409 lines
9.7 KiB
C++
409 lines
9.7 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Arduino
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#include "RTIMUGD20HM303DLHC.h"
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#include "RTIMUSettings.h"
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#if defined(GD20HM303DLHC_6a) || defined(GD20HM303DLHC_6b)
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RTIMUGD20HM303DLHC::RTIMUGD20HM303DLHC(RTIMUSettings *settings) : RTIMU(settings)
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{
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m_sampleRate = 100;
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}
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RTIMUGD20HM303DLHC::~RTIMUGD20HM303DLHC()
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{
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}
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int RTIMUGD20HM303DLHC::IMUInit()
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{
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unsigned char result;
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// configure IMU
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m_gyroSlaveAddr = m_settings->m_I2CSlaveAddress;
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m_accelSlaveAddr = LSM303DLHC_ACCEL_ADDRESS;
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m_compassSlaveAddr = LSM303DLHC_COMPASS_ADDRESS;
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setCalibrationData();
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// Set up the gyro
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if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_LOW_ODR, 0x04))
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return -1;
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if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL5, 0x80))
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return -2;
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if (!I2CRead(m_gyroSlaveAddr, L3GD20H_WHO_AM_I, 1, &result))
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return -3;
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if (result != L3GD20H_ID) {
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return -4;
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}
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if (!setGyroSampleRate())
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return -5;
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if (!setGyroCTRL2())
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return -6;
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if (!setGyroCTRL4())
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return -7;
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// Set up the accel
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if (!setAccelCTRL1())
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return -8;
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if (!setAccelCTRL4())
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return -9;
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// Set up the compass
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if (!setCompassCRA())
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return -10;
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if (!setCompassCRB())
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return -11;
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if (!setCompassCRM())
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return -12;
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if (!setGyroCTRL5())
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return -13;
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gyroBiasInit();
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return true;
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}
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bool RTIMUGD20HM303DLHC::setGyroSampleRate()
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{
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unsigned char ctrl1;
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unsigned char lowOdr = 0;
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switch (m_settings->m_GD20HM303DLHCGyroSampleRate) {
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case L3GD20H_SAMPLERATE_12_5:
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ctrl1 = 0x0f;
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lowOdr = 1;
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m_sampleRate = 13;
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break;
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case L3GD20H_SAMPLERATE_25:
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ctrl1 = 0x4f;
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lowOdr = 1;
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m_sampleRate = 25;
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break;
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case L3GD20H_SAMPLERATE_50:
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ctrl1 = 0x8f;
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lowOdr = 1;
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m_sampleRate = 50;
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break;
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case L3GD20H_SAMPLERATE_100:
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ctrl1 = 0x0f;
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m_sampleRate = 100;
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break;
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case L3GD20H_SAMPLERATE_200:
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ctrl1 = 0x4f;
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m_sampleRate = 200;
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break;
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case L3GD20H_SAMPLERATE_400:
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ctrl1 = 0x8f;
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m_sampleRate = 400;
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break;
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case L3GD20H_SAMPLERATE_800:
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ctrl1 = 0xcf;
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m_sampleRate = 800;
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break;
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default:
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return false;
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}
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m_sampleInterval = (uint64_t)1000000 / m_sampleRate;
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switch (m_settings->m_GD20HM303DLHCGyroBW) {
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case L3GD20H_BANDWIDTH_0:
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ctrl1 |= 0x00;
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break;
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case L3GD20H_BANDWIDTH_1:
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ctrl1 |= 0x10;
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break;
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case L3GD20H_BANDWIDTH_2:
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ctrl1 |= 0x20;
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break;
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case L3GD20H_BANDWIDTH_3:
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ctrl1 |= 0x30;
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break;
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}
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if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_LOW_ODR, lowOdr))
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return false;
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return (I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL1, ctrl1));
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}
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bool RTIMUGD20HM303DLHC::setGyroCTRL2()
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{
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if ((m_settings->m_GD20HM303DLHCGyroHpf < L3GD20H_HPF_0) || (m_settings->m_GD20HM303DLHCGyroHpf > L3GD20H_HPF_9)) {
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return false;
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}
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return I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL2, m_settings->m_GD20HM303DLHCGyroHpf);
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}
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bool RTIMUGD20HM303DLHC::setGyroCTRL4()
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{
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unsigned char ctrl4;
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switch (m_settings->m_GD20HM303DLHCGyroFsr) {
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case L3GD20H_FSR_245:
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ctrl4 = 0x00;
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m_gyroScale = (RTFLOAT)0.00875 * RTMATH_DEGREE_TO_RAD;
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break;
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case L3GD20H_FSR_500:
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ctrl4 = 0x10;
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m_gyroScale = (RTFLOAT)0.0175 * RTMATH_DEGREE_TO_RAD;
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break;
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case L3GD20H_FSR_2000:
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ctrl4 = 0x20;
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m_gyroScale = (RTFLOAT)0.07 * RTMATH_DEGREE_TO_RAD;
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break;
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default:
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return false;
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}
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return I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL4, ctrl4);
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}
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bool RTIMUGD20HM303DLHC::setGyroCTRL5()
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{
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unsigned char ctrl5;
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// Turn on hpf
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ctrl5 = 0x10;
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#ifdef GD20HM303DLHC_CACHE_MODE
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// turn on fifo
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ctrl5 |= 0x40;
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#endif
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return I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL5, ctrl5);
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}
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bool RTIMUGD20HM303DLHC::setAccelCTRL1()
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{
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unsigned char ctrl1;
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if ((m_settings->m_GD20HM303DLHCAccelSampleRate < 1) || (m_settings->m_GD20HM303DLHCAccelSampleRate > 7)) {
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return false;
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}
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ctrl1 = (m_settings->m_GD20HM303DLHCAccelSampleRate << 4) | 0x07;
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return I2CWrite(m_accelSlaveAddr, LSM303DLHC_CTRL1_A, ctrl1);
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}
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bool RTIMUGD20HM303DLHC::setAccelCTRL4()
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{
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unsigned char ctrl4;
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switch (m_settings->m_GD20HM303DLHCAccelFsr) {
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case LSM303DLHC_ACCEL_FSR_2:
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m_accelScale = (RTFLOAT)0.001 / (RTFLOAT)64;
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break;
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case LSM303DLHC_ACCEL_FSR_4:
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m_accelScale = (RTFLOAT)0.002 / (RTFLOAT)64;
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break;
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case LSM303DLHC_ACCEL_FSR_8:
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m_accelScale = (RTFLOAT)0.004 / (RTFLOAT)64;
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break;
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case LSM303DLHC_ACCEL_FSR_16:
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m_accelScale = (RTFLOAT)0.012 / (RTFLOAT)64;
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break;
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default:
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return false;
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}
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ctrl4 = (m_settings->m_GD20HM303DLHCAccelFsr << 4);
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return I2CWrite(m_accelSlaveAddr, LSM303DLHC_CTRL2_A, ctrl4);
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}
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bool RTIMUGD20HM303DLHC::setCompassCRA()
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{
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unsigned char cra;
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if ((m_settings->m_GD20HM303DLHCCompassSampleRate < 0) || (m_settings->m_GD20HM303DLHCCompassSampleRate > 7)) {
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return false;
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}
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cra = (m_settings->m_GD20HM303DLHCCompassSampleRate << 2);
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return I2CWrite(m_compassSlaveAddr, LSM303DLHC_CRA_M, cra);
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}
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bool RTIMUGD20HM303DLHC::setCompassCRB()
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{
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unsigned char crb;
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// convert FSR to uT
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switch (m_settings->m_GD20HM303DLHCCompassFsr) {
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case LSM303DLHC_COMPASS_FSR_1_3:
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crb = 0x20;
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m_compassScaleXY = (RTFLOAT)100 / (RTFLOAT)1100;
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m_compassScaleZ = (RTFLOAT)100 / (RTFLOAT)980;
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break;
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case LSM303DLHC_COMPASS_FSR_1_9:
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crb = 0x40;
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m_compassScaleXY = (RTFLOAT)100 / (RTFLOAT)855;
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m_compassScaleZ = (RTFLOAT)100 / (RTFLOAT)760;
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break;
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case LSM303DLHC_COMPASS_FSR_2_5:
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crb = 0x60;
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m_compassScaleXY = (RTFLOAT)100 / (RTFLOAT)670;
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m_compassScaleZ = (RTFLOAT)100 / (RTFLOAT)600;
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break;
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case LSM303DLHC_COMPASS_FSR_4:
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crb = 0x80;
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m_compassScaleXY = (RTFLOAT)100 / (RTFLOAT)450;
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m_compassScaleZ = (RTFLOAT)100 / (RTFLOAT)400;
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break;
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case LSM303DLHC_COMPASS_FSR_4_7:
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crb = 0xa0;
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m_compassScaleXY = (RTFLOAT)100 / (RTFLOAT)400;
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m_compassScaleZ = (RTFLOAT)100 / (RTFLOAT)355;
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break;
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case LSM303DLHC_COMPASS_FSR_5_6:
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crb = 0xc0;
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m_compassScaleXY = (RTFLOAT)100 / (RTFLOAT)330;
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m_compassScaleZ = (RTFLOAT)100 / (RTFLOAT)295;
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break;
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case LSM303DLHC_COMPASS_FSR_8_1:
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crb = 0xe0;
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m_compassScaleXY = (RTFLOAT)100 / (RTFLOAT)230;
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m_compassScaleZ = (RTFLOAT)100 / (RTFLOAT)205;
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break;
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default:
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return false;
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}
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return I2CWrite(m_compassSlaveAddr, LSM303DLHC_CRB_M, crb);
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}
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bool RTIMUGD20HM303DLHC::setCompassCRM()
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{
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return I2CWrite(m_compassSlaveAddr, LSM303DLHC_CRM_M, 0x00);
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}
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int RTIMUGD20HM303DLHC::IMUGetPollInterval()
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{
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return (400 / m_sampleRate);
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}
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bool RTIMUGD20HM303DLHC::IMURead()
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{
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unsigned char status;
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unsigned char gyroData[6];
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unsigned char accelData[6];
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unsigned char compassData[6];
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if (!I2CRead(m_gyroSlaveAddr, L3GD20H_STATUS, 1, &status))
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return false;
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if ((status & 0x8) == 0)
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return false;
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if (!I2CRead(m_gyroSlaveAddr, 0x80 | L3GD20H_OUT_X_L, 6, gyroData))
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return false;
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m_timestamp = millis();
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if (!I2CRead(m_accelSlaveAddr, 0x80 | LSM303DLHC_OUT_X_L_A, 6, accelData))
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return false;
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if (!I2CRead(m_compassSlaveAddr, 0x80 | LSM303DLHC_OUT_X_H_M, 6, compassData))
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return false;
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RTMath::convertToVector(gyroData, m_gyro, m_gyroScale, false);
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RTMath::convertToVector(accelData, m_accel, m_accelScale, false);
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m_compass.setX((RTFLOAT)((int16_t)(((uint16_t)compassData[0] << 8) | (uint16_t)compassData[1])) * m_compassScaleXY);
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m_compass.setY((RTFLOAT)((int16_t)(((uint16_t)compassData[2] << 8) | (uint16_t)compassData[3])) * m_compassScaleXY);
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m_compass.setZ((RTFLOAT)((int16_t)(((uint16_t)compassData[4] << 8) | (uint16_t)compassData[5])) * m_compassScaleZ);
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// sort out gyro axes
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m_gyro.setY(-m_gyro.y());
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m_gyro.setZ(-m_gyro.z());
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// sort out accel data;
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m_accel.setX(-m_accel.x());
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// sort out compass axes
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RTFLOAT temp;
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temp = m_compass.z();
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m_compass.setZ(-m_compass.y());
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m_compass.setY(-temp);
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// now do standard processing
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handleGyroBias();
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calibrateAverageCompass();
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return true;
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}
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#endif |