# HG changeset patch
# User Ideenmodellierer
# Date 1607796997 -3600
# Node ID 08af5d707c5ab6dec51221882ff19449498f2815
# Parent  4644891d2f515381d115f097b19a6c51ee7fb2ab
Bugfix bad resolution of compass LSM303AGR:
The values of the variant LSM303AGR were more instabled compared to other variants. Root cause was that low power and high resolution are set in different registers and both options were enabled what is an invalid configuration => most likely the request for high resolution was ignored. To fix this the low power mode is only set in sleep and the high resolution is used in normal operation => compass performance same as in other variants.

diff -r 4644891d2f51 -r 08af5d707c5a Small_CPU/Src/compass.c
--- a/Small_CPU/Src/compass.c	Thu Dec 03 13:17:32 2020 +0100
+++ b/Small_CPU/Src/compass.c	Sat Dec 12 19:16:37 2020 +0100
@@ -237,12 +237,17 @@
 		I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
 		I2C_Master_Receive(  DEVICE_COMPASS_303D, &data, 1);
 		if(data == WHOIAM_VALUE_LSM303D)
+		{
 			hardwareCompass = compass_generation2;			//LSM303D;
-		data = WHO_AM_I;
-		I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
-		I2C_Master_Receive(  DEVICE_ACCELARATOR_303AGR, &data, 1);
-		if(data == WHOIAM_VALUE_LSM303AGR)
-			hardwareCompass = compass_generation3;			//LSM303AGR;
+		}
+		else
+		{
+			data = WHO_AM_I;
+			I2C_Master_Transmit( DEVICE_ACCELARATOR_303AGR, &data, 1);
+			I2C_Master_Receive(  DEVICE_ACCELARATOR_303AGR, &data, 1);
+			if(data == WHOIAM_VALUE_LSM303AGR)
+				hardwareCompass = compass_generation3;			//LSM303AGR;
+		}
 	}
 
 /* Assume that a HMC5883L is equipped by default if detection still failed */
@@ -598,11 +603,11 @@
 	if(fast == 0)
 	{
 		LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
-		LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2
-		LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0);
-		LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00);
-		LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00);
-		LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4
+		LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x3F); // mod 12,5 Hz 3 instead of 6,25 Hz 2 BDU and all axis
+		LSM303D_write_checked_reg(ADDR_CTRL_REG2, 0xC0); // 50Hz anti alias filter
+		LSM303D_write_checked_reg(ADDR_CTRL_REG3, 0x00); // no interrupts
+		LSM303D_write_checked_reg(ADDR_CTRL_REG4, 0x00); // no interrupts
+		LSM303D_write_checked_reg(ADDR_CTRL_REG5, 0x68); // mod 12,5 Hz 8 instead of 6,25 Hz 4 High resolution
 	}
 	else
 	{
@@ -717,17 +722,17 @@
 	if(fast == 0)
 	{
 		// init compass
-		LSM303AGR_write_checked_reg(0x60, 0x80); // 10Hz
-		LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M
-		LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M
-		LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M
+		LSM303AGR_write_checked_reg(0x60, 0x80); // CFG_REG_A_M     10Hz continuous measurement
+		LSM303AGR_write_checked_reg(0x61, 0x03); // CFG_REG_B_M		Enable offset cancellation and low pass filter
+		LSM303AGR_write_checked_reg(0x62, 0x10); // CFG_REG_C_M		Avoid incoherence (BDU)
+		LSM303AGR_write_checked_reg(0x63, 0x00); // INT_CTRL_REG_M	No interrupts
 
 		// init accel (Same chip, but different address...)
 		LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
-		LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON)
-		LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A
-		LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A
-		LSM303AGR_acc_write_checked_reg(0x23, 0x08); // CTRL_REG4_A, High Resolution Mode enabled
+		LSM303AGR_acc_write_checked_reg(0x20, 0x27); // CTRL_REG1_A (10Hz, x,y,z = ON, low power mode)
+		LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A	(High pass filter normal mode)
+		LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A	(no interrupts)
+		LSM303AGR_acc_write_checked_reg(0x23, 0x88); // CTRL_REG4_A, High Resolution Mode enabled, enable BDU
 	}
 	else
 	{
@@ -739,10 +744,10 @@
 
 		// init accel (Same chip, but different address...)
 		LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // TEMP_CFG_REG_A (Temp sensor off)
-		LSM303AGR_acc_write_checked_reg(0x20, 0x4F); // CTRL_REG1_A (50Hz, x,y,z = ON)
+		LSM303AGR_acc_write_checked_reg(0x20, 0x47); // CTRL_REG1_A (50Hz, x,y,z = ON)
 		LSM303AGR_acc_write_checked_reg(0x21, 0x00); // CTRL_REG2_A
 		LSM303AGR_acc_write_checked_reg(0x22, 0x00); // CTRL_REG3_A
-		LSM303AGR_acc_write_checked_reg(0x23, 0x0); // CTRL_REG4_A, High Resolution Mode enabled
+		LSM303AGR_acc_write_checked_reg(0x23, 0x88); // CTRL_REG4_A, High Resolution Mode enabled
 	}
 
 	return;
@@ -755,14 +760,14 @@
 //  ===============================================================================
 void compass_sleep_LSM303AGR(void)
 {
-	LSM303AGR_write_checked_reg(0x60, 0x03); //
-	LSM303AGR_write_checked_reg(0x61, 0x04); //
-	LSM303AGR_write_checked_reg(0x62, 0x51); //
-	LSM303AGR_write_checked_reg(0x63, 0x00); //
+	LSM303AGR_write_checked_reg(0x60, 0x13); // low power and idle mode
+	LSM303AGR_write_checked_reg(0x61, 0x04); // pulse only at power on
+	LSM303AGR_write_checked_reg(0x62, 0x51); // int mag pin used (?), BDU and DRDY is output
+	LSM303AGR_write_checked_reg(0x63, 0x00); // no interrupts
 
 
-	LSM303AGR_acc_write_checked_reg(0x1F, 0x00); //
-	LSM303AGR_acc_write_checked_reg(0x20, 0x00); //
+	LSM303AGR_acc_write_checked_reg(0x1F, 0x00); // temperature off
+	LSM303AGR_acc_write_checked_reg(0x20, 0x00); //	power down
 }