Mercurial > public > ostc4
annotate Small_CPU/Src/compass.c @ 578:beb4d47542f1
Rework pitch detection:
To improve separation between pos and neg moves the history memory is now evaluated starting from the last detected start condition. This was needed because a small "overshoot" of the end position causes e.g. a pos event to be detected as negative event.
| author | Ideenmodellierer |
|---|---|
| date | Sun, 29 Nov 2020 23:02:11 +0100 |
| parents | 91a8f9893e68 |
| children | 08af5d707c5a |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file compass.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 27-March-2014 | |
| 6 * @version V0.2.0 | |
| 7 * @since 21-April-2016 | |
| 8 * @brief for Honeywell Compass and ST LSM303D | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 V0.1.0 09-March-2016 | |
| 15 V0.2.0 21-April-2016 Orientation fixed for LSM303D, | |
| 16 roll and pitch added to calibration output, | |
| 17 orientation double checked with datasheets and layout | |
| 18 as well as with value output during calibration | |
| 19 V0.2.1 19-May-2016 New date rate config and full-scale selection | |
| 20 | |
| 21 @endverbatim | |
| 22 ****************************************************************************** | |
| 23 * @attention | |
| 24 * | |
| 25 * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> | |
| 26 * | |
| 27 ****************************************************************************** | |
| 28 */ | |
| 29 | |
| 30 #include <math.h> | |
| 31 #include <string.h> | |
| 32 | |
| 33 #include "compass.h" | |
| 34 #include "compass_LSM303D.h" | |
| 35 | |
| 36 #include "i2c.h" | |
| 219 | 37 #include "spi.h" |
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38 #include "scheduler.h" |
| 38 | 39 #include "RTE_FlashAccess.h" // to store compass_calib_data |
| 40 | |
| 41 #include "stm32f4xx_hal.h" | |
| 42 | |
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43 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
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44 extern SGlobal global; |
| 38 | 45 |
| 46 | |
| 47 /// crazy compass calibration stuff | |
| 48 typedef struct | |
| 49 { | |
| 50 unsigned short int compass_N; | |
| 51 float Su, Sv, Sw; | |
| 52 float Suu, Svv, Sww, Suv, Suw, Svw; | |
| 53 float Suuu, Svvv, Swww; | |
| 54 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
| 55 } SCompassCalib; | |
| 56 | |
| 57 | |
| 58 #define Q_PI (18000) | |
| 59 #define Q_PIO2 (9000) | |
| 60 | |
| 61 | |
| 62 | |
| 63 ////////////////////////////////////////////////////////////////////////////// | |
| 64 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
| 65 // | |
| 66 #define K1 (5701) // Needs K1/2**16 | |
| 67 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
| 68 #define K3 ( 446) // Needs K3/2**80 | |
| 69 | |
| 70 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
| 71 | |
| 72 typedef short int Int16; | |
| 73 typedef signed char Int8; | |
| 74 typedef Int16 Angle; | |
| 75 | |
| 76 | |
| 77 /// The (filtered) components of the magnetometer sensor | |
| 78 int16_t compass_DX_f; ///< output from sensor | |
| 79 int16_t compass_DY_f; ///< output from sensor | |
| 80 int16_t compass_DZ_f; ///< output from sensor | |
| 81 | |
| 82 | |
| 83 /// Found soft-iron calibration values, deduced from already filtered values | |
| 84 int16_t compass_CX_f; ///< calibration value | |
| 85 int16_t compass_CY_f; ///< calibration value | |
| 86 int16_t compass_CZ_f; ///< calibration value | |
| 87 | |
| 88 | |
| 89 /// The (filtered) components of the accelerometer sensor | |
| 90 int16_t accel_DX_f; ///< output from sensor | |
| 91 int16_t accel_DY_f; ///< output from sensor | |
| 92 int16_t accel_DZ_f; ///< output from sensor | |
| 93 | |
| 94 | |
| 95 /// The compass result values | |
| 96 float compass_heading; ///< the final result calculated in compass_calc() | |
| 97 float compass_roll; ///< the final result calculated in compass_calc() | |
| 98 float compass_pitch; ///< the final result calculated in compass_calc() | |
| 99 | |
| 100 | |
| 101 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
| 102 | |
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103 uint8_t hardwareCompass = compass_generation_undef; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0) |
| 38 | 104 |
| 105 /// LSM303D variables | |
| 106 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 107 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 108 | |
| 109 | |
| 110 // struct accel_scale _accel_scale; | |
| 111 unsigned _accel_range_m_s2; | |
| 112 float _accel_range_scale; | |
| 113 unsigned _accel_samplerate; | |
| 114 unsigned _accel_onchip_filter_bandwith; | |
| 115 | |
| 116 // struct mag_scale _mag_scale; | |
| 117 unsigned _mag_range_ga; | |
| 118 float _mag_range_scale; | |
| 119 unsigned _mag_samplerate; | |
| 120 | |
| 121 // default scale factors | |
| 122 float _accel_scale_x_offset = 0.0f; | |
| 123 float _accel_scale_x_scale = 1.0f; | |
| 124 float _accel_scale_y_offset = 0.0f; | |
| 125 float _accel_scale_y_scale = 1.0f; | |
| 126 float _accel_scale_z_offset = 0.0f; | |
| 127 float _accel_scale_z_scale = 1.0f; | |
| 128 | |
| 129 float _mag_scale_x_offset = 0.0f; | |
| 130 float _mag_scale_x_scale = 1.0f; | |
| 131 float _mag_scale_y_offset = 0.0f; | |
| 132 float _mag_scale_y_scale = 1.0f; | |
| 133 float _mag_scale_z_offset = 0.0f; | |
| 134 float _mag_scale_z_scale = 1.0f; | |
| 135 | |
| 136 | |
| 137 /* External function prototypes ----------------------------------------------*/ | |
| 138 | |
| 139 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 140 | |
| 141 /* Private function prototypes -----------------------------------------------*/ | |
| 142 | |
| 143 void compass_reset_calibration(SCompassCalib *g); | |
| 144 void compass_add_calibration(SCompassCalib *g); | |
| 145 void compass_solve_calibration(SCompassCalib *g); | |
| 146 | |
| 147 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
| 148 void compass_sleep_HMC5883L(void); | |
| 149 void compass_read_HMC5883L(void); | |
| 150 | |
| 151 void accelerator_init_MMA8452Q(void); | |
| 152 void accelerator_sleep_MMA8452Q(void); | |
| 153 void acceleration_read_MMA8452Q(void); | |
| 154 | |
| 155 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
| 156 void compass_sleep_LSM303D(void); | |
| 157 void compass_read_LSM303D(void); | |
| 158 void acceleration_read_LSM303D(void); | |
| 159 | |
| 357 | 160 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain); |
| 161 void compass_sleep_LSM303AGR(void); | |
| 162 void compass_read_LSM303AGR(void); | |
| 163 void acceleration_read_LSM303AGR(void); | |
| 164 | |
| 38 | 165 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); |
| 166 int compass_calib_common(void); | |
| 167 | |
| 168 void compass_calc_roll_pitch_only(void); | |
| 169 | |
| 170 void rotate_mag_3f(float *x, float *y, float *z); | |
| 171 void rotate_accel_3f(float *x, float *y, float *z); | |
| 172 | |
| 173 | |
| 174 /* Exported functions --------------------------------------------------------*/ | |
| 175 | |
| 176 | |
| 177 // =============================================================================== | |
| 178 // compass_init | |
| 179 /// @brief This might be called several times with different gain values during calibration | |
| 180 /// On first call it figures out which hardware is integrated | |
| 181 /// | |
| 182 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
| 183 // =============================================================================== | |
| 184 | |
| 185 void compass_init(uint8_t fast, uint8_t gain) | |
| 186 { | |
| 187 | |
| 188 // don't call again with fast, gain in calib mode etc. | |
| 189 // if unknown | |
| 190 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
| 191 { | |
| 192 return; | |
| 193 } | |
| 194 | |
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195 if(hardwareCompass == compass_generation_undef) /* check if compass had been detected before */ |
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196 { |
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197 tfull32 dataBlock[4]; |
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198 if(BFA_readLastDataBlock(dataBlock) == BFA_OK) |
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199 { |
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200 if(dataBlock[3].Word16.hi16 == BFA_calc_Block_Checksum(dataBlock)) |
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201 { |
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202 compass_CX_f = dataBlock[0].Word16.low16; |
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203 compass_CY_f = dataBlock[0].Word16.hi16; |
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204 compass_CZ_f = dataBlock[1].Word16.low16; |
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205 hardwareCompass = dataBlock[1].Word16.hi16; |
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206 if(hardwareCompass >= compass_generation_future) /* no generation stored (including COMPASS_NOT_RECOGNIZED) */ |
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207 { |
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208 hardwareCompass = compass_generation_undef; |
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209 } |
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210 } |
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211 } |
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212 } |
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213 |
| 38 | 214 // old code but without else |
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215 if(hardwareCompass == compass_generation_undef) |
| 38 | 216 { |
| 217 uint8_t data = WHO_AM_I; | |
| 218 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 219 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 220 if(data == WHOIAM_VALUE_LSM303D) |
| 221 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 222 data = WHO_AM_I; |
| 223 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 224 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 225 if(data == WHOIAM_VALUE_LSM303AGR) |
| 226 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 227 } |
| 228 | |
| 180 | 229 /* No compass identified => Retry */ |
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230 if(hardwareCompass == compass_generation_undef) |
| 38 | 231 { |
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232 I2C_DeInit(); |
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233 HAL_Delay(100); |
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234 MX_I2C1_Init(); |
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235 HAL_Delay(100); |
| 38 | 236 uint8_t data = WHO_AM_I; |
| 237 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 238 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 239 if(data == WHOIAM_VALUE_LSM303D) |
| 240 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 241 data = WHO_AM_I; |
| 242 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 243 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 244 if(data == WHOIAM_VALUE_LSM303AGR) |
| 245 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 246 } |
| 70 | 247 |
| 180 | 248 /* Assume that a HMC5883L is equipped by default if detection still failed */ |
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249 if(hardwareCompass == compass_generation_undef) |
| 357 | 250 hardwareCompass = compass_generation1; //HMC5883L; |
| 38 | 251 |
| 252 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
| 253 | |
| 358 | 254 // test if both chips of the two-chip solution (gen 1) are present |
| 357 | 255 if(hardwareCompass == compass_generation1) // HMC5883L) |
| 38 | 256 { |
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257 HAL_Delay(100); |
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258 I2C_DeInit(); |
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259 HAL_Delay(100); |
| 358 | 260 MX_I2C1_Init(); |
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261 HAL_Delay(100); |
| 38 | 262 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q |
| 263 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
| 264 if(resultOfOperationHMC_MMA == HAL_OK) | |
| 265 { | |
| 357 | 266 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it |
| 38 | 267 } |
| 268 else | |
| 269 { | |
| 270 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
| 271 } | |
| 272 } | |
| 273 | |
| 357 | 274 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 275 compass_init_LSM303D(fast, gain); |
| 357 | 276 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 277 compass_init_LSM303AGR(fast, gain); | |
| 278 if(hardwareCompass == compass_generation1) //HMC5883L) | |
| 38 | 279 compass_init_HMC5883L(fast, gain); |
| 280 | |
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281 if(global.deviceDataSendToMaster.hw_Info.compass == 0) |
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282 { |
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283 global.deviceDataSendToMaster.hw_Info.compass = hardwareCompass; |
| 559 | 284 global.deviceDataSendToMaster.hw_Info.checkCompass = 1; |
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285 } |
| 38 | 286 } |
| 287 | |
| 288 | |
| 289 // =============================================================================== | |
| 290 // compass_calib | |
| 291 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
| 292 // =============================================================================== | |
| 293 int compass_calib(void) | |
| 294 { | |
| 357 | 295 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 296 { |
| 297 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
| 298 int out = compass_calib_common(); | |
| 299 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
| 300 return out; | |
| 301 } | |
| 302 else | |
| 357 | 303 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 304 { | |
| 305 return compass_calib_common(); | |
| 306 } | |
| 307 else | |
| 308 if(hardwareCompass == compass_generation3) //LSM303AGR) | |
| 38 | 309 { |
| 310 return compass_calib_common(); | |
| 311 } | |
| 312 else | |
| 313 { | |
| 314 return 0; // standard answer of compass_calib_common(); | |
| 315 } | |
| 316 | |
| 317 | |
| 318 } | |
| 319 | |
| 320 | |
| 321 // =============================================================================== | |
| 322 // compass_sleep | |
| 323 /// @brief low power mode | |
| 324 // =============================================================================== | |
| 325 void compass_sleep(void) | |
| 326 { | |
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327 if(hardwareCompass == compass_generation2) //LSM303D |
| 38 | 328 compass_sleep_LSM303D(); |
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329 if(hardwareCompass == compass_generation1) //HMC5883L |
| 38 | 330 compass_sleep_HMC5883L(); |
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331 if(hardwareCompass == compass_generation3) //LSM303AGR |
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332 compass_sleep_LSM303AGR(); |
| 38 | 333 } |
| 334 | |
| 335 | |
| 336 // =============================================================================== | |
| 337 // compass_read | |
| 338 /// @brief reads magnetometer and accelerometer for LSM303D, | |
| 339 /// otherwise magnetometer only | |
| 340 // =============================================================================== | |
| 341 void compass_read(void) | |
| 342 { | |
| 357 | 343 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 344 compass_read_LSM303D(); |
| 357 | 345 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 346 compass_read_HMC5883L(); |
| 357 | 347 if(hardwareCompass == compass_generation3) //LSM303AGR) |
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348 compass_read_LSM303AGR(); |
| 357 | 349 |
| 38 | 350 } |
| 351 | |
| 352 | |
| 353 // =============================================================================== | |
| 354 // accelerator_init | |
| 355 /// @brief empty for for LSM303D | |
| 356 // =============================================================================== | |
| 357 void accelerator_init(void) | |
| 358 { | |
| 357 | 359 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 360 accelerator_init_MMA8452Q(); |
| 361 } | |
| 362 | |
| 363 | |
| 364 // =============================================================================== | |
| 365 // accelerator_sleep | |
| 366 /// @brief empty for for LSM303D | |
| 367 // =============================================================================== | |
| 368 void accelerator_sleep(void) | |
| 369 { | |
| 357 | 370 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 371 accelerator_sleep_MMA8452Q(); |
| 372 } | |
| 373 | |
| 374 | |
| 375 // =============================================================================== | |
| 376 // acceleration_read | |
| 377 /// @brief empty for for LSM303D | |
| 378 // =============================================================================== | |
| 379 void acceleration_read(void) | |
| 380 { | |
| 357 | 381 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 382 acceleration_read_LSM303D(); |
| 357 | 383 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 384 acceleration_read_MMA8452Q(); |
| 357 | 385 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 386 acceleration_read_LSM303AGR(); | |
| 38 | 387 } |
| 388 | |
| 389 | |
| 390 /* Private functions ---------------------------------------------------------*/ | |
| 391 | |
| 392 // =============================================================================== | |
| 357 | 393 // LSM303AGR_read_reg |
| 394 // =============================================================================== | |
| 395 uint8_t LSM303AGR_read_reg(uint8_t addr) | |
| 396 { | |
| 397 uint8_t data; | |
| 398 | |
| 399 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1); | |
| 400 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1); | |
| 401 return data; | |
| 402 } | |
| 403 | |
| 404 | |
| 405 // =============================================================================== | |
| 406 // LSM303AGR_write_reg | |
| 407 // =============================================================================== | |
| 408 void LSM303AGR_write_reg(uint8_t addr, uint8_t value) | |
| 409 { | |
| 410 uint8_t data[2]; | |
| 411 | |
| 412 data[0] = addr; | |
| 413 data[1] = value; | |
| 414 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2); | |
| 415 } | |
| 416 | |
| 417 // =============================================================================== | |
| 418 // LSM303AGR_acc_write_reg | |
| 419 // =============================================================================== | |
| 420 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value) | |
| 421 { | |
| 422 uint8_t data[2]; | |
| 423 | |
| 424 data[0] = addr; | |
| 425 data[1] = value; | |
| 426 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2); | |
| 427 } | |
| 428 | |
| 429 | |
| 430 // =============================================================================== | |
| 431 // LSM303AGR_write_checked_reg | |
| 432 // =============================================================================== | |
| 433 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value) | |
| 434 { | |
| 435 LSM303AGR_write_reg(addr, value); | |
| 436 } | |
| 437 | |
| 438 // =============================================================================== | |
| 439 // LSM303AGR_acc_write_checked_reg | |
| 440 // =============================================================================== | |
| 441 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value) | |
| 442 { | |
| 443 LSM303AGR_acc_write_reg(addr, value); | |
| 444 } | |
| 445 | |
| 446 // =============================================================================== | |
| 38 | 447 // LSM303D_read_reg |
| 448 // =============================================================================== | |
| 449 uint8_t LSM303D_read_reg(uint8_t addr) | |
| 450 { | |
| 451 uint8_t data; | |
| 452 | |
| 453 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
| 454 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 455 return data; | |
| 456 } | |
| 457 | |
| 458 | |
| 459 // =============================================================================== | |
| 460 // LSM303D_write_reg | |
| 461 // =============================================================================== | |
| 462 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
| 463 { | |
| 464 uint8_t data[2]; | |
| 465 | |
| 466 /* enable accel*/ | |
| 467 data[0] = addr; | |
| 468 data[1] = value; | |
| 469 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 470 } | |
| 471 | |
| 472 | |
| 473 // =============================================================================== | |
| 474 // LSM303D_write_checked_reg | |
| 475 // =============================================================================== | |
| 476 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
| 477 { | |
| 478 LSM303D_write_reg(addr, value); | |
| 479 } | |
| 480 | |
| 481 | |
| 482 // =============================================================================== | |
| 483 // LSM303D_modify_reg | |
| 484 // =============================================================================== | |
| 485 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
| 486 { | |
| 487 uint8_t val; | |
| 488 | |
| 489 val = LSM303D_read_reg(reg); | |
| 490 val &= ~clearbits; | |
| 491 val |= setbits; | |
| 492 LSM303D_write_checked_reg(reg, val); | |
| 493 } | |
| 494 | |
| 495 // =============================================================================== | |
| 496 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
| 497 // =============================================================================== | |
| 498 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
| 499 { | |
| 500 uint8_t setbits = 0; | |
| 501 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
| 502 | |
| 503 if (bandwidth == 0) { | |
| 504 bandwidth = 773; | |
| 505 } | |
| 506 | |
| 507 if (bandwidth <= 50) { | |
| 508 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
| 509 _accel_onchip_filter_bandwith = 50; | |
| 510 | |
| 511 } else if (bandwidth <= 194) { | |
| 512 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
| 513 _accel_onchip_filter_bandwith = 194; | |
| 514 | |
| 515 } else if (bandwidth <= 362) { | |
| 516 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
| 517 _accel_onchip_filter_bandwith = 362; | |
| 518 | |
| 519 } else if (bandwidth <= 773) { | |
| 520 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
| 521 _accel_onchip_filter_bandwith = 773; | |
| 522 | |
| 523 } else { | |
| 524 return -1; | |
| 525 } | |
| 526 | |
| 527 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
| 528 | |
| 529 return 0; | |
| 530 } | |
| 531 | |
| 532 | |
| 533 // =============================================================================== | |
| 534 // LSM303D_accel_set_driver_lowpass_filter | |
| 535 // =============================================================================== | |
| 536 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
| 537 { | |
| 538 /* | |
| 539 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
| 540 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
| 541 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
| 542 */ | |
| 543 return 0; | |
| 544 } | |
| 545 | |
| 546 | |
| 547 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
| 548 // =============================================================================== | |
| 549 // rotate_mag_3f | |
| 550 /// @brief swap axis in convient way, by hw | |
| 551 /// @param *x raw input is set to *y input | |
| 552 /// @param *y raw input is set to -*x input | |
| 553 /// @param *z raw is not touched | |
| 554 // =============================================================================== | |
| 555 void rotate_mag_3f(float *x, float *y, float *z) | |
| 556 { | |
| 557 return; | |
| 558 /* | |
| 559 *x = *x; // HMC: *x = -*y | |
| 560 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
| 561 *z = *z; // HMC: *z = *z | |
| 562 */ | |
| 563 } | |
| 564 | |
| 565 | |
| 566 // =============================================================================== | |
| 567 // rotate_accel_3f | |
| 568 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
| 569 /// @param *x raw input, output is with sign change | |
| 570 /// @param *y raw input, output is with sign change | |
| 571 /// @param *z raw input, output is with sign change | |
| 572 // =============================================================================== | |
| 573 void rotate_accel_3f(float *x, float *y, float *z) | |
| 574 { | |
| 575 *x = -*x; | |
| 576 *y = -*y; | |
| 577 *z = -*z; | |
| 578 /* tested: | |
| 579 x = x, y =-y, z=-z: does not work with roll | |
| 580 x = x, y =y, z=-z: does not work with pitch | |
| 581 x = x, y =y, z=z: does not work at all | |
| 582 */ | |
| 583 } | |
| 584 | |
| 585 | |
| 586 // =============================================================================== | |
| 357 | 587 // compass_init_LSM303D |
| 38 | 588 /// This might be called several times with different gain values during calibration |
| 589 /// but gain change is not supported at the moment. | |
| 590 /// | |
| 591 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 592 // =============================================================================== | |
| 593 | |
| 594 //uint8_t testCompassLS303D[11]; | |
| 595 | |
| 596 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
| 597 { | |
| 598 if(fast == 0) | |
| 599 { | |
| 600 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 601 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
| 602 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 603 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 604 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 605 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
| 606 } | |
| 607 else | |
| 608 { | |
| 609 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 610 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
| 611 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 612 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 613 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 614 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
| 615 } | |
| 616 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
| 617 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
| 618 | |
| 619 return; | |
| 620 } | |
| 621 | |
| 622 | |
| 623 // =============================================================================== | |
| 624 // compass_sleep_LSM303D | |
| 357 | 625 // @brief Gen 2 chip |
| 38 | 626 // =============================================================================== |
| 627 void compass_sleep_LSM303D(void) | |
| 628 { | |
| 629 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
| 630 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
| 631 } | |
| 632 | |
| 633 | |
| 634 // =============================================================================== | |
| 635 // acceleration_read_LSM303D | |
| 357 | 636 // output is accel_DX_f, accel_DY_f, accel_DZ_f |
| 38 | 637 // =============================================================================== |
| 638 void acceleration_read_LSM303D(void) | |
| 639 { | |
| 640 uint8_t data; | |
| 641 float xraw_f, yraw_f, zraw_f; | |
| 642 float accel_report_x, accel_report_y, accel_report_z; | |
| 643 | |
| 644 memset(accDataBuffer,0,6); | |
| 645 | |
| 646 accel_DX_f = 0; | |
| 647 accel_DY_f = 0; | |
| 648 accel_DZ_f = 0; | |
| 649 | |
| 650 for(int i=0;i<6;i++) | |
| 651 { | |
| 652 data = ADDR_OUT_X_L_A + i; | |
| 653 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 654 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
| 655 } | |
| 656 | |
| 657 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 658 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 659 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 660 | |
| 661 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 662 | |
| 663 // mh | |
| 664 accel_report_x = xraw_f; | |
| 665 accel_report_y = yraw_f; | |
| 666 accel_report_z = zraw_f; | |
| 667 | |
| 668 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 669 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 670 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 671 } | |
| 672 | |
| 673 | |
| 674 // =============================================================================== | |
| 675 // compass_read_LSM303D | |
| 676 /// | |
| 677 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 678 // =============================================================================== | |
| 679 void compass_read_LSM303D(void) | |
| 680 { | |
| 681 uint8_t data; | |
| 682 // float xraw_f, yraw_f, zraw_f; | |
| 683 // float mag_report_x, mag_report_y, mag_report_z; | |
| 684 | |
| 685 memset(magDataBuffer,0,6); | |
| 686 | |
| 687 compass_DX_f = 0; | |
| 688 compass_DY_f = 0; | |
| 689 compass_DZ_f = 0; | |
| 690 | |
| 691 for(int i=0;i<6;i++) | |
| 692 { | |
| 693 data = ADDR_OUT_X_L_M + i; | |
| 694 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 695 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
| 696 } | |
| 697 | |
| 698 // mh 160620 flip x and y if flip display | |
| 699 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 700 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 701 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 702 // no rotation | |
| 703 return; | |
| 357 | 704 } |
| 705 | |
| 706 | |
| 707 // =============================================================================== | |
| 708 // compass_init_LSM303AGR | |
| 709 /// This might be called several times with different gain values during calibration | |
| 710 /// but gain change is not supported at the moment. | |
| 711 /// | |
| 712 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 713 // =============================================================================== | |
| 38 | 714 |
| 357 | 715 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain) |
| 716 { | |
| 717 if(fast == 0) | |
| 718 { | |
| 358 | 719 // init compass |
| 357 | 720 LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz |
| 721 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M | |
| 722 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 723 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 724 | |
| 725 // init accel (Same chip, but different address...) | |
| 726 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 727 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 728 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 729 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 730 LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 731 } |
| 732 else | |
| 733 { | |
| 358 | 734 // init compass |
| 735 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz | |
| 357 | 736 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M |
| 737 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 738 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 739 | |
| 740 // init accel (Same chip, but different address...) | |
| 741 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 742 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 743 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 744 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 745 LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 746 } |
| 747 | |
| 748 return; | |
| 749 } | |
| 750 | |
| 751 | |
| 752 // =============================================================================== | |
| 753 // compass_sleep_LSM303D | |
| 754 // @brief Gen 2 chip | |
| 755 // =============================================================================== | |
| 756 void compass_sleep_LSM303AGR(void) | |
| 757 { | |
| 758 LSM303AGR_write_checked_reg(0x60, 0x03); // | |
| 759 LSM303AGR_write_checked_reg(0x61, 0x04); // | |
| 760 LSM303AGR_write_checked_reg(0x62, 0x51); // | |
| 761 LSM303AGR_write_checked_reg(0x63, 0x00); // | |
| 762 | |
| 763 | |
| 764 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // | |
| 765 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // | |
| 766 } | |
| 767 | |
| 38 | 768 |
| 357 | 769 // =============================================================================== |
| 770 // acceleration_read_LSM303AGR | |
| 771 // output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 772 // =============================================================================== | |
| 773 void acceleration_read_LSM303AGR(void) | |
| 774 { | |
| 775 uint8_t data; | |
| 776 float xraw_f, yraw_f, zraw_f; | |
| 777 float accel_report_x, accel_report_y, accel_report_z; | |
| 778 | |
| 779 memset(accDataBuffer,0,6); | |
| 780 | |
| 781 accel_DX_f = 0; | |
| 782 accel_DY_f = 0; | |
| 783 accel_DZ_f = 0; | |
| 784 | |
| 785 for(int i=0;i<6;i++) | |
| 786 { | |
| 358 | 787 data = 0x28 + i; // OUT_X_L_A |
| 357 | 788 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); |
| 789 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1); | |
| 790 } | |
| 791 | |
| 792 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 793 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 794 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 795 | |
| 796 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 797 | |
| 798 // mh | |
| 799 accel_report_x = xraw_f; | |
| 800 accel_report_y = yraw_f; | |
| 358 | 801 accel_report_z = -zraw_f; // flip Z in gen 2 hardware |
| 357 | 802 |
| 803 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 804 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 805 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 806 } | |
| 807 | |
| 808 | |
| 809 // =============================================================================== | |
| 810 // compass_read_LSM303AGR | |
| 811 /// | |
| 812 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 813 // =============================================================================== | |
| 814 void compass_read_LSM303AGR(void) | |
| 815 { | |
| 816 uint8_t data; | |
| 817 // float xraw_f, yraw_f, zraw_f; | |
| 818 // float mag_report_x, mag_report_y, mag_report_z; | |
| 819 | |
| 820 memset(magDataBuffer,0,6); | |
| 821 | |
| 822 compass_DX_f = 0; | |
| 823 compass_DY_f = 0; | |
| 824 compass_DZ_f = 0; | |
| 825 | |
| 826 for(int i=0;i<6;i++) | |
| 827 { | |
| 828 data = 0x68 + i; // OUTX_L_REG_M | |
| 829 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1); | |
| 830 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1); | |
| 831 } | |
| 832 | |
| 833 // mh 160620 flip x and y if flip display | |
| 834 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 835 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 836 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 358 | 837 |
| 838 // align axis in gen 2 hardware | |
| 839 compass_DZ_f *= -1; | |
| 840 | |
| 357 | 841 return; |
| 38 | 842 } |
| 843 | |
| 844 | |
| 845 // -------------------------------------------------------------------------------- | |
| 846 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
| 847 // -------------------------------------------------------------------------------- | |
| 848 | |
| 849 // =============================================================================== | |
| 850 // compass_init_HMC5883L | |
| 851 /// @brief The horrible Honeywell compass chip | |
| 852 /// This might be called several times during calibration | |
| 853 /// | |
| 854 /// @param fast: 1 is fast mode, 0 is normal mode | |
| 855 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 856 // =============================================================================== | |
| 857 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
| 858 { | |
| 859 uint8_t write_buffer[4]; | |
| 860 | |
| 861 compass_gain = gain; | |
| 862 uint16_t length = 0; | |
| 863 write_buffer[0] = 0x00; // 00 = config Register A | |
| 864 | |
| 865 if( fast ) | |
| 866 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
| 867 else | |
| 868 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
| 869 | |
| 870 switch(gain) | |
| 871 { | |
| 872 case 7: | |
| 873 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
| 874 break; | |
| 875 case 6: | |
| 876 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
| 877 break; | |
| 878 case 5: | |
| 879 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
| 880 break; | |
| 881 case 4: | |
| 882 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
| 883 break; | |
| 884 case 3: | |
| 885 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
| 886 break; | |
| 887 case 2: | |
| 888 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
| 889 break; | |
| 890 case 1: | |
| 891 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
| 892 break; | |
| 893 case 0: | |
| 894 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
| 895 break; | |
| 896 } | |
| 897 write_buffer[3] = 0x00; // Mode: continuous mode | |
| 898 length = 4; | |
| 899 //hmc_twi_write(0); | |
| 900 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 901 } | |
| 902 | |
| 903 | |
| 904 | |
| 905 // =============================================================================== | |
| 906 // compass_sleep_HMC5883L | |
| 907 /// @brief Power-down mode for Honeywell compass chip | |
| 908 // =============================================================================== | |
| 909 void compass_sleep_HMC5883L(void) | |
| 910 { | |
| 911 uint8_t write_buffer[4]; | |
| 912 uint16_t length = 0; | |
| 913 | |
| 914 write_buffer[0] = 0x00; // 00 = config Register A | |
| 915 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
| 916 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
| 917 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
| 918 length = 4; | |
| 919 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 920 } | |
| 921 | |
| 922 | |
| 923 // =============================================================================== | |
| 924 // accelerator_init_MMA8452Q | |
| 925 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
| 926 // =============================================================================== | |
| 927 void accelerator_init_MMA8452Q(void) | |
| 928 { | |
| 929 uint8_t write_buffer[4]; | |
| 930 uint16_t length = 0; | |
| 931 //HAL_Delay(1); | |
| 932 //return; | |
| 933 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
| 934 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
| 935 length = 2; | |
| 936 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 937 //HAL_Delay(1); | |
| 938 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 939 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
| 940 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
| 941 length = 3; | |
| 942 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 943 | |
| 944 //HAL_Delay(1); | |
| 945 //hw_delay_us(100); | |
| 946 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 947 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
| 948 length = 2; | |
| 949 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 950 /* | |
| 951 HAL_Delay(6); | |
| 952 compass_read(); | |
| 953 HAL_Delay(1); | |
| 954 acceleration_read(); | |
| 955 | |
| 956 compass_calc(); | |
| 957 */ | |
| 958 } | |
| 959 | |
| 960 | |
| 961 // =============================================================================== | |
| 962 // accelerator_sleep_MMA8452Q | |
| 963 /// @brief compass_sleep_HMC5883L | |
| 964 // =============================================================================== | |
| 965 void accelerator_sleep_MMA8452Q(void) | |
| 966 { | |
| 967 uint16_t length = 0; | |
| 968 uint8_t write_buffer[4]; | |
| 969 | |
| 970 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 971 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
| 972 length = 2; | |
| 973 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 974 } | |
| 975 | |
| 976 | |
| 977 // =============================================================================== | |
| 978 // compass_read_HMC5883L | |
| 979 /// @brief The new ST 303D - get ALL data and store in static variables | |
| 980 /// | |
| 981 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 982 // =============================================================================== | |
| 983 void compass_read_HMC5883L(void) | |
| 984 { | |
| 985 uint8_t buffer[20]; | |
| 986 compass_DX_f = 0; | |
| 987 compass_DY_f = 0; | |
| 988 compass_DZ_f = 0; | |
| 989 uint8_t length = 0; | |
| 990 uint8_t read_buffer[6]; | |
| 991 signed_tword data; | |
| 992 for(int i = 0; i<6;i++) | |
| 993 read_buffer[i] = 0; | |
| 994 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
| 995 length = 1; | |
| 996 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
| 997 length = 6; | |
| 998 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
| 999 | |
| 1000 | |
| 1001 data.Byte.hi = read_buffer[0]; | |
| 1002 data.Byte.low = read_buffer[1]; | |
| 1003 //Y = Z | |
| 1004 compass_DY_f = - data.Word; | |
| 1005 | |
| 1006 data.Byte.hi = read_buffer[2]; | |
| 1007 data.Byte.low = read_buffer[3]; | |
| 1008 compass_DZ_f = data.Word; | |
| 1009 | |
| 1010 data.Byte.hi = read_buffer[4]; | |
| 1011 data.Byte.low = read_buffer[5]; | |
| 1012 //X = -Y | |
| 1013 compass_DX_f = data.Word; | |
| 1014 } | |
| 1015 | |
| 1016 | |
| 1017 // =============================================================================== | |
| 1018 // acceleration_read_MMA8452Q | |
| 1019 /// @brief The old MMA8452Q used with the Honeywell compass | |
| 1020 /// get the acceleration data and store in static variables | |
| 1021 /// | |
| 1022 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1023 // =============================================================================== | |
| 1024 void acceleration_read_MMA8452Q(void) | |
| 1025 { | |
| 1026 uint8_t buffer[20]; | |
| 1027 accel_DX_f = 0; | |
| 1028 accel_DY_f = 0; | |
| 1029 accel_DZ_f = 0; | |
| 1030 uint8_t length = 0; | |
| 1031 // bit8_Type status ; | |
| 1032 uint8_t read_buffer[7]; | |
| 1033 signed_tword data; | |
| 1034 for(int i = 0; i<6;i++) | |
| 1035 read_buffer[i] = 0; | |
| 1036 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
| 1037 length = 1; | |
| 1038 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
| 1039 length = 7; | |
| 1040 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
| 1041 | |
| 1042 // status.uw = read_buffer[0]; | |
| 1043 data.Byte.hi = read_buffer[1]; | |
| 1044 data.Byte.low = read_buffer[2]; | |
| 1045 accel_DX_f =data.Word/16; | |
| 1046 data.Byte.hi = read_buffer[3]; | |
| 1047 data.Byte.low = read_buffer[4]; | |
| 1048 accel_DY_f =data.Word/16; | |
| 1049 data.Byte.hi = read_buffer[5]; | |
| 1050 data.Byte.low = read_buffer[6]; | |
| 1051 accel_DZ_f =data.Word/16; | |
| 1052 | |
| 1053 accel_DX_f *= -1; | |
| 1054 accel_DY_f *= -1; | |
| 1055 accel_DZ_f *= -1; | |
| 1056 } | |
| 1057 | |
| 1058 | |
| 1059 // =============================================================================== | |
| 1060 // compass_calc_roll_pitch_only | |
| 1061 /// @brief only the roll and pitch parts of compass_calc() | |
| 1062 /// | |
| 1063 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1064 /// output is compass_pitch and compass_roll | |
| 1065 // =============================================================================== | |
| 1066 void compass_calc_roll_pitch_only(void) | |
| 1067 { | |
| 1068 float sinPhi, cosPhi; | |
| 1069 float Phi, Teta; | |
| 1070 | |
| 1071 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1072 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1073 compass_roll = Phi * 180.0f /PI; | |
| 1074 sinPhi = sinf(Phi); | |
| 1075 cosPhi = cosf(Phi); | |
| 1076 | |
| 1077 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1078 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1079 compass_pitch = Teta * 180.0f /PI; | |
| 1080 } | |
| 1081 | |
| 1082 | |
| 1083 // =============================================================================== | |
| 1084 // compass_calc | |
| 1085 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1086 /// | |
| 1087 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1088 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1089 /// output is compass_heading, compass_pitch and compass_roll | |
| 1090 // =============================================================================== | |
| 1091 void compass_calc(void) | |
| 1092 { | |
| 1093 float sinPhi, cosPhi, sinTeta, cosTeta; | |
| 1094 float Phi, Teta, Psi; | |
| 1095 int16_t iBfx, iBfy; | |
| 1096 int16_t iBpx, iBpy, iBpz; | |
| 1097 | |
| 1098 //---- Make hard iron correction ----------------------------------------- | |
| 1099 // Measured magnetometer orientation, measured ok. | |
| 1100 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
| 1101 iBpx = compass_DX_f - compass_CX_f; // X | |
| 1102 iBpy = compass_DY_f - compass_CY_f; // Y | |
| 1103 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
| 1104 | |
| 1105 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1106 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
| 1107 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1108 compass_roll = Phi * 180.0f /PI; | |
| 1109 sinPhi = sinf(Phi); | |
| 1110 cosPhi = cosf(Phi); | |
| 1111 | |
| 1112 //---- rotate by roll angle (-Phi) --------------------------------------- | |
| 1113 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
| 1114 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
| 1115 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
| 1116 | |
| 1117 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1118 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
| 1119 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
| 1120 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1121 compass_pitch = Teta * 180.0f /PI; | |
| 1122 sinTeta = sinf(Teta); | |
| 1123 cosTeta = cosf(Teta); | |
| 1124 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
| 1125 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
| 1126 | |
| 1127 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
| 1128 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
| 1129 | |
| 1130 //---- Detect uncalibrated compass --------------------------------------- | |
| 1131 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
| 1132 { | |
| 1133 compass_heading = -1; | |
| 1134 return; | |
| 1135 } | |
| 1136 | |
| 1137 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
| 1138 // Result in degree (no need of 0.01 deg precision... | |
| 1139 Psi = atan2f(-iBfy,iBfx); | |
| 1140 compass_heading = Psi * 180.0f /PI; | |
| 1141 // Result in 0..360 range: | |
| 1142 if( compass_heading < 0 ) | |
| 1143 compass_heading += 360; | |
| 1144 } | |
| 1145 | |
| 1146 | |
| 1147 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1148 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1149 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1150 | |
| 1151 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
| 1152 | |
| 1153 // =============================================================================== | |
| 1154 // compass_reset_calibration | |
| 1155 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1156 /// | |
| 1157 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1158 /// | |
| 1159 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1160 /// all is set to zero here | |
| 1161 // =============================================================================== | |
| 1162 void compass_reset_calibration(SCompassCalib *g) | |
| 1163 { | |
| 1164 g->compass_N = 0; | |
| 1165 g->Su = g->Sv = g->Sw = 0.0; | |
| 1166 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
| 1167 g->Suuu = g->Svvv = g->Swww = 0.0; | |
| 1168 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
| 1169 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
| 1170 } | |
| 1171 | |
| 1172 | |
| 1173 // =============================================================================== | |
| 1174 // compass_add_calibration | |
| 1175 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1176 /// | |
| 1177 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1178 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1179 /// output is struct g | |
| 1180 /// | |
| 1181 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1182 // =============================================================================== | |
| 1183 void compass_add_calibration(SCompassCalib *g) | |
| 1184 { | |
| 1185 float u, v, w; | |
| 1186 | |
| 1187 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
| 1188 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
| 1189 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
| 1190 | |
| 1191 g->compass_N++; | |
| 1192 g->Su += u; | |
| 1193 g->Sv += v; | |
| 1194 g->Sw += w; | |
| 1195 g->Suv += u*v; | |
| 1196 g->Suw += u*w; | |
| 1197 g->Svw += v*w; | |
| 1198 g->Suu += u*u; | |
| 1199 g->Suuu += u*u*u; | |
| 1200 g->Suuv += v*u*u; | |
| 1201 g->Suuw += w*u*u; | |
| 1202 g->Svv += v*v; | |
| 1203 g->Svvv += v*v*v; | |
| 1204 g->Svvu += u*v*v; | |
| 1205 g->Svvw += w*v*v; | |
| 1206 g->Sww += w*w; | |
| 1207 g->Swww += w*w*w; | |
| 1208 g->Swwu += u*w*w; | |
| 1209 g->Swwv += v*w*w; | |
| 1210 } | |
| 1211 | |
| 1212 ////////////////////////////////////////////////////////////////////////////// | |
| 1213 | |
| 1214 // =============================================================================== | |
| 1215 // compass_solve_calibration | |
| 1216 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1217 /// | |
| 1218 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1219 /// output is struct g | |
| 1220 /// | |
| 1221 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1222 // =============================================================================== | |
| 1223 void compass_solve_calibration(SCompassCalib *g) | |
| 1224 { | |
| 1225 float yu, yv, yw; | |
| 1226 float delta; | |
| 1227 float uc, vc, wc; | |
| 1228 | |
| 1229 | |
| 1230 //---- Normalize partial sums -------------------------------------------- | |
| 1231 // | |
| 1232 // u, v, w should be centered on the mean value um, vm, wm: | |
| 1233 // x = u + um, with um = Sx/N | |
| 1234 // | |
| 1235 // So: | |
| 1236 // (u + um)**2 = u**2 + 2u*um + um**2 | |
| 1237 // Su = 0, um = Sx/N | |
| 1238 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
| 1239 // Suu = Sxx - Sx**2/N | |
| 1240 yu = g->Su/g->compass_N; | |
| 1241 yv = g->Sv/g->compass_N; | |
| 1242 yw = g->Sw/g->compass_N; | |
| 1243 | |
| 1244 g->Suu -= g->Su*yu; | |
| 1245 g->Svv -= g->Sv*yv; | |
| 1246 g->Sww -= g->Sw*yw; | |
| 1247 | |
| 1248 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
| 1249 // Sxy = Suv + N * um vm | |
| 1250 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
| 1251 g->Suv -= g->Su*yv; | |
| 1252 g->Suw -= g->Su*yw; | |
| 1253 g->Svw -= g->Sv*yw; | |
| 1254 | |
| 1255 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
| 1256 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
| 1257 // Su = 0, um = Sx/N: | |
| 1258 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
| 1259 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
| 1260 | |
| 1261 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
| 1262 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
| 1263 // | |
| 1264 // Su = 0, Sv = 0, vm = Sy/N: | |
| 1265 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
| 1266 // | |
| 1267 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
| 1268 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
| 1269 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
| 1270 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
| 1271 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
| 1272 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
| 1273 | |
| 1274 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
| 1275 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
| 1276 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
| 1277 | |
| 1278 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
| 1279 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
| 1280 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
| 1281 | |
| 1282 //---- Solve the system -------------------------------------------------- | |
| 1283 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
| 1284 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
| 1285 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
| 1286 // Note this is symetric, with a positiv diagonal, hence | |
| 1287 // it always have a uniq solution. | |
| 1288 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
| 1289 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
| 1290 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
| 1291 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1292 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1293 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
| 1294 | |
| 1295 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1296 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1297 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
| 1298 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
| 1299 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
| 1300 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
| 1301 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
| 1302 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
| 1303 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
| 1304 | |
| 1305 // Back to uncentered coordinates: | |
| 1306 // xc = um + uc | |
| 1307 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
| 1308 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
| 1309 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
| 1310 | |
| 1311 // Then save the new calibrated center: | |
| 1312 compass_CX_f = (short)(32768 * uc); | |
| 1313 compass_CY_f = (short)(32768 * vc); | |
| 1314 compass_CZ_f = (short)(32768 * wc); | |
| 1315 } | |
| 1316 | |
| 1317 | |
| 1318 // =============================================================================== | |
| 1319 // compass_calib | |
| 1320 /// @brief the main loop for calibration | |
| 1321 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1322 /// 160704 removed -4096 limit for LSM303D | |
| 1323 /// | |
| 1324 /// @return always 0 | |
| 1325 // =============================================================================== | |
| 1326 int compass_calib_common(void) | |
| 1327 { | |
|
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1328 SCompassCalib g; |
| 38 | 1329 |
| 1330 // Starts with no calibration at all: | |
|
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|
1331 compass_reset_calibration(&g); |
|
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|
1332 uint32_t tickstart = 0; |
|
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1333 tickstart = HAL_GetTick(); |
|
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1334 /* run calibration for one minute */ |
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1335 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000) |
| 38 | 1336 { |
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1337 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)) |
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1338 { |
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1339 HAL_Delay(1); |
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1340 } |
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1341 compass_read(); |
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1342 acceleration_read(); |
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1343 compass_calc_roll_pitch_only(); |
| 38 | 1344 |
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1345 if((hardwareCompass == compass_generation1 ) //HMC5883L) |
| 38 | 1346 &&((compass_DX_f == -4096) || |
|
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1347 (compass_DY_f == -4096) || |
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1348 (compass_DZ_f == -4096) )) |
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1349 { |
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1350 if(compass_gain == 0) |
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1351 return -1; |
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1352 compass_gain--; |
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1353 compass_init(1, compass_gain); |
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1354 compass_reset_calibration(&g); |
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1355 continue; |
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1356 } |
| 38 | 1357 |
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1358 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); |
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1359 compass_add_calibration(&g); |
| 104 | 1360 } |
| 38 | 1361 |
| 1362 compass_solve_calibration(&g); | |
| 1363 | |
|
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1364 if((hardwareCompass != compass_generation_undef) /* if compass is not know at this point in time storing data makes no sense */ |
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1365 && (hardwareCompass != COMPASS_NOT_RECOGNIZED)) |
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1366 { |
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1367 tfull32 dataBlock[4]; |
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1368 dataBlock[0].Word16.low16 = compass_CX_f; |
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1369 dataBlock[0].Word16.hi16 = compass_CY_f; |
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1370 dataBlock[1].Word16.low16 = compass_CZ_f; |
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1371 dataBlock[1].Word16.hi16 = hardwareCompass; |
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1372 dataBlock[2].Full32 = 0x7FFFFFFF; |
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1373 dataBlock[3].Word16.low16 = 0xFFFF; |
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1374 dataBlock[3].Word16.hi16 = BFA_calc_Block_Checksum(dataBlock); |
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1375 BFA_writeDataBlock(dataBlock); |
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1376 } |
|
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1377 return 0; |
| 38 | 1378 } |
| 1379 |