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Merge branch 'amorale/OP_1403_gen_i2c_spi_hmc5x83_driver' into next
This commit is contained in:
Alessio Morale
commit
99f09d588f
@ -1,1348 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup Attitude Copter Control Attitude Estimation
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* @brief Acquires sensor data and computes attitude estimate
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* Specifically updates the the @ref AttitudeState "AttitudeState" and @ref AttitudeRaw "AttitudeRaw" settings objects
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* @{
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*
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* @file attitude.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Module to handle all comms to the AHRS on a periodic basis.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************/
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/*
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||||
* This program is free software; you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
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||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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||||
*/
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/**
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* Input objects: None, takes sensor data via pios
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* Output objects: @ref AttitudeRaw @ref AttitudeState
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*
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* This module computes an attitude estimate from the sensor data
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*
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* The module executes in its own thread.
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*
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* UAVObjects are automatically generated by the UAVObjectGenerator from
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* the object definition XML file.
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*
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||||
* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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||||
* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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#include <openpilot.h>
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#include <pios_struct_helper.h>
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#include "attitude.h"
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#include "accelsensor.h"
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#include "accelstate.h"
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#include "airspeedsensor.h"
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#include "airspeedstate.h"
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#include "attitudestate.h"
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#include "attitudesettings.h"
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#include "barosensor.h"
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#include "flightstatus.h"
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#include "gpspositionsensor.h"
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#include "gpsvelocitysensor.h"
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#include "gyrostate.h"
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#include "gyrosensor.h"
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#include "homelocation.h"
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#include "magsensor.h"
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#include "magstate.h"
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#include "positionstate.h"
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#include "ekfconfiguration.h"
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#include "ekfstatevariance.h"
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#include "revocalibration.h"
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#include "revosettings.h"
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#include "velocitystate.h"
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#include "taskinfo.h"
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#include "CoordinateConversions.h"
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// Private constants
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#define STACK_SIZE_BYTES 2048
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
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#define FAILSAFE_TIMEOUT_MS 10
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#define CALIBRATION_DELAY 4000
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#define CALIBRATION_DURATION 6000
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// low pass filter configuration to calculate offset
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// of barometric altitude sensor
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// reasoning: updates at: 10 Hz, tau= 300 s settle time
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// exp(-(1/f) / tau ) ~=~ 0.9997
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#define BARO_OFFSET_LOWPASS_ALPHA 0.9997f
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|
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// simple IAS to TAS aproximation - 2% increase per 1000ft
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// since we do not have flowing air temperature information
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#define IAS2TAS(alt) (1.0f + (0.02f * (alt) / 304.8f))
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// Private types
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// Private variables
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static xTaskHandle attitudeTaskHandle;
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static xQueueHandle gyroQueue;
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static xQueueHandle accelQueue;
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static xQueueHandle magQueue;
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static xQueueHandle airspeedQueue;
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static xQueueHandle baroQueue;
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static xQueueHandle gpsQueue;
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static xQueueHandle gpsVelQueue;
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static AttitudeSettingsData attitudeSettings;
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static HomeLocationData homeLocation;
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static RevoCalibrationData revoCalibration;
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static EKFConfigurationData ekfConfiguration;
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static RevoSettingsData revoSettings;
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static FlightStatusData flightStatus;
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const uint32_t SENSOR_QUEUE_SIZE = 10;
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static bool volatile variance_error = true;
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static bool volatile initialization_required = true;
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static uint32_t volatile running_algorithm = 0xffffffff; // we start with no algorithm running
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static float rollPitchBiasRate = 0;
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||||
// Accel filtering
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static float accel_alpha = 0;
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static bool accel_filter_enabled = false;
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static float accels_filtered[3];
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static float grot_filtered[3];
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// Private functions
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static void AttitudeTask(void *parameters);
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static int32_t updateAttitudeComplementary(bool first_run);
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static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode);
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static void settingsUpdatedCb(UAVObjEvent *objEv);
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static int32_t getNED(GPSPositionSensorData *gpsPosition, float *NED);
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static void magOffsetEstimation(MagSensorData *mag);
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// check for invalid values
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static inline bool invalid(float data)
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{
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||||
if (isnan(data) || isinf(data)) {
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return true;
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||||
}
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return false;
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}
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// check for invalid variance values
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static inline bool invalid_var(float data)
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{
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if (invalid(data)) {
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return true;
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}
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if (data < 1e-15f) { // var should not be close to zero. And not negative either.
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return true;
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}
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return false;
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}
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/**
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* API for sensor fusion algorithms:
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* Configure(xQueueHandle gyro, xQueueHandle accel, xQueueHandle mag, xQueueHandle baro)
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* Stores all the queues the algorithm will pull data from
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* FinalizeSensors() -- before saving the sensors modifies them based on internal state (gyro bias)
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||||
* Update() -- queries queues and updates the attitude estiamte
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*/
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||||
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||||
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/**
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* Initialise the module. Called before the start function
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* \returns 0 on success or -1 if initialisation failed
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||||
*/
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int32_t AttitudeInitialize(void)
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{
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GyroSensorInitialize();
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GyroStateInitialize();
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AccelSensorInitialize();
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AccelStateInitialize();
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MagSensorInitialize();
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MagStateInitialize();
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AirspeedSensorInitialize();
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AirspeedStateInitialize();
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BaroSensorInitialize();
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GPSPositionSensorInitialize();
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GPSVelocitySensorInitialize();
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AttitudeSettingsInitialize();
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AttitudeStateInitialize();
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||||
PositionStateInitialize();
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||||
VelocityStateInitialize();
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||||
RevoSettingsInitialize();
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||||
RevoCalibrationInitialize();
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||||
EKFConfigurationInitialize();
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||||
EKFStateVarianceInitialize();
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||||
FlightStatusInitialize();
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||||
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||||
// Initialize this here while we aren't setting the homelocation in GPS
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HomeLocationInitialize();
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||||
// Initialize quaternion
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AttitudeStateData attitude;
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||||
AttitudeStateGet(&attitude);
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attitude.q1 = 1.0f;
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attitude.q2 = 0.0f;
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attitude.q3 = 0.0f;
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||||
attitude.q4 = 0.0f;
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||||
AttitudeStateSet(&attitude);
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||||
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
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RevoSettingsConnectCallback(&settingsUpdatedCb);
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||||
RevoCalibrationConnectCallback(&settingsUpdatedCb);
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||||
HomeLocationConnectCallback(&settingsUpdatedCb);
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||||
EKFConfigurationConnectCallback(&settingsUpdatedCb);
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||||
FlightStatusConnectCallback(&settingsUpdatedCb);
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||||
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||||
return 0;
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||||
}
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||||
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||||
/**
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* Start the task. Expects all objects to be initialized by this point.
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* \returns 0 on success or -1 if initialisation failed
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||||
*/
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||||
int32_t AttitudeStart(void)
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{
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// Create the queues for the sensors
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gyroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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accelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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magQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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airspeedQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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baroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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gpsQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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gpsVelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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// Start main task
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xTaskCreate(AttitudeTask, "Attitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
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#ifdef PIOS_INCLUDE_WDG
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PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
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#endif
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GyroSensorConnectQueue(gyroQueue);
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AccelSensorConnectQueue(accelQueue);
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MagSensorConnectQueue(magQueue);
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AirspeedSensorConnectQueue(airspeedQueue);
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BaroSensorConnectQueue(baroQueue);
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GPSPositionSensorConnectQueue(gpsQueue);
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GPSVelocitySensorConnectQueue(gpsVelQueue);
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return 0;
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}
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MODULE_INITCALL(AttitudeInitialize, AttitudeStart);
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/**
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* Module thread, should not return.
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*/
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static void AttitudeTask(__attribute__((unused)) void *parameters)
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{
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AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
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// Force settings update to make sure rotation loaded
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settingsUpdatedCb(NULL);
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// Wait for all the sensors be to read
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vTaskDelay(100);
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// Main task loop - TODO: make it run as delayed callback
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while (1) {
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int32_t ret_val = -1;
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bool first_run = false;
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if (initialization_required) {
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initialization_required = false;
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first_run = true;
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||||
}
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// This function blocks on data queue
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switch (running_algorithm) {
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case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARY:
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ret_val = updateAttitudeComplementary(first_run);
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break;
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case REVOSETTINGS_FUSIONALGORITHM_INS13GPSOUTDOOR:
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ret_val = updateAttitudeINSGPS(first_run, true);
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break;
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case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR:
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ret_val = updateAttitudeINSGPS(first_run, false);
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break;
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default:
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AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
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break;
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}
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if (ret_val != 0) {
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initialization_required = true;
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||||
}
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||||
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||||
#ifdef PIOS_INCLUDE_WDG
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PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
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||||
#endif
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||||
}
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||||
}
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||||
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||||
static inline void apply_accel_filter(const float *raw, float *filtered)
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||||
{
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||||
if (accel_filter_enabled) {
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filtered[0] = filtered[0] * accel_alpha + raw[0] * (1 - accel_alpha);
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||||
filtered[1] = filtered[1] * accel_alpha + raw[1] * (1 - accel_alpha);
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filtered[2] = filtered[2] * accel_alpha + raw[2] * (1 - accel_alpha);
|
||||
} else {
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||||
filtered[0] = raw[0];
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||||
filtered[1] = raw[1];
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||||
filtered[2] = raw[2];
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||||
}
|
||||
}
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||||
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||||
float accel_mag;
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||||
float qmag;
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||||
float attitudeDt;
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||||
float mag_err[3];
|
||||
|
||||
static int32_t updateAttitudeComplementary(bool first_run)
|
||||
{
|
||||
UAVObjEvent ev;
|
||||
GyroSensorData gyroSensorData;
|
||||
GyroStateData gyroStateData;
|
||||
AccelSensorData accelSensorData;
|
||||
static int32_t timeval;
|
||||
float dT;
|
||||
static uint8_t init = 0;
|
||||
static float gyro_bias[3] = { 0, 0, 0 };
|
||||
static bool magCalibrated = true;
|
||||
static uint32_t initStartupTime = 0;
|
||||
|
||||
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
|
||||
if (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE ||
|
||||
xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE) {
|
||||
// When one of these is updated so should the other
|
||||
// Do not set attitude timeout warnings in simulation mode
|
||||
if (!AttitudeStateReadOnly()) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_WARNING);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
AccelSensorGet(&accelSensorData);
|
||||
|
||||
// TODO: put in separate filter
|
||||
AccelStateData accelState;
|
||||
accelState.x = accelSensorData.x;
|
||||
accelState.y = accelSensorData.y;
|
||||
accelState.z = accelSensorData.z;
|
||||
AccelStateSet(&accelState);
|
||||
|
||||
// During initialization and
|
||||
if (first_run) {
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
// To initialize we need a valid mag reading
|
||||
if (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE) {
|
||||
return -1;
|
||||
}
|
||||
MagSensorData magData;
|
||||
MagSensorGet(&magData);
|
||||
#else
|
||||
MagSensorData magData;
|
||||
magData.x = 100.0f;
|
||||
magData.y = 0.0f;
|
||||
magData.z = 0.0f;
|
||||
#endif
|
||||
float magBias[3];
|
||||
RevoCalibrationmag_biasArrayGet(magBias);
|
||||
// don't trust Mag for initial orientation if it has not been calibrated
|
||||
if (magBias[0] < 1e-6f && magBias[1] < 1e-6f && magBias[2] < 1e-6f) {
|
||||
magCalibrated = false;
|
||||
magData.x = 100.0f;
|
||||
magData.y = 0.0f;
|
||||
magData.z = 0.0f;
|
||||
}
|
||||
AttitudeStateData attitudeState;
|
||||
AttitudeStateGet(&attitudeState);
|
||||
init = 0;
|
||||
|
||||
// Set initial attitude. Use accels to determine roll and pitch, rotate magnetic measurement accordingly,
|
||||
// so pseudo "north" vector can be estimated even if the board is not level
|
||||
attitudeState.Roll = atan2f(-accelSensorData.y, -accelSensorData.z);
|
||||
float zn = cosf(attitudeState.Roll) * magData.z + sinf(attitudeState.Roll) * magData.y;
|
||||
float yn = cosf(attitudeState.Roll) * magData.y - sinf(attitudeState.Roll) * magData.z;
|
||||
|
||||
// rotate accels z vector according to roll
|
||||
float azn = cosf(attitudeState.Roll) * accelSensorData.z + sinf(attitudeState.Roll) * accelSensorData.y;
|
||||
attitudeState.Pitch = atan2f(accelSensorData.x, -azn);
|
||||
|
||||
float xn = cosf(attitudeState.Pitch) * magData.x + sinf(attitudeState.Pitch) * zn;
|
||||
|
||||
attitudeState.Yaw = atan2f(-yn, xn);
|
||||
// TODO: This is still a hack
|
||||
// Put this in a proper generic function in CoordinateConversion.c
|
||||
// should take 4 vectors: g (0,0,-9.81), accels, Be (or 1,0,0 if no home loc) and magnetometers (or 1,0,0 if no mags)
|
||||
// should calculate the rotation in 3d space using proper cross product math
|
||||
// SUBTODO: formulate the math required
|
||||
|
||||
attitudeState.Roll = RAD2DEG(attitudeState.Roll);
|
||||
attitudeState.Pitch = RAD2DEG(attitudeState.Pitch);
|
||||
attitudeState.Yaw = RAD2DEG(attitudeState.Yaw);
|
||||
|
||||
RPY2Quaternion(&attitudeState.Roll, &attitudeState.q1);
|
||||
AttitudeStateSet(&attitudeState);
|
||||
|
||||
timeval = PIOS_DELAY_GetRaw();
|
||||
|
||||
// wait calibration_delay only at powerup
|
||||
if (xTaskGetTickCount() < 3000) {
|
||||
initStartupTime = 0;
|
||||
} else {
|
||||
initStartupTime = xTaskGetTickCount() - CALIBRATION_DELAY;
|
||||
}
|
||||
|
||||
// Zero gyro bias
|
||||
// This is really needed after updating calibration settings.
|
||||
gyro_bias[0] = 0.0f;
|
||||
gyro_bias[1] = 0.0f;
|
||||
gyro_bias[2] = 0.0f;
|
||||
return 0;
|
||||
}
|
||||
|
||||
if ((xTaskGetTickCount() - initStartupTime < CALIBRATION_DURATION + CALIBRATION_DELAY) &&
|
||||
(xTaskGetTickCount() - initStartupTime > CALIBRATION_DELAY)) {
|
||||
// For first CALIBRATION_DURATION seconds after CALIBRATION_DELAY from startup
|
||||
// Zero gyro bias assuming it is steady, smoothing the gyro input value applying rollPitchBiasRate.
|
||||
attitudeSettings.AccelKp = 1.0f;
|
||||
attitudeSettings.AccelKi = 0.0f;
|
||||
attitudeSettings.YawBiasRate = 0.23f;
|
||||
accel_filter_enabled = false;
|
||||
rollPitchBiasRate = 0.01f;
|
||||
attitudeSettings.MagKp = magCalibrated ? 1.0f : 0.0f;
|
||||
init = 0;
|
||||
} else if ((attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
|
||||
attitudeSettings.AccelKp = 1.0f;
|
||||
attitudeSettings.AccelKi = 0.0f;
|
||||
attitudeSettings.YawBiasRate = 0.23f;
|
||||
accel_filter_enabled = false;
|
||||
rollPitchBiasRate = 0.01f;
|
||||
attitudeSettings.MagKp = magCalibrated ? 1.0f : 0.0f;
|
||||
init = 0;
|
||||
} else if (init == 0) {
|
||||
// Reload settings (all the rates)
|
||||
AttitudeSettingsGet(&attitudeSettings);
|
||||
rollPitchBiasRate = 0.0f;
|
||||
if (accel_alpha > 0.0f) {
|
||||
accel_filter_enabled = true;
|
||||
}
|
||||
init = 1;
|
||||
}
|
||||
|
||||
GyroSensorGet(&gyroSensorData);
|
||||
gyroStateData.x = gyroSensorData.x;
|
||||
gyroStateData.y = gyroSensorData.y;
|
||||
gyroStateData.z = gyroSensorData.z;
|
||||
|
||||
// Compute the dT using the cpu clock
|
||||
dT = PIOS_DELAY_DiffuS(timeval) / 1000000.0f;
|
||||
timeval = PIOS_DELAY_GetRaw();
|
||||
|
||||
float q[4];
|
||||
|
||||
AttitudeStateData attitudeState;
|
||||
AttitudeStateGet(&attitudeState);
|
||||
|
||||
float grot[3];
|
||||
float accel_err[3];
|
||||
|
||||
// Get the current attitude estimate
|
||||
quat_copy(&attitudeState.q1, q);
|
||||
|
||||
// Apply smoothing to accel values, to reduce vibration noise before main calculations.
|
||||
apply_accel_filter((const float *)&accelSensorData.x, accels_filtered);
|
||||
|
||||
// Rotate gravity to body frame and cross with accels
|
||||
grot[0] = -(2.0f * (q[1] * q[3] - q[0] * q[2]));
|
||||
grot[1] = -(2.0f * (q[2] * q[3] + q[0] * q[1]));
|
||||
grot[2] = -(q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
|
||||
|
||||
apply_accel_filter(grot, grot_filtered);
|
||||
|
||||
CrossProduct((const float *)accels_filtered, (const float *)grot_filtered, accel_err);
|
||||
|
||||
// Account for accel magnitude
|
||||
accel_mag = accels_filtered[0] * accels_filtered[0] + accels_filtered[1] * accels_filtered[1] + accels_filtered[2] * accels_filtered[2];
|
||||
accel_mag = sqrtf(accel_mag);
|
||||
|
||||
float grot_mag;
|
||||
if (accel_filter_enabled) {
|
||||
grot_mag = sqrtf(grot_filtered[0] * grot_filtered[0] + grot_filtered[1] * grot_filtered[1] + grot_filtered[2] * grot_filtered[2]);
|
||||
} else {
|
||||
grot_mag = 1.0f;
|
||||
}
|
||||
|
||||
// TODO! check grot_mag & accel vector magnitude values for correctness.
|
||||
|
||||
accel_err[0] /= (accel_mag * grot_mag);
|
||||
accel_err[1] /= (accel_mag * grot_mag);
|
||||
accel_err[2] /= (accel_mag * grot_mag);
|
||||
|
||||
|
||||
if (xQueueReceive(magQueue, &ev, 0) != pdTRUE) {
|
||||
// Rotate gravity to body frame and cross with accels
|
||||
float brot[3];
|
||||
float Rbe[3][3];
|
||||
MagSensorData mag;
|
||||
|
||||
Quaternion2R(q, Rbe);
|
||||
MagSensorGet(&mag);
|
||||
|
||||
// TODO: separate filter!
|
||||
if (revoCalibration.MagBiasNullingRate > 0) {
|
||||
magOffsetEstimation(&mag);
|
||||
}
|
||||
MagStateData mags;
|
||||
mags.x = mag.x;
|
||||
mags.y = mag.y;
|
||||
mags.z = mag.z;
|
||||
MagStateSet(&mags);
|
||||
|
||||
// If the mag is producing bad data don't use it (normally bad calibration)
|
||||
if (!isnan(mag.x) && !isinf(mag.x) && !isnan(mag.y) && !isinf(mag.y) && !isnan(mag.z) && !isinf(mag.z)) {
|
||||
rot_mult(Rbe, homeLocation.Be, brot);
|
||||
|
||||
float mag_len = sqrtf(mag.x * mag.x + mag.y * mag.y + mag.z * mag.z);
|
||||
mag.x /= mag_len;
|
||||
mag.y /= mag_len;
|
||||
mag.z /= mag_len;
|
||||
|
||||
float bmag = sqrtf(brot[0] * brot[0] + brot[1] * brot[1] + brot[2] * brot[2]);
|
||||
brot[0] /= bmag;
|
||||
brot[1] /= bmag;
|
||||
brot[2] /= bmag;
|
||||
|
||||
// Only compute if neither vector is null
|
||||
if (bmag < 1.0f || mag_len < 1.0f) {
|
||||
mag_err[0] = mag_err[1] = mag_err[2] = 0.0f;
|
||||
} else {
|
||||
CrossProduct((const float *)&mag.x, (const float *)brot, mag_err);
|
||||
}
|
||||
}
|
||||
} else {
|
||||
mag_err[0] = mag_err[1] = mag_err[2] = 0.0f;
|
||||
}
|
||||
|
||||
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
|
||||
// Correct rates based on integral coefficient
|
||||
gyroStateData.x -= gyro_bias[0];
|
||||
gyroStateData.y -= gyro_bias[1];
|
||||
gyroStateData.z -= gyro_bias[2];
|
||||
|
||||
gyro_bias[0] -= accel_err[0] * attitudeSettings.AccelKi - (gyroStateData.x) * rollPitchBiasRate;
|
||||
gyro_bias[1] -= accel_err[1] * attitudeSettings.AccelKi - (gyroStateData.y) * rollPitchBiasRate;
|
||||
gyro_bias[2] -= -mag_err[2] * attitudeSettings.MagKi - (gyroStateData.z) * rollPitchBiasRate;
|
||||
|
||||
// save gyroscope state
|
||||
GyroStateSet(&gyroStateData);
|
||||
|
||||
// Correct rates based on proportional coefficient
|
||||
gyroStateData.x += accel_err[0] * attitudeSettings.AccelKp / dT;
|
||||
gyroStateData.y += accel_err[1] * attitudeSettings.AccelKp / dT;
|
||||
gyroStateData.z += accel_err[2] * attitudeSettings.AccelKp / dT + mag_err[2] * attitudeSettings.MagKp / dT;
|
||||
|
||||
// Work out time derivative from INSAlgo writeup
|
||||
// Also accounts for the fact that gyros are in deg/s
|
||||
float qdot[4];
|
||||
qdot[0] = DEG2RAD(-q[1] * gyroStateData.x - q[2] * gyroStateData.y - q[3] * gyroStateData.z) * dT / 2;
|
||||
qdot[1] = DEG2RAD(q[0] * gyroStateData.x - q[3] * gyroStateData.y + q[2] * gyroStateData.z) * dT / 2;
|
||||
qdot[2] = DEG2RAD(q[3] * gyroStateData.x + q[0] * gyroStateData.y - q[1] * gyroStateData.z) * dT / 2;
|
||||
qdot[3] = DEG2RAD(-q[2] * gyroStateData.x + q[1] * gyroStateData.y + q[0] * gyroStateData.z) * dT / 2;
|
||||
|
||||
// Take a time step
|
||||
q[0] = q[0] + qdot[0];
|
||||
q[1] = q[1] + qdot[1];
|
||||
q[2] = q[2] + qdot[2];
|
||||
q[3] = q[3] + qdot[3];
|
||||
|
||||
if (q[0] < 0.0f) {
|
||||
q[0] = -q[0];
|
||||
q[1] = -q[1];
|
||||
q[2] = -q[2];
|
||||
q[3] = -q[3];
|
||||
}
|
||||
|
||||
// Renomalize
|
||||
qmag = sqrtf(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
|
||||
q[0] = q[0] / qmag;
|
||||
q[1] = q[1] / qmag;
|
||||
q[2] = q[2] / qmag;
|
||||
q[3] = q[3] / qmag;
|
||||
|
||||
// If quaternion has become inappropriately short or is nan reinit.
|
||||
// THIS SHOULD NEVER ACTUALLY HAPPEN
|
||||
if ((fabsf(qmag) < 1.0e-3f) || isnan(qmag)) {
|
||||
q[0] = 1.0f;
|
||||
q[1] = 0.0f;
|
||||
q[2] = 0.0f;
|
||||
q[3] = 0.0f;
|
||||
}
|
||||
|
||||
quat_copy(q, &attitudeState.q1);
|
||||
|
||||
// Convert into eueler degrees (makes assumptions about RPY order)
|
||||
Quaternion2RPY(&attitudeState.q1, &attitudeState.Roll);
|
||||
|
||||
AttitudeStateSet(&attitudeState);
|
||||
|
||||
// Flush these queues for avoid errors
|
||||
xQueueReceive(baroQueue, &ev, 0);
|
||||
if (xQueueReceive(gpsQueue, &ev, 0) == pdTRUE && homeLocation.Set == HOMELOCATION_SET_TRUE) {
|
||||
float NED[3];
|
||||
// Transform the GPS position into NED coordinates
|
||||
GPSPositionSensorData gpsPosition;
|
||||
GPSPositionSensorGet(&gpsPosition);
|
||||
getNED(&gpsPosition, NED);
|
||||
|
||||
PositionStateData positionState;
|
||||
PositionStateGet(&positionState);
|
||||
positionState.North = NED[0];
|
||||
positionState.East = NED[1];
|
||||
positionState.Down = NED[2];
|
||||
PositionStateSet(&positionState);
|
||||
}
|
||||
|
||||
if (xQueueReceive(gpsVelQueue, &ev, 0) == pdTRUE) {
|
||||
// Transform the GPS position into NED coordinates
|
||||
GPSVelocitySensorData gpsVelocity;
|
||||
GPSVelocitySensorGet(&gpsVelocity);
|
||||
|
||||
VelocityStateData velocityState;
|
||||
VelocityStateGet(&velocityState);
|
||||
velocityState.North = gpsVelocity.North;
|
||||
velocityState.East = gpsVelocity.East;
|
||||
velocityState.Down = gpsVelocity.Down;
|
||||
VelocityStateSet(&velocityState);
|
||||
}
|
||||
|
||||
if (xQueueReceive(airspeedQueue, &ev, 0) == pdTRUE) {
|
||||
// Calculate true airspeed from indicated airspeed
|
||||
AirspeedSensorData airspeedSensor;
|
||||
AirspeedSensorGet(&airspeedSensor);
|
||||
|
||||
AirspeedStateData airspeed;
|
||||
AirspeedStateGet(&airspeed);
|
||||
|
||||
PositionStateData positionState;
|
||||
PositionStateGet(&positionState);
|
||||
|
||||
if (airspeedSensor.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE) {
|
||||
// we have airspeed available
|
||||
airspeed.CalibratedAirspeed = airspeedSensor.CalibratedAirspeed;
|
||||
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
|
||||
AirspeedStateSet(&airspeed);
|
||||
}
|
||||
}
|
||||
|
||||
if (!init && flightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
|
||||
} else if (variance_error) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
} else {
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
|
||||
}
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
#include "insgps.h"
|
||||
int32_t ins_failed = 0;
|
||||
extern struct NavStruct Nav;
|
||||
int32_t init_stage = 0;
|
||||
|
||||
/**
|
||||
* @brief Use the INSGPS fusion algorithm in either indoor or outdoor mode (use GPS)
|
||||
* @params[in] first_run This is the first run so trigger reinitialization
|
||||
* @params[in] outdoor_mode If true use the GPS for position, if false weakly pull to (0,0)
|
||||
* @return 0 for success, -1 for failure
|
||||
*/
|
||||
static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
|
||||
{
|
||||
UAVObjEvent ev;
|
||||
GyroSensorData gyroSensorData;
|
||||
AccelSensorData accelSensorData;
|
||||
MagStateData magData;
|
||||
AirspeedSensorData airspeedData;
|
||||
BaroSensorData baroData;
|
||||
GPSPositionSensorData gpsData;
|
||||
GPSVelocitySensorData gpsVelData;
|
||||
|
||||
static bool mag_updated = false;
|
||||
static bool baro_updated;
|
||||
static bool airspeed_updated;
|
||||
static bool gps_updated;
|
||||
static bool gps_vel_updated;
|
||||
|
||||
static bool value_error = false;
|
||||
|
||||
static float baroOffset = 0.0f;
|
||||
|
||||
static uint32_t ins_last_time = 0;
|
||||
static bool inited;
|
||||
|
||||
float NED[3] = { 0.0f, 0.0f, 0.0f };
|
||||
float vel[3] = { 0.0f, 0.0f, 0.0f };
|
||||
float zeros[3] = { 0.0f, 0.0f, 0.0f };
|
||||
|
||||
// Perform the update
|
||||
uint16_t sensors = 0;
|
||||
float dT;
|
||||
|
||||
// Wait until the gyro and accel object is updated, if a timeout then go to failsafe
|
||||
if ((xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) ||
|
||||
(xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE)) {
|
||||
// Do not set attitude timeout warnings in simulation mode
|
||||
if (!AttitudeStateReadOnly()) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_WARNING);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
if (inited) {
|
||||
mag_updated = 0;
|
||||
baro_updated = 0;
|
||||
airspeed_updated = 0;
|
||||
gps_updated = 0;
|
||||
gps_vel_updated = 0;
|
||||
}
|
||||
|
||||
if (first_run) {
|
||||
inited = false;
|
||||
init_stage = 0;
|
||||
|
||||
mag_updated = 0;
|
||||
baro_updated = 0;
|
||||
airspeed_updated = 0;
|
||||
gps_updated = 0;
|
||||
gps_vel_updated = 0;
|
||||
|
||||
ins_last_time = PIOS_DELAY_GetRaw();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
mag_updated |= (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE);
|
||||
baro_updated |= xQueueReceive(baroQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
|
||||
airspeed_updated |= xQueueReceive(airspeedQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
|
||||
|
||||
// Check if we are running simulation
|
||||
if (!GPSPositionSensorReadOnly()) {
|
||||
gps_updated |= (xQueueReceive(gpsQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
|
||||
} else {
|
||||
gps_updated |= pdTRUE && outdoor_mode;
|
||||
}
|
||||
|
||||
if (!GPSVelocitySensorReadOnly()) {
|
||||
gps_vel_updated |= (xQueueReceive(gpsVelQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
|
||||
} else {
|
||||
gps_vel_updated |= pdTRUE && outdoor_mode;
|
||||
}
|
||||
|
||||
// Get most recent data
|
||||
GyroSensorGet(&gyroSensorData);
|
||||
AccelSensorGet(&accelSensorData);
|
||||
// TODO: separate filter!
|
||||
if (mag_updated) {
|
||||
MagSensorData mags;
|
||||
MagSensorGet(&mags);
|
||||
if (revoCalibration.MagBiasNullingRate > 0) {
|
||||
magOffsetEstimation(&mags);
|
||||
}
|
||||
magData.x = mags.x;
|
||||
magData.y = mags.y;
|
||||
magData.z = mags.z;
|
||||
MagStateSet(&magData);
|
||||
} else {
|
||||
MagStateGet(&magData);
|
||||
}
|
||||
|
||||
BaroSensorGet(&baroData);
|
||||
AirspeedSensorGet(&airspeedData);
|
||||
GPSPositionSensorGet(&gpsData);
|
||||
GPSVelocitySensorGet(&gpsVelData);
|
||||
|
||||
// TODO: put in separate filter
|
||||
AccelStateData accelState;
|
||||
accelState.x = accelSensorData.x;
|
||||
accelState.y = accelSensorData.y;
|
||||
accelState.z = accelSensorData.z;
|
||||
AccelStateSet(&accelState);
|
||||
|
||||
|
||||
value_error = false;
|
||||
// safety checks
|
||||
if (invalid(gyroSensorData.x) ||
|
||||
invalid(gyroSensorData.y) ||
|
||||
invalid(gyroSensorData.z) ||
|
||||
invalid(accelSensorData.x) ||
|
||||
invalid(accelSensorData.y) ||
|
||||
invalid(accelSensorData.z)) {
|
||||
// cannot run process update, raise error!
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (invalid(magData.x) ||
|
||||
invalid(magData.y) ||
|
||||
invalid(magData.z)) {
|
||||
// magnetometers can be ignored for a while
|
||||
mag_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
// Don't require HomeLocation.Set to be true but at least require a mag configuration (allows easily
|
||||
// switching between indoor and outdoor mode with Set = false)
|
||||
if ((homeLocation.Be[0] * homeLocation.Be[0] + homeLocation.Be[1] * homeLocation.Be[1] + homeLocation.Be[2] * homeLocation.Be[2] < 1e-5f)) {
|
||||
mag_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid(baroData.Altitude)) {
|
||||
baro_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid(airspeedData.CalibratedAirspeed)) {
|
||||
airspeed_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid(gpsData.Altitude)) {
|
||||
gps_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid_var(ekfConfiguration.R.GPSPosNorth) ||
|
||||
invalid_var(ekfConfiguration.R.GPSPosEast) ||
|
||||
invalid_var(ekfConfiguration.R.GPSPosDown) ||
|
||||
invalid_var(ekfConfiguration.R.GPSVelNorth) ||
|
||||
invalid_var(ekfConfiguration.R.GPSVelEast) ||
|
||||
invalid_var(ekfConfiguration.R.GPSVelDown)) {
|
||||
gps_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
if (invalid(gpsVelData.North) ||
|
||||
invalid(gpsVelData.East) ||
|
||||
invalid(gpsVelData.Down)) {
|
||||
gps_vel_updated = false;
|
||||
value_error = true;
|
||||
}
|
||||
|
||||
// Discard airspeed if sensor not connected
|
||||
if (airspeedData.SensorConnected != AIRSPEEDSENSOR_SENSORCONNECTED_TRUE) {
|
||||
airspeed_updated = false;
|
||||
}
|
||||
|
||||
// Have a minimum requirement for gps usage
|
||||
if ((gpsData.Satellites < 7) ||
|
||||
(gpsData.PDOP > 4.0f) ||
|
||||
(gpsData.Latitude == 0 && gpsData.Longitude == 0) ||
|
||||
(homeLocation.Set != HOMELOCATION_SET_TRUE)) {
|
||||
gps_updated = false;
|
||||
gps_vel_updated = false;
|
||||
}
|
||||
|
||||
if (!inited) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
|
||||
} else if (value_error) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
} else if (variance_error) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
} else if (outdoor_mode && gpsData.Satellites < 7) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
|
||||
} else {
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
|
||||
}
|
||||
|
||||
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
|
||||
ins_last_time = PIOS_DELAY_GetRaw();
|
||||
|
||||
// This should only happen at start up or at mode switches
|
||||
if (dT > 0.01f) {
|
||||
dT = 0.01f;
|
||||
} else if (dT <= 0.001f) {
|
||||
dT = 0.001f;
|
||||
}
|
||||
|
||||
if (!inited && mag_updated && baro_updated && (gps_updated || !outdoor_mode) && !variance_error) {
|
||||
// Don't initialize until all sensors are read
|
||||
if (init_stage == 0) {
|
||||
// Reset the INS algorithm
|
||||
INSGPSInit();
|
||||
INSSetMagVar((float[3]) { ekfConfiguration.R.MagX,
|
||||
ekfConfiguration.R.MagY,
|
||||
ekfConfiguration.R.MagZ }
|
||||
);
|
||||
INSSetAccelVar((float[3]) { ekfConfiguration.Q.AccelX,
|
||||
ekfConfiguration.Q.AccelY,
|
||||
ekfConfiguration.Q.AccelZ }
|
||||
);
|
||||
INSSetGyroVar((float[3]) { ekfConfiguration.Q.GyroX,
|
||||
ekfConfiguration.Q.GyroY,
|
||||
ekfConfiguration.Q.GyroZ }
|
||||
);
|
||||
INSSetGyroBiasVar((float[3]) { ekfConfiguration.Q.GyroDriftX,
|
||||
ekfConfiguration.Q.GyroDriftY,
|
||||
ekfConfiguration.Q.GyroDriftZ }
|
||||
);
|
||||
INSSetBaroVar(ekfConfiguration.R.BaroZ);
|
||||
|
||||
// Initialize the gyro bias
|
||||
float gyro_bias[3] = { 0.0f, 0.0f, 0.0f };
|
||||
INSSetGyroBias(gyro_bias);
|
||||
|
||||
float pos[3] = { 0.0f, 0.0f, 0.0f };
|
||||
|
||||
if (outdoor_mode) {
|
||||
GPSPositionSensorData gpsPosition;
|
||||
GPSPositionSensorGet(&gpsPosition);
|
||||
|
||||
// Transform the GPS position into NED coordinates
|
||||
getNED(&gpsPosition, pos);
|
||||
|
||||
// Initialize barometric offset to current GPS NED coordinate
|
||||
baroOffset = -pos[2] - baroData.Altitude;
|
||||
} else {
|
||||
// Initialize barometric offset to homelocation altitude
|
||||
baroOffset = -baroData.Altitude;
|
||||
pos[2] = -(baroData.Altitude + baroOffset);
|
||||
}
|
||||
|
||||
// xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
|
||||
// MagSensorGet(&magData);
|
||||
|
||||
AttitudeStateData attitudeState;
|
||||
AttitudeStateGet(&attitudeState);
|
||||
|
||||
// Set initial attitude. Use accels to determine roll and pitch, rotate magnetic measurement accordingly,
|
||||
// so pseudo "north" vector can be estimated even if the board is not level
|
||||
attitudeState.Roll = atan2f(-accelSensorData.y, -accelSensorData.z);
|
||||
float zn = cosf(attitudeState.Roll) * magData.z + sinf(attitudeState.Roll) * magData.y;
|
||||
float yn = cosf(attitudeState.Roll) * magData.y - sinf(attitudeState.Roll) * magData.z;
|
||||
|
||||
// rotate accels z vector according to roll
|
||||
float azn = cosf(attitudeState.Roll) * accelSensorData.z + sinf(attitudeState.Roll) * accelSensorData.y;
|
||||
attitudeState.Pitch = atan2f(accelSensorData.x, -azn);
|
||||
|
||||
float xn = cosf(attitudeState.Pitch) * magData.x + sinf(attitudeState.Pitch) * zn;
|
||||
|
||||
attitudeState.Yaw = atan2f(-yn, xn);
|
||||
// TODO: This is still a hack
|
||||
// Put this in a proper generic function in CoordinateConversion.c
|
||||
// should take 4 vectors: g (0,0,-9.81), accels, Be (or 1,0,0 if no home loc) and magnetometers (or 1,0,0 if no mags)
|
||||
// should calculate the rotation in 3d space using proper cross product math
|
||||
// SUBTODO: formulate the math required
|
||||
|
||||
attitudeState.Roll = RAD2DEG(attitudeState.Roll);
|
||||
attitudeState.Pitch = RAD2DEG(attitudeState.Pitch);
|
||||
attitudeState.Yaw = RAD2DEG(attitudeState.Yaw);
|
||||
|
||||
RPY2Quaternion(&attitudeState.Roll, &attitudeState.q1);
|
||||
AttitudeStateSet(&attitudeState);
|
||||
|
||||
float q[4] = { attitudeState.q1, attitudeState.q2, attitudeState.q3, attitudeState.q4 };
|
||||
INSSetState(pos, zeros, q, zeros, zeros);
|
||||
|
||||
INSResetP(cast_struct_to_array(ekfConfiguration.P, ekfConfiguration.P.AttitudeQ1));
|
||||
} else {
|
||||
// Run prediction a bit before any corrections
|
||||
|
||||
// Because the sensor module remove the bias we need to add it
|
||||
// back in here so that the INS algorithm can track it correctly
|
||||
float gyros[3] = { DEG2RAD(gyroSensorData.x), DEG2RAD(gyroSensorData.y), DEG2RAD(gyroSensorData.z) };
|
||||
INSStatePrediction(gyros, &accelSensorData.x, dT);
|
||||
|
||||
AttitudeStateData attitude;
|
||||
AttitudeStateGet(&attitude);
|
||||
attitude.q1 = Nav.q[0];
|
||||
attitude.q2 = Nav.q[1];
|
||||
attitude.q3 = Nav.q[2];
|
||||
attitude.q4 = Nav.q[3];
|
||||
Quaternion2RPY(&attitude.q1, &attitude.Roll);
|
||||
AttitudeStateSet(&attitude);
|
||||
}
|
||||
|
||||
init_stage++;
|
||||
if (init_stage > 10) {
|
||||
inited = true;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (!inited) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Because the sensor module remove the bias we need to add it
|
||||
// back in here so that the INS algorithm can track it correctly
|
||||
float gyros[3] = { DEG2RAD(gyroSensorData.x), DEG2RAD(gyroSensorData.y), DEG2RAD(gyroSensorData.z) };
|
||||
|
||||
// Advance the state estimate
|
||||
INSStatePrediction(gyros, &accelSensorData.x, dT);
|
||||
|
||||
// Copy the attitude into the UAVO
|
||||
AttitudeStateData attitude;
|
||||
AttitudeStateGet(&attitude);
|
||||
attitude.q1 = Nav.q[0];
|
||||
attitude.q2 = Nav.q[1];
|
||||
attitude.q3 = Nav.q[2];
|
||||
attitude.q4 = Nav.q[3];
|
||||
Quaternion2RPY(&attitude.q1, &attitude.Roll);
|
||||
AttitudeStateSet(&attitude);
|
||||
|
||||
// Advance the covariance estimate
|
||||
INSCovariancePrediction(dT);
|
||||
|
||||
if (mag_updated) {
|
||||
sensors |= MAG_SENSORS;
|
||||
}
|
||||
|
||||
if (baro_updated) {
|
||||
sensors |= BARO_SENSOR;
|
||||
}
|
||||
|
||||
INSSetMagNorth(homeLocation.Be);
|
||||
|
||||
if (gps_updated && outdoor_mode) {
|
||||
INSSetPosVelVar((float[3]) { ekfConfiguration.R.GPSPosNorth,
|
||||
ekfConfiguration.R.GPSPosEast,
|
||||
ekfConfiguration.R.GPSPosDown },
|
||||
(float[3]) { ekfConfiguration.R.GPSVelNorth,
|
||||
ekfConfiguration.R.GPSVelEast,
|
||||
ekfConfiguration.R.GPSVelDown }
|
||||
);
|
||||
sensors |= POS_SENSORS;
|
||||
|
||||
if (0) { // Old code to take horizontal velocity from GPS Position update
|
||||
sensors |= HORIZ_SENSORS;
|
||||
vel[0] = gpsData.Groundspeed * cosf(DEG2RAD(gpsData.Heading));
|
||||
vel[1] = gpsData.Groundspeed * sinf(DEG2RAD(gpsData.Heading));
|
||||
vel[2] = 0.0f;
|
||||
}
|
||||
// Transform the GPS position into NED coordinates
|
||||
getNED(&gpsData, NED);
|
||||
|
||||
// Track barometric altitude offset with a low pass filter
|
||||
baroOffset = BARO_OFFSET_LOWPASS_ALPHA * baroOffset +
|
||||
(1.0f - BARO_OFFSET_LOWPASS_ALPHA)
|
||||
* (-NED[2] - baroData.Altitude);
|
||||
} else if (!outdoor_mode) {
|
||||
INSSetPosVelVar((float[3]) { ekfConfiguration.FakeR.FakeGPSPosIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSPosIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSPosIndoor },
|
||||
(float[3]) { ekfConfiguration.FakeR.FakeGPSVelIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSVelIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSVelIndoor }
|
||||
);
|
||||
vel[0] = vel[1] = vel[2] = 0.0f;
|
||||
NED[0] = NED[1] = 0.0f;
|
||||
NED[2] = -(baroData.Altitude + baroOffset);
|
||||
sensors |= HORIZ_SENSORS | HORIZ_POS_SENSORS;
|
||||
sensors |= POS_SENSORS | VERT_SENSORS;
|
||||
}
|
||||
|
||||
if (gps_vel_updated && outdoor_mode) {
|
||||
sensors |= HORIZ_SENSORS | VERT_SENSORS;
|
||||
vel[0] = gpsVelData.North;
|
||||
vel[1] = gpsVelData.East;
|
||||
vel[2] = gpsVelData.Down;
|
||||
}
|
||||
|
||||
// Copy the position into the UAVO
|
||||
PositionStateData positionState;
|
||||
PositionStateGet(&positionState);
|
||||
positionState.North = Nav.Pos[0];
|
||||
positionState.East = Nav.Pos[1];
|
||||
positionState.Down = Nav.Pos[2];
|
||||
PositionStateSet(&positionState);
|
||||
|
||||
// airspeed correction needs current positionState
|
||||
if (airspeed_updated) {
|
||||
// we have airspeed available
|
||||
AirspeedStateData airspeed;
|
||||
AirspeedStateGet(&airspeed);
|
||||
|
||||
airspeed.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
|
||||
airspeed.TrueAirspeed = (airspeedData.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedData.TrueAirspeed;
|
||||
|
||||
AirspeedStateSet(&airspeed);
|
||||
|
||||
if (!gps_vel_updated && !gps_updated) {
|
||||
// feed airspeed into EKF, treat wind as 1e2 variance
|
||||
sensors |= HORIZ_SENSORS | VERT_SENSORS;
|
||||
INSSetPosVelVar((float[3]) { ekfConfiguration.FakeR.FakeGPSPosIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSPosIndoor,
|
||||
ekfConfiguration.FakeR.FakeGPSPosIndoor },
|
||||
(float[3]) { ekfConfiguration.FakeR.FakeGPSVelAirspeed,
|
||||
ekfConfiguration.FakeR.FakeGPSVelAirspeed,
|
||||
ekfConfiguration.FakeR.FakeGPSVelAirspeed }
|
||||
);
|
||||
// rotate airspeed vector into NED frame - airspeed is measured in X axis only
|
||||
float R[3][3];
|
||||
Quaternion2R(Nav.q, R);
|
||||
float vtas[3] = { airspeed.TrueAirspeed, 0.0f, 0.0f };
|
||||
rot_mult(R, vtas, vel);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
|
||||
* although probably should occur within INS itself
|
||||
*/
|
||||
if (sensors) {
|
||||
INSCorrection(&magData.x, NED, vel, (baroData.Altitude + baroOffset), sensors);
|
||||
}
|
||||
|
||||
// Copy the velocity into the UAVO
|
||||
VelocityStateData velocityState;
|
||||
VelocityStateGet(&velocityState);
|
||||
velocityState.North = Nav.Vel[0];
|
||||
velocityState.East = Nav.Vel[1];
|
||||
velocityState.Down = Nav.Vel[2];
|
||||
VelocityStateSet(&velocityState);
|
||||
|
||||
GyroStateData gyroState;
|
||||
gyroState.x = RAD2DEG(gyros[0] - RAD2DEG(Nav.gyro_bias[0]));
|
||||
gyroState.y = RAD2DEG(gyros[1] - RAD2DEG(Nav.gyro_bias[1]));
|
||||
gyroState.z = RAD2DEG(gyros[2] - RAD2DEG(Nav.gyro_bias[2]));
|
||||
GyroStateSet(&gyroState);
|
||||
|
||||
EKFStateVarianceData vardata;
|
||||
EKFStateVarianceGet(&vardata);
|
||||
INSGetP(cast_struct_to_array(vardata.P, vardata.P.AttitudeQ1));
|
||||
EKFStateVarianceSet(&vardata);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Convert the GPS LLA position into NED coordinates
|
||||
* @note this method uses a taylor expansion around the home coordinates
|
||||
* to convert to NED which allows it to be done with all floating
|
||||
* calculations
|
||||
* @param[in] Current GPS coordinates
|
||||
* @param[out] NED frame coordinates
|
||||
* @returns 0 for success, -1 for failure
|
||||
*/
|
||||
float T[3];
|
||||
static int32_t getNED(GPSPositionSensorData *gpsPosition, float *NED)
|
||||
{
|
||||
float dL[3] = { DEG2RAD((gpsPosition->Latitude - homeLocation.Latitude) / 10.0e6f),
|
||||
DEG2RAD((gpsPosition->Longitude - homeLocation.Longitude) / 10.0e6f),
|
||||
(gpsPosition->Altitude + gpsPosition->GeoidSeparation - homeLocation.Altitude) };
|
||||
|
||||
NED[0] = T[0] * dL[0];
|
||||
NED[1] = T[1] * dL[1];
|
||||
NED[2] = T[2] * dL[2];
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void settingsUpdatedCb(UAVObjEvent *ev)
|
||||
{
|
||||
if (ev == NULL || ev->obj == FlightStatusHandle()) {
|
||||
FlightStatusGet(&flightStatus);
|
||||
}
|
||||
if (ev == NULL || ev->obj == RevoCalibrationHandle()) {
|
||||
RevoCalibrationGet(&revoCalibration);
|
||||
}
|
||||
// change of these settings require reinitialization of the EKF
|
||||
// when an error flag has been risen, we also listen to flightStatus updates,
|
||||
// since we are waiting for the system to get disarmed so we can reinitialize safely.
|
||||
if (ev == NULL ||
|
||||
ev->obj == EKFConfigurationHandle() ||
|
||||
ev->obj == RevoSettingsHandle() ||
|
||||
(variance_error == true && ev->obj == FlightStatusHandle())
|
||||
) {
|
||||
bool error = false;
|
||||
|
||||
EKFConfigurationGet(&ekfConfiguration);
|
||||
int t;
|
||||
for (t = 0; t < EKFCONFIGURATION_P_NUMELEM; t++) {
|
||||
if (invalid_var(cast_struct_to_array(ekfConfiguration.P, ekfConfiguration.P.AttitudeQ1)[t])) {
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
for (t = 0; t < EKFCONFIGURATION_Q_NUMELEM; t++) {
|
||||
if (invalid_var(cast_struct_to_array(ekfConfiguration.Q, ekfConfiguration.Q.AccelX)[t])) {
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
for (t = 0; t < EKFCONFIGURATION_R_NUMELEM; t++) {
|
||||
if (invalid_var(cast_struct_to_array(ekfConfiguration.R, ekfConfiguration.R.BaroZ)[t])) {
|
||||
error = true;
|
||||
}
|
||||
}
|
||||
|
||||
RevoSettingsGet(&revoSettings);
|
||||
|
||||
// Reinitialization of the EKF is not desired during flight.
|
||||
// It will be delayed until the board is disarmed by raising the error flag.
|
||||
// We will not prevent the initial initialization though, since the board could be in always armed mode.
|
||||
if (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED && !initialization_required) {
|
||||
error = true;
|
||||
}
|
||||
|
||||
if (error) {
|
||||
variance_error = true;
|
||||
} else {
|
||||
// trigger reinitialization - possibly with new algorithm
|
||||
running_algorithm = revoSettings.FusionAlgorithm;
|
||||
variance_error = false;
|
||||
initialization_required = true;
|
||||
}
|
||||
}
|
||||
if (ev == NULL || ev->obj == HomeLocationHandle()) {
|
||||
HomeLocationGet(&homeLocation);
|
||||
// Compute matrix to convert deltaLLA to NED
|
||||
float lat, alt;
|
||||
lat = DEG2RAD(homeLocation.Latitude / 10.0e6f);
|
||||
alt = homeLocation.Altitude;
|
||||
|
||||
T[0] = alt + 6.378137E6f;
|
||||
T[1] = cosf(lat) * (alt + 6.378137E6f);
|
||||
T[2] = -1.0f;
|
||||
|
||||
// TODO: convert positionState to new reference frame and gracefully update EKF state!
|
||||
// needed for long range flights where the reference coordinate is adjusted in flight
|
||||
}
|
||||
if (ev == NULL || ev->obj == AttitudeSettingsHandle()) {
|
||||
AttitudeSettingsGet(&attitudeSettings);
|
||||
|
||||
// Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
|
||||
const float fakeDt = 0.0015f;
|
||||
if (attitudeSettings.AccelTau < 0.0001f) {
|
||||
accel_alpha = 0; // not trusting this to resolve to 0
|
||||
accel_filter_enabled = false;
|
||||
} else {
|
||||
accel_alpha = expf(-fakeDt / attitudeSettings.AccelTau);
|
||||
accel_filter_enabled = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform an update of the @ref MagBias based on
|
||||
* Magmeter Offset Cancellation: Theory and Implementation,
|
||||
* revisited William Premerlani, October 14, 2011
|
||||
*/
|
||||
static void magOffsetEstimation(MagSensorData *mag)
|
||||
{
|
||||
#if 0
|
||||
// Constants, to possibly go into a UAVO
|
||||
static const float MIN_NORM_DIFFERENCE = 50;
|
||||
|
||||
static float B2[3] = { 0, 0, 0 };
|
||||
|
||||
MagBiasData magBias;
|
||||
MagBiasGet(&magBias);
|
||||
|
||||
// Remove the current estimate of the bias
|
||||
mag->x -= magBias.x;
|
||||
mag->y -= magBias.y;
|
||||
mag->z -= magBias.z;
|
||||
|
||||
// First call
|
||||
if (B2[0] == 0 && B2[1] == 0 && B2[2] == 0) {
|
||||
B2[0] = mag->x;
|
||||
B2[1] = mag->y;
|
||||
B2[2] = mag->z;
|
||||
return;
|
||||
}
|
||||
|
||||
float B1[3] = { mag->x, mag->y, mag->z };
|
||||
float norm_diff = sqrtf(powf(B2[0] - B1[0], 2) + powf(B2[1] - B1[1], 2) + powf(B2[2] - B1[2], 2));
|
||||
if (norm_diff > MIN_NORM_DIFFERENCE) {
|
||||
float norm_b1 = sqrtf(B1[0] * B1[0] + B1[1] * B1[1] + B1[2] * B1[2]);
|
||||
float norm_b2 = sqrtf(B2[0] * B2[0] + B2[1] * B2[1] + B2[2] * B2[2]);
|
||||
float scale = cal.MagBiasNullingRate * (norm_b2 - norm_b1) / norm_diff;
|
||||
float b_error[3] = { (B2[0] - B1[0]) * scale, (B2[1] - B1[1]) * scale, (B2[2] - B1[2]) * scale };
|
||||
|
||||
magBias.x += b_error[0];
|
||||
magBias.y += b_error[1];
|
||||
magBias.z += b_error[2];
|
||||
|
||||
MagBiasSet(&magBias);
|
||||
|
||||
// Store this value to compare against next update
|
||||
B2[0] = B1[0]; B2[1] = B1[1]; B2[2] = B1[2];
|
||||
}
|
||||
#else // if 0
|
||||
static float magBias[3] = { 0 };
|
||||
|
||||
// Remove the current estimate of the bias
|
||||
mag->x -= magBias[0];
|
||||
mag->y -= magBias[1];
|
||||
mag->z -= magBias[2];
|
||||
|
||||
AttitudeStateData attitude;
|
||||
AttitudeStateGet(&attitude);
|
||||
|
||||
const float Rxy = sqrtf(homeLocation.Be[0] * homeLocation.Be[0] + homeLocation.Be[1] * homeLocation.Be[1]);
|
||||
const float Rz = homeLocation.Be[2];
|
||||
|
||||
const float rate = revoCalibration.MagBiasNullingRate;
|
||||
float Rot[3][3];
|
||||
float B_e[3];
|
||||
float xy[2];
|
||||
float delta[3];
|
||||
|
||||
// Get the rotation matrix
|
||||
Quaternion2R(&attitude.q1, Rot);
|
||||
|
||||
// Rotate the mag into the NED frame
|
||||
B_e[0] = Rot[0][0] * mag->x + Rot[1][0] * mag->y + Rot[2][0] * mag->z;
|
||||
B_e[1] = Rot[0][1] * mag->x + Rot[1][1] * mag->y + Rot[2][1] * mag->z;
|
||||
B_e[2] = Rot[0][2] * mag->x + Rot[1][2] * mag->y + Rot[2][2] * mag->z;
|
||||
|
||||
float cy = cosf(DEG2RAD(attitude.Yaw));
|
||||
float sy = sinf(DEG2RAD(attitude.Yaw));
|
||||
|
||||
xy[0] = cy * B_e[0] + sy * B_e[1];
|
||||
xy[1] = -sy * B_e[0] + cy * B_e[1];
|
||||
|
||||
float xy_norm = sqrtf(xy[0] * xy[0] + xy[1] * xy[1]);
|
||||
|
||||
delta[0] = -rate * (xy[0] / xy_norm * Rxy - xy[0]);
|
||||
delta[1] = -rate * (xy[1] / xy_norm * Rxy - xy[1]);
|
||||
delta[2] = -rate * (Rz - B_e[2]);
|
||||
|
||||
if (!isnan(delta[0]) && !isinf(delta[0]) &&
|
||||
!isnan(delta[1]) && !isinf(delta[1]) &&
|
||||
!isnan(delta[2]) && !isinf(delta[2])) {
|
||||
magBias[0] += delta[0];
|
||||
magBias[1] += delta[1];
|
||||
magBias[2] += delta[2];
|
||||
}
|
||||
#endif // if 0
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,37 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup Attitude Attitude Module
|
||||
* @{
|
||||
*
|
||||
* @file attitude.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
||||
* @brief Acquires sensor data and fuses it into attitude estimate for CC
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#ifndef ATTITUDE_H
|
||||
#define ATTITUDE_H
|
||||
|
||||
#include "openpilot.h"
|
||||
|
||||
int32_t AttitudeInitialize(void);
|
||||
|
||||
#endif // ATTITUDE_H
|
||||
@ -64,7 +64,8 @@ static int32_t alt_ds_pres = 0;
|
||||
static int alt_ds_count = 0;
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
pios_hmc5x83_dev_t mag_handle = 0;
|
||||
int32_t mag_test;
|
||||
static float mag_bias[3] = { 0, 0, 0 };
|
||||
static float mag_scale[3] = { 1, 1, 1 };
|
||||
@ -108,7 +109,7 @@ int32_t MagBaroInitialize()
|
||||
#endif
|
||||
|
||||
if (magbaroEnabled) {
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
MagSensorInitialize();
|
||||
#endif
|
||||
|
||||
@ -127,15 +128,16 @@ MODULE_INITCALL(MagBaroInitialize, MagBaroStart);
|
||||
/**
|
||||
* Module thread, should not return.
|
||||
*/
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
#ifdef PIOS_HMC5883_HAS_GPIOS
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
|
||||
#ifdef PIOS_HMC5X83_HAS_GPIOS
|
||||
.exti_cfg = 0,
|
||||
#endif
|
||||
.M_ODR = PIOS_HMC5883_ODR_15,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
.M_ODR = PIOS_HMC5x83_ODR_15,
|
||||
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5x83_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
|
||||
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
|
||||
};
|
||||
#endif
|
||||
|
||||
@ -148,9 +150,9 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
|
||||
PIOS_BMP085_Init();
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
MagSensorData mag;
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
mag_handle = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, PIOS_I2C_MAIN_ADAPTER, 0);
|
||||
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
|
||||
#endif
|
||||
|
||||
@ -197,10 +199,10 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
|
||||
}
|
||||
#endif /* if defined(PIOS_INCLUDE_BMP085) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
if (PIOS_HMC5x83_NewDataAvailable(mag_handle) || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
|
||||
int16_t values[3];
|
||||
PIOS_HMC5883_ReadMag(values);
|
||||
PIOS_HMC5x83_ReadMag(mag_handle, values);
|
||||
float mags[3] = { (float)values[1] * mag_scale[0] - mag_bias[0],
|
||||
(float)values[0] * mag_scale[1] - mag_bias[1],
|
||||
-(float)values[2] * mag_scale[2] - mag_bias[2] };
|
||||
|
||||
@ -82,6 +82,11 @@ static xTaskHandle sensorsTaskHandle;
|
||||
RevoCalibrationData cal;
|
||||
AccelGyroSettingsData agcal;
|
||||
|
||||
#ifdef PIOS_INCLUDE_HMC5X83
|
||||
#include <pios_hmc5x83.h>
|
||||
extern pios_hmc5x83_dev_t onboard_mag;
|
||||
#endif
|
||||
|
||||
// These values are initialized by settings but can be updated by the attitude algorithm
|
||||
|
||||
static float mag_bias[3] = { 0, 0, 0 };
|
||||
@ -200,8 +205,8 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
|
||||
PIOS_DEBUG_Assert(0);
|
||||
}
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
mag_test = PIOS_HMC5883_Test();
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
mag_test = PIOS_HMC5x83_Test(onboard_mag);
|
||||
#else
|
||||
mag_test = 0;
|
||||
#endif
|
||||
@ -409,11 +414,11 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
|
||||
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
|
||||
// and make it average zero (weakly)
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
MagSensorData mag;
|
||||
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
|
||||
if (PIOS_HMC5x83_NewDataAvailable(onboard_mag) || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
|
||||
int16_t values[3];
|
||||
PIOS_HMC5883_ReadMag(values);
|
||||
PIOS_HMC5x83_ReadMag(onboard_mag, values);
|
||||
float mags[3] = { (float)values[1] - mag_bias[0],
|
||||
(float)values[0] - mag_bias[1],
|
||||
-(float)values[2] - mag_bias[2] };
|
||||
@ -428,7 +433,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
|
||||
MagSensorSet(&mag);
|
||||
mag_update_time = PIOS_DELAY_GetRaw();
|
||||
}
|
||||
#endif /* if defined(PIOS_INCLUDE_HMC5883) */
|
||||
#endif /* if defined(PIOS_INCLUDE_HMC5X83) */
|
||||
|
||||
#ifdef PIOS_INCLUDE_WDG
|
||||
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
|
||||
|
||||
@ -221,7 +221,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
|
||||
|
||||
// During initialization and
|
||||
if (this->first_run) {
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
// wait until mags have been updated
|
||||
if (!this->magUpdated) {
|
||||
return FILTERRESULT_ERROR;
|
||||
|
||||
@ -1,425 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
* @file pios_hmc5883.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief HMC5883 Magnetic Sensor Functions from AHRS
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "pios.h"
|
||||
|
||||
#ifdef PIOS_INCLUDE_HMC5883
|
||||
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Types */
|
||||
|
||||
/* Local Variables */
|
||||
volatile bool pios_hmc5883_data_ready;
|
||||
|
||||
static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg *cfg);
|
||||
static int32_t PIOS_HMC5883_Read(uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer);
|
||||
|
||||
static const struct pios_hmc5883_cfg *dev_cfg;
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5883 magnetometer sensor.
|
||||
* @return none
|
||||
*/
|
||||
void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg *cfg)
|
||||
{
|
||||
dev_cfg = cfg; // store config before enabling interrupt
|
||||
|
||||
#ifdef PIOS_HMC5883_HAS_GPIOS
|
||||
PIOS_EXTI_Init(cfg->exti_cfg);
|
||||
#endif
|
||||
|
||||
int32_t val = PIOS_HMC5883_Config(cfg);
|
||||
|
||||
PIOS_Assert(val == 0);
|
||||
|
||||
pios_hmc5883_data_ready = false;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5883 magnetometer sensor
|
||||
* \return none
|
||||
* \param[in] PIOS_HMC5883_ConfigTypeDef struct to be used to configure sensor.
|
||||
*
|
||||
* CTRL_REGA: Control Register A
|
||||
* Read Write
|
||||
* Default value: 0x10
|
||||
* 7:5 0 These bits must be cleared for correct operation.
|
||||
* 4:2 DO2-DO0: Data Output Rate Bits
|
||||
* DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz)
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | 0.75
|
||||
* 0 | 0 | 1 | 1.5
|
||||
* 0 | 1 | 0 | 3
|
||||
* 0 | 1 | 1 | 7.5
|
||||
* 1 | 0 | 0 | 15 (default)
|
||||
* 1 | 0 | 1 | 30
|
||||
* 1 | 1 | 0 | 75
|
||||
* 1 | 1 | 1 | Not Used
|
||||
* 1:0 MS1-MS0: Measurement Configuration Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Normal
|
||||
* 0 | 1 | Positive Bias
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Not Used
|
||||
*
|
||||
* CTRL_REGB: Control RegisterB
|
||||
* Read Write
|
||||
* Default value: 0x20
|
||||
* 7:5 GN2-GN0: Gain Configuration Bits.
|
||||
* GN2 | GN1 | GN0 | Mag Input | Gain | Output Range
|
||||
* | | | Range[Ga] | [LSB/mGa] |
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | ±0.88Ga | 1370 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 0 | 1 | ±1.3Ga (def) | 1090 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 0 | ±1.9Ga | 820 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 1 | ±2.5Ga | 660 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 0 | ±4.0Ga | 440 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 1 | ±4.7Ga | 390 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 0 | ±5.6Ga | 330 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 1 | ±8.1Ga | 230 | 0xF8000x07FF (-2048:2047)
|
||||
* |Not recommended|
|
||||
*
|
||||
* 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
|
||||
*
|
||||
* _MODE_REG: Mode Register
|
||||
* Read Write
|
||||
* Default value: 0x02
|
||||
* 7:2 0 These bits must be cleared for correct operation.
|
||||
* 1:0 MD1-MD0: Mode Select Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Continuous-Conversion Mode.
|
||||
* 0 | 1 | Single-Conversion Mode
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Sleep Mode
|
||||
*/
|
||||
static uint8_t CTRLB = 0x00;
|
||||
static int32_t PIOS_HMC5883_Config(const struct pios_hmc5883_cfg *cfg)
|
||||
{
|
||||
uint8_t CTRLA = 0x00;
|
||||
uint8_t MODE = 0x00;
|
||||
|
||||
CTRLB = 0;
|
||||
|
||||
CTRLA |= (uint8_t)(cfg->M_ODR | cfg->Meas_Conf);
|
||||
CTRLB |= (uint8_t)(cfg->Gain);
|
||||
MODE |= (uint8_t)(cfg->Mode);
|
||||
|
||||
// CRTL_REGA
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, CTRLA) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// CRTL_REGB
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, CTRLB) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Mode register
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, MODE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Read current X, Z, Y values (in that order)
|
||||
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
|
||||
* \return 0 for success or -1 for failure
|
||||
*/
|
||||
int32_t PIOS_HMC5883_ReadMag(int16_t out[3])
|
||||
{
|
||||
pios_hmc5883_data_ready = false;
|
||||
uint8_t buffer[6];
|
||||
int32_t temp;
|
||||
int32_t sensitivity;
|
||||
|
||||
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_XMSB_REG, buffer, 6) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
switch (CTRLB & 0xE0) {
|
||||
case 0x00:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_0_88Ga;
|
||||
break;
|
||||
case 0x20:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_1_3Ga;
|
||||
break;
|
||||
case 0x40:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_1_9Ga;
|
||||
break;
|
||||
case 0x60:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_2_5Ga;
|
||||
break;
|
||||
case 0x80:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_4_0Ga;
|
||||
break;
|
||||
case 0xA0:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_4_7Ga;
|
||||
break;
|
||||
case 0xC0:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_5_6Ga;
|
||||
break;
|
||||
case 0xE0:
|
||||
sensitivity = PIOS_HMC5883_Sensitivity_8_1Ga;
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
temp = ((int16_t)((uint16_t)buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / sensitivity;
|
||||
out[i] = temp;
|
||||
}
|
||||
// Data reads out as X,Z,Y
|
||||
temp = out[2];
|
||||
out[2] = out[1];
|
||||
out[1] = temp;
|
||||
|
||||
// This should not be necessary but for some reason it is coming out of continuous conversion mode
|
||||
PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_CONTINUOUS);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Read the identification bytes from the HMC5883 sensor
|
||||
* \param[out] uint8_t array of size 4 to store HMC5883 ID.
|
||||
* \return 0 if successful, -1 if not
|
||||
*/
|
||||
uint8_t PIOS_HMC5883_ReadID(uint8_t out[4])
|
||||
{
|
||||
uint8_t retval = PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_IDA_REG, out, 3);
|
||||
|
||||
out[3] = '\0';
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Tells whether new magnetometer readings are available
|
||||
* \return true if new data is available
|
||||
* \return false if new data is not available
|
||||
*/
|
||||
bool PIOS_HMC5883_NewDataAvailable(void)
|
||||
{
|
||||
return pios_hmc5883_data_ready;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Reads one or more bytes into a buffer
|
||||
* \param[in] address HMC5883 register address (depends on size)
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
static int32_t PIOS_HMC5883_Read(uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
uint8_t addr_buffer[] = {
|
||||
address,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(addr_buffer),
|
||||
.buf = addr_buffer,
|
||||
}
|
||||
,
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = len,
|
||||
.buf = buffer,
|
||||
}
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes one or more bytes to the HMC5883
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
static int32_t PIOS_HMC5883_Write(uint8_t address, uint8_t buffer)
|
||||
{
|
||||
uint8_t data[] = {
|
||||
address,
|
||||
buffer,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5883_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(data),
|
||||
.buf = data,
|
||||
}
|
||||
,
|
||||
};
|
||||
|
||||
;
|
||||
return PIOS_I2C_Transfer(PIOS_I2C_MAIN_ADAPTER, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Run self-test operation. Do not call this during operational use!!
|
||||
* \return 0 if success, -1 if test failed
|
||||
*/
|
||||
int32_t PIOS_HMC5883_Test(void)
|
||||
{
|
||||
int32_t failed = 0;
|
||||
uint8_t registers[3] = { 0, 0, 0 };
|
||||
uint8_t status;
|
||||
uint8_t ctrl_a_read;
|
||||
uint8_t ctrl_b_read;
|
||||
uint8_t mode_read;
|
||||
int16_t values[3];
|
||||
|
||||
|
||||
/* Verify that ID matches (HMC5883 ID is null-terminated ASCII string "H43") */
|
||||
char id[4];
|
||||
|
||||
PIOS_HMC5883_ReadID((uint8_t *)id);
|
||||
if ((id[0] != 'H') || (id[1] != '4') || (id[2] != '3')) { // Expect H43
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Backup existing configuration */
|
||||
if (PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, registers, 3) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Stop the device and read out last value */
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_IDLE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status, 1) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (PIOS_HMC5883_ReadMag(values) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Put HMC5883 into self test mode
|
||||
* This is done by placing measurement config into positive (0x01) or negative (0x10) bias
|
||||
* and then placing the mode register into single-measurement mode. This causes the HMC5883
|
||||
* to create an artificial magnetic field of ~1.1 Gauss.
|
||||
*
|
||||
* If gain were PIOS_HMC5883_GAIN_2_5, for example, X and Y will read around +766 LSB
|
||||
* (1.16 Ga * 660 LSB/Ga) and Z would read around +713 LSB (1.08 Ga * 660 LSB/Ga)
|
||||
*
|
||||
* Changing measurement config back to PIOS_HMC5883_MEASCONF_NORMAL will leave self-test mode.
|
||||
*/
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, PIOS_HMC5883_MEASCONF_BIAS_POS | PIOS_HMC5883_ODR_15) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, PIOS_HMC5883_GAIN_8_1) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, PIOS_HMC5883_MODE_SINGLE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Must wait for value to be updated */
|
||||
PIOS_DELAY_WaitmS(200);
|
||||
|
||||
if (PIOS_HMC5883_ReadMag(values) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
if(abs(values[0] - 766) > 20)
|
||||
failed |= 1;
|
||||
if(abs(values[1] - 766) > 20)
|
||||
failed |= 1;
|
||||
if(abs(values[2] - 713) > 20)
|
||||
failed |= 1;
|
||||
*/
|
||||
|
||||
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_A, &ctrl_a_read, 1);
|
||||
PIOS_HMC5883_Read(PIOS_HMC5883_CONFIG_REG_B, &ctrl_b_read, 1);
|
||||
PIOS_HMC5883_Read(PIOS_HMC5883_MODE_REG, &mode_read, 1);
|
||||
PIOS_HMC5883_Read(PIOS_HMC5883_DATAOUT_STATUS_REG, &status, 1);
|
||||
|
||||
|
||||
/* Restore backup configuration */
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_A, registers[0]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_CONFIG_REG_B, registers[1]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (PIOS_HMC5883_Write(PIOS_HMC5883_MODE_REG, registers[2]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return failed;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief IRQ Handler
|
||||
*/
|
||||
bool PIOS_HMC5883_IRQHandler(void)
|
||||
{
|
||||
pios_hmc5883_data_ready = true;
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
557
flight/pios/common/pios_hmc5x83.c
Normal file
557
flight/pios/common/pios_hmc5x83.c
Normal file
@ -0,0 +1,557 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5x83 HMC5x83 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
* @file pios_hmc5x83.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief HMC5x83 Magnetic Sensor Functions from AHRS
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "pios.h"
|
||||
#include <pios_hmc5x83.h>
|
||||
#include <pios_mem.h>
|
||||
|
||||
#ifdef PIOS_INCLUDE_HMC5X83
|
||||
|
||||
#define PIOS_HMC5X83_MAGIC 0x4d783833
|
||||
/* Global Variables */
|
||||
|
||||
/* Local Types */
|
||||
|
||||
typedef struct {
|
||||
uint32_t magic;
|
||||
const struct pios_hmc5x83_cfg *cfg;
|
||||
uint32_t port_id;
|
||||
uint8_t slave_num;
|
||||
uint8_t CTRLB;
|
||||
volatile bool data_ready;
|
||||
} pios_hmc5x83_dev_data_t;
|
||||
|
||||
static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev);
|
||||
|
||||
/**
|
||||
* Allocate the device setting structure
|
||||
* @return pios_hmc5x83_dev_data_t pointer to newly created structure
|
||||
*/
|
||||
pios_hmc5x83_dev_data_t *dev_alloc()
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = (pios_hmc5x83_dev_data_t *)pios_malloc(sizeof(pios_hmc5x83_dev_data_t));
|
||||
|
||||
PIOS_DEBUG_Assert(dev);
|
||||
memset(dev, 0x00, sizeof(pios_hmc5x83_dev_data_t));
|
||||
dev->magic = PIOS_HMC5X83_MAGIC;
|
||||
return dev;
|
||||
}
|
||||
|
||||
/**
|
||||
* Validate a pios_hmc5x83_dev_t handler and return the related pios_hmc5x83_dev_data_t pointer
|
||||
* @param dev device handler
|
||||
* @return the device data structure
|
||||
*/
|
||||
pios_hmc5x83_dev_data_t *dev_validate(pios_hmc5x83_dev_t dev)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev_data = (pios_hmc5x83_dev_data_t *)dev;
|
||||
|
||||
PIOS_DEBUG_Assert(dev_data->magic == PIOS_HMC5X83_MAGIC);
|
||||
return dev_data;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5x83 magnetometer sensor.
|
||||
* @return none
|
||||
*/
|
||||
pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t slave_num)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_alloc();
|
||||
|
||||
dev->cfg = cfg; // store config before enabling interrupt
|
||||
dev->port_id = port_id;
|
||||
dev->slave_num = slave_num;
|
||||
#ifdef PIOS_HMC5X83_HAS_GPIOS
|
||||
PIOS_EXTI_Init(cfg->exti_cfg);
|
||||
#endif
|
||||
|
||||
int32_t val = PIOS_HMC5x83_Config(dev);
|
||||
PIOS_Assert(val == 0);
|
||||
|
||||
dev->data_ready = false;
|
||||
return (pios_hmc5x83_dev_t)dev;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initialize the HMC5x83 magnetometer sensor
|
||||
* \return none
|
||||
* \param[in] pios_hmc5x83_dev_data_t device config to be used.
|
||||
* \param[in] PIOS_HMC5x83_ConfigTypeDef struct to be used to configure sensor.
|
||||
*
|
||||
* CTRL_REGA: Control Register A
|
||||
* Read Write
|
||||
* Default value: 0x10
|
||||
* 7:5 0 These bits must be cleared for correct operation.
|
||||
* 4:2 DO2-DO0: Data Output Rate Bits
|
||||
* DO2 | DO1 | DO0 | Minimum Data Output Rate (Hz)
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | 0.75
|
||||
* 0 | 0 | 1 | 1.5
|
||||
* 0 | 1 | 0 | 3
|
||||
* 0 | 1 | 1 | 7.5
|
||||
* 1 | 0 | 0 | 15 (default)
|
||||
* 1 | 0 | 1 | 30
|
||||
* 1 | 1 | 0 | 75
|
||||
* 1 | 1 | 1 | Not Used
|
||||
* 1:0 MS1-MS0: Measurement Configuration Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Normal
|
||||
* 0 | 1 | Positive Bias
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Not Used
|
||||
*
|
||||
* CTRL_REGB: Control RegisterB
|
||||
* Read Write
|
||||
* Default value: 0x20
|
||||
* 7:5 GN2-GN0: Gain Configuration Bits.
|
||||
* GN2 | GN1 | GN0 | Mag Input | Gain | Output Range
|
||||
* | | | Range[Ga] | [LSB/mGa] |
|
||||
* ------------------------------------------------------
|
||||
* 0 | 0 | 0 | ±0.88Ga | 1370 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 0 | 1 | ±1.3Ga (def) | 1090 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 0 | ±1.9Ga | 820 | 0xF8000x07FF (-2048:2047)
|
||||
* 0 | 1 | 1 | ±2.5Ga | 660 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 0 | ±4.0Ga | 440 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 0 | 1 | ±4.7Ga | 390 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 0 | ±5.6Ga | 330 | 0xF8000x07FF (-2048:2047)
|
||||
* 1 | 1 | 1 | ±8.1Ga | 230 | 0xF8000x07FF (-2048:2047)
|
||||
* |Not recommended|
|
||||
*
|
||||
* 4:0 CRB4-CRB: 0 This bit must be cleared for correct operation.
|
||||
*
|
||||
* _MODE_REG: Mode Register
|
||||
* Read Write
|
||||
* Default value: 0x02
|
||||
* 7:2 0 These bits must be cleared for correct operation.
|
||||
* 1:0 MD1-MD0: Mode Select Bits
|
||||
* MS1 | MS0 | MODE
|
||||
* ------------------------------
|
||||
* 0 | 0 | Continuous-Conversion Mode.
|
||||
* 0 | 1 | Single-Conversion Mode
|
||||
* 1 | 0 | Negative Bias
|
||||
* 1 | 1 | Sleep Mode
|
||||
*/
|
||||
static int32_t PIOS_HMC5x83_Config(pios_hmc5x83_dev_data_t *dev)
|
||||
{
|
||||
uint8_t CTRLA = 0x00;
|
||||
uint8_t MODE = 0x00;
|
||||
|
||||
const struct pios_hmc5x83_cfg *cfg = dev->cfg;
|
||||
|
||||
dev->CTRLB = 0;
|
||||
|
||||
CTRLA |= (uint8_t)(cfg->M_ODR | cfg->Meas_Conf);
|
||||
CTRLA |= cfg->TempCompensation ? PIOS_HMC5x83_CTRLA_TEMP : 0;
|
||||
dev->CTRLB |= (uint8_t)(cfg->Gain);
|
||||
MODE |= (uint8_t)(cfg->Mode);
|
||||
|
||||
// CRTL_REGA
|
||||
if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_CONFIG_REG_A, CTRLA) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// CRTL_REGB
|
||||
if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_CONFIG_REG_B, dev->CTRLB) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Mode register
|
||||
if (cfg->Driver->Write((pios_hmc5x83_dev_t)dev, PIOS_HMC5x83_MODE_REG, MODE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Read current X, Z, Y values (in that order)
|
||||
* \param[in] dev device handler
|
||||
* \param[out] int16_t array of size 3 to store X, Z, and Y magnetometer readings
|
||||
* \return 0 for success or -1 for failure
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
dev->data_ready = false;
|
||||
uint8_t buffer[6];
|
||||
int32_t temp;
|
||||
int32_t sensitivity;
|
||||
|
||||
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_XMSB_REG, buffer, 6) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
switch (dev->CTRLB & 0xE0) {
|
||||
case 0x00:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_0_88Ga;
|
||||
break;
|
||||
case 0x20:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_1_3Ga;
|
||||
break;
|
||||
case 0x40:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_1_9Ga;
|
||||
break;
|
||||
case 0x60:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_2_5Ga;
|
||||
break;
|
||||
case 0x80:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_4_0Ga;
|
||||
break;
|
||||
case 0xA0:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_4_7Ga;
|
||||
break;
|
||||
case 0xC0:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_5_6Ga;
|
||||
break;
|
||||
case 0xE0:
|
||||
sensitivity = PIOS_HMC5x83_Sensitivity_8_1Ga;
|
||||
break;
|
||||
default:
|
||||
PIOS_Assert(0);
|
||||
}
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
temp = ((int16_t)((uint16_t)buffer[2 * i] << 8)
|
||||
+ buffer[2 * i + 1]) * 1000 / sensitivity;
|
||||
out[i] = temp;
|
||||
}
|
||||
// Data reads out as X,Z,Y
|
||||
temp = out[2];
|
||||
out[2] = out[1];
|
||||
out[1] = temp;
|
||||
|
||||
// This should not be necessary but for some reason it is coming out of continuous conversion mode
|
||||
dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_CONTINUOUS);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief Read the identification bytes from the HMC5x83 sensor
|
||||
* \param[out] uint8_t array of size 4 to store HMC5x83 ID.
|
||||
* \return 0 if successful, -1 if not
|
||||
*/
|
||||
uint8_t PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4])
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
uint8_t retval = dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_IDA_REG, out, 3);
|
||||
|
||||
out[3] = '\0';
|
||||
return retval;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Tells whether new magnetometer readings are available
|
||||
* \return true if new data is available
|
||||
* \return false if new data is not available
|
||||
*/
|
||||
bool PIOS_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
return dev->data_ready;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Run self-test operation. Do not call this during operational use!!
|
||||
* \return 0 if success, -1 if test failed
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler)
|
||||
{
|
||||
int32_t failed = 0;
|
||||
uint8_t registers[3] = { 0, 0, 0 };
|
||||
uint8_t status;
|
||||
uint8_t ctrl_a_read;
|
||||
uint8_t ctrl_b_read;
|
||||
uint8_t mode_read;
|
||||
int16_t values[3];
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
/* Verify that ID matches (HMC5x83 ID is null-terminated ASCII string "H43") */
|
||||
char id[4];
|
||||
|
||||
PIOS_HMC5x83_ReadID(handler, (uint8_t *)id);
|
||||
if ((id[0] != 'H') || (id[1] != '4') || (id[2] != '3')) { // Expect H43
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Backup existing configuration */
|
||||
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_A, registers, 3) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Stop the device and read out last value */
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_IDLE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1) != 0) {
|
||||
return -1;
|
||||
}
|
||||
if (PIOS_HMC5x83_ReadMag(handler, values) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/*
|
||||
* Put HMC5x83 into self test mode
|
||||
* This is done by placing measurement config into positive (0x01) or negative (0x10) bias
|
||||
* and then placing the mode register into single-measurement mode. This causes the HMC5x83
|
||||
* to create an artificial magnetic field of ~1.1 Gauss.
|
||||
*
|
||||
* If gain were PIOS_HMC5x83_GAIN_2_5, for example, X and Y will read around +766 LSB
|
||||
* (1.16 Ga * 660 LSB/Ga) and Z would read around +713 LSB (1.08 Ga * 660 LSB/Ga)
|
||||
*
|
||||
* Changing measurement config back to PIOS_HMC5x83_MEASCONF_NORMAL will leave self-test mode.
|
||||
*/
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_A, PIOS_HMC5x83_MEASCONF_BIAS_POS | PIOS_HMC5x83_ODR_15) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_B, PIOS_HMC5x83_GAIN_8_1) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_SINGLE) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Must wait for value to be updated */
|
||||
PIOS_DELAY_WaitmS(200);
|
||||
|
||||
if (PIOS_HMC5x83_ReadMag(handler, values) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_A, &ctrl_a_read, 1);
|
||||
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_CONFIG_REG_B, &ctrl_b_read, 1);
|
||||
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_MODE_REG, &mode_read, 1);
|
||||
dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_STATUS_REG, &status, 1);
|
||||
|
||||
|
||||
/* Restore backup configuration */
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_A, registers[0]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_CONFIG_REG_B, registers[1]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_DELAY_WaitmS(10);
|
||||
if (dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, registers[2]) != 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return failed;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief IRQ Handler
|
||||
*/
|
||||
bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
dev->data_ready = true;
|
||||
return false;
|
||||
}
|
||||
|
||||
#ifdef PIOS_INCLUDE_SPI
|
||||
int32_t PIOS_HMC5x83_SPI_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
int32_t PIOS_HMC5x83_SPI_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
|
||||
|
||||
const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER = {
|
||||
.Read = PIOS_HMC5x83_SPI_Read,
|
||||
.Write = PIOS_HMC5x83_SPI_Write,
|
||||
};
|
||||
|
||||
static int32_t pios_hmc5x83_spi_claim_bus(pios_hmc5x83_dev_data_t *dev)
|
||||
{
|
||||
if (PIOS_SPI_ClaimBus(dev->port_id) < 0) {
|
||||
return -1;
|
||||
}
|
||||
PIOS_SPI_RC_PinSet(dev->port_id, dev->slave_num, 0);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void pios_hmc5x83_spi_release_bus(pios_hmc5x83_dev_data_t *dev)
|
||||
{
|
||||
PIOS_SPI_RC_PinSet(dev->port_id, dev->slave_num, 1);
|
||||
PIOS_SPI_ReleaseBus(dev->port_id);
|
||||
}
|
||||
/**
|
||||
* @brief Reads one or more bytes into a buffer
|
||||
* \param[in] address HMC5x83 register address (depends on size)
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_SPI_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
if (pios_hmc5x83_spi_claim_bus(dev) < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
memset(buffer, 0xA5, len);
|
||||
PIOS_SPI_TransferByte(dev->port_id, address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG | PIOS_HMC5x83_SPI_READ_FLAG);
|
||||
|
||||
// buffer[0] = address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG | PIOS_HMC5x83_SPI_READ_FLAG;
|
||||
/* Copy the transfer data to the buffer */
|
||||
if (PIOS_SPI_TransferBlock(dev->port_id, NULL, buffer, len, NULL) < 0) {
|
||||
pios_hmc5x83_spi_release_bus(dev);
|
||||
return -3;
|
||||
}
|
||||
pios_hmc5x83_spi_release_bus(dev);
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes one or more bytes to the HMC5x83
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim spi device
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_SPI_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
|
||||
if (pios_hmc5x83_spi_claim_bus(dev) < 0) {
|
||||
return -1;
|
||||
}
|
||||
uint8_t data[] = {
|
||||
address | PIOS_HMC5x83_SPI_AUTOINCR_FLAG,
|
||||
buffer,
|
||||
};
|
||||
|
||||
if (PIOS_SPI_TransferBlock(dev->port_id, data, NULL, sizeof(data), NULL) < 0) {
|
||||
pios_hmc5x83_spi_release_bus(dev);
|
||||
return -2;
|
||||
}
|
||||
|
||||
pios_hmc5x83_spi_release_bus(dev);
|
||||
return 0;
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_SPI */
|
||||
#ifdef PIOS_INCLUDE_I2C
|
||||
|
||||
int32_t PIOS_HMC5x83_I2C_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
|
||||
|
||||
const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER = {
|
||||
.Read = PIOS_HMC5x83_I2C_Read,
|
||||
.Write = PIOS_HMC5x83_I2C_Write,
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Reads one or more bytes into a buffer
|
||||
* \param[in] address HMC5x83 register address (depends on size)
|
||||
* \param[out] buffer destination buffer
|
||||
* \param[in] len number of bytes which should be read
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_I2C_Read(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
uint8_t addr_buffer[] = {
|
||||
address,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5x83_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(addr_buffer),
|
||||
.buf = addr_buffer,
|
||||
}
|
||||
,
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5x83_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_READ,
|
||||
.len = len,
|
||||
.buf = buffer,
|
||||
}
|
||||
};
|
||||
|
||||
return PIOS_I2C_Transfer(dev->port_id, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Writes one or more bytes to the HMC5x83
|
||||
* \param[in] address Register address
|
||||
* \param[in] buffer source buffer
|
||||
* \return 0 if operation was successful
|
||||
* \return -1 if error during I2C transfer
|
||||
* \return -2 if unable to claim i2c device
|
||||
*/
|
||||
int32_t PIOS_HMC5x83_I2C_Write(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer)
|
||||
{
|
||||
pios_hmc5x83_dev_data_t *dev = dev_validate(handler);
|
||||
uint8_t data[] = {
|
||||
address,
|
||||
buffer,
|
||||
};
|
||||
|
||||
const struct pios_i2c_txn txn_list[] = {
|
||||
{
|
||||
.info = __func__,
|
||||
.addr = PIOS_HMC5x83_I2C_ADDR,
|
||||
.rw = PIOS_I2C_TXN_WRITE,
|
||||
.len = sizeof(data),
|
||||
.buf = data,
|
||||
}
|
||||
,
|
||||
};
|
||||
|
||||
;
|
||||
return PIOS_I2C_Transfer(dev->port_id, txn_list, NELEMENTS(txn_list));
|
||||
}
|
||||
#endif /* PIOS_INCLUDE_I2C */
|
||||
|
||||
|
||||
#endif /* PIOS_INCLUDE_HMC5x83 */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,116 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5883.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief HMC5883 functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_HMC5883_H
|
||||
#define PIOS_HMC5883_H
|
||||
|
||||
/* HMC5883 Addresses */
|
||||
#define PIOS_HMC5883_I2C_ADDR 0x1E
|
||||
#define PIOS_HMC5883_I2C_READ_ADDR 0x3D
|
||||
#define PIOS_HMC5883_I2C_WRITE_ADDR 0x3C
|
||||
#define PIOS_HMC5883_CONFIG_REG_A (uint8_t)0x00
|
||||
#define PIOS_HMC5883_CONFIG_REG_B (uint8_t)0x01
|
||||
#define PIOS_HMC5883_MODE_REG (uint8_t)0x02
|
||||
#define PIOS_HMC5883_DATAOUT_XMSB_REG 0x03
|
||||
#define PIOS_HMC5883_DATAOUT_XLSB_REG 0x04
|
||||
#define PIOS_HMC5883_DATAOUT_ZMSB_REG 0x05
|
||||
#define PIOS_HMC5883_DATAOUT_ZLSB_REG 0x06
|
||||
#define PIOS_HMC5883_DATAOUT_YMSB_REG 0x07
|
||||
#define PIOS_HMC5883_DATAOUT_YLSB_REG 0x08
|
||||
#define PIOS_HMC5883_DATAOUT_STATUS_REG 0x09
|
||||
#define PIOS_HMC5883_DATAOUT_IDA_REG 0x0A
|
||||
#define PIOS_HMC5883_DATAOUT_IDB_REG 0x0B
|
||||
#define PIOS_HMC5883_DATAOUT_IDC_REG 0x0C
|
||||
|
||||
/* Output Data Rate */
|
||||
#define PIOS_HMC5883_ODR_0_75 0x00
|
||||
#define PIOS_HMC5883_ODR_1_5 0x04
|
||||
#define PIOS_HMC5883_ODR_3 0x08
|
||||
#define PIOS_HMC5883_ODR_7_5 0x0C
|
||||
#define PIOS_HMC5883_ODR_15 0x10
|
||||
#define PIOS_HMC5883_ODR_30 0x14
|
||||
#define PIOS_HMC5883_ODR_75 0x18
|
||||
|
||||
/* Measure configuration */
|
||||
#define PIOS_HMC5883_MEASCONF_NORMAL 0x00
|
||||
#define PIOS_HMC5883_MEASCONF_BIAS_POS 0x01
|
||||
#define PIOS_HMC5883_MEASCONF_BIAS_NEG 0x02
|
||||
|
||||
/* Gain settings */
|
||||
#define PIOS_HMC5883_GAIN_0_88 0x00
|
||||
#define PIOS_HMC5883_GAIN_1_3 0x20
|
||||
#define PIOS_HMC5883_GAIN_1_9 0x40
|
||||
#define PIOS_HMC5883_GAIN_2_5 0x60
|
||||
#define PIOS_HMC5883_GAIN_4_0 0x80
|
||||
#define PIOS_HMC5883_GAIN_4_7 0xA0
|
||||
#define PIOS_HMC5883_GAIN_5_6 0xC0
|
||||
#define PIOS_HMC5883_GAIN_8_1 0xE0
|
||||
|
||||
/* Modes */
|
||||
#define PIOS_HMC5883_MODE_CONTINUOUS 0x00
|
||||
#define PIOS_HMC5883_MODE_SINGLE 0x01
|
||||
#define PIOS_HMC5883_MODE_IDLE 0x02
|
||||
#define PIOS_HMC5883_MODE_SLEEP 0x03
|
||||
|
||||
/* Sensitivity Conversion Values */
|
||||
#define PIOS_HMC5883_Sensitivity_0_88Ga 1370 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_1_3Ga 1090 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_1_9Ga 820 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_2_5Ga 660 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_4_0Ga 440 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_4_7Ga 390 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_5_6Ga 330 // LSB/Ga
|
||||
#define PIOS_HMC5883_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
|
||||
|
||||
|
||||
struct pios_hmc5883_cfg {
|
||||
#ifdef PIOS_HMC5883_HAS_GPIOS
|
||||
const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
|
||||
#endif
|
||||
uint8_t M_ODR; /* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Meas_Conf; /* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
|
||||
uint8_t Gain; /* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Mode;
|
||||
};
|
||||
|
||||
/* Public Functions */
|
||||
extern void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg *cfg);
|
||||
extern bool PIOS_HMC5883_NewDataAvailable(void);
|
||||
extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
|
||||
extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
|
||||
extern int32_t PIOS_HMC5883_Test(void);
|
||||
extern bool PIOS_HMC5883_IRQHandler();
|
||||
|
||||
#endif /* PIOS_HMC5883_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
137
flight/pios/inc/pios_hmc5x83.h
Normal file
137
flight/pios/inc/pios_hmc5x83.h
Normal file
@ -0,0 +1,137 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
||||
* @{
|
||||
* @addtogroup PIOS_HMC5x83 HMC5x83 Functions
|
||||
* @brief Deals with the hardware interface to the magnetometers
|
||||
* @{
|
||||
*
|
||||
* @file pios_hmc5x83.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @brief HMC5x83 functions header.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef PIOS_HMC5x83_H
|
||||
#define PIOS_HMC5x83_H
|
||||
#include <stdint.h>
|
||||
/* HMC5x83 Addresses */
|
||||
#define PIOS_HMC5x83_I2C_ADDR 0x1E
|
||||
#define PIOS_HMC5x83_I2C_READ_ADDR 0x3D
|
||||
#define PIOS_HMC5x83_I2C_WRITE_ADDR 0x3C
|
||||
|
||||
#define PIOS_HMC5x83_SPI_READ_FLAG 0x80
|
||||
#define PIOS_HMC5x83_SPI_AUTOINCR_FLAG 0x40
|
||||
#define PIOS_HMC5x83_CONFIG_REG_A (uint8_t)0x00
|
||||
#define PIOS_HMC5x83_CONFIG_REG_B (uint8_t)0x01
|
||||
#define PIOS_HMC5x83_MODE_REG (uint8_t)0x02
|
||||
#define PIOS_HMC5x83_DATAOUT_XMSB_REG 0x03
|
||||
#define PIOS_HMC5x83_DATAOUT_XLSB_REG 0x04
|
||||
#define PIOS_HMC5x83_DATAOUT_ZMSB_REG 0x05
|
||||
#define PIOS_HMC5x83_DATAOUT_ZLSB_REG 0x06
|
||||
#define PIOS_HMC5x83_DATAOUT_YMSB_REG 0x07
|
||||
#define PIOS_HMC5x83_DATAOUT_YLSB_REG 0x08
|
||||
#define PIOS_HMC5x83_DATAOUT_STATUS_REG 0x09
|
||||
#define PIOS_HMC5x83_DATAOUT_IDA_REG 0x0A
|
||||
#define PIOS_HMC5x83_DATAOUT_IDB_REG 0x0B
|
||||
#define PIOS_HMC5x83_DATAOUT_IDC_REG 0x0C
|
||||
|
||||
/* Output Data Rate */
|
||||
#define PIOS_HMC5x83_ODR_0_75 0x00
|
||||
#define PIOS_HMC5x83_ODR_1_5 0x04
|
||||
#define PIOS_HMC5x83_ODR_3 0x08
|
||||
#define PIOS_HMC5x83_ODR_7_5 0x0C
|
||||
#define PIOS_HMC5x83_ODR_15 0x10
|
||||
#define PIOS_HMC5x83_ODR_30 0x14
|
||||
#define PIOS_HMC5x83_ODR_75 0x18
|
||||
|
||||
/* Measure configuration */
|
||||
#define PIOS_HMC5x83_MEASCONF_NORMAL 0x00
|
||||
#define PIOS_HMC5x83_MEASCONF_BIAS_POS 0x01
|
||||
#define PIOS_HMC5x83_MEASCONF_BIAS_NEG 0x02
|
||||
|
||||
/* Gain settings */
|
||||
#define PIOS_HMC5x83_GAIN_0_88 0x00
|
||||
#define PIOS_HMC5x83_GAIN_1_3 0x20
|
||||
#define PIOS_HMC5x83_GAIN_1_9 0x40
|
||||
#define PIOS_HMC5x83_GAIN_2_5 0x60
|
||||
#define PIOS_HMC5x83_GAIN_4_0 0x80
|
||||
#define PIOS_HMC5x83_GAIN_4_7 0xA0
|
||||
#define PIOS_HMC5x83_GAIN_5_6 0xC0
|
||||
#define PIOS_HMC5x83_GAIN_8_1 0xE0
|
||||
|
||||
#define PIOS_HMC5x83_CTRLA_TEMP 0x40
|
||||
|
||||
/* Modes */
|
||||
#define PIOS_HMC5x83_MODE_CONTINUOUS 0x00
|
||||
#define PIOS_HMC5x83_MODE_SINGLE 0x01
|
||||
#define PIOS_HMC5x83_MODE_IDLE 0x02
|
||||
#define PIOS_HMC5x83_MODE_SLEEP 0x03
|
||||
|
||||
/* Sensitivity Conversion Values */
|
||||
#define PIOS_HMC5x83_Sensitivity_0_88Ga 1370 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_1_3Ga 1090 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_1_9Ga 820 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_2_5Ga 660 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_4_0Ga 440 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_4_7Ga 390 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_5_6Ga 330 // LSB/Ga
|
||||
#define PIOS_HMC5x83_Sensitivity_8_1Ga 230 // LSB/Ga --> NOT RECOMMENDED
|
||||
|
||||
typedef uintptr_t pios_hmc5x83_dev_t;
|
||||
|
||||
struct pios_hmc5x83_io_driver {
|
||||
int32_t (*Write)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t buffer);
|
||||
int32_t (*Read)(pios_hmc5x83_dev_t handler, uint8_t address, uint8_t *buffer, uint8_t len);
|
||||
};
|
||||
|
||||
#ifdef PIOS_INCLUDE_SPI
|
||||
extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER;
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_I2C
|
||||
extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
|
||||
#endif
|
||||
|
||||
struct pios_hmc5x83_cfg {
|
||||
#ifdef PIOS_HMC5X83_HAS_GPIOS
|
||||
const struct pios_exti_cfg *exti_cfg; /* Pointer to the EXTI configuration */
|
||||
#endif
|
||||
uint8_t M_ODR; // OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Meas_Conf; // Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
|
||||
uint8_t Gain; // Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
|
||||
uint8_t Mode;
|
||||
bool TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation
|
||||
const struct pios_hmc5x83_io_driver *Driver;
|
||||
};
|
||||
|
||||
/* Public Functions */
|
||||
extern pios_hmc5x83_dev_t PIOS_HMC5x83_Init(const struct pios_hmc5x83_cfg *cfg, uint32_t port_id, uint8_t device_num);
|
||||
extern bool PIOS_HMC5x83_NewDataAvailable(pios_hmc5x83_dev_t handler);
|
||||
extern int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3]);
|
||||
extern uint8_t PIOS_HMC5x83_ReadID(pios_hmc5x83_dev_t handler, uint8_t out[4]);
|
||||
extern int32_t PIOS_HMC5x83_Test(pios_hmc5x83_dev_t handler);
|
||||
extern bool PIOS_HMC5x83_IRQHandler(pios_hmc5x83_dev_t handler);
|
||||
|
||||
#endif /* PIOS_HMC5x83_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -204,10 +204,10 @@
|
||||
#include <pios_hmc5843.h>
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_HMC5883
|
||||
/* HMC5883 3-Axis Digital Compass */
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
#include <pios_hmc5883.h>
|
||||
#ifdef PIOS_INCLUDE_HMC5X83
|
||||
/* HMC5883/HMC5983 3-Axis Digital Compass */
|
||||
/* #define PIOS_HMC5x83_HAS_GPIOS */
|
||||
#include <pios_hmc5x83.h>
|
||||
#endif
|
||||
|
||||
#ifdef PIOS_INCLUDE_BMP085
|
||||
|
||||
@ -84,7 +84,7 @@
|
||||
#define PIOS_INCLUDE_MPU6000
|
||||
#define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
/* #define PIOS_INCLUDE_HMC5883 */
|
||||
/* #define PIOS_INCLUDE_HMC5X83 */
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
/* #define PIOS_INCLUDE_MS5611 */
|
||||
|
||||
@ -84,8 +84,8 @@
|
||||
// #define PIOS_INCLUDE_MPU6000
|
||||
// #define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
// #define PIOS_INCLUDE_HMC5883
|
||||
// #define PIOS_HMC5883_HAS_GPIOS
|
||||
// #define PIOS_INCLUDE_HMC5X83
|
||||
// #define PIOS_HMC5X83_HAS_GPIOS
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
// #define PIOS_INCLUDE_MS5611
|
||||
// #define PIOS_INCLUDE_MPXV
|
||||
|
||||
@ -90,10 +90,10 @@ void PIOS_ADC_DMC_irq_handler(void)
|
||||
|
||||
#endif /* if defined(PIOS_INCLUDE_ADC) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#include "pios_hmc5883.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
.vector = PIOS_HMC5883_IRQHandler,
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#include "pios_hmc5x83.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
|
||||
.vector = PIOS_HMC5x83_IRQHandler,
|
||||
.line = EXTI_Line7,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
@ -123,14 +123,15 @@ static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5883_cfg,
|
||||
.M_ODR = PIOS_HMC5883_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5x83_cfg,
|
||||
.M_ODR = PIOS_HMC5x83_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5x83_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
|
||||
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
#endif /* PIOS_INCLUDE_HMC5X83 */
|
||||
|
||||
/**
|
||||
* Configuration for the MS5611 chip
|
||||
@ -929,8 +930,8 @@ void PIOS_Board_Init(void)
|
||||
PIOS_ADC_Init(&pios_adc_cfg);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_MS5611)
|
||||
|
||||
@ -81,7 +81,7 @@
|
||||
/* #define PIOS_INCLUDE_MPU6000 */
|
||||
/* #define PIOS_MPU6000_ACCEL */
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
/* #define PIOS_INCLUDE_HMC5883 */
|
||||
/* #define PIOS_INCLUDE_HMC5X83 */
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
/* #define PIOS_INCLUDE_MS5611 */
|
||||
|
||||
@ -81,8 +81,8 @@
|
||||
/* #define PIOS_INCLUDE_MPU6000 */
|
||||
/* #define PIOS_MPU6000_ACCEL */
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
/* #define PIOS_HMC5883_HAS_GPIOS */
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
/* #define PIOS_HMC5X83_HAS_GPIOS */
|
||||
#define PIOS_INCLUDE_BMP085
|
||||
/* #define PIOS_INCLUDE_MS5611 */
|
||||
/* #define PIOS_INCLUDE_MPXV */
|
||||
|
||||
@ -84,8 +84,8 @@
|
||||
#define PIOS_INCLUDE_MPU6000
|
||||
#define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_HMC5883_HAS_GPIOS
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_HMC5X83_HAS_GPIOS
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
#define PIOS_INCLUDE_MS5611
|
||||
#define PIOS_INCLUDE_MPXV
|
||||
|
||||
@ -57,6 +57,7 @@
|
||||
*/
|
||||
|
||||
#if defined(PIOS_INCLUDE_ADC)
|
||||
|
||||
#include "pios_adc_priv.h"
|
||||
void PIOS_ADC_DMC_irq_handler(void);
|
||||
void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
|
||||
@ -91,10 +92,16 @@ void PIOS_ADC_DMC_irq_handler(void)
|
||||
|
||||
#endif /* if defined(PIOS_INCLUDE_ADC) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#include "pios_hmc5883.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
.vector = PIOS_HMC5883_IRQHandler,
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
#include "pios_hmc5x83.h"
|
||||
pios_hmc5x83_dev_t onboard_mag = 0;
|
||||
|
||||
bool pios_board_internal_mag_handler()
|
||||
{
|
||||
return PIOS_HMC5x83_IRQHandler(onboard_mag);
|
||||
}
|
||||
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
|
||||
.vector = pios_board_internal_mag_handler,
|
||||
.line = EXTI_Line7,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
@ -124,14 +131,15 @@ static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5883_cfg,
|
||||
.M_ODR = PIOS_HMC5883_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5x83_cfg,
|
||||
.M_ODR = PIOS_HMC5x83_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5x83_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
|
||||
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
#endif /* PIOS_INCLUDE_HMC5X83 */
|
||||
|
||||
/**
|
||||
* Configuration for the MS5611 chip
|
||||
@ -944,8 +952,8 @@ void PIOS_Board_Init(void)
|
||||
PIOS_ADC_Init(&pios_adc_cfg);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_MS5611)
|
||||
|
||||
@ -81,8 +81,8 @@
|
||||
#define PIOS_INCLUDE_MPU6000
|
||||
#define PIOS_MPU6000_ACCEL
|
||||
/* #define PIOS_INCLUDE_HMC5843 */
|
||||
#define PIOS_INCLUDE_HMC5883
|
||||
#define PIOS_HMC5883_HAS_GPIOS
|
||||
#define PIOS_INCLUDE_HMC5X83
|
||||
#define PIOS_HMC5X83_HAS_GPIOS
|
||||
/* #define PIOS_INCLUDE_BMP085 */
|
||||
#define PIOS_INCLUDE_MS5611
|
||||
#define PIOS_INCLUDE_MPXV
|
||||
|
||||
@ -81,10 +81,16 @@ void PIOS_ADC_DMC_irq_handler(void)
|
||||
|
||||
#endif /* if defined(PIOS_INCLUDE_ADC) */
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
#include "pios_hmc5883.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
.vector = PIOS_HMC5883_IRQHandler,
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
pios_hmc5x83_dev_t onboard_mag = 0;
|
||||
|
||||
bool pios_board_internal_mag_handler()
|
||||
{
|
||||
return PIOS_HMC5x83_IRQHandler(onboard_mag);
|
||||
}
|
||||
#include "pios_hmc5x83.h"
|
||||
static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
|
||||
.vector = pios_board_internal_mag_handler,
|
||||
.line = EXTI_Line5,
|
||||
.pin = {
|
||||
.gpio = GPIOB,
|
||||
@ -114,14 +120,15 @@ static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
|
||||
},
|
||||
};
|
||||
|
||||
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5883_cfg,
|
||||
.M_ODR = PIOS_HMC5883_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5883_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
|
||||
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
|
||||
.exti_cfg = &pios_exti_hmc5x83_cfg,
|
||||
.M_ODR = PIOS_HMC5x83_ODR_75,
|
||||
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
|
||||
.Gain = PIOS_HMC5x83_GAIN_1_9,
|
||||
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
|
||||
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
|
||||
};
|
||||
#endif /* PIOS_INCLUDE_HMC5883 */
|
||||
#endif /* PIOS_INCLUDE_HMC5X83 */
|
||||
|
||||
/**
|
||||
* Configuration for the MS5611 chip
|
||||
@ -938,8 +945,8 @@ void PIOS_Board_Init(void)
|
||||
PIOS_ADC_Init(&pios_adc_cfg);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_HMC5883)
|
||||
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
||||
#if defined(PIOS_INCLUDE_HMC5X83)
|
||||
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_pressure_adapter_id, 0);
|
||||
#endif
|
||||
|
||||
#if defined(PIOS_INCLUDE_MS5611)
|
||||
|
||||
@ -63,7 +63,7 @@
|
||||
|
||||
/* Select the sensors to include */
|
||||
// #define PIOS_INCLUDE_BMA180
|
||||
// #define PIOS_INCLUDE_HMC5883
|
||||
// #define PIOS_INCLUDE_HMC5X83
|
||||
// #define PIOS_INCLUDE_MPU6000
|
||||
// #define PIOS_MPU6000_ACCEL
|
||||
// #define PIOS_INCLUDE_L3GD20
|
||||
|
||||
@ -64,7 +64,7 @@ SRC += $(PIOSCOMMON)/pios_etasv3.c
|
||||
SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
|
||||
SRC += $(PIOSCOMMON)/pios_hcsr04.c
|
||||
SRC += $(PIOSCOMMON)/pios_hmc5843.c
|
||||
SRC += $(PIOSCOMMON)/pios_hmc5883.c
|
||||
SRC += $(PIOSCOMMON)/pios_hmc5x83.c
|
||||
SRC += $(PIOSCOMMON)/pios_i2c_esc.c
|
||||
SRC += $(PIOSCOMMON)/pios_l3gd20.c
|
||||
SRC += $(PIOSCOMMON)/pios_mpu6000.c
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user