402 lines
9.0 KiB
C++
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 |