annotate Small_CPU/Src/compass.c @ 780:e40790a67165

Discovery<=>SmallCPU inferface update: The sensor data struct is extended to store the data of up to three (three visible O2 sensors). To avoid unnecessary payload on the SPI only the last update sensor data item is transfered. The sender receiver uses the sensor ID which is provided in parallel to identify the correct storage location.
author Ideenmodellierer
date Tue, 23 May 2023 21:50:19 +0200
parents 08af5d707c5a
children
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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
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36 #include "i2c.h"
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37 #include "spi.h"
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38 #include "scheduler.h"
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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 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow);
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44 extern SGlobal global;
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46
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47 /// crazy compass calibration stuff
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48 typedef struct
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49 {
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50 unsigned short int compass_N;
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51 float Su, Sv, Sw;
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52 float Suu, Svv, Sww, Suv, Suw, Svw;
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53 float Suuu, Svvv, Swww;
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54 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv;
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55 } SCompassCalib;
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56
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57
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58 #define Q_PI (18000)
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59 #define Q_PIO2 (9000)
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60
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62
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63 //////////////////////////////////////////////////////////////////////////////
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64 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error
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65 //
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66 #define K1 (5701) // Needs K1/2**16
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67 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV
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68 #define K3 ( 446) // Needs K3/2**80
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69
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70 const float PI = 3.14159265; ///< pi, used in compass_calc()
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71
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72 typedef short int Int16;
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73 typedef signed char Int8;
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74 typedef Int16 Angle;
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75
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76
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77 /// The (filtered) components of the magnetometer sensor
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78 int16_t compass_DX_f; ///< output from sensor
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79 int16_t compass_DY_f; ///< output from sensor
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80 int16_t compass_DZ_f; ///< output from sensor
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81
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82
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83 /// Found soft-iron calibration values, deduced from already filtered values
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84 int16_t compass_CX_f; ///< calibration value
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85 int16_t compass_CY_f; ///< calibration value
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86 int16_t compass_CZ_f; ///< calibration value
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87
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88
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89 /// The (filtered) components of the accelerometer sensor
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90 int16_t accel_DX_f; ///< output from sensor
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91 int16_t accel_DY_f; ///< output from sensor
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92 int16_t accel_DZ_f; ///< output from sensor
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93
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94
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95 /// The compass result values
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96 float compass_heading; ///< the final result calculated in compass_calc()
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97 float compass_roll; ///< the final result calculated in compass_calc()
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98 float compass_pitch; ///< the final result calculated in compass_calc()
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99
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100
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101 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration
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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)
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104
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105 /// LSM303D variables
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106 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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107 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local
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108
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109
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110 // struct accel_scale _accel_scale;
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111 unsigned _accel_range_m_s2;
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112 float _accel_range_scale;
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113 unsigned _accel_samplerate;
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114 unsigned _accel_onchip_filter_bandwith;
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115
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116 // struct mag_scale _mag_scale;
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117 unsigned _mag_range_ga;
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118 float _mag_range_scale;
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119 unsigned _mag_samplerate;
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120
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121 // default scale factors
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122 float _accel_scale_x_offset = 0.0f;
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123 float _accel_scale_x_scale = 1.0f;
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124 float _accel_scale_y_offset = 0.0f;
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125 float _accel_scale_y_scale = 1.0f;
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126 float _accel_scale_z_offset = 0.0f;
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127 float _accel_scale_z_scale = 1.0f;
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128
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129 float _mag_scale_x_offset = 0.0f;
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130 float _mag_scale_x_scale = 1.0f;
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131 float _mag_scale_y_offset = 0.0f;
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132 float _mag_scale_y_scale = 1.0f;
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133 float _mag_scale_z_offset = 0.0f;
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134 float _mag_scale_z_scale = 1.0f;
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135
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136
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137 /* External function prototypes ----------------------------------------------*/
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138
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139 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz);
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140
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141 /* Private function prototypes -----------------------------------------------*/
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142
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143 void compass_reset_calibration(SCompassCalib *g);
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144 void compass_add_calibration(SCompassCalib *g);
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145 void compass_solve_calibration(SCompassCalib *g);
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146
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147 void compass_init_HMC5883L(uint8_t fast, uint8_t gain);
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148 void compass_sleep_HMC5883L(void);
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149 void compass_read_HMC5883L(void);
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150
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151 void accelerator_init_MMA8452Q(void);
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152 void accelerator_sleep_MMA8452Q(void);
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153 void acceleration_read_MMA8452Q(void);
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154
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155 void compass_init_LSM303D(uint8_t fast, uint8_t gain);
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156 void compass_sleep_LSM303D(void);
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157 void compass_read_LSM303D(void);
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158 void acceleration_read_LSM303D(void);
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159
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160 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain);
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161 void compass_sleep_LSM303AGR(void);
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162 void compass_read_LSM303AGR(void);
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163 void acceleration_read_LSM303AGR(void);
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164
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165 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth);
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166 int compass_calib_common(void);
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167
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168 void compass_calc_roll_pitch_only(void);
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169
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170 void rotate_mag_3f(float *x, float *y, float *z);
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171 void rotate_accel_3f(float *x, float *y, float *z);
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172
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173
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174 /* Exported functions --------------------------------------------------------*/
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175
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176
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177 // ===============================================================================
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178 // compass_init
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179 /// @brief This might be called several times with different gain values during calibration
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180 /// On first call it figures out which hardware is integrated
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181 ///
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182 /// @param gain: 7 is max gain, compass_calib() might reduce it
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183 // ===============================================================================
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184
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185 void compass_init(uint8_t fast, uint8_t gain)
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186 {
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187
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188 // don't call again with fast, gain in calib mode etc.
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189 // if unknown
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190 if(hardwareCompass == COMPASS_NOT_RECOGNIZED)
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191 {
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192 return;
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193 }
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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
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214 // old code but without else
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215 if(hardwareCompass == compass_generation_undef)
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216 {
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217 uint8_t data = WHO_AM_I;
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218 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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219 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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220 if(data == WHOIAM_VALUE_LSM303D)
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221 hardwareCompass = compass_generation2; //LSM303D;
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222 data = WHO_AM_I;
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223 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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224 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1);
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225 if(data == WHOIAM_VALUE_LSM303AGR)
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226 hardwareCompass = compass_generation3; //LSM303AGR;
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227 }
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228
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229 /* No compass identified => Retry */
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230 if(hardwareCompass == compass_generation_undef)
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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);
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236 uint8_t data = WHO_AM_I;
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237 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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238 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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239 if(data == WHOIAM_VALUE_LSM303D)
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240 {
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241 hardwareCompass = compass_generation2; //LSM303D;
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242 }
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243 else
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244 {
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245 data = WHO_AM_I;
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246 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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247 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1);
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248 if(data == WHOIAM_VALUE_LSM303AGR)
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249 hardwareCompass = compass_generation3; //LSM303AGR;
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250 }
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251 }
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252
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253 /* Assume that a HMC5883L is equipped by default if detection still failed */
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254 if(hardwareCompass == compass_generation_undef)
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255 hardwareCompass = compass_generation1; //HMC5883L;
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256
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257 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT;
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258
358
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259 // test if both chips of the two-chip solution (gen 1) are present
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260 if(hardwareCompass == compass_generation1) // HMC5883L)
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261 {
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262 HAL_Delay(100);
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263 I2C_DeInit();
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264 HAL_Delay(100);
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265 MX_I2C1_Init();
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266 HAL_Delay(100);
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267 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q
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268 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1);
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269 if(resultOfOperationHMC_MMA == HAL_OK)
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270 {
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271 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it
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272 }
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273 else
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274 {
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275 hardwareCompass = COMPASS_NOT_RECOGNIZED;
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276 }
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277 }
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278
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279 if(hardwareCompass == compass_generation2) //LSM303D)
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280 compass_init_LSM303D(fast, gain);
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281 if(hardwareCompass == compass_generation3) //LSM303AGR)
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282 compass_init_LSM303AGR(fast, gain);
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283 if(hardwareCompass == compass_generation1) //HMC5883L)
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284 compass_init_HMC5883L(fast, gain);
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285
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286 if(global.deviceDataSendToMaster.hw_Info.compass == 0)
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287 {
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288 global.deviceDataSendToMaster.hw_Info.compass = hardwareCompass;
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289 global.deviceDataSendToMaster.hw_Info.checkCompass = 1;
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290 }
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291 }
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292
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293
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294 // ===============================================================================
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295 // compass_calib
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296 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D
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297 // ===============================================================================
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298 int compass_calib(void)
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299 {
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300 if(hardwareCompass == compass_generation2) //LSM303D)
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301 {
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302 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773);
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303 int out = compass_calib_common();
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304 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ);
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305 return out;
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306 }
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307 else
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308 if(hardwareCompass == compass_generation1) //HMC5883L)
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309 {
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310 return compass_calib_common();
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311 }
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312 else
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313 if(hardwareCompass == compass_generation3) //LSM303AGR)
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314 {
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315 return compass_calib_common();
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316 }
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317 else
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318 {
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319 return 0; // standard answer of compass_calib_common();
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320 }
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321
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322
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323 }
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324
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325
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326 // ===============================================================================
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327 // compass_sleep
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328 /// @brief low power mode
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329 // ===============================================================================
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330 void compass_sleep(void)
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331 {
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332 if(hardwareCompass == compass_generation2) //LSM303D
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333 compass_sleep_LSM303D();
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334 if(hardwareCompass == compass_generation1) //HMC5883L
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335 compass_sleep_HMC5883L();
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336 if(hardwareCompass == compass_generation3) //LSM303AGR
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337 compass_sleep_LSM303AGR();
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338 }
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339
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340
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341 // ===============================================================================
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342 // compass_read
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343 /// @brief reads magnetometer and accelerometer for LSM303D,
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344 /// otherwise magnetometer only
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345 // ===============================================================================
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346 void compass_read(void)
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347 {
357
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348 if(hardwareCompass == compass_generation2) //LSM303D)
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349 compass_read_LSM303D();
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350 if(hardwareCompass == compass_generation1) //HMC5883L)
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351 compass_read_HMC5883L();
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352 if(hardwareCompass == compass_generation3) //LSM303AGR)
514
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353 compass_read_LSM303AGR();
357
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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 // accelerator_init
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360 /// @brief empty for for LSM303D
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361 // ===============================================================================
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362 void accelerator_init(void)
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363 {
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364 if(hardwareCompass == compass_generation1) //HMC5883L)
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365 accelerator_init_MMA8452Q();
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366 }
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367
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368
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369 // ===============================================================================
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370 // accelerator_sleep
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371 /// @brief empty for for LSM303D
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372 // ===============================================================================
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373 void accelerator_sleep(void)
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374 {
357
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375 if(hardwareCompass == compass_generation1) //HMC5883L)
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376 accelerator_sleep_MMA8452Q();
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377 }
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378
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379
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380 // ===============================================================================
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381 // acceleration_read
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382 /// @brief empty for for LSM303D
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383 // ===============================================================================
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384 void acceleration_read(void)
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385 {
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386 if(hardwareCompass == compass_generation2) //LSM303D)
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387 acceleration_read_LSM303D();
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388 if(hardwareCompass == compass_generation1) //HMC5883L)
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389 acceleration_read_MMA8452Q();
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390 if(hardwareCompass == compass_generation3) //LSM303AGR)
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391 acceleration_read_LSM303AGR();
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392 }
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393
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394
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395 /* Private functions ---------------------------------------------------------*/
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396
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397 // ===============================================================================
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398 // LSM303AGR_read_reg
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399 // ===============================================================================
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400 uint8_t LSM303AGR_read_reg(uint8_t addr)
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401 {
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402 uint8_t data;
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403
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404 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1);
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405 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1);
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406 return data;
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407 }
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408
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409
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410 // ===============================================================================
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411 // LSM303AGR_write_reg
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412 // ===============================================================================
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413 void LSM303AGR_write_reg(uint8_t addr, uint8_t value)
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414 {
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415 uint8_t data[2];
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416
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417 data[0] = addr;
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418 data[1] = value;
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419 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2);
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420 }
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421
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422 // ===============================================================================
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423 // LSM303AGR_acc_write_reg
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424 // ===============================================================================
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425 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value)
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426 {
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427 uint8_t data[2];
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428
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429 data[0] = addr;
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430 data[1] = value;
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431 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2);
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432 }
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433
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434
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435 // ===============================================================================
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436 // LSM303AGR_write_checked_reg
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437 // ===============================================================================
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438 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value)
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439 {
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440 LSM303AGR_write_reg(addr, value);
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441 }
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442
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443 // ===============================================================================
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444 // LSM303AGR_acc_write_checked_reg
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445 // ===============================================================================
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446 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value)
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447 {
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448 LSM303AGR_acc_write_reg(addr, value);
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449 }
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450
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451 // ===============================================================================
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452 // LSM303D_read_reg
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453 // ===============================================================================
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454 uint8_t LSM303D_read_reg(uint8_t addr)
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455 {
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456 uint8_t data;
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457
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458 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1);
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459 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1);
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460 return data;
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461 }
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462
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463
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464 // ===============================================================================
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465 // LSM303D_write_reg
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466 // ===============================================================================
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467 void LSM303D_write_reg(uint8_t addr, uint8_t value)
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468 {
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469 uint8_t data[2];
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470
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471 /* enable accel*/
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472 data[0] = addr;
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473 data[1] = value;
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474 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2);
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475 }
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476
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477
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478 // ===============================================================================
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479 // LSM303D_write_checked_reg
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480 // ===============================================================================
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481 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value)
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482 {
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483 LSM303D_write_reg(addr, value);
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484 }
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485
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486
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487 // ===============================================================================
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488 // LSM303D_modify_reg
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489 // ===============================================================================
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490 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits)
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491 {
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492 uint8_t val;
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493
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494 val = LSM303D_read_reg(reg);
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495 val &= ~clearbits;
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496 val |= setbits;
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497 LSM303D_write_checked_reg(reg, val);
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498 }
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499
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500 // ===============================================================================
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501 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth
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502 // ===============================================================================
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503 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth)
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504 {
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505 uint8_t setbits = 0;
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506 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A;
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507
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508 if (bandwidth == 0) {
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509 bandwidth = 773;
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510 }
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511
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512 if (bandwidth <= 50) {
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513 setbits |= REG2_AA_FILTER_BW_50HZ_A;
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514 _accel_onchip_filter_bandwith = 50;
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515
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516 } else if (bandwidth <= 194) {
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517 setbits |= REG2_AA_FILTER_BW_194HZ_A;
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518 _accel_onchip_filter_bandwith = 194;
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519
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520 } else if (bandwidth <= 362) {
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521 setbits |= REG2_AA_FILTER_BW_362HZ_A;
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522 _accel_onchip_filter_bandwith = 362;
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523
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524 } else if (bandwidth <= 773) {
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525 setbits |= REG2_AA_FILTER_BW_773HZ_A;
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526 _accel_onchip_filter_bandwith = 773;
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527
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528 } else {
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529 return -1;
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530 }
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531
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532 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits);
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533
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534 return 0;
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535 }
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536
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537
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538 // ===============================================================================
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539 // LSM303D_accel_set_driver_lowpass_filter
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540 // ===============================================================================
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541 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth)
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542 {
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543 /*
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544 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth);
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545 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth);
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546 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth);
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547 */
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548 return 0;
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549 }
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550
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551
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552 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt
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553 // ===============================================================================
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554 // rotate_mag_3f
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555 /// @brief swap axis in convient way, by hw
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556 /// @param *x raw input is set to *y input
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557 /// @param *y raw input is set to -*x input
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558 /// @param *z raw is not touched
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559 // ===============================================================================
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560 void rotate_mag_3f(float *x, float *y, float *z)
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561 {
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562 return;
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563 /*
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564 *x = *x; // HMC: *x = -*y
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565 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y
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566 *z = *z; // HMC: *z = *z
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567 */
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568 }
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569
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570
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571 // ===============================================================================
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572 // rotate_accel_3f
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573 /// @brief swap axis in convient way, by hw, same as MMA8452Q
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574 /// @param *x raw input, output is with sign change
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575 /// @param *y raw input, output is with sign change
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576 /// @param *z raw input, output is with sign change
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577 // ===============================================================================
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578 void rotate_accel_3f(float *x, float *y, float *z)
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579 {
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580 *x = -*x;
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581 *y = -*y;
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582 *z = -*z;
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583 /* tested:
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584 x = x, y =-y, z=-z: does not work with roll
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585 x = x, y =y, z=-z: does not work with pitch
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586 x = x, y =y, z=z: does not work at all
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587 */
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588 }
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589
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590
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591 // ===============================================================================
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592 // compass_init_LSM303D
38
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593 /// This might be called several times with different gain values during calibration
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594 /// but gain change is not supported at the moment.
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595 ///
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596 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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597 // ===============================================================================
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598
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599 //uint8_t testCompassLS303D[11];
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600
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601 void compass_init_LSM303D(uint8_t fast, uint8_t gain)
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602 {
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603 if(fast == 0)
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604 {
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605 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
580
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606 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 BDU and all axis
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607 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); // 50Hz anti alias filter
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608 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); // no interrupts
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609 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); // no interrupts
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610 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 High resolution
38
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611 }
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612 else
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613 {
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614 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
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615 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
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616 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
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617 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
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618 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
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619 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz
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620 }
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621 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
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622 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
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623
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624 return;
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625 }
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626
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627
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628 // ===============================================================================
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629 // compass_sleep_LSM303D
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630 // @brief Gen 2 chip
38
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631 // ===============================================================================
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632 void compass_sleep_LSM303D(void)
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633 {
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634 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode
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635 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode
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636 }
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637
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638
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639 // ===============================================================================
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640 // acceleration_read_LSM303D
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641 // output is accel_DX_f, accel_DY_f, accel_DZ_f
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642 // ===============================================================================
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643 void acceleration_read_LSM303D(void)
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644 {
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645 uint8_t data;
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646 float xraw_f, yraw_f, zraw_f;
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647 float accel_report_x, accel_report_y, accel_report_z;
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648
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649 memset(accDataBuffer,0,6);
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650
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651 accel_DX_f = 0;
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652 accel_DY_f = 0;
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653 accel_DZ_f = 0;
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654
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655 for(int i=0;i<6;i++)
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656 {
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657 data = ADDR_OUT_X_L_A + i;
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658 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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659 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1);
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660 }
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661
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662 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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663 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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664 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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665
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666 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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667
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668 // mh
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669 accel_report_x = xraw_f;
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670 accel_report_y = yraw_f;
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671 accel_report_z = zraw_f;
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672
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673 accel_DX_f = ((int16_t)(accel_report_x));
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674 accel_DY_f = ((int16_t)(accel_report_y));
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675 accel_DZ_f = ((int16_t)(accel_report_z));
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676 }
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677
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678
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679 // ===============================================================================
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680 // compass_read_LSM303D
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681 ///
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682 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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683 // ===============================================================================
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684 void compass_read_LSM303D(void)
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685 {
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686 uint8_t data;
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687 // float xraw_f, yraw_f, zraw_f;
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688 // float mag_report_x, mag_report_y, mag_report_z;
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689
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690 memset(magDataBuffer,0,6);
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691
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692 compass_DX_f = 0;
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693 compass_DY_f = 0;
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694 compass_DZ_f = 0;
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695
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696 for(int i=0;i<6;i++)
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697 {
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698 data = ADDR_OUT_X_L_M + i;
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699 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
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700 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
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701 }
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702
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703 // mh 160620 flip x and y if flip display
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704 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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705 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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706 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
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707 // no rotation
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708 return;
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709 }
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710
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711
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712 // ===============================================================================
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713 // compass_init_LSM303AGR
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714 /// This might be called several times with different gain values during calibration
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715 /// but gain change is not supported at the moment.
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716 ///
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717 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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718 // ===============================================================================
38
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719
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720 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain)
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721 {
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722 if(fast == 0)
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723 {
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724 // init compass
580
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725 LSM303AGR_write_checked_reg(0x60, 0x80); // CFG_REG_A_M 10Hz continuous measurement
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726 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M Enable offset cancellation and low pass filter
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727 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M Avoid incoherence (BDU)
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728 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M No interrupts
358
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729
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730 // init accel (Same chip, but different address...)
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731 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
580
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732 LSM303AGR_acc_write_checked_reg(0x20, 0x27); // CTRL_REG1_A (10Hz, x,y,z = ON, low power mode)
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733 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A (High pass filter normal mode)
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734 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A (no interrupts)
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735 LSM303AGR_acc_write_checked_reg(0x23, 0x88); // CTRL_REG4_A, High Resolution Mode enabled, enable BDU
357
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736 }
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737 else
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738 {
358
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739 // init compass
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740 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz
357
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741 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M
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742 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M
358
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743 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M
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744
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745 // init accel (Same chip, but different address...)
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746 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
580
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747 LSM303AGR_acc_write_checked_reg(0x20, 0x47); // CTRL_REG1_A (50Hz, x,y,z = ON)
358
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748 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A
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749 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A
580
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750 LSM303AGR_acc_write_checked_reg(0x23, 0x88); // CTRL_REG4_A, High Resolution Mode enabled
357
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751 }
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752
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753 return;
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754 }
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755
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756
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757 // ===============================================================================
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758 // compass_sleep_LSM303D
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759 // @brief Gen 2 chip
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760 // ===============================================================================
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761 void compass_sleep_LSM303AGR(void)
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762 {
580
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763 LSM303AGR_write_checked_reg(0x60, 0x13); // low power and idle mode
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764 LSM303AGR_write_checked_reg(0x61, 0x04); // pulse only at power on
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765 LSM303AGR_write_checked_reg(0x62, 0x51); // int mag pin used (?), BDU and DRDY is output
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766 LSM303AGR_write_checked_reg(0x63, 0x00); // no interrupts
357
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767
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768
580
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769 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // temperature off
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770 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // power down
357
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771 }
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772
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773
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774 // ===============================================================================
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775 // acceleration_read_LSM303AGR
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776 // output is accel_DX_f, accel_DY_f, accel_DZ_f
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777 // ===============================================================================
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778 void acceleration_read_LSM303AGR(void)
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779 {
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780 uint8_t data;
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781 float xraw_f, yraw_f, zraw_f;
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782 float accel_report_x, accel_report_y, accel_report_z;
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783
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784 memset(accDataBuffer,0,6);
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785
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786 accel_DX_f = 0;
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787 accel_DY_f = 0;
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788 accel_DZ_f = 0;
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789
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790 for(int i=0;i<6;i++)
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791 {
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792 data = 0x28 + i; // OUT_X_L_A
357
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793 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
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794 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1);
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795 }
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796
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797 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
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798 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
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799 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));
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800
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801 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f);
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802
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803 // mh
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804 accel_report_x = xraw_f;
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805 accel_report_y = yraw_f;
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806 accel_report_z = -zraw_f; // flip Z in gen 2 hardware
357
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807
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808 accel_DX_f = ((int16_t)(accel_report_x));
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809 accel_DY_f = ((int16_t)(accel_report_y));
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810 accel_DZ_f = ((int16_t)(accel_report_z));
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811 }
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812
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813
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814 // ===============================================================================
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815 // compass_read_LSM303AGR
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816 ///
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817 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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818 // ===============================================================================
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819 void compass_read_LSM303AGR(void)
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820 {
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821 uint8_t data;
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822 // float xraw_f, yraw_f, zraw_f;
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823 // float mag_report_x, mag_report_y, mag_report_z;
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824
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825 memset(magDataBuffer,0,6);
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826
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827 compass_DX_f = 0;
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828 compass_DY_f = 0;
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829 compass_DZ_f = 0;
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830
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831 for(int i=0;i<6;i++)
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832 {
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833 data = 0x68 + i; // OUTX_L_REG_M
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834 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1);
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835 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1);
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836 }
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837
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838 // mh 160620 flip x and y if flip display
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839 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0]))));
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840 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2]))));
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841 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4]))));
358
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842
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843 // align axis in gen 2 hardware
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844 compass_DZ_f *= -1;
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845
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846 return;
38
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847 }
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848
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849
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850 // --------------------------------------------------------------------------------
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851 // ----------EARLIER COMPONENTS ---------------------------------------------------
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852 // --------------------------------------------------------------------------------
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853
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854 // ===============================================================================
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855 // compass_init_HMC5883L
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856 /// @brief The horrible Honeywell compass chip
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857 /// This might be called several times during calibration
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858 ///
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859 /// @param fast: 1 is fast mode, 0 is normal mode
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860 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it
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861 // ===============================================================================
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862 void compass_init_HMC5883L(uint8_t fast, uint8_t gain)
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863 {
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864 uint8_t write_buffer[4];
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865
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866 compass_gain = gain;
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867 uint16_t length = 0;
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diff changeset
868 write_buffer[0] = 0x00; // 00 = config Register A
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diff changeset
869
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870 if( fast )
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871 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged
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diff changeset
872 else
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873 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged
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diff changeset
874
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875 switch(gain)
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876 {
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877 case 7:
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878 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain
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879 break;
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880 case 6:
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881 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain
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882 break;
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883 case 5:
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884 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain
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885 break;
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886 case 4:
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887 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain
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888 break;
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889 case 3:
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890 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain
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891 break;
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892 case 2:
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893 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain
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894 break;
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895 case 1:
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896 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain
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897 break;
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898 case 0:
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899 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain
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900 break;
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901 }
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902 write_buffer[3] = 0x00; // Mode: continuous mode
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903 length = 4;
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904 //hmc_twi_write(0);
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905 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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906 }
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907
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908
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909
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910 // ===============================================================================
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911 // compass_sleep_HMC5883L
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912 /// @brief Power-down mode for Honeywell compass chip
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913 // ===============================================================================
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914 void compass_sleep_HMC5883L(void)
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915 {
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diff changeset
916 uint8_t write_buffer[4];
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diff changeset
917 uint16_t length = 0;
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diff changeset
918
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diff changeset
919 write_buffer[0] = 0x00; // 00 = config Register A
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diff changeset
920 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA
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diff changeset
921 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB
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diff changeset
922 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode
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diff changeset
923 length = 4;
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924 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length);
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diff changeset
925 }
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diff changeset
926
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diff changeset
927
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diff changeset
928 // ===============================================================================
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diff changeset
929 // accelerator_init_MMA8452Q
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diff changeset
930 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass
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diff changeset
931 // ===============================================================================
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932 void accelerator_init_MMA8452Q(void)
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diff changeset
933 {
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diff changeset
934 uint8_t write_buffer[4];
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diff changeset
935 uint16_t length = 0;
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diff changeset
936 //HAL_Delay(1);
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diff changeset
937 //return;
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diff changeset
938 write_buffer[0] = 0x0E; // XYZ_DATA_CFG
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diff changeset
939 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range
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diff changeset
940 length = 2;
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diff changeset
941 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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diff changeset
942 //HAL_Delay(1);
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diff changeset
943 write_buffer[0] = 0x2A; // CTRL_REG1
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diff changeset
944 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode
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945 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode
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diff changeset
946 length = 3;
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diff changeset
947 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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diff changeset
948
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diff changeset
949 //HAL_Delay(1);
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950 //hw_delay_us(100);
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diff changeset
951 write_buffer[0] = 0x2A; // CTRL_REG1
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952 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode
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953 length = 2;
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954 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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955 /*
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diff changeset
956 HAL_Delay(6);
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957 compass_read();
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958 HAL_Delay(1);
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959 acceleration_read();
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diff changeset
960
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diff changeset
961 compass_calc();
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diff changeset
962 */
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diff changeset
963 }
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diff changeset
964
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diff changeset
965
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diff changeset
966 // ===============================================================================
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diff changeset
967 // accelerator_sleep_MMA8452Q
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diff changeset
968 /// @brief compass_sleep_HMC5883L
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diff changeset
969 // ===============================================================================
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970 void accelerator_sleep_MMA8452Q(void)
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diff changeset
971 {
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diff changeset
972 uint16_t length = 0;
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diff changeset
973 uint8_t write_buffer[4];
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diff changeset
974
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diff changeset
975 write_buffer[0] = 0x2A; // CTRL_REG1
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diff changeset
976 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode
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diff changeset
977 length = 2;
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diff changeset
978 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length);
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diff changeset
979 }
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diff changeset
980
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diff changeset
981
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diff changeset
982 // ===============================================================================
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diff changeset
983 // compass_read_HMC5883L
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diff changeset
984 /// @brief The new ST 303D - get ALL data and store in static variables
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diff changeset
985 ///
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diff changeset
986 /// output is compass_DX_f, compass_DY_f, compass_DZ_f
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diff changeset
987 // ===============================================================================
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diff changeset
988 void compass_read_HMC5883L(void)
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diff changeset
989 {
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990 uint8_t buffer[20];
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diff changeset
991 compass_DX_f = 0;
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diff changeset
992 compass_DY_f = 0;
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diff changeset
993 compass_DZ_f = 0;
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diff changeset
994 uint8_t length = 0;
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diff changeset
995 uint8_t read_buffer[6];
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diff changeset
996 signed_tword data;
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diff changeset
997 for(int i = 0; i<6;i++)
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diff changeset
998 read_buffer[i] = 0;
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diff changeset
999 buffer[0] = 0x03; // 03 = Data Output X MSB Register
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1000 length = 1;
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1001 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length);
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diff changeset
1002 length = 6;
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diff changeset
1003 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length);
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diff changeset
1004
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diff changeset
1005
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1006 data.Byte.hi = read_buffer[0];
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diff changeset
1007 data.Byte.low = read_buffer[1];
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1008 //Y = Z
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diff changeset
1009 compass_DY_f = - data.Word;
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diff changeset
1010
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diff changeset
1011 data.Byte.hi = read_buffer[2];
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diff changeset
1012 data.Byte.low = read_buffer[3];
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diff changeset
1013 compass_DZ_f = data.Word;
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diff changeset
1014
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diff changeset
1015 data.Byte.hi = read_buffer[4];
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1016 data.Byte.low = read_buffer[5];
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diff changeset
1017 //X = -Y
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1018 compass_DX_f = data.Word;
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diff changeset
1019 }
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diff changeset
1020
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1021
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1022 // ===============================================================================
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1023 // acceleration_read_MMA8452Q
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1024 /// @brief The old MMA8452Q used with the Honeywell compass
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diff changeset
1025 /// get the acceleration data and store in static variables
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diff changeset
1026 ///
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diff changeset
1027 /// output is accel_DX_f, accel_DY_f, accel_DZ_f
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1028 // ===============================================================================
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1029 void acceleration_read_MMA8452Q(void)
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diff changeset
1030 {
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diff changeset
1031 uint8_t buffer[20];
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parents:
diff changeset
1032 accel_DX_f = 0;
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diff changeset
1033 accel_DY_f = 0;
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diff changeset
1034 accel_DZ_f = 0;
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1035 uint8_t length = 0;
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diff changeset
1036 // bit8_Type status ;
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diff changeset
1037 uint8_t read_buffer[7];
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diff changeset
1038 signed_tword data;
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diff changeset
1039 for(int i = 0; i<6;i++)
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diff changeset
1040 read_buffer[i] = 0;
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diff changeset
1041 buffer[0] = 0x00; // 03 = Data Output X MSB Register
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parents:
diff changeset
1042 length = 1;
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parents:
diff changeset
1043 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length);
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parents:
diff changeset
1044 length = 7;
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diff changeset
1045 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length);
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parents:
diff changeset
1046
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parents:
diff changeset
1047 // status.uw = read_buffer[0];
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parents:
diff changeset
1048 data.Byte.hi = read_buffer[1];
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parents:
diff changeset
1049 data.Byte.low = read_buffer[2];
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parents:
diff changeset
1050 accel_DX_f =data.Word/16;
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parents:
diff changeset
1051 data.Byte.hi = read_buffer[3];
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parents:
diff changeset
1052 data.Byte.low = read_buffer[4];
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parents:
diff changeset
1053 accel_DY_f =data.Word/16;
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parents:
diff changeset
1054 data.Byte.hi = read_buffer[5];
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parents:
diff changeset
1055 data.Byte.low = read_buffer[6];
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diff changeset
1056 accel_DZ_f =data.Word/16;
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diff changeset
1057
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diff changeset
1058 accel_DX_f *= -1;
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parents:
diff changeset
1059 accel_DY_f *= -1;
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diff changeset
1060 accel_DZ_f *= -1;
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diff changeset
1061 }
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heinrichsweikamp
parents:
diff changeset
1062
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1063
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1064 // ===============================================================================
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parents:
diff changeset
1065 // compass_calc_roll_pitch_only
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parents:
diff changeset
1066 /// @brief only the roll and pitch parts of compass_calc()
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heinrichsweikamp
parents:
diff changeset
1067 ///
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diff changeset
1068 /// input is accel_DX_f, accel_DY_f, accel_DZ_f
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diff changeset
1069 /// output is compass_pitch and compass_roll
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diff changeset
1070 // ===============================================================================
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1071 void compass_calc_roll_pitch_only(void)
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diff changeset
1072 {
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parents:
diff changeset
1073 float sinPhi, cosPhi;
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diff changeset
1074 float Phi, Teta;
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diff changeset
1075
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heinrichsweikamp
parents:
diff changeset
1076 //---- Calculate sine and cosine of roll angle Phi -----------------------
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diff changeset
1077 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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diff changeset
1078 compass_roll = Phi * 180.0f /PI;
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diff changeset
1079 sinPhi = sinf(Phi);
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diff changeset
1080 cosPhi = cosf(Phi);
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diff changeset
1081
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heinrichsweikamp
parents:
diff changeset
1082 //---- calculate sin and cosine of pitch angle Theta ---------------------
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diff changeset
1083 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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diff changeset
1084 compass_pitch = Teta * 180.0f /PI;
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diff changeset
1085 }
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heinrichsweikamp
parents:
diff changeset
1086
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heinrichsweikamp
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diff changeset
1087
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parents:
diff changeset
1088 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1089 // compass_calc
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heinrichsweikamp
parents:
diff changeset
1090 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1091 ///
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diff changeset
1092 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f
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parents:
diff changeset
1093 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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heinrichsweikamp
parents:
diff changeset
1094 /// output is compass_heading, compass_pitch and compass_roll
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heinrichsweikamp
parents:
diff changeset
1095 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1096 void compass_calc(void)
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parents:
diff changeset
1097 {
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parents:
diff changeset
1098 float sinPhi, cosPhi, sinTeta, cosTeta;
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parents:
diff changeset
1099 float Phi, Teta, Psi;
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parents:
diff changeset
1100 int16_t iBfx, iBfy;
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parents:
diff changeset
1101 int16_t iBpx, iBpy, iBpz;
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diff changeset
1102
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parents:
diff changeset
1103 //---- Make hard iron correction -----------------------------------------
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parents:
diff changeset
1104 // Measured magnetometer orientation, measured ok.
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heinrichsweikamp
parents:
diff changeset
1105 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation.
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diff changeset
1106 iBpx = compass_DX_f - compass_CX_f; // X
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parents:
diff changeset
1107 iBpy = compass_DY_f - compass_CY_f; // Y
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parents:
diff changeset
1108 iBpz = compass_DZ_f - compass_CZ_f; // Z
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parents:
diff changeset
1109
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heinrichsweikamp
parents:
diff changeset
1110 //---- Calculate sine and cosine of roll angle Phi -----------------------
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parents:
diff changeset
1111 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos);
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diff changeset
1112 Phi= atan2f(accel_DY_f, accel_DZ_f) ;
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parents:
diff changeset
1113 compass_roll = Phi * 180.0f /PI;
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diff changeset
1114 sinPhi = sinf(Phi);
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diff changeset
1115 cosPhi = cosf(Phi);
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parents:
diff changeset
1116
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heinrichsweikamp
parents:
diff changeset
1117 //---- rotate by roll angle (-Phi) ---------------------------------------
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parents:
diff changeset
1118 iBfy = iBpy * cosPhi - iBpz * sinPhi;
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diff changeset
1119 iBpz = iBpy * sinPhi + iBpz * cosPhi;
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parents:
diff changeset
1120 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos);
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diff changeset
1121
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diff changeset
1122 //---- calculate sin and cosine of pitch angle Theta ---------------------
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diff changeset
1123 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign.
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parents:
diff changeset
1124 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421
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diff changeset
1125 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi));
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diff changeset
1126 compass_pitch = Teta * 180.0f /PI;
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diff changeset
1127 sinTeta = sinf(Teta);
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diff changeset
1128 cosTeta = cosf(Teta);
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parents:
diff changeset
1129 /* correct cosine if pitch not in range -90 to 90 degrees */
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parents:
diff changeset
1130 if( cosTeta < 0 ) cosTeta = -cosTeta;
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diff changeset
1131
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diff changeset
1132 ///---- de-rotate by pitch angle Theta -----------------------------------
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diff changeset
1133 iBfx = iBpx * cosTeta + iBpz * sinTeta;
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diff changeset
1134
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parents:
diff changeset
1135 //---- Detect uncalibrated compass ---------------------------------------
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diff changeset
1136 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f )
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parents:
diff changeset
1137 {
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diff changeset
1138 compass_heading = -1;
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parents:
diff changeset
1139 return;
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diff changeset
1140 }
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heinrichsweikamp
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diff changeset
1141
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parents:
diff changeset
1142 //---- calculate current yaw = e-compass angle Psi -----------------------
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parents:
diff changeset
1143 // Result in degree (no need of 0.01 deg precision...
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1144 Psi = atan2f(-iBfy,iBfx);
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diff changeset
1145 compass_heading = Psi * 180.0f /PI;
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parents:
diff changeset
1146 // Result in 0..360 range:
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parents:
diff changeset
1147 if( compass_heading < 0 )
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diff changeset
1148 compass_heading += 360;
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parents:
diff changeset
1149 }
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heinrichsweikamp
parents:
diff changeset
1150
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diff changeset
1151
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parents:
diff changeset
1152 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1153 // // - Calibration - ///////////////////////////////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1154 // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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parents:
diff changeset
1155
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parents:
diff changeset
1156 /* can be lost during sleep as those are reset with compass_reset_calibration() */
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parents:
diff changeset
1157
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parents:
diff changeset
1158 // ===============================================================================
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parents:
diff changeset
1159 // compass_reset_calibration
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heinrichsweikamp
parents:
diff changeset
1160 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1161 ///
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parents:
diff changeset
1162 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f
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parents:
diff changeset
1163 ///
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diff changeset
1164 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1165 /// all is set to zero here
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parents:
diff changeset
1166 // ===============================================================================
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parents:
diff changeset
1167 void compass_reset_calibration(SCompassCalib *g)
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parents:
diff changeset
1168 {
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parents:
diff changeset
1169 g->compass_N = 0;
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parents:
diff changeset
1170 g->Su = g->Sv = g->Sw = 0.0;
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diff changeset
1171 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0;
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diff changeset
1172 g->Suuu = g->Svvv = g->Swww = 0.0;
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diff changeset
1173 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0;
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1174 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0;
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heinrichsweikamp
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diff changeset
1175 }
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heinrichsweikamp
parents:
diff changeset
1176
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1177
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1178 // ===============================================================================
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parents:
diff changeset
1179 // compass_add_calibration
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heinrichsweikamp
parents:
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1180 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1181 ///
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heinrichsweikamp
parents:
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1182 /// input is compass_DX_f, compass_DY_f, compass_DZ_f
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diff changeset
1183 /// and compass_CX_f, compass_CY_f, compass_CZ_f
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parents:
diff changeset
1184 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1185 ///
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heinrichsweikamp
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1186 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
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1187 // ===============================================================================
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parents:
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1188 void compass_add_calibration(SCompassCalib *g)
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parents:
diff changeset
1189 {
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diff changeset
1190 float u, v, w;
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parents:
diff changeset
1191
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1192 u = (compass_DX_f - compass_CX_f) / 32768.0f;
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parents:
diff changeset
1193 v = (compass_DY_f - compass_CY_f) / 32768.0f;
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parents:
diff changeset
1194 w = (compass_DZ_f - compass_CZ_f) / 32768.0f;
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parents:
diff changeset
1195
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diff changeset
1196 g->compass_N++;
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parents:
diff changeset
1197 g->Su += u;
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parents:
diff changeset
1198 g->Sv += v;
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parents:
diff changeset
1199 g->Sw += w;
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parents:
diff changeset
1200 g->Suv += u*v;
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parents:
diff changeset
1201 g->Suw += u*w;
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parents:
diff changeset
1202 g->Svw += v*w;
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parents:
diff changeset
1203 g->Suu += u*u;
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parents:
diff changeset
1204 g->Suuu += u*u*u;
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parents:
diff changeset
1205 g->Suuv += v*u*u;
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diff changeset
1206 g->Suuw += w*u*u;
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parents:
diff changeset
1207 g->Svv += v*v;
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parents:
diff changeset
1208 g->Svvv += v*v*v;
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parents:
diff changeset
1209 g->Svvu += u*v*v;
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diff changeset
1210 g->Svvw += w*v*v;
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diff changeset
1211 g->Sww += w*w;
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heinrichsweikamp
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diff changeset
1212 g->Swww += w*w*w;
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heinrichsweikamp
parents:
diff changeset
1213 g->Swwu += u*w*w;
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heinrichsweikamp
parents:
diff changeset
1214 g->Swwv += v*w*w;
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heinrichsweikamp
parents:
diff changeset
1215 }
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heinrichsweikamp
parents:
diff changeset
1216
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heinrichsweikamp
parents:
diff changeset
1217 //////////////////////////////////////////////////////////////////////////////
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heinrichsweikamp
parents:
diff changeset
1218
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heinrichsweikamp
parents:
diff changeset
1219 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1220 // compass_solve_calibration
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heinrichsweikamp
parents:
diff changeset
1221 /// @brief all the fancy stuff first implemented in OSTC3
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heinrichsweikamp
parents:
diff changeset
1222 ///
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heinrichsweikamp
parents:
diff changeset
1223 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1224 /// output is struct g
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heinrichsweikamp
parents:
diff changeset
1225 ///
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heinrichsweikamp
parents:
diff changeset
1226 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc.
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heinrichsweikamp
parents:
diff changeset
1227 // ===============================================================================
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parents:
diff changeset
1228 void compass_solve_calibration(SCompassCalib *g)
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parents:
diff changeset
1229 {
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parents:
diff changeset
1230 float yu, yv, yw;
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heinrichsweikamp
parents:
diff changeset
1231 float delta;
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heinrichsweikamp
parents:
diff changeset
1232 float uc, vc, wc;
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heinrichsweikamp
parents:
diff changeset
1233
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heinrichsweikamp
parents:
diff changeset
1234
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parents:
diff changeset
1235 //---- Normalize partial sums --------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1236 //
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heinrichsweikamp
parents:
diff changeset
1237 // u, v, w should be centered on the mean value um, vm, wm:
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heinrichsweikamp
parents:
diff changeset
1238 // x = u + um, with um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1239 //
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heinrichsweikamp
parents:
diff changeset
1240 // So:
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heinrichsweikamp
parents:
diff changeset
1241 // (u + um)**2 = u**2 + 2u*um + um**2
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heinrichsweikamp
parents:
diff changeset
1242 // Su = 0, um = Sx/N
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heinrichsweikamp
parents:
diff changeset
1243 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1244 // Suu = Sxx - Sx**2/N
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heinrichsweikamp
parents:
diff changeset
1245 yu = g->Su/g->compass_N;
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parents:
diff changeset
1246 yv = g->Sv/g->compass_N;
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parents:
diff changeset
1247 yw = g->Sw/g->compass_N;
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heinrichsweikamp
parents:
diff changeset
1248
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parents:
diff changeset
1249 g->Suu -= g->Su*yu;
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parents:
diff changeset
1250 g->Svv -= g->Sv*yv;
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parents:
diff changeset
1251 g->Sww -= g->Sw*yw;
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parents:
diff changeset
1252
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parents:
diff changeset
1253 // (u + um)(v + vm) = uv + u vm + v um + um vm
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heinrichsweikamp
parents:
diff changeset
1254 // Sxy = Suv + N * um vm
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heinrichsweikamp
parents:
diff changeset
1255 // Suv = Sxy - N * (Sx/N)(Sy/N);
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heinrichsweikamp
parents:
diff changeset
1256 g->Suv -= g->Su*yv;
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heinrichsweikamp
parents:
diff changeset
1257 g->Suw -= g->Su*yw;
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heinrichsweikamp
parents:
diff changeset
1258 g->Svw -= g->Sv*yw;
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heinrichsweikamp
parents:
diff changeset
1259
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heinrichsweikamp
parents:
diff changeset
1260 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3
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heinrichsweikamp
parents:
diff changeset
1261 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3
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parents:
diff changeset
1262 // Su = 0, um = Sx/N:
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heinrichsweikamp
parents:
diff changeset
1263 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3
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heinrichsweikamp
parents:
diff changeset
1264 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2
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heinrichsweikamp
parents:
diff changeset
1265
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parents:
diff changeset
1266 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm)
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heinrichsweikamp
parents:
diff changeset
1267 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm)
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heinrichsweikamp
parents:
diff changeset
1268 //
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parents:
diff changeset
1269 // Su = 0, Sv = 0, vm = Sy/N:
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heinrichsweikamp
parents:
diff changeset
1270 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm
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heinrichsweikamp
parents:
diff changeset
1271 //
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heinrichsweikamp
parents:
diff changeset
1272 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy
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heinrichsweikamp
parents:
diff changeset
1273 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N
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heinrichsweikamp
parents:
diff changeset
1274 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N
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heinrichsweikamp
parents:
diff changeset
1275 g->Suuu -= (3*g->Suu + g->Su*yu)*yu;
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parents:
diff changeset
1276 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu;
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parents:
diff changeset
1277 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu;
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heinrichsweikamp
parents:
diff changeset
1278
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parents:
diff changeset
1279 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv;
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parents:
diff changeset
1280 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv;
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parents:
diff changeset
1281 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv;
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heinrichsweikamp
parents:
diff changeset
1282
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parents:
diff changeset
1283 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw;
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parents:
diff changeset
1284 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw;
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heinrichsweikamp
parents:
diff changeset
1285 g->Swww -= (3*g->Sww + g->Sw*yw)*yw;
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heinrichsweikamp
parents:
diff changeset
1286
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parents:
diff changeset
1287 //---- Solve the system --------------------------------------------------
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heinrichsweikamp
parents:
diff changeset
1288 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2
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heinrichsweikamp
parents:
diff changeset
1289 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2
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heinrichsweikamp
parents:
diff changeset
1290 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2
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heinrichsweikamp
parents:
diff changeset
1291 // Note this is symetric, with a positiv diagonal, hence
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heinrichsweikamp
parents:
diff changeset
1292 // it always have a uniq solution.
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parents:
diff changeset
1293 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu);
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heinrichsweikamp
parents:
diff changeset
1294 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv);
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heinrichsweikamp
parents:
diff changeset
1295 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww);
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heinrichsweikamp
parents:
diff changeset
1296 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1297 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1298 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw);
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heinrichsweikamp
parents:
diff changeset
1299
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parents:
diff changeset
1300 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1301 - yv * (g->Suv * g->Sww - g->Svw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1302 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1303 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw)
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heinrichsweikamp
parents:
diff changeset
1304 - g->Suv * ( yu * g->Sww - yw * g->Suw)
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heinrichsweikamp
parents:
diff changeset
1305 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta;
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heinrichsweikamp
parents:
diff changeset
1306 wc = (g->Suu * (g->Svv * yw - g->Svw * yv )
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heinrichsweikamp
parents:
diff changeset
1307 - g->Suv * (g->Suv * yw - g->Svw * yu )
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heinrichsweikamp
parents:
diff changeset
1308 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta;
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heinrichsweikamp
parents:
diff changeset
1309
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heinrichsweikamp
parents:
diff changeset
1310 // Back to uncentered coordinates:
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heinrichsweikamp
parents:
diff changeset
1311 // xc = um + uc
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parents:
diff changeset
1312 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc;
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heinrichsweikamp
parents:
diff changeset
1313 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc;
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heinrichsweikamp
parents:
diff changeset
1314 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc;
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heinrichsweikamp
parents:
diff changeset
1315
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heinrichsweikamp
parents:
diff changeset
1316 // Then save the new calibrated center:
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heinrichsweikamp
parents:
diff changeset
1317 compass_CX_f = (short)(32768 * uc);
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heinrichsweikamp
parents:
diff changeset
1318 compass_CY_f = (short)(32768 * vc);
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heinrichsweikamp
parents:
diff changeset
1319 compass_CZ_f = (short)(32768 * wc);
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heinrichsweikamp
parents:
diff changeset
1320 }
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heinrichsweikamp
parents:
diff changeset
1321
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heinrichsweikamp
parents:
diff changeset
1322
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heinrichsweikamp
parents:
diff changeset
1323 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1324 // compass_calib
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heinrichsweikamp
parents:
diff changeset
1325 /// @brief the main loop for calibration
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heinrichsweikamp
parents:
diff changeset
1326 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g
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heinrichsweikamp
parents:
diff changeset
1327 /// 160704 removed -4096 limit for LSM303D
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heinrichsweikamp
parents:
diff changeset
1328 ///
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heinrichsweikamp
parents:
diff changeset
1329 /// @return always 0
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heinrichsweikamp
parents:
diff changeset
1330 // ===============================================================================
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heinrichsweikamp
parents:
diff changeset
1331 int compass_calib_common(void)
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heinrichsweikamp
parents:
diff changeset
1332 {
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1333 SCompassCalib g;
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1334
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heinrichsweikamp
parents:
diff changeset
1335 // Starts with no calibration at all:
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1336 compass_reset_calibration(&g);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1337 uint32_t tickstart = 0;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1338 tickstart = HAL_GetTick();
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1339 /* run calibration for one minute */
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1340 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)
38
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heinrichsweikamp
parents:
diff changeset
1341 {
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1342 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000))
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1343 {
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1344 HAL_Delay(1);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1345 }
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1346 compass_read();
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1347 acceleration_read();
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1348 compass_calc_roll_pitch_only();
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1349
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1350 if((hardwareCompass == compass_generation1 ) //HMC5883L)
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1351 &&((compass_DX_f == -4096) ||
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1352 (compass_DY_f == -4096) ||
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1353 (compass_DZ_f == -4096) ))
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1354 {
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1355 if(compass_gain == 0)
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1356 return -1;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1357 compass_gain--;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1358 compass_init(1, compass_gain);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1359 compass_reset_calibration(&g);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1360 continue;
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1361 }
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1362
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1363 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f);
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1364 compass_add_calibration(&g);
104
22a1094545f3 Tested and alive.
Dmitry Romanov <kitt@bk.ru>
parents: 70
diff changeset
1365 }
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1366
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heinrichsweikamp
parents:
diff changeset
1367 compass_solve_calibration(&g);
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heinrichsweikamp
parents:
diff changeset
1368
571
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1369 if((hardwareCompass != compass_generation_undef) /* if compass is not know at this point in time storing data makes no sense */
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1370 && (hardwareCompass != COMPASS_NOT_RECOGNIZED))
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1371 {
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1372 tfull32 dataBlock[4];
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1373 dataBlock[0].Word16.low16 = compass_CX_f;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1374 dataBlock[0].Word16.hi16 = compass_CY_f;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1375 dataBlock[1].Word16.low16 = compass_CZ_f;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1376 dataBlock[1].Word16.hi16 = hardwareCompass;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1377 dataBlock[2].Full32 = 0x7FFFFFFF;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1378 dataBlock[3].Word16.low16 = 0xFFFF;
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1379 dataBlock[3].Word16.hi16 = BFA_calc_Block_Checksum(dataBlock);
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1380 BFA_writeDataBlock(dataBlock);
91a8f9893e68 Reactivate compass parameter stored in NVM:
Ideenmodellierer
parents: 559
diff changeset
1381 }
410
f9458e979154 Bugfix display compass calibration frozen:
ideenmodellierer
parents: 358
diff changeset
1382 return 0;
38
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1383 }
5f11787b4f42 include in ostc4 repository
heinrichsweikamp
parents:
diff changeset
1384