c2-utopia/lib/RTIMULib/RTIMUGD20HM303D.cpp

402 lines
9.0 KiB
C++

////////////////////////////////////////////////////////////////////////////
//
// This file is part of RTIMULib-Arduino
//
// Copyright (c) 2014-2015, richards-tech
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of
// this software and associated documentation files (the "Software"), to deal in
// the Software without restriction, including without limitation the rights to use,
// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
// Software, and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#include "RTIMUGD20HM303D.h"
#include "RTIMUSettings.h"
#if defined(GD20HM303D_6a) || defined(GD20HM303D_6b)
RTIMUGD20HM303D::RTIMUGD20HM303D(RTIMUSettings *settings) : RTIMU(settings)
{
m_sampleRate = 100;
}
RTIMUGD20HM303D::~RTIMUGD20HM303D()
{
}
int RTIMUGD20HM303D::IMUInit()
{
unsigned char result;
// configure IMU
m_gyroSlaveAddr = m_settings->m_I2CSlaveAddress;
if (m_gyroSlaveAddr == L3GD20H_ADDRESS0)
m_accelCompassSlaveAddr = LSM303D_ADDRESS0;
else
m_accelCompassSlaveAddr = LSM303D_ADDRESS1;
setCalibrationData();
// Set up the gyro
if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_LOW_ODR, 0x04))
return -1;
if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL5, 0x80))
return -2;
if (!I2CRead(m_gyroSlaveAddr, L3GD20H_WHO_AM_I, 1, &result))
return -3;
if (result != L3GD20H_ID) {
return -4;
}
if (!setGyroSampleRate())
return -5;
if (!setGyroCTRL2())
return -6;
if (!setGyroCTRL4())
return -7;
// Set up the accel/compass
if (!I2CRead(m_accelCompassSlaveAddr, LSM303D_WHO_AM_I, 1, &result))
return -8;
if (result != LSM303D_ID) {
return -9;
}
if (!setAccelCTRL1())
return -10;
if (!setAccelCTRL2())
return -11;
if (!setCompassCTRL5())
return -12;
if (!setCompassCTRL6())
return -13;
if (!setCompassCTRL7())
return -14;
if (!setGyroCTRL5())
return -16;
gyroBiasInit();
return true;
}
bool RTIMUGD20HM303D::setGyroSampleRate()
{
unsigned char ctrl1;
unsigned char lowOdr = 0;
switch (m_settings->m_GD20HM303DGyroSampleRate) {
case L3GD20H_SAMPLERATE_12_5:
ctrl1 = 0x0f;
lowOdr = 1;
m_sampleRate = 13;
break;
case L3GD20H_SAMPLERATE_25:
ctrl1 = 0x4f;
lowOdr = 1;
m_sampleRate = 25;
break;
case L3GD20H_SAMPLERATE_50:
ctrl1 = 0x8f;
lowOdr = 1;
m_sampleRate = 50;
break;
case L3GD20H_SAMPLERATE_100:
ctrl1 = 0x0f;
m_sampleRate = 100;
break;
case L3GD20H_SAMPLERATE_200:
ctrl1 = 0x4f;
m_sampleRate = 200;
break;
case L3GD20H_SAMPLERATE_400:
ctrl1 = 0x8f;
m_sampleRate = 400;
break;
case L3GD20H_SAMPLERATE_800:
ctrl1 = 0xcf;
m_sampleRate = 800;
break;
default:
return false;
}
m_sampleInterval = (uint64_t)1000000 / m_sampleRate;
switch (m_settings->m_GD20HM303DGyroBW) {
case L3GD20H_BANDWIDTH_0:
ctrl1 |= 0x00;
break;
case L3GD20H_BANDWIDTH_1:
ctrl1 |= 0x10;
break;
case L3GD20H_BANDWIDTH_2:
ctrl1 |= 0x20;
break;
case L3GD20H_BANDWIDTH_3:
ctrl1 |= 0x30;
break;
}
if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_LOW_ODR, lowOdr))
return false;
return (I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL1, ctrl1));
}
bool RTIMUGD20HM303D::setGyroCTRL2()
{
if ((m_settings->m_GD20HM303DGyroHpf < L3GD20H_HPF_0) || (m_settings->m_GD20HM303DGyroHpf > L3GD20H_HPF_9)) {
return false;
}
return I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL2, m_settings->m_GD20HM303DGyroHpf);
}
bool RTIMUGD20HM303D::setGyroCTRL4()
{
unsigned char ctrl4;
switch (m_settings->m_GD20HM303DGyroFsr) {
case L3GD20H_FSR_245:
ctrl4 = 0x00;
m_gyroScale = (RTFLOAT)0.00875 * RTMATH_DEGREE_TO_RAD;
break;
case L3GD20H_FSR_500:
ctrl4 = 0x10;
m_gyroScale = (RTFLOAT)0.0175 * RTMATH_DEGREE_TO_RAD;
break;
case L3GD20H_FSR_2000:
ctrl4 = 0x20;
m_gyroScale = (RTFLOAT)0.07 * RTMATH_DEGREE_TO_RAD;
break;
default:
return false;
}
return I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL4, ctrl4);
}
bool RTIMUGD20HM303D::setGyroCTRL5()
{
unsigned char ctrl5;
// Turn on hpf
ctrl5 = 0x10;
#ifdef GD20HM303D_CACHE_MODE
// turn on fifo
ctrl5 |= 0x40;
#endif
return I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL5, ctrl5);
}
bool RTIMUGD20HM303D::setAccelCTRL1()
{
unsigned char ctrl1;
if ((m_settings->m_GD20HM303DAccelSampleRate < 0) || (m_settings->m_GD20HM303DAccelSampleRate > 10)) {
return false;
}
ctrl1 = (m_settings->m_GD20HM303DAccelSampleRate << 4) | 0x07;
return I2CWrite(m_accelCompassSlaveAddr, LSM303D_CTRL1, ctrl1);
}
bool RTIMUGD20HM303D::setAccelCTRL2()
{
unsigned char ctrl2;
if ((m_settings->m_GD20HM303DAccelLpf < 0) || (m_settings->m_GD20HM303DAccelLpf > 3)) {
return false;
}
switch (m_settings->m_GD20HM303DAccelFsr) {
case LSM303D_ACCEL_FSR_2:
m_accelScale = (RTFLOAT)0.000061;
break;
case LSM303D_ACCEL_FSR_4:
m_accelScale = (RTFLOAT)0.000122;
break;
case LSM303D_ACCEL_FSR_6:
m_accelScale = (RTFLOAT)0.000183;
break;
case LSM303D_ACCEL_FSR_8:
m_accelScale = (RTFLOAT)0.000244;
break;
case LSM303D_ACCEL_FSR_16:
m_accelScale = (RTFLOAT)0.000732;
break;
default:
return false;
}
ctrl2 = (m_settings->m_GD20HM303DAccelLpf << 6) | (m_settings->m_GD20HM303DAccelFsr << 3);
return I2CWrite(m_accelCompassSlaveAddr, LSM303D_CTRL2, ctrl2);
}
bool RTIMUGD20HM303D::setCompassCTRL5()
{
unsigned char ctrl5;
if ((m_settings->m_GD20HM303DCompassSampleRate < 0) || (m_settings->m_GD20HM303DCompassSampleRate > 5)) {
return false;
}
ctrl5 = (m_settings->m_GD20HM303DCompassSampleRate << 2);
#ifdef GD20HM303D_CACHE_MODE
// enable fifo
ctrl5 |= 0x40;
#endif
return I2CWrite(m_accelCompassSlaveAddr, LSM303D_CTRL5, ctrl5);
}
bool RTIMUGD20HM303D::setCompassCTRL6()
{
unsigned char ctrl6;
// convert FSR to uT
switch (m_settings->m_GD20HM303DCompassFsr) {
case LSM303D_COMPASS_FSR_2:
ctrl6 = 0;
m_compassScale = (RTFLOAT)0.008;
break;
case LSM303D_COMPASS_FSR_4:
ctrl6 = 0x20;
m_compassScale = (RTFLOAT)0.016;
break;
case LSM303D_COMPASS_FSR_8:
ctrl6 = 0x40;
m_compassScale = (RTFLOAT)0.032;
break;
case LSM303D_COMPASS_FSR_12:
ctrl6 = 0x60;
m_compassScale = (RTFLOAT)0.0479;
break;
default:
return false;
}
return I2CWrite(m_accelCompassSlaveAddr, LSM303D_CTRL6, ctrl6);
}
bool RTIMUGD20HM303D::setCompassCTRL7()
{
return I2CWrite(m_accelCompassSlaveAddr, LSM303D_CTRL7, 0x60);
}
int RTIMUGD20HM303D::IMUGetPollInterval()
{
return (400 / m_sampleRate);
}
bool RTIMUGD20HM303D::IMURead()
{
unsigned char status;
unsigned char gyroData[6];
unsigned char accelData[6];
unsigned char compassData[6];
if (!I2CRead(m_gyroSlaveAddr, L3GD20H_STATUS, 1, &status))
return false;
if ((status & 0x8) == 0)
return false;
if (!I2CRead(m_gyroSlaveAddr, 0x80 | L3GD20H_OUT_X_L, 6, gyroData))
return false;
m_timestamp = millis();
if (!I2CRead(m_accelCompassSlaveAddr, 0x80 | LSM303D_OUT_X_L_A, 6, accelData))
return false;
if (!I2CRead(m_accelCompassSlaveAddr, 0x80 | LSM303D_OUT_X_L_M, 6, compassData))
return false;
RTMath::convertToVector(gyroData, m_gyro, m_gyroScale, false);
RTMath::convertToVector(accelData, m_accel, m_accelScale, false);
RTMath::convertToVector(compassData, m_compass, m_compassScale, false);
// sort out gyro axes
m_gyro.setY(-m_gyro.y());
m_gyro.setZ(-m_gyro.z());
// sort out accel data;
m_accel.setX(-m_accel.x());
// sort out compass axes
m_compass.setY(-m_compass.y());
m_compass.setZ(-m_compass.z());
// now do standard processing
handleGyroBias();
calibrateAverageCompass();
return true;
}
#endif