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changeset 180:9ecc2e60418d Cleanup_Compass_Wireless

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Removed not used compass code Code was prepared for usage of LSM303DLHCTR but at the end the OSTC4 was never equipped with this chip
author ideenmodellierer
date Wed, 13 Mar 2019 21:49:25 +0100
parents a492a7a457b7
children 331882a89421
files Small_CPU/Inc/i2c.h Small_CPU/Src/compass.c
diffstat 2 files changed, 2 insertions(+), 288 deletions(-) [+]
line wrap: on
line diff
--- a/Small_CPU/Inc/i2c.h	Wed Mar 13 20:53:05 2019 +0100
+++ b/Small_CPU/Inc/i2c.h	Wed Mar 13 21:49:25 2019 +0100
@@ -10,7 +10,6 @@
 #define DEVICE_COMPASS_HMC5883L			0x3C	// Hardware gen 1
 
 #define DEVICE_COMPASS_303D				0x3C 	// Hardware gen 2 (Single chip solution LSM303D)
-#define DEVICE_ACCELARATOR_303DLHC 		0x32 	// Hardware gen 2 (Single chip solution LSM303DLHC)
 #define	DEVICE_COMPASS_303AGR			0x3C	// Hardware gen 3 (Single chip solution LSM303AGR)
 
 /* Battery Gas Gauge */
--- a/Small_CPU/Src/compass.c	Wed Mar 13 20:53:05 2019 +0100
+++ b/Small_CPU/Src/compass.c	Wed Mar 13 21:49:25 2019 +0100
@@ -39,7 +39,6 @@
 
 #include "stm32f4xx_hal.h"
 
-#define MODE_LSM303DLHC
 #define	TEST_IF_HMC5883L
 //#define COMPASS_DEACTIVATE
 
@@ -112,7 +111,6 @@
 
 #define HMC5883L (1)	///< id used with hardwareCompass 
 #define LSM303D  (2)	///< id used with hardwareCompass
-#define LSM303DLHC  (3)	///< id used with hardwareCompass
 #define COMPASS_NOT_RECOGNIZED  (4)	///< id used with hardwareCompass
 
 
@@ -279,34 +277,7 @@
 			hardwareCompass = HMC5883L;
 	}
 
-	
-// k�nnte Probleme mit altem Chip machen
-// beim 303D f�hrt dieser Code dazu, dass WHOIAM_VALUE nicht geschickt wird!!!
-	
-#ifdef MODE_LSM303DLHC
-	HAL_StatusTypeDef resultOfOperation = HAL_TIMEOUT;
-
-	if(hardwareCompass == 0)
-	{
-		uint8_t data = DLHC_CTRL_REG1_A;
-		resultOfOperation = I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, &data, 1);
-		if(resultOfOperation == HAL_OK)
-		{
-			I2C_Master_Receive(  DEVICE_ACCELARATOR_303DLHC, &data, 1);
-			testCompassTypeDebug = data;
-			if((data & 0x0f) == 0x07)
-			{
-				hardwareCompass = LSM303DLHC;
-			}
-		}
-		else
-		{
-			testCompassTypeDebug = 0xEE;
-		}
-	}
-
-#endif
-
+/* No compass identified => Retry */
 	if(hardwareCompass == 0)
 	{
 		uint8_t data = WHO_AM_I;
@@ -318,7 +289,7 @@
 			hardwareCompass = HMC5883L;
 	}
 
-// was in else before !	
+/* Assume that a HMC5883L is equipped by default if detection still failed */
 	if(hardwareCompass == 0)
 		hardwareCompass = HMC5883L;	
 	
@@ -341,12 +312,6 @@
 	}
 #endif
 	
-	
-	if(hardwareCompass == LSM303DLHC)
-	{
-		compass_init_LSM303DLHC(fast, gain);
-	}
-	else
 	if(hardwareCompass == LSM303D)
 	{
 		compass_init_LSM303D(fast, gain);
@@ -374,11 +339,6 @@
 //  ===============================================================================
 int compass_calib(void)
 {
-	if(hardwareCompass == LSM303DLHC)
-	{
-		return compass_calib_common(); // 170821 zur Zeit kein lowpass filtering gefunden, nur high pass auf dem Register ohne Erkl�rung
-	}
-	else
 	if(hardwareCompass == LSM303D)
 	{
 		LSM303D_accel_set_onchip_lowpass_filter_bandwidth(773);
@@ -406,11 +366,6 @@
 //  ===============================================================================
 void compass_sleep(void)
 {
-	if(hardwareCompass == LSM303DLHC)
-	{
-		compass_sleep_LSM303DLHC();
-	}
-	else
 	if(hardwareCompass == LSM303D)
 	{
 		compass_sleep_LSM303D();
@@ -430,11 +385,6 @@
 //  ===============================================================================
 void compass_read(void)
 {
-	if(hardwareCompass == LSM303DLHC)
-	{
-		compass_read_LSM303DLHC();
-	}
-	else
 	if(hardwareCompass == LSM303D)
 	{
 		compass_read_LSM303D();
@@ -453,7 +403,6 @@
 //  ===============================================================================
 void accelerator_init(void)
 {
-//	if((hardwareCompass != LSM303D) && (hardwareCompass != LSM303DLHC))
 	if(hardwareCompass == HMC5883L)
 		accelerator_init_MMA8452Q();
 }
@@ -465,7 +414,6 @@
 //  ===============================================================================
 void accelerator_sleep(void)
 {
-//	if((hardwareCompass != LSM303D) && (hardwareCompass != LSM303DLHC))
 	if(hardwareCompass == HMC5883L)
 		accelerator_sleep_MMA8452Q();
 }
@@ -477,11 +425,6 @@
 //  ===============================================================================
 void  acceleration_read(void)
 {
-	if(hardwareCompass == LSM303DLHC)
-	{
-		acceleration_read_LSM303DLHC();
-	}
-	else
 	if(hardwareCompass == LSM303D)
 	{
 		acceleration_read_LSM303D();
@@ -549,36 +492,6 @@
 	LSM303D_write_checked_reg(reg, val);
 }
 
-
-
-//  ===============================================================================
-//	LSM303DLHC_accelerator_read_req
-/// @brief	
-//  ===============================================================================
-uint8_t LSM303DLHC_accelerator_read_req(uint8_t addr)
-{
-  uint8_t data;
-
-	I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, &addr, 1);
-	I2C_Master_Receive(  DEVICE_ACCELARATOR_303DLHC, &data, 1);
-	return data;
-}
-
-
-//  ===============================================================================
-//	LSM303DLHC_accelerator_write_req
-/// @brief	
-//  ===============================================================================
-void LSM303DLHC_accelerator_write_req(uint8_t addr, uint8_t value)
-{
-  uint8_t data[2];
-	
-	/* enable accel*/
-	data[0] = addr;
-	data[1] = value;
-	I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, data, 2);
-}
-
 /*
 //  ===============================================================================
 //	LSM303D_accel_set_range
@@ -1131,204 +1044,6 @@
 }
 
 
-//  ===============================================================================
-//	compass_init_LSM303DLHC
-/// @brief	The new ST 303DLHC 2017/2018
-///					This might be called several times with different gain values during calibration
-///					but gain change is not supported at the moment.
-///					parts from KOMPASS LSM303DLH-compass-app-note.pdf
-///
-/// @param 	gain:
-/// @param 	fast:
-//  ===============================================================================
-
-
-
-void compass_init_LSM303DLHC(uint8_t fast, uint8_t gain)
-{
-// acceleration
-	// todo : BDU an (wie 303D) und high res, beides in REG4
-		//LSM303D_write_checked_reg(DLHC_CTRL_REG2_A,0x00); // 0x00 default, hier k�nnte filter sein 0x8?80, cutoff freq. not beschrieben
-	
-	if(fast == 0)
-	{
-		LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x27); // 10 hz
-	}
-	else
-	{
-		LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x57); // 100 hz
-	}
-//	LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x88); // 0x88: BDU + HighRes, BDU ist doof!
-	LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x00); // 0x00 little-endian, ist's immer
-//	LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x08); // 0x08: HighRes
-	//LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x80); // 
-	
-	
-// compass
-		LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x10);	// 15 Hz
-
-	if(fast == 0)
-	{
-		LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x10);	// 15 Hz
-	}
-	else
-	{
-		LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x18);	// 75 Hz
-	}
-	LSM303D_write_checked_reg(DLHC_CRB_REG_M,0x20);	// 0x60: 2.5 Gauss ,0x40: +/-1.9 Gauss,0x20: +/-1.3 Gauss
-	LSM303D_write_checked_reg(DLHC_MR_REG_M,0x00); //continuous conversation
-	
-
-	
-	return;
-	
-	
-//		LSM303D_write_checked_reg(,);
-//		LSM303D_write_checked_reg(DLHC_CTRL_REG1_A, 0x27); // 0x27 = acc. normal mode with ODR 50Hz - passt nicht mit datenblatt!!
-//		LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x40); // 0x40 = full scale range �2 gauss in continuous data update mode and change the little-endian to a big-endian structure.
-
-	if(fast == 0)
-	{
-		LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x27); // 0x27 = acc. normal mode, all axes, with ODR 10HZ laut LSM303DLHC, page 25/42
-		//
-		//LSM303D_write_checked_reg(DLHC_CTRL_REG2_A,0x00); // 0x00 default, hier k�nnte filter sein 0x8?80, cutoff freq. not beschrieben
-		//LSM303D_write_checked_reg(DLHC_CTRL_REG3_A,0x00); // 0x00 default
-		//
-		LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG4_A, 0x00); // 0x00 = ich glaube little-endian ist gut
-//		LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x40); // 0x00 = ich glaube little-endian ist gut
-		//
-		//LSM303D_write_checked_reg(DLHC_CTRL_REG5_A,0x00); // 0x00 default
-		//LSM303D_write_checked_reg(DLHC_CTRL_REG6_A,0x00); // 0x00 default
-		// magnetic sensor
-		LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x10);	// 15 Hz
-	}
-	else
-	{
-		LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x57); // 0x57 = acc. normal mode, all axes, with ODR 100HZ, LSM303DLHC, page 25/42
-		//
-		//LSM303D_write_checked_reg(DLHC_CTRL_REG2_A,0x00); // 0x00 default, hier k�nnte filter sein 0x8?80, cutoff freq. not beschrieben
-		//LSM303D_write_checked_reg(DLHC_CTRL_REG3_A,0x00); // 0x00 default
-		//
-		LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG4_A, 0x00); // 0x00 = ich glaube little-endian ist gut
-//		LSM303D_write_checked_reg(DLHC_CTRL_REG4_A, 0x40); // 0x00 = ich glaube little-endian ist gut
-		//
-		//LSM303D_write_checked_reg(DLHC_CTRL_REG5_A,0x00); // 0x00 default
-		//LSM303D_write_checked_reg(DLHC_CTRL_REG6_A,0x00); // 0x00 default
-		// magnetic sensor
-		LSM303D_write_checked_reg(DLHC_CRA_REG_M,0x18); // 75 Hz
-	}
-	LSM303D_write_checked_reg(DLHC_CRB_REG_M,0x02);	// +/-1.9 Gauss
-	LSM303D_write_checked_reg(DLHC_MR_REG_M,0x00); //continuous conversation
-	
-	
-/*	
-// matthias version 160620
-	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); // anti alias 50 Hz (minimum)
-		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
-	}
-	else
-	{
-		LSM303D_write_checked_reg(ADDR_CTRL_REG0, 0x00);
-		LSM303D_write_checked_reg(ADDR_CTRL_REG1, 0x6F); // 100 Hz
-		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, 0x74); // 100 Hz
-	}
-	LSM303D_write_checked_reg(ADDR_CTRL_REG6, 0x00);
-	LSM303D_write_checked_reg(ADDR_CTRL_REG7, 0x00);
-*/
-	return;
-}
-
-//  ===============================================================================
-//	compass_sleep_LSM303DLHC
-/// @brief	The new 2017/2018 compass chip.
-//  ===============================================================================
-void compass_sleep_LSM303DLHC(void)
-{
-	LSM303DLHC_accelerator_write_req(DLHC_CTRL_REG1_A, 0x07);	// CTRL_REG1_A: linear acceleration Power-down mode
-	LSM303D_write_checked_reg(DLHC_MR_REG_M, 0x02); 		// MR_REG_M: magnetic sensor Power-down mode
-}
-
-
-//  ===============================================================================
-//	compass_read_LSM303DLHC
-/// @brief	The new 2017/2018 compass chip.
-//  ===============================================================================
-void compass_read_LSM303DLHC(void)
-{
-  uint8_t data;
-	
-  memset(magDataBuffer,0,6);
-
-	compass_DX_f = 0;
-	compass_DY_f = 0;
-	compass_DZ_f = 0;
-	
-	for(int i=0;i<6;i++)
-	{
-		data = DLHC_OUT_X_L_M + i;
-		I2C_Master_Transmit( DEVICE_COMPASS_303D, &data, 1);
-		I2C_Master_Receive(  DEVICE_COMPASS_303D, &magDataBuffer[i], 1);
-	}
-
-	// 303DLHC new order
-	compass_DX_f = (((int16_t)((magDataBuffer[0] << 8) | (magDataBuffer[1]))));
-	compass_DZ_f = (((int16_t)((magDataBuffer[2] << 8) | (magDataBuffer[3]))));
-	compass_DY_f = (((int16_t)((magDataBuffer[4] << 8) | (magDataBuffer[5]))));
-
-	// no rotation, otherwise see compass_read_LSM303D()
-	return;
-}
-
-
-//  ===============================================================================
-//	acceleration_read_LSM303DLHC
-/// @brief	The new 2017/2018 compass chip.
-//  ===============================================================================
-void acceleration_read_LSM303DLHC(void)
-{
-  uint8_t data;
-	float xraw_f, yraw_f, zraw_f;
-	float accel_report_x, accel_report_y, accel_report_z;
-	
-  memset(accDataBuffer,0,6);
-
-	accel_DX_f = 0;
-	accel_DY_f = 0;
-	accel_DZ_f = 0;
-	
-	for(int i=0;i<6;i++)
-	{
-		data = DLHC_OUT_X_L_A + i;
-		I2C_Master_Transmit( DEVICE_ACCELARATOR_303DLHC, &data, 1);
-		I2C_Master_Receive(  DEVICE_ACCELARATOR_303DLHC, &accDataBuffer[i], 1);
-	}
-	
-	xraw_f = ((float)( (int16_t)((accDataBuffer[1] << 8) | (accDataBuffer[0]))));
-	yraw_f = ((float)( (int16_t)((accDataBuffer[3] << 8) | (accDataBuffer[2]))));
-	zraw_f = ((float)( (int16_t)((accDataBuffer[5] << 8) | (accDataBuffer[4]))));	
-
-	rotate_accel_3f(&xraw_f, &yraw_f, &zraw_f); 
-	
-	// mh f�r 303D
-	accel_report_x = xraw_f;
-	accel_report_y = yraw_f;
-	accel_report_z = zraw_f;
-
-	accel_DX_f = ((int16_t)(accel_report_x));
-	accel_DY_f = ((int16_t)(accel_report_y));
-	accel_DZ_f = ((int16_t)(accel_report_z));
-}
-
-
 // --------------------------------------------------------------------------------
 // ----------EARLIER COMPONENTS ---------------------------------------------------
 // --------------------------------------------------------------------------------