * stat->sensitivity_acc;
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1914 // accel_DZ_f = accel_DZ_f * stat->sensitivity_acc;
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1915
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1916
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1917 compass_DX_f = magDataBuffer[1];
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1918 compass_DX_f *= 256;
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1919 compass_DX_f += magDataBuffer[0];
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1920
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1921 compass_DY_f = magDataBuffer[3];
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1922 compass_DY_f *= 256;
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1923 compass_DY_f += magDataBuffer[2];
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1924
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1925 compass_DY_f = magDataBuffer[5];
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1926 compass_DY_f *= 256;
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1927 compass_DY_f += magDataBuffer[4];
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1928
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1929 }
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1930
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1931
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1932 */
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1933