Mercurial > public > ostc4
annotate Small_CPU/Src/compass.c @ 490:e9ca66ce36e5 v1.5.4 release
1.5.4 release
| author | heinrichsweikamp |
|---|---|
| date | Wed, 22 Jul 2020 11:55:53 +0200 |
| parents | 9eeab3fead8f |
| children | d9dbfa496f7e |
| rev | line source |
|---|---|
| 38 | 1 /** |
| 2 ****************************************************************************** | |
| 3 * @file compass.c | |
| 4 * @author heinrichs weikamp gmbh | |
| 5 * @date 27-March-2014 | |
| 6 * @version V0.2.0 | |
| 7 * @since 21-April-2016 | |
| 8 * @brief for Honeywell Compass and ST LSM303D | |
| 9 * | |
| 10 @verbatim | |
| 11 ============================================================================== | |
| 12 ##### How to use ##### | |
| 13 ============================================================================== | |
| 14 V0.1.0 09-March-2016 | |
| 15 V0.2.0 21-April-2016 Orientation fixed for LSM303D, | |
| 16 roll and pitch added to calibration output, | |
| 17 orientation double checked with datasheets and layout | |
| 18 as well as with value output during calibration | |
| 19 V0.2.1 19-May-2016 New date rate config and full-scale selection | |
| 20 | |
| 21 @endverbatim | |
| 22 ****************************************************************************** | |
| 23 * @attention | |
| 24 * | |
| 25 * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> | |
| 26 * | |
| 27 ****************************************************************************** | |
| 28 */ | |
| 29 | |
| 30 #include <math.h> | |
| 31 #include <string.h> | |
| 32 | |
| 33 #include "compass.h" | |
| 34 #include "compass_LSM303D.h" | |
| 35 | |
| 36 #include "i2c.h" | |
| 219 | 37 #include "spi.h" |
| 38 | 38 #include "RTE_FlashAccess.h" // to store compass_calib_data |
| 39 | |
| 40 #include "stm32f4xx_hal.h" | |
| 41 | |
|
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42 extern uint32_t time_elapsed_ms(uint32_t ticksstart,uint32_t ticksnow); |
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43 |
| 38 | 44 /// split byte to bits |
| 45 typedef struct{ | |
| 46 uint8_t bit0:1; ///< split byte to bits | |
| 47 uint8_t bit1:1; ///< split byte to bits | |
| 48 uint8_t bit2:1; ///< split byte to bits | |
| 49 uint8_t bit3:1; ///< split byte to bits | |
| 50 uint8_t bit4:1; ///< split byte to bits | |
| 51 uint8_t bit5:1; ///< split byte to bits | |
| 52 uint8_t bit6:1; ///< split byte to bits | |
| 53 uint8_t bit7:1; ///< split byte to bits | |
| 54 } ubit8_t; | |
| 55 | |
| 56 | |
| 57 /// split byte to bits | |
| 58 typedef union{ | |
| 59 ubit8_t ub; ///< split byte to bits | |
| 60 uint8_t uw; ///< split byte to bits | |
| 61 } bit8_Type; | |
| 62 | |
| 63 | |
| 64 /// split word to 2 bytes | |
| 65 typedef struct{ | |
| 66 uint8_t low; ///< split word to 2 bytes | |
| 67 uint8_t hi; ///< split word to 2 bytes | |
| 68 } two_byte; | |
| 69 | |
| 70 | |
| 71 /// split word to 2 bytes | |
| 72 typedef union{ | |
| 73 two_byte Byte; ///< split word to 2 bytes | |
| 74 uint16_t Word; ///< split word to 2 bytes | |
| 75 } tword; | |
| 76 | |
| 77 | |
| 78 /// split signed word to 2 bytes | |
| 79 typedef union{ | |
| 80 two_byte Byte; ///< split signed word to 2 bytes | |
| 81 int16_t Word; ///< split signed word to 2 bytes | |
| 82 } signed_tword; | |
| 83 | |
| 84 | |
| 85 /// split full32 to 2 words | |
| 86 typedef struct{ | |
| 87 uint16_t low16; ///< split word to 2 bytes | |
| 88 uint16_t hi16; ///< split word to 2 bytes | |
| 89 } two_word; | |
| 90 | |
| 91 typedef union{ | |
| 92 two_word Word16; ///< split word to 2 bytes | |
| 93 uint32_t Full32; ///< split word to 2 bytes | |
| 94 } tfull32; | |
| 95 | |
| 96 | |
| 97 /// crazy compass calibration stuff | |
| 98 typedef struct | |
| 99 { | |
| 100 unsigned short int compass_N; | |
| 101 float Su, Sv, Sw; | |
| 102 float Suu, Svv, Sww, Suv, Suw, Svw; | |
| 103 float Suuu, Svvv, Swww; | |
| 104 float Suuv, Suuw, Svvu, Svvw, Swwu, Swwv; | |
| 105 } SCompassCalib; | |
| 106 | |
| 107 | |
| 108 #define Q_PI (18000) | |
| 109 #define Q_PIO2 (9000) | |
| 110 | |
| 111 | |
| 112 | |
| 113 ////////////////////////////////////////////////////////////////////////////// | |
| 114 // fifth order of polynomial approximation of atan(), giving 0.05 deg max error | |
| 115 // | |
| 116 #define K1 (5701) // Needs K1/2**16 | |
| 117 #define K2 (1645) // Needs K2/2**48 WAS NEGATIV | |
| 118 #define K3 ( 446) // Needs K3/2**80 | |
| 119 | |
| 120 const float PI = 3.14159265; ///< pi, used in compass_calc() | |
| 121 | |
| 122 typedef short int Int16; | |
| 123 typedef signed char Int8; | |
| 124 typedef Int16 Angle; | |
| 125 | |
| 126 | |
| 127 /// The (filtered) components of the magnetometer sensor | |
| 128 int16_t compass_DX_f; ///< output from sensor | |
| 129 int16_t compass_DY_f; ///< output from sensor | |
| 130 int16_t compass_DZ_f; ///< output from sensor | |
| 131 | |
| 132 | |
| 133 /// Found soft-iron calibration values, deduced from already filtered values | |
| 134 int16_t compass_CX_f; ///< calibration value | |
| 135 int16_t compass_CY_f; ///< calibration value | |
| 136 int16_t compass_CZ_f; ///< calibration value | |
| 137 | |
| 138 | |
| 139 /// The (filtered) components of the accelerometer sensor | |
| 140 int16_t accel_DX_f; ///< output from sensor | |
| 141 int16_t accel_DY_f; ///< output from sensor | |
| 142 int16_t accel_DZ_f; ///< output from sensor | |
| 143 | |
| 144 | |
| 145 /// The compass result values | |
| 146 float compass_heading; ///< the final result calculated in compass_calc() | |
| 147 float compass_roll; ///< the final result calculated in compass_calc() | |
| 148 float compass_pitch; ///< the final result calculated in compass_calc() | |
| 149 | |
| 150 | |
| 151 uint8_t compass_gain; ///< 7 on start, can be reduced during calibration | |
| 152 | |
| 357 | 153 uint8_t hardwareCompass = 0; ///< either HMC5883L (=1) or LSM303D (=2) or LSM303AGR (=3) or not defined yet (=0) |
| 38 | 154 |
| 155 /// LSM303D variables | |
| 156 uint8_t magDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 157 uint8_t accDataBuffer[6]; ///< here raw data from LSM303D is stored, can be local | |
| 158 | |
| 159 | |
| 160 // struct accel_scale _accel_scale; | |
| 161 unsigned _accel_range_m_s2; | |
| 162 float _accel_range_scale; | |
| 163 unsigned _accel_samplerate; | |
| 164 unsigned _accel_onchip_filter_bandwith; | |
| 165 | |
| 166 // struct mag_scale _mag_scale; | |
| 167 unsigned _mag_range_ga; | |
| 168 float _mag_range_scale; | |
| 169 unsigned _mag_samplerate; | |
| 170 | |
| 171 // default scale factors | |
| 172 float _accel_scale_x_offset = 0.0f; | |
| 173 float _accel_scale_x_scale = 1.0f; | |
| 174 float _accel_scale_y_offset = 0.0f; | |
| 175 float _accel_scale_y_scale = 1.0f; | |
| 176 float _accel_scale_z_offset = 0.0f; | |
| 177 float _accel_scale_z_scale = 1.0f; | |
| 178 | |
| 179 float _mag_scale_x_offset = 0.0f; | |
| 180 float _mag_scale_x_scale = 1.0f; | |
| 181 float _mag_scale_y_offset = 0.0f; | |
| 182 float _mag_scale_y_scale = 1.0f; | |
| 183 float _mag_scale_z_offset = 0.0f; | |
| 184 float _mag_scale_z_scale = 1.0f; | |
| 185 | |
| 186 | |
| 187 /* External function prototypes ----------------------------------------------*/ | |
| 188 | |
| 189 extern void copyCompassDataDuringCalibration(int16_t dx, int16_t dy, int16_t dz); | |
| 190 | |
| 191 /* Private function prototypes -----------------------------------------------*/ | |
| 192 | |
| 193 void compass_reset_calibration(SCompassCalib *g); | |
| 194 void compass_add_calibration(SCompassCalib *g); | |
| 195 void compass_solve_calibration(SCompassCalib *g); | |
| 196 | |
| 197 void compass_init_HMC5883L(uint8_t fast, uint8_t gain); | |
| 198 void compass_sleep_HMC5883L(void); | |
| 199 void compass_read_HMC5883L(void); | |
| 200 | |
| 201 void accelerator_init_MMA8452Q(void); | |
| 202 void accelerator_sleep_MMA8452Q(void); | |
| 203 void acceleration_read_MMA8452Q(void); | |
| 204 | |
| 205 void compass_init_LSM303D(uint8_t fast, uint8_t gain); | |
| 206 void compass_sleep_LSM303D(void); | |
| 207 void compass_read_LSM303D(void); | |
| 208 void acceleration_read_LSM303D(void); | |
| 209 | |
| 357 | 210 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain); |
| 211 void compass_sleep_LSM303AGR(void); | |
| 212 void compass_read_LSM303AGR(void); | |
| 213 void acceleration_read_LSM303AGR(void); | |
| 214 | |
| 38 | 215 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth); |
| 216 int compass_calib_common(void); | |
| 217 | |
| 218 void compass_calc_roll_pitch_only(void); | |
| 219 | |
| 220 void rotate_mag_3f(float *x, float *y, float *z); | |
| 221 void rotate_accel_3f(float *x, float *y, float *z); | |
| 222 | |
| 223 | |
| 224 /* Exported functions --------------------------------------------------------*/ | |
| 225 | |
| 226 | |
| 227 // =============================================================================== | |
| 228 // compass_init | |
| 229 /// @brief This might be called several times with different gain values during calibration | |
| 230 /// On first call it figures out which hardware is integrated | |
| 231 /// | |
| 232 /// @param gain: 7 is max gain, compass_calib() might reduce it | |
| 233 // =============================================================================== | |
| 234 | |
| 235 void compass_init(uint8_t fast, uint8_t gain) | |
| 236 { | |
| 237 | |
| 238 // don't call again with fast, gain in calib mode etc. | |
| 239 // if unknown | |
| 240 if(hardwareCompass == COMPASS_NOT_RECOGNIZED) | |
| 241 { | |
| 242 return; | |
| 243 } | |
| 244 | |
| 245 // old code but without else | |
| 246 if(hardwareCompass == 0) | |
| 247 { | |
| 248 uint8_t data = WHO_AM_I; | |
| 249 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 250 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 251 if(data == WHOIAM_VALUE_LSM303D) |
| 252 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 253 data = WHO_AM_I; |
| 254 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 255 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 256 if(data == WHOIAM_VALUE_LSM303AGR) |
| 257 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 258 } |
| 259 | |
| 180 | 260 /* No compass identified => Retry */ |
| 38 | 261 if(hardwareCompass == 0) |
| 262 { | |
| 263 uint8_t data = WHO_AM_I; | |
| 264 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 265 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 357 | 266 if(data == WHOIAM_VALUE_LSM303D) |
| 267 hardwareCompass = compass_generation2; //LSM303D; | |
| 358 | 268 data = WHO_AM_I; |
| 269 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 270 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &data, 1); | |
| 357 | 271 if(data == WHOIAM_VALUE_LSM303AGR) |
| 272 hardwareCompass = compass_generation3; //LSM303AGR; | |
| 38 | 273 } |
| 70 | 274 |
| 180 | 275 /* Assume that a HMC5883L is equipped by default if detection still failed */ |
| 38 | 276 if(hardwareCompass == 0) |
| 357 | 277 hardwareCompass = compass_generation1; //HMC5883L; |
| 38 | 278 |
| 279 HAL_StatusTypeDef resultOfOperationHMC_MMA = HAL_TIMEOUT; | |
| 280 | |
| 358 | 281 // test if both chips of the two-chip solution (gen 1) are present |
| 357 | 282 if(hardwareCompass == compass_generation1) // HMC5883L) |
| 38 | 283 { |
|
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284 HAL_Delay(100); |
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285 I2C_DeInit(); |
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286 HAL_Delay(100); |
| 358 | 287 MX_I2C1_Init(); |
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288 HAL_Delay(100); |
| 38 | 289 uint8_t data = 0x2A; // CTRL_REG1 of DEVICE_ACCELARATOR_MMA8452Q |
| 290 resultOfOperationHMC_MMA = I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, &data, 1); | |
| 291 if(resultOfOperationHMC_MMA == HAL_OK) | |
| 292 { | |
| 357 | 293 hardwareCompass = compass_generation1; //HMC5883L; // all fine, keep it |
| 38 | 294 } |
| 295 else | |
| 296 { | |
| 297 hardwareCompass = COMPASS_NOT_RECOGNIZED; | |
| 298 } | |
| 299 } | |
| 300 | |
| 357 | 301 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 302 compass_init_LSM303D(fast, gain); |
| 357 | 303 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 304 compass_init_LSM303AGR(fast, gain); | |
| 305 if(hardwareCompass == compass_generation1) //HMC5883L) | |
| 38 | 306 compass_init_HMC5883L(fast, gain); |
| 307 | |
| 357 | 308 tfull32 dataBlock[4]; |
| 309 if(BFA_readLastDataBlock((uint32_t *)dataBlock) == BFA_OK) | |
| 38 | 310 { |
| 311 compass_CX_f = dataBlock[0].Word16.low16; | |
| 312 compass_CY_f = dataBlock[0].Word16.hi16; | |
| 313 compass_CZ_f = dataBlock[1].Word16.low16; | |
| 314 } | |
| 315 | |
| 316 } | |
| 317 | |
| 318 | |
| 319 // =============================================================================== | |
| 320 // compass_calib | |
| 321 /// @brief with onchip_lowpass_filter configuration for accelerometer of LSM303D | |
| 322 // =============================================================================== | |
| 323 int compass_calib(void) | |
| 324 { | |
| 357 | 325 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 326 { |
| 327 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773); | |
| 328 int out = compass_calib_common(); | |
| 329 LSM303D_accel_set_onchip_lowpass_filter_bandwidth(LSM303D_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ); | |
| 330 return out; | |
| 331 } | |
| 332 else | |
| 357 | 333 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 334 { | |
| 335 return compass_calib_common(); | |
| 336 } | |
| 337 else | |
| 338 if(hardwareCompass == compass_generation3) //LSM303AGR) | |
| 38 | 339 { |
| 340 return compass_calib_common(); | |
| 341 } | |
| 342 else | |
| 343 { | |
| 344 return 0; // standard answer of compass_calib_common(); | |
| 345 } | |
| 346 | |
| 347 | |
| 348 } | |
| 349 | |
| 350 | |
| 351 // =============================================================================== | |
| 352 // compass_sleep | |
| 353 /// @brief low power mode | |
| 354 // =============================================================================== | |
| 355 void compass_sleep(void) | |
| 356 { | |
| 357 | 357 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 358 { |
| 359 compass_sleep_LSM303D(); | |
| 360 } | |
| 361 else | |
| 357 | 362 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 363 { |
| 364 compass_sleep_HMC5883L(); | |
| 365 } | |
| 366 } | |
| 367 | |
| 368 | |
| 369 // =============================================================================== | |
| 370 // compass_read | |
| 371 /// @brief reads magnetometer and accelerometer for LSM303D, | |
| 372 /// otherwise magnetometer only | |
| 373 // =============================================================================== | |
| 374 void compass_read(void) | |
| 375 { | |
| 357 | 376 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 377 compass_read_LSM303D(); |
| 357 | 378 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 379 compass_read_HMC5883L(); |
| 357 | 380 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 381 compass_read_LSM303AGR(); | |
| 382 | |
| 38 | 383 } |
| 384 | |
| 385 | |
| 386 // =============================================================================== | |
| 387 // accelerator_init | |
| 388 /// @brief empty for for LSM303D | |
| 389 // =============================================================================== | |
| 390 void accelerator_init(void) | |
| 391 { | |
| 357 | 392 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 393 accelerator_init_MMA8452Q(); |
| 394 } | |
| 395 | |
| 396 | |
| 397 // =============================================================================== | |
| 398 // accelerator_sleep | |
| 399 /// @brief empty for for LSM303D | |
| 400 // =============================================================================== | |
| 401 void accelerator_sleep(void) | |
| 402 { | |
| 357 | 403 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 404 accelerator_sleep_MMA8452Q(); |
| 405 } | |
| 406 | |
| 407 | |
| 408 // =============================================================================== | |
| 409 // acceleration_read | |
| 410 /// @brief empty for for LSM303D | |
| 411 // =============================================================================== | |
| 412 void acceleration_read(void) | |
| 413 { | |
| 357 | 414 if(hardwareCompass == compass_generation2) //LSM303D) |
| 38 | 415 acceleration_read_LSM303D(); |
| 357 | 416 if(hardwareCompass == compass_generation1) //HMC5883L) |
| 38 | 417 acceleration_read_MMA8452Q(); |
| 357 | 418 if(hardwareCompass == compass_generation3) //LSM303AGR) |
| 419 acceleration_read_LSM303AGR(); | |
| 38 | 420 } |
| 421 | |
| 422 | |
| 423 /* Private functions ---------------------------------------------------------*/ | |
| 424 | |
| 425 // =============================================================================== | |
| 357 | 426 // LSM303AGR_read_reg |
| 427 // =============================================================================== | |
| 428 uint8_t LSM303AGR_read_reg(uint8_t addr) | |
| 429 { | |
| 430 uint8_t data; | |
| 431 | |
| 432 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &addr, 1); | |
| 433 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &data, 1); | |
| 434 return data; | |
| 435 } | |
| 436 | |
| 437 | |
| 438 // =============================================================================== | |
| 439 // LSM303AGR_write_reg | |
| 440 // =============================================================================== | |
| 441 void LSM303AGR_write_reg(uint8_t addr, uint8_t value) | |
| 442 { | |
| 443 uint8_t data[2]; | |
| 444 | |
| 445 data[0] = addr; | |
| 446 data[1] = value; | |
| 447 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, data, 2); | |
| 448 } | |
| 449 | |
| 450 // =============================================================================== | |
| 451 // LSM303AGR_acc_write_reg | |
| 452 // =============================================================================== | |
| 453 void LSM303AGR_acc_write_reg(uint8_t addr, uint8_t value) | |
| 454 { | |
| 455 uint8_t data[2]; | |
| 456 | |
| 457 data[0] = addr; | |
| 458 data[1] = value; | |
| 459 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, data, 2); | |
| 460 } | |
| 461 | |
| 462 | |
| 463 // =============================================================================== | |
| 464 // LSM303AGR_write_checked_reg | |
| 465 // =============================================================================== | |
| 466 void LSM303AGR_write_checked_reg(uint8_t addr, uint8_t value) | |
| 467 { | |
| 468 LSM303AGR_write_reg(addr, value); | |
| 469 } | |
| 470 | |
| 471 // =============================================================================== | |
| 472 // LSM303AGR_acc_write_checked_reg | |
| 473 // =============================================================================== | |
| 474 void LSM303AGR_acc_write_checked_reg(uint8_t addr, uint8_t value) | |
| 475 { | |
| 476 LSM303AGR_acc_write_reg(addr, value); | |
| 477 } | |
| 478 | |
| 479 // =============================================================================== | |
| 38 | 480 // LSM303D_read_reg |
| 481 // =============================================================================== | |
| 482 uint8_t LSM303D_read_reg(uint8_t addr) | |
| 483 { | |
| 484 uint8_t data; | |
| 485 | |
| 486 I2C_Master_Transmit( DEVICE_COMPASS_303D, &addr, 1); | |
| 487 I2C_Master_Receive( DEVICE_COMPASS_303D, &data, 1); | |
| 488 return data; | |
| 489 } | |
| 490 | |
| 491 | |
| 492 // =============================================================================== | |
| 493 // LSM303D_write_reg | |
| 494 // =============================================================================== | |
| 495 void LSM303D_write_reg(uint8_t addr, uint8_t value) | |
| 496 { | |
| 497 uint8_t data[2]; | |
| 498 | |
| 499 /* enable accel*/ | |
| 500 data[0] = addr; | |
| 501 data[1] = value; | |
| 502 I2C_Master_Transmit( DEVICE_COMPASS_303D, data, 2); | |
| 503 } | |
| 504 | |
| 505 | |
| 506 // =============================================================================== | |
| 507 // LSM303D_write_checked_reg | |
| 508 // =============================================================================== | |
| 509 void LSM303D_write_checked_reg(uint8_t addr, uint8_t value) | |
| 510 { | |
| 511 LSM303D_write_reg(addr, value); | |
| 512 } | |
| 513 | |
| 514 | |
| 515 // =============================================================================== | |
| 516 // LSM303D_modify_reg | |
| 517 // =============================================================================== | |
| 518 void LSM303D_modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits) | |
| 519 { | |
| 520 uint8_t val; | |
| 521 | |
| 522 val = LSM303D_read_reg(reg); | |
| 523 val &= ~clearbits; | |
| 524 val |= setbits; | |
| 525 LSM303D_write_checked_reg(reg, val); | |
| 526 } | |
| 527 | |
| 528 // =============================================================================== | |
| 529 // LSM303D_accel_set_onchip_lowpass_filter_bandwidth | |
| 530 // =============================================================================== | |
| 531 int LSM303D_accel_set_onchip_lowpass_filter_bandwidth(unsigned bandwidth) | |
| 532 { | |
| 533 uint8_t setbits = 0; | |
| 534 uint8_t clearbits = REG2_ANTIALIAS_FILTER_BW_BITS_A; | |
| 535 | |
| 536 if (bandwidth == 0) { | |
| 537 bandwidth = 773; | |
| 538 } | |
| 539 | |
| 540 if (bandwidth <= 50) { | |
| 541 setbits |= REG2_AA_FILTER_BW_50HZ_A; | |
| 542 _accel_onchip_filter_bandwith = 50; | |
| 543 | |
| 544 } else if (bandwidth <= 194) { | |
| 545 setbits |= REG2_AA_FILTER_BW_194HZ_A; | |
| 546 _accel_onchip_filter_bandwith = 194; | |
| 547 | |
| 548 } else if (bandwidth <= 362) { | |
| 549 setbits |= REG2_AA_FILTER_BW_362HZ_A; | |
| 550 _accel_onchip_filter_bandwith = 362; | |
| 551 | |
| 552 } else if (bandwidth <= 773) { | |
| 553 setbits |= REG2_AA_FILTER_BW_773HZ_A; | |
| 554 _accel_onchip_filter_bandwith = 773; | |
| 555 | |
| 556 } else { | |
| 557 return -1; | |
| 558 } | |
| 559 | |
| 560 LSM303D_modify_reg(ADDR_CTRL_REG2, clearbits, setbits); | |
| 561 | |
| 562 return 0; | |
| 563 } | |
| 564 | |
| 565 | |
| 566 // =============================================================================== | |
| 567 // LSM303D_accel_set_driver_lowpass_filter | |
| 568 // =============================================================================== | |
| 569 int LSM303D_accel_set_driver_lowpass_filter(float samplerate, float bandwidth) | |
| 570 { | |
| 571 /* | |
| 572 _accel_filter_x_set_cutoff_frequency(samplerate, bandwidth); | |
| 573 _accel_filter_y_set_cutoff_frequency(samplerate, bandwidth); | |
| 574 _accel_filter_z_set_cutoff_frequency(samplerate, bandwidth); | |
| 575 */ | |
| 576 return 0; | |
| 577 } | |
| 578 | |
| 579 | |
| 580 // rotate_mag_3f: nicht genutzt aber praktisch; rotate_accel_3f wird benutzt | |
| 581 // =============================================================================== | |
| 582 // rotate_mag_3f | |
| 583 /// @brief swap axis in convient way, by hw | |
| 584 /// @param *x raw input is set to *y input | |
| 585 /// @param *y raw input is set to -*x input | |
| 586 /// @param *z raw is not touched | |
| 587 // =============================================================================== | |
| 588 void rotate_mag_3f(float *x, float *y, float *z) | |
| 589 { | |
| 590 return; | |
| 591 /* | |
| 592 *x = *x; // HMC: *x = -*y | |
| 593 *y = *y; // HMC: *y = *x // change 20.04.2016: zuvor *y = -*y | |
| 594 *z = *z; // HMC: *z = *z | |
| 595 */ | |
| 596 } | |
| 597 | |
| 598 | |
| 599 // =============================================================================== | |
| 600 // rotate_accel_3f | |
| 601 /// @brief swap axis in convient way, by hw, same as MMA8452Q | |
| 602 /// @param *x raw input, output is with sign change | |
| 603 /// @param *y raw input, output is with sign change | |
| 604 /// @param *z raw input, output is with sign change | |
| 605 // =============================================================================== | |
| 606 void rotate_accel_3f(float *x, float *y, float *z) | |
| 607 { | |
| 608 *x = -*x; | |
| 609 *y = -*y; | |
| 610 *z = -*z; | |
| 611 /* tested: | |
| 612 x = x, y =-y, z=-z: does not work with roll | |
| 613 x = x, y =y, z=-z: does not work with pitch | |
| 614 x = x, y =y, z=z: does not work at all | |
| 615 */ | |
| 616 } | |
| 617 | |
| 618 | |
| 619 // =============================================================================== | |
| 357 | 620 // compass_init_LSM303D |
| 38 | 621 /// This might be called several times with different gain values during calibration |
| 622 /// but gain change is not supported at the moment. | |
| 623 /// | |
| 624 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 625 // =============================================================================== | |
| 626 | |
| 627 //uint8_t testCompassLS303D[11]; | |
| 628 | |
| 629 void compass_init_LSM303D(uint8_t fast, uint8_t gain) | |
| 630 { | |
| 631 if(fast == 0) | |
| 632 { | |
| 633 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 634 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 | |
| 635 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 636 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 637 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 638 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 | |
| 639 } | |
| 640 else | |
| 641 { | |
| 642 LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00); | |
| 643 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz | |
| 644 LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); | |
| 645 LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); | |
| 646 LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); | |
| 647 LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x74); // 100 Hz | |
| 648 } | |
| 649 LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00); | |
| 650 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00); | |
| 651 | |
| 652 return; | |
| 653 } | |
| 654 | |
| 655 | |
| 656 // =============================================================================== | |
| 657 // compass_sleep_LSM303D | |
| 357 | 658 // @brief Gen 2 chip |
| 38 | 659 // =============================================================================== |
| 660 void compass_sleep_LSM303D(void) | |
| 661 { | |
| 662 LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x00); // CNTRL1: acceleration sensor Power-down mode | |
| 663 LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x02); // CNTRL7: magnetic sensor Power-down mode | |
| 664 } | |
| 665 | |
| 666 | |
| 667 // =============================================================================== | |
| 668 // acceleration_read_LSM303D | |
| 357 | 669 // output is accel_DX_f, accel_DY_f, accel_DZ_f |
| 38 | 670 // =============================================================================== |
| 671 void acceleration_read_LSM303D(void) | |
| 672 { | |
| 673 uint8_t data; | |
| 674 float xraw_f, yraw_f, zraw_f; | |
| 675 float accel_report_x, accel_report_y, accel_report_z; | |
| 676 | |
| 677 memset(accDataBuffer,0,6); | |
| 678 | |
| 679 accel_DX_f = 0; | |
| 680 accel_DY_f = 0; | |
| 681 accel_DZ_f = 0; | |
| 682 | |
| 683 for(int i=0;i<6;i++) | |
| 684 { | |
| 685 data = ADDR_OUT_X_L_A + i; | |
| 686 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 687 I2C_Master_Receive( DEVICE_COMPASS_303D, &accDataBuffer[i], 1); | |
| 688 } | |
| 689 | |
| 690 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 691 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 692 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 693 | |
| 694 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 695 | |
| 696 // mh | |
| 697 accel_report_x = xraw_f; | |
| 698 accel_report_y = yraw_f; | |
| 699 accel_report_z = zraw_f; | |
| 700 | |
| 701 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 702 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 703 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 704 } | |
| 705 | |
| 706 | |
| 707 // =============================================================================== | |
| 708 // compass_read_LSM303D | |
| 709 /// | |
| 710 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 711 // =============================================================================== | |
| 712 void compass_read_LSM303D(void) | |
| 713 { | |
| 714 uint8_t data; | |
| 715 // float xraw_f, yraw_f, zraw_f; | |
| 716 // float mag_report_x, mag_report_y, mag_report_z; | |
| 717 | |
| 718 memset(magDataBuffer,0,6); | |
| 719 | |
| 720 compass_DX_f = 0; | |
| 721 compass_DY_f = 0; | |
| 722 compass_DZ_f = 0; | |
| 723 | |
| 724 for(int i=0;i<6;i++) | |
| 725 { | |
| 726 data = ADDR_OUT_X_L_M + i; | |
| 727 I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1); | |
| 728 I2C_Master_Receive( DEVICE_COMPASS_303D, &magDataBuffer[i], 1); | |
| 729 } | |
| 730 | |
| 731 // mh 160620 flip x and y if flip display | |
| 732 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 733 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 734 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 735 // no rotation | |
| 736 return; | |
| 357 | 737 } |
| 738 | |
| 739 | |
| 740 // =============================================================================== | |
| 741 // compass_init_LSM303AGR | |
| 742 /// This might be called several times with different gain values during calibration | |
| 743 /// but gain change is not supported at the moment. | |
| 744 /// | |
| 745 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 746 // =============================================================================== | |
| 38 | 747 |
| 357 | 748 void compass_init_LSM303AGR(uint8_t fast, uint8_t gain) |
| 749 { | |
| 750 if(fast == 0) | |
| 751 { | |
| 358 | 752 // init compass |
| 357 | 753 LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz |
| 754 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M | |
| 755 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 756 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 757 | |
| 758 // init accel (Same chip, but different address...) | |
| 759 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 760 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 761 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 762 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 763 LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 764 } |
| 765 else | |
| 766 { | |
| 358 | 767 // init compass |
| 768 LSM303AGR_write_checked_reg(0x60, 0x84); // 20Hz | |
| 357 | 769 LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M |
| 770 LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M | |
| 358 | 771 LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M |
| 772 | |
| 773 // init accel (Same chip, but different address...) | |
| 774 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off) | |
| 775 LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON) | |
| 776 LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A | |
| 777 LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A | |
| 778 LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled | |
| 357 | 779 } |
| 780 | |
| 781 return; | |
| 782 } | |
| 783 | |
| 784 | |
| 785 // =============================================================================== | |
| 786 // compass_sleep_LSM303D | |
| 787 // @brief Gen 2 chip | |
| 788 // =============================================================================== | |
| 789 void compass_sleep_LSM303AGR(void) | |
| 790 { | |
| 791 LSM303AGR_write_checked_reg(0x60, 0x03); // | |
| 792 LSM303AGR_write_checked_reg(0x61, 0x04); // | |
| 793 LSM303AGR_write_checked_reg(0x62, 0x51); // | |
| 794 LSM303AGR_write_checked_reg(0x63, 0x00); // | |
| 795 | |
| 796 | |
| 797 LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // | |
| 798 LSM303AGR_acc_write_checked_reg(0x20, 0x00); // | |
| 799 } | |
| 800 | |
| 38 | 801 |
| 357 | 802 // =============================================================================== |
| 803 // acceleration_read_LSM303AGR | |
| 804 // output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 805 // =============================================================================== | |
| 806 void acceleration_read_LSM303AGR(void) | |
| 807 { | |
| 808 uint8_t data; | |
| 809 float xraw_f, yraw_f, zraw_f; | |
| 810 float accel_report_x, accel_report_y, accel_report_z; | |
| 811 | |
| 812 memset(accDataBuffer,0,6); | |
| 813 | |
| 814 accel_DX_f = 0; | |
| 815 accel_DY_f = 0; | |
| 816 accel_DZ_f = 0; | |
| 817 | |
| 818 for(int i=0;i<6;i++) | |
| 819 { | |
| 358 | 820 data = 0x28 + i; // OUT_X_L_A |
| 357 | 821 I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1); |
| 822 I2C_Master_Receive( DEVICE_ACCELARATOR_303AGR, &accDataBuffer[i], 1); | |
| 823 } | |
| 824 | |
| 825 xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0])))); | |
| 826 yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2])))); | |
| 827 zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4])))); | |
| 828 | |
| 829 rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); | |
| 830 | |
| 831 // mh | |
| 832 accel_report_x = xraw_f; | |
| 833 accel_report_y = yraw_f; | |
| 358 | 834 accel_report_z = -zraw_f; // flip Z in gen 2 hardware |
| 357 | 835 |
| 836 accel_DX_f = ((int16_t)(accel_report_x)); | |
| 837 accel_DY_f = ((int16_t)(accel_report_y)); | |
| 838 accel_DZ_f = ((int16_t)(accel_report_z)); | |
| 839 } | |
| 840 | |
| 841 | |
| 842 // =============================================================================== | |
| 843 // compass_read_LSM303AGR | |
| 844 /// | |
| 845 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 846 // =============================================================================== | |
| 847 void compass_read_LSM303AGR(void) | |
| 848 { | |
| 849 uint8_t data; | |
| 850 // float xraw_f, yraw_f, zraw_f; | |
| 851 // float mag_report_x, mag_report_y, mag_report_z; | |
| 852 | |
| 853 memset(magDataBuffer,0,6); | |
| 854 | |
| 855 compass_DX_f = 0; | |
| 856 compass_DY_f = 0; | |
| 857 compass_DZ_f = 0; | |
| 858 | |
| 859 for(int i=0;i<6;i++) | |
| 860 { | |
| 861 data = 0x68 + i; // OUTX_L_REG_M | |
| 862 I2C_Master_Transmit( DEVICE_COMPASS_303AGR, &data, 1); | |
| 863 I2C_Master_Receive( DEVICE_COMPASS_303AGR, &magDataBuffer[i], 1); | |
| 864 } | |
| 865 | |
| 866 // mh 160620 flip x and y if flip display | |
| 867 compass_DX_f = (((int16_t)((magDataBuffer[1] << 8) | (magDataBuffer[0])))); | |
| 868 compass_DY_f = (((int16_t)((magDataBuffer[3] << 8) | (magDataBuffer[2])))); | |
| 869 compass_DZ_f = (((int16_t)((magDataBuffer[5] << 8) | (magDataBuffer[4])))); | |
| 358 | 870 |
| 871 // align axis in gen 2 hardware | |
| 872 compass_DZ_f *= -1; | |
| 873 | |
| 357 | 874 return; |
| 38 | 875 } |
| 876 | |
| 877 | |
| 878 // -------------------------------------------------------------------------------- | |
| 879 // ----------EARLIER COMPONENTS --------------------------------------------------- | |
| 880 // -------------------------------------------------------------------------------- | |
| 881 | |
| 882 // =============================================================================== | |
| 883 // compass_init_HMC5883L | |
| 884 /// @brief The horrible Honeywell compass chip | |
| 885 /// This might be called several times during calibration | |
| 886 /// | |
| 887 /// @param fast: 1 is fast mode, 0 is normal mode | |
| 888 /// @param gain: 7 is max gain and set with here, compass_calib() might reduce it | |
| 889 // =============================================================================== | |
| 890 void compass_init_HMC5883L(uint8_t fast, uint8_t gain) | |
| 891 { | |
| 892 uint8_t write_buffer[4]; | |
| 893 | |
| 894 compass_gain = gain; | |
| 895 uint16_t length = 0; | |
| 896 write_buffer[0] = 0x00; // 00 = config Register A | |
| 897 | |
| 898 if( fast ) | |
| 899 write_buffer[1] = 0x38; // 0b 0011 1000; // ConfigA: 75Hz, 2 Samples averaged | |
| 900 else | |
| 901 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA: 3Hz, 8 Samples averaged | |
| 902 | |
| 903 switch(gain) | |
| 904 { | |
| 905 case 7: | |
| 906 write_buffer[2] = 0xE0; //0b 1110 0000; // ConfigB: gain | |
| 907 break; | |
| 908 case 6: | |
| 909 write_buffer[2] = 0xC0; //0b 1100 0000; // ConfigB: gain | |
| 910 break; | |
| 911 case 5: | |
| 912 write_buffer[2] = 0xA0; //0b 1010 0000; // ConfigB: gain | |
| 913 break; | |
| 914 case 4: | |
| 915 write_buffer[2] = 0x80; //0b 1000 0000; // ConfigB: gain | |
| 916 break; | |
| 917 case 3: | |
| 918 write_buffer[2] = 0x60; //0b 0110 0000; // ConfigB: gain | |
| 919 break; | |
| 920 case 2: | |
| 921 write_buffer[2] = 0x40; //0b 01000 0000; // ConfigB: gain | |
| 922 break; | |
| 923 case 1: | |
| 924 write_buffer[2] = 0x20; //0b 00100 0000; // ConfigB: gain | |
| 925 break; | |
| 926 case 0: | |
| 927 write_buffer[2] = 0x00; //0b 00000 0000; // ConfigB: gain | |
| 928 break; | |
| 929 } | |
| 930 write_buffer[3] = 0x00; // Mode: continuous mode | |
| 931 length = 4; | |
| 932 //hmc_twi_write(0); | |
| 933 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 934 } | |
| 935 | |
| 936 | |
| 937 | |
| 938 // =============================================================================== | |
| 939 // compass_sleep_HMC5883L | |
| 940 /// @brief Power-down mode for Honeywell compass chip | |
| 941 // =============================================================================== | |
| 942 void compass_sleep_HMC5883L(void) | |
| 943 { | |
| 944 uint8_t write_buffer[4]; | |
| 945 uint16_t length = 0; | |
| 946 | |
| 947 write_buffer[0] = 0x00; // 00 = config Register A | |
| 948 write_buffer[1] = 0x68; // 0b 0110 1000; // ConfigA | |
| 949 write_buffer[2] = 0x20; // 0b 0010 0000; // ConfigB | |
| 950 write_buffer[3] = 0x02; // 0b 0000 0010; // Idle Mode | |
| 951 length = 4; | |
| 952 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, write_buffer, length); | |
| 953 } | |
| 954 | |
| 955 | |
| 956 // =============================================================================== | |
| 957 // accelerator_init_MMA8452Q | |
| 958 /// @brief Power-down mode for acceleration chip used in combination with Honeywell compass | |
| 959 // =============================================================================== | |
| 960 void accelerator_init_MMA8452Q(void) | |
| 961 { | |
| 962 uint8_t write_buffer[4]; | |
| 963 uint16_t length = 0; | |
| 964 //HAL_Delay(1); | |
| 965 //return; | |
| 966 write_buffer[0] = 0x0E; // XYZ_DATA_CFG | |
| 967 write_buffer[1] = 0x00;//0b00000000; // High pass Filter=0 , +/- 2g range | |
| 968 length = 2; | |
| 969 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 970 //HAL_Delay(1); | |
| 971 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 972 write_buffer[1] = 0x34; //0b00110100; // CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode | |
| 973 write_buffer[2] = 0x02; //0b00000010; // CTRL_REG2: High Res in Active mode | |
| 974 length = 3; | |
| 975 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 976 | |
| 977 //HAL_Delay(1); | |
| 978 //hw_delay_us(100); | |
| 979 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 980 write_buffer[1] = 0x35; //0b00110101; // CTRL_REG1: ... Active Mode | |
| 981 length = 2; | |
| 982 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 983 /* | |
| 984 HAL_Delay(6); | |
| 985 compass_read(); | |
| 986 HAL_Delay(1); | |
| 987 acceleration_read(); | |
| 988 | |
| 989 compass_calc(); | |
| 990 */ | |
| 991 } | |
| 992 | |
| 993 | |
| 994 // =============================================================================== | |
| 995 // accelerator_sleep_MMA8452Q | |
| 996 /// @brief compass_sleep_HMC5883L | |
| 997 // =============================================================================== | |
| 998 void accelerator_sleep_MMA8452Q(void) | |
| 999 { | |
| 1000 uint16_t length = 0; | |
| 1001 uint8_t write_buffer[4]; | |
| 1002 | |
| 1003 write_buffer[0] = 0x2A; // CTRL_REG1 | |
| 1004 write_buffer[1] = 0x00; //0b00000000; // CTRL_REG1: Standby Mode | |
| 1005 length = 2; | |
| 1006 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, write_buffer, length); | |
| 1007 } | |
| 1008 | |
| 1009 | |
| 1010 // =============================================================================== | |
| 1011 // compass_read_HMC5883L | |
| 1012 /// @brief The new ST 303D - get ALL data and store in static variables | |
| 1013 /// | |
| 1014 /// output is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1015 // =============================================================================== | |
| 1016 void compass_read_HMC5883L(void) | |
| 1017 { | |
| 1018 uint8_t buffer[20]; | |
| 1019 compass_DX_f = 0; | |
| 1020 compass_DY_f = 0; | |
| 1021 compass_DZ_f = 0; | |
| 1022 uint8_t length = 0; | |
| 1023 uint8_t read_buffer[6]; | |
| 1024 signed_tword data; | |
| 1025 for(int i = 0; i<6;i++) | |
| 1026 read_buffer[i] = 0; | |
| 1027 buffer[0] = 0x03; // 03 = Data Output X MSB Register | |
| 1028 length = 1; | |
| 1029 I2C_Master_Transmit( DEVICE_COMPASS_HMC5883L, buffer, length); | |
| 1030 length = 6; | |
| 1031 I2C_Master_Receive( DEVICE_COMPASS_HMC5883L, read_buffer, length); | |
| 1032 | |
| 1033 | |
| 1034 data.Byte.hi = read_buffer[0]; | |
| 1035 data.Byte.low = read_buffer[1]; | |
| 1036 //Y = Z | |
| 1037 compass_DY_f = - data.Word; | |
| 1038 | |
| 1039 data.Byte.hi = read_buffer[2]; | |
| 1040 data.Byte.low = read_buffer[3]; | |
| 1041 compass_DZ_f = data.Word; | |
| 1042 | |
| 1043 data.Byte.hi = read_buffer[4]; | |
| 1044 data.Byte.low = read_buffer[5]; | |
| 1045 //X = -Y | |
| 1046 compass_DX_f = data.Word; | |
| 1047 } | |
| 1048 | |
| 1049 | |
| 1050 // =============================================================================== | |
| 1051 // acceleration_read_MMA8452Q | |
| 1052 /// @brief The old MMA8452Q used with the Honeywell compass | |
| 1053 /// get the acceleration data and store in static variables | |
| 1054 /// | |
| 1055 /// output is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1056 // =============================================================================== | |
| 1057 void acceleration_read_MMA8452Q(void) | |
| 1058 { | |
| 1059 uint8_t buffer[20]; | |
| 1060 accel_DX_f = 0; | |
| 1061 accel_DY_f = 0; | |
| 1062 accel_DZ_f = 0; | |
| 1063 uint8_t length = 0; | |
| 1064 // bit8_Type status ; | |
| 1065 uint8_t read_buffer[7]; | |
| 1066 signed_tword data; | |
| 1067 for(int i = 0; i<6;i++) | |
| 1068 read_buffer[i] = 0; | |
| 1069 buffer[0] = 0x00; // 03 = Data Output X MSB Register | |
| 1070 length = 1; | |
| 1071 I2C_Master_Transmit( DEVICE_ACCELARATOR_MMA8452Q, buffer, length); | |
| 1072 length = 7; | |
| 1073 I2C_Master_Receive( DEVICE_ACCELARATOR_MMA8452Q, read_buffer, length); | |
| 1074 | |
| 1075 // status.uw = read_buffer[0]; | |
| 1076 data.Byte.hi = read_buffer[1]; | |
| 1077 data.Byte.low = read_buffer[2]; | |
| 1078 accel_DX_f =data.Word/16; | |
| 1079 data.Byte.hi = read_buffer[3]; | |
| 1080 data.Byte.low = read_buffer[4]; | |
| 1081 accel_DY_f =data.Word/16; | |
| 1082 data.Byte.hi = read_buffer[5]; | |
| 1083 data.Byte.low = read_buffer[6]; | |
| 1084 accel_DZ_f =data.Word/16; | |
| 1085 | |
| 1086 accel_DX_f *= -1; | |
| 1087 accel_DY_f *= -1; | |
| 1088 accel_DZ_f *= -1; | |
| 1089 } | |
| 1090 | |
| 1091 | |
| 1092 // =============================================================================== | |
| 1093 // compass_calc_roll_pitch_only | |
| 1094 /// @brief only the roll and pitch parts of compass_calc() | |
| 1095 /// | |
| 1096 /// input is accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1097 /// output is compass_pitch and compass_roll | |
| 1098 // =============================================================================== | |
| 1099 void compass_calc_roll_pitch_only(void) | |
| 1100 { | |
| 1101 float sinPhi, cosPhi; | |
| 1102 float Phi, Teta; | |
| 1103 | |
| 1104 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1105 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1106 compass_roll = Phi * 180.0f /PI; | |
| 1107 sinPhi = sinf(Phi); | |
| 1108 cosPhi = cosf(Phi); | |
| 1109 | |
| 1110 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1111 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1112 compass_pitch = Teta * 180.0f /PI; | |
| 1113 } | |
| 1114 | |
| 1115 | |
| 1116 // =============================================================================== | |
| 1117 // compass_calc | |
| 1118 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1119 /// | |
| 1120 /// input is compass_DX_f, compass_DY_f, compass_DZ_f, accel_DX_f, accel_DY_f, accel_DZ_f | |
| 1121 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1122 /// output is compass_heading, compass_pitch and compass_roll | |
| 1123 // =============================================================================== | |
| 1124 void compass_calc(void) | |
| 1125 { | |
| 1126 float sinPhi, cosPhi, sinTeta, cosTeta; | |
| 1127 float Phi, Teta, Psi; | |
| 1128 int16_t iBfx, iBfy; | |
| 1129 int16_t iBpx, iBpy, iBpz; | |
| 1130 | |
| 1131 //---- Make hard iron correction ----------------------------------------- | |
| 1132 // Measured magnetometer orientation, measured ok. | |
| 1133 // From matthias drawing: (X,Y,Z) --> (X,Y,Z) : no rotation. | |
| 1134 iBpx = compass_DX_f - compass_CX_f; // X | |
| 1135 iBpy = compass_DY_f - compass_CY_f; // Y | |
| 1136 iBpz = compass_DZ_f - compass_CZ_f; // Z | |
| 1137 | |
| 1138 //---- Calculate sine and cosine of roll angle Phi ----------------------- | |
| 1139 //sincos(accel_DZ_f, accel_DY_f, &sin, &cos); | |
| 1140 Phi= atan2f(accel_DY_f, accel_DZ_f) ; | |
| 1141 compass_roll = Phi * 180.0f /PI; | |
| 1142 sinPhi = sinf(Phi); | |
| 1143 cosPhi = cosf(Phi); | |
| 1144 | |
| 1145 //---- rotate by roll angle (-Phi) --------------------------------------- | |
| 1146 iBfy = iBpy * cosPhi - iBpz * sinPhi; | |
| 1147 iBpz = iBpy * sinPhi + iBpz * cosPhi; | |
| 1148 //Gz = imul(accel_DY_f, sin) + imul(accel_DZ_f, cos); | |
| 1149 | |
| 1150 //---- calculate sin and cosine of pitch angle Theta --------------------- | |
| 1151 //sincos(Gz, -accel_DX_f, &sin, &cos); // NOTE: changed sin sign. | |
| 1152 // Teta takes into account roll of computer and sends combination of Y and Z :-) understand now hw 160421 | |
| 1153 Teta = atanf(-(float)accel_DX_f/(accel_DY_f * sinPhi + accel_DZ_f * cosPhi)); | |
| 1154 compass_pitch = Teta * 180.0f /PI; | |
| 1155 sinTeta = sinf(Teta); | |
| 1156 cosTeta = cosf(Teta); | |
| 1157 /* correct cosine if pitch not in range -90 to 90 degrees */ | |
| 1158 if( cosTeta < 0 ) cosTeta = -cosTeta; | |
| 1159 | |
| 1160 ///---- de-rotate by pitch angle Theta ----------------------------------- | |
| 1161 iBfx = iBpx * cosTeta + iBpz * sinTeta; | |
| 1162 | |
| 1163 //---- Detect uncalibrated compass --------------------------------------- | |
| 1164 if( !compass_CX_f && !compass_CY_f && !compass_CZ_f ) | |
| 1165 { | |
| 1166 compass_heading = -1; | |
| 1167 return; | |
| 1168 } | |
| 1169 | |
| 1170 //---- calculate current yaw = e-compass angle Psi ----------------------- | |
| 1171 // Result in degree (no need of 0.01 deg precision... | |
| 1172 Psi = atan2f(-iBfy,iBfx); | |
| 1173 compass_heading = Psi * 180.0f /PI; | |
| 1174 // Result in 0..360 range: | |
| 1175 if( compass_heading < 0 ) | |
| 1176 compass_heading += 360; | |
| 1177 } | |
| 1178 | |
| 1179 | |
| 1180 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1181 // // - Calibration - /////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1182 // ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// | |
| 1183 | |
| 1184 /* can be lost during sleep as those are reset with compass_reset_calibration() */ | |
| 1185 | |
| 1186 // =============================================================================== | |
| 1187 // compass_reset_calibration | |
| 1188 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1189 /// | |
| 1190 /// output is struct g and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1191 /// | |
| 1192 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1193 /// all is set to zero here | |
| 1194 // =============================================================================== | |
| 1195 void compass_reset_calibration(SCompassCalib *g) | |
| 1196 { | |
| 1197 g->compass_N = 0; | |
| 1198 g->Su = g->Sv = g->Sw = 0.0; | |
| 1199 g->Suu = g->Svv = g->Sww = g->Suv = g->Suw = g->Svw = 0.0; | |
| 1200 g->Suuu = g->Svvv = g->Swww = 0.0; | |
| 1201 g->Suuv = g->Suuw = g->Svvu = g->Svvw = g->Swwu = g->Swwv = 0.0; | |
| 1202 compass_CX_f = compass_CY_f = compass_CZ_f = 0.0; | |
| 1203 } | |
| 1204 | |
| 1205 | |
| 1206 // =============================================================================== | |
| 1207 // compass_add_calibration | |
| 1208 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1209 /// | |
| 1210 /// input is compass_DX_f, compass_DY_f, compass_DZ_f | |
| 1211 /// and compass_CX_f, compass_CY_f, compass_CZ_f | |
| 1212 /// output is struct g | |
| 1213 /// | |
| 1214 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1215 // =============================================================================== | |
| 1216 void compass_add_calibration(SCompassCalib *g) | |
| 1217 { | |
| 1218 float u, v, w; | |
| 1219 | |
| 1220 u = (compass_DX_f - compass_CX_f) / 32768.0f; | |
| 1221 v = (compass_DY_f - compass_CY_f) / 32768.0f; | |
| 1222 w = (compass_DZ_f - compass_CZ_f) / 32768.0f; | |
| 1223 | |
| 1224 g->compass_N++; | |
| 1225 g->Su += u; | |
| 1226 g->Sv += v; | |
| 1227 g->Sw += w; | |
| 1228 g->Suv += u*v; | |
| 1229 g->Suw += u*w; | |
| 1230 g->Svw += v*w; | |
| 1231 g->Suu += u*u; | |
| 1232 g->Suuu += u*u*u; | |
| 1233 g->Suuv += v*u*u; | |
| 1234 g->Suuw += w*u*u; | |
| 1235 g->Svv += v*v; | |
| 1236 g->Svvv += v*v*v; | |
| 1237 g->Svvu += u*v*v; | |
| 1238 g->Svvw += w*v*v; | |
| 1239 g->Sww += w*w; | |
| 1240 g->Swww += w*w*w; | |
| 1241 g->Swwu += u*w*w; | |
| 1242 g->Swwv += v*w*w; | |
| 1243 } | |
| 1244 | |
| 1245 ////////////////////////////////////////////////////////////////////////////// | |
| 1246 | |
| 1247 // =============================================================================== | |
| 1248 // compass_solve_calibration | |
| 1249 /// @brief all the fancy stuff first implemented in OSTC3 | |
| 1250 /// | |
| 1251 /// input is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1252 /// output is struct g | |
| 1253 /// | |
| 1254 /// @param g: is a struct with crazy stuff like Suuu, Svvv, Svvu, etc. | |
| 1255 // =============================================================================== | |
| 1256 void compass_solve_calibration(SCompassCalib *g) | |
| 1257 { | |
| 1258 float yu, yv, yw; | |
| 1259 float delta; | |
| 1260 float uc, vc, wc; | |
| 1261 | |
| 1262 | |
| 1263 //---- Normalize partial sums -------------------------------------------- | |
| 1264 // | |
| 1265 // u, v, w should be centered on the mean value um, vm, wm: | |
| 1266 // x = u + um, with um = Sx/N | |
| 1267 // | |
| 1268 // So: | |
| 1269 // (u + um)**2 = u**2 + 2u*um + um**2 | |
| 1270 // Su = 0, um = Sx/N | |
| 1271 // Sxx = Suu + 2 um Su + N*(Sx/N)**2 = Suu + Sx**2/N | |
| 1272 // Suu = Sxx - Sx**2/N | |
| 1273 yu = g->Su/g->compass_N; | |
| 1274 yv = g->Sv/g->compass_N; | |
| 1275 yw = g->Sw/g->compass_N; | |
| 1276 | |
| 1277 g->Suu -= g->Su*yu; | |
| 1278 g->Svv -= g->Sv*yv; | |
| 1279 g->Sww -= g->Sw*yw; | |
| 1280 | |
| 1281 // (u + um)(v + vm) = uv + u vm + v um + um vm | |
| 1282 // Sxy = Suv + N * um vm | |
| 1283 // Suv = Sxy - N * (Sx/N)(Sy/N); | |
| 1284 g->Suv -= g->Su*yv; | |
| 1285 g->Suw -= g->Su*yw; | |
| 1286 g->Svw -= g->Sv*yw; | |
| 1287 | |
| 1288 // (u + um)**3 = u**3 + 3 u**2 um + 3 u um**2 + um**3 | |
| 1289 // Sxxx = Suuu + 3 um Suu + 3 um**2 Su + N.um**3 | |
| 1290 // Su = 0, um = Sx/N: | |
| 1291 // Suuu = Sxxx - 3 Sx*Suu/N - N.(Sx/N)**3 | |
| 1292 // = Sxxx - 3 Sx*Suu/N - Sx**3/N**2 | |
| 1293 | |
| 1294 // (u + um)**2 (v + vm) = (u**2 + 2 u um + um**2)(v + vm) | |
| 1295 // Sxxy = Suuv + vm Suu + 2 um (Suv + vm Su) + um**2 (Sv + N.vm) | |
| 1296 // | |
| 1297 // Su = 0, Sv = 0, vm = Sy/N: | |
| 1298 // Sxxy = Suuv + vm Suu + 2 um Suv + N um**2 vm | |
| 1299 // | |
| 1300 // Suuv = Sxxy - (Sy/N) Suu - 2 (Sx/N) Suv - (Sx/N)**2 Sy | |
| 1301 // = Sxxy - Suu*Sy/N - 2 Suv*Sx/N - Sx*Sx*Sy/N/N | |
| 1302 // = Sxxy - (Suu + Sx*Sx/N)*Sy/N - 2 Suv*Sx/N | |
| 1303 g->Suuu -= (3*g->Suu + g->Su*yu)*yu; | |
| 1304 g->Suuv -= (g->Suu + g->Su*yu)*yv + 2*g->Suv*yu; | |
| 1305 g->Suuw -= (g->Suu + g->Su*yu)*yw + 2*g->Suw*yu; | |
| 1306 | |
| 1307 g->Svvu -= (g->Svv + g->Sv*yv)*yu + 2*g->Suv*yv; | |
| 1308 g->Svvv -= (3*g->Svv + g->Sv*yv)*yv; | |
| 1309 g->Svvw -= (g->Svv + g->Sv*yv)*yw + 2*g->Svw*yv; | |
| 1310 | |
| 1311 g->Swwu -= (g->Sww + g->Sw*yw)*yu + 2*g->Suw*yw; | |
| 1312 g->Swwv -= (g->Sww + g->Sw*yw)*yv + 2*g->Svw*yw; | |
| 1313 g->Swww -= (3*g->Sww + g->Sw*yw)*yw; | |
| 1314 | |
| 1315 //---- Solve the system -------------------------------------------------- | |
| 1316 // uc Suu + vc Suv + wc Suw = (Suuu + Svvu + Swwu) / 2 | |
| 1317 // uc Suv + vc Svv + wc Svw = (Suuv + Svvv + Swwv) / 2 | |
| 1318 // uc Suw + vc Svw + wc Sww = (Suuw + Svvw + Swww) / 2 | |
| 1319 // Note this is symetric, with a positiv diagonal, hence | |
| 1320 // it always have a uniq solution. | |
| 1321 yu = 0.5f * (g->Suuu + g->Svvu + g->Swwu); | |
| 1322 yv = 0.5f * (g->Suuv + g->Svvv + g->Swwv); | |
| 1323 yw = 0.5f * (g->Suuw + g->Svvw + g->Swww); | |
| 1324 delta = g->Suu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1325 - g->Suv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1326 + g->Suw * (g->Suv * g->Svw - g->Svv * g->Suw); | |
| 1327 | |
| 1328 uc = (yu * (g->Svv * g->Sww - g->Svw * g->Svw) | |
| 1329 - yv * (g->Suv * g->Sww - g->Svw * g->Suw) | |
| 1330 + yw * (g->Suv * g->Svw - g->Svv * g->Suw) )/delta; | |
| 1331 vc = (g->Suu * ( yv * g->Sww - yw * g->Svw) | |
| 1332 - g->Suv * ( yu * g->Sww - yw * g->Suw) | |
| 1333 + g->Suw * ( yu * g->Svw - yv * g->Suw) )/delta; | |
| 1334 wc = (g->Suu * (g->Svv * yw - g->Svw * yv ) | |
| 1335 - g->Suv * (g->Suv * yw - g->Svw * yu ) | |
| 1336 + g->Suw * (g->Suv * yv - g->Svv * yu ) )/delta; | |
| 1337 | |
| 1338 // Back to uncentered coordinates: | |
| 1339 // xc = um + uc | |
| 1340 uc = g->Su/g->compass_N + compass_CX_f/32768.0f + uc; | |
| 1341 vc = g->Sv/g->compass_N + compass_CY_f/32768.0f + vc; | |
| 1342 wc = g->Sw/g->compass_N + compass_CZ_f/32768.0f + wc; | |
| 1343 | |
| 1344 // Then save the new calibrated center: | |
| 1345 compass_CX_f = (short)(32768 * uc); | |
| 1346 compass_CY_f = (short)(32768 * vc); | |
| 1347 compass_CZ_f = (short)(32768 * wc); | |
| 1348 } | |
| 1349 | |
| 1350 | |
| 1351 // =============================================================================== | |
| 1352 // compass_calib | |
| 1353 /// @brief the main loop for calibration | |
| 1354 /// output is compass_CX_f, compass_CY_f, compass_CZ_f and g | |
| 1355 /// 160704 removed -4096 limit for LSM303D | |
| 1356 /// | |
| 1357 /// @return always 0 | |
| 1358 // =============================================================================== | |
| 1359 int compass_calib_common(void) | |
| 1360 { | |
|
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1361 SCompassCalib g; |
| 38 | 1362 |
| 1363 // Starts with no calibration at all: | |
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1364 compass_reset_calibration(&g); |
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1365 uint32_t tickstart = 0; |
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1366 tickstart = HAL_GetTick(); |
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1367 /* run calibration for one minute */ |
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1368 while(time_elapsed_ms(tickstart,HAL_GetTick()) < 60000) |
| 38 | 1369 { |
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1370 while((SPI_Evaluate_RX_Data() == 0) && (time_elapsed_ms(tickstart,HAL_GetTick()) < 60000)) |
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1371 { |
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1372 HAL_Delay(1); |
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1373 } |
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1374 compass_read(); |
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1375 acceleration_read(); |
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1376 compass_calc_roll_pitch_only(); |
| 38 | 1377 |
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1378 if((hardwareCompass == compass_generation1 ) //HMC5883L) |
| 38 | 1379 &&((compass_DX_f == -4096) || |
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1380 (compass_DY_f == -4096) || |
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1381 (compass_DZ_f == -4096) )) |
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1382 { |
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1383 if(compass_gain == 0) |
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1384 return -1; |
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1385 compass_gain--; |
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1386 compass_init(1, compass_gain); |
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1387 compass_reset_calibration(&g); |
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1388 continue; |
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1389 } |
| 38 | 1390 |
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1391 copyCompassDataDuringCalibration(compass_DX_f,compass_DY_f,compass_DZ_f); |
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1392 compass_add_calibration(&g); |
| 104 | 1393 } |
| 38 | 1394 |
| 1395 compass_solve_calibration(&g); | |
| 1396 | |
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1397 tfull32 dataBlock[4]; |
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1398 dataBlock[0].Word16.low16 = compass_CX_f; |
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diff
changeset
|
1399 dataBlock[0].Word16.hi16 = compass_CY_f; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1400 dataBlock[1].Word16.low16 = compass_CZ_f; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1401 dataBlock[1].Word16.hi16 = 0xFFFF; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1402 dataBlock[2].Full32 = 0x7FFFFFFF; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1403 dataBlock[3].Full32 = 0x7FFFFFFF; |
|
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1404 BFA_writeDataBlock((uint32_t *)dataBlock); |
| 38 | 1405 |
|
410
f9458e979154
Bugfix display compass calibration frozen:
ideenmodellierer
parents:
358
diff
changeset
|
1406 return 0; |
| 38 | 1407 } |
| 1408 |