-
Notifications
You must be signed in to change notification settings - Fork 0
/
hal_lsm303d_i2c.c
250 lines (218 loc) · 8.77 KB
/
hal_lsm303d_i2c.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
#include "hal_lsm303d_i2c.h"
#include "mcal_i2c.h"
#include <math.h>
/* accelerometer readings */
Vector aAccVal;
/* magnetometer readings */
Vector aMgnVal;
/*******************************************************************************
* Function name : LSM303D_s8ReadRegister
* Description : Using I2c communication we forward the address of the
* registry by LSM303D then it return the value witch is
* stored in that register
* List of arguments: address register that we want to read
* Return value : return data stored in that register
********************************************************************************/
T_S8 LSM303D_s8ReadRegister(T_S8 s8Address)
{
T_S8 Data;
I2C_s8ReadReg(ADD,s8Address,&Data);
return (Data);
}
/*******************************************************************************
* Function name : LSM303D_s8WriteRegister
* Description : Using I2c communication we forward the address of the
* registry by LSM303D then the value will be write in it
*
* List of arguments: address register that we want to write in it
* Return value : no return value
********************************************************************************/
void LSM303D_s8WriteRegister(T_S8 s8Address, T_S8 s8Value)
{
I2C_s8WriteReg(ADD,s8Address,s8Value);
}
/*******************************************************************************
* Function name : LSM303D_vInit
* Description : registers initialization
*
* List of arguments: no arguments
* Return value : no return value
********************************************************************************/
void LSM303D_vInit(void)
{
/* initialization the I2C for to communicate with LSM303D */
I2C_vInit();
LSM303D_vInit_MinMaxMag();
/* for calibration the magnetometer */
LSM303D_vInit_MinMaxMag();
/* Accelerometer */
/* 0x57 = 0b01010111 */
/* AODR = 0101 (50 Hz ODR); AZEN = AYEN = AXEN = 1 (all axes enabled) */
LSM303D_s8WriteRegister(CTRL1, 0x57);
/* 0x00 = 0b00000000 */
/* AFS = 0 (+/- 2 g full scale) */
LSM303D_s8WriteRegister(CTRL2, 0x00);
/* Magnetometer */
/* 0x64 = 0b01100100 */
/* M_RES = 11 (high resolution mode); M_ODR = 001 (6.25 Hz ODR) */
LSM303D_s8WriteRegister(CTRL5, 0x64);
/* 0x20 = 0b00100000 */
/* MFS = 01 (+/- 4 gauss full scale) */
LSM303D_s8WriteRegister(CTRL6, 0x20);
/* 0x00 = 0b00000000 */
/* MLP = 0 (low power mode off); MD = 00 (continuous-conversion mode) */
LSM303D_s8WriteRegister(CTRL7, 0x80);
}
/*******************************************************************************
* Function name : LSM303D_vReadAcc
* Description : Reads the 3 accelerometer channels and stores them
* in vector a
*
* List of arguments: no arguments
* Return value : no return value
********************************************************************************/
void LSM303D_vReadAcc(void)
{
T_U8 xla, xha, yla, yha, zla, zha;
xla = LSM303D_s8ReadRegister(OUT_X_L_A);
xha = LSM303D_s8ReadRegister(OUT_X_H_A);
yla = LSM303D_s8ReadRegister(OUT_Y_L_A);
yha = LSM303D_s8ReadRegister(OUT_Y_H_A);
zla = LSM303D_s8ReadRegister(OUT_Z_L_A);
zha = LSM303D_s8ReadRegister(OUT_Z_H_A);
/* combine high and low bytes - each accelerometer channel have 16-bit resolution */
aAccVal.x = (T_S16)xha << 8 | xla;
aAccVal.y = (T_S16) yha << 8 | yla;
aAccVal.z = (T_S16) zha << 8 | zla;
}
/*******************************************************************************
* Function name : LSM303D_vReadMag
* Description : Reads the 3 magnetometer channels and stores them
* in vector m
*
* List of arguments: no arguments
* Return value : no return value
********************************************************************************/
void LSM303D_vReadMag(void)
{
T_U8 xlm, xhm, ylm, yhm, zlm, zhm;
xlm = LSM303D_s8ReadRegister(OUT_X_L_M);
xhm = LSM303D_s8ReadRegister(OUT_X_H_M);
ylm = LSM303D_s8ReadRegister(OUT_Y_L_M);
yhm = LSM303D_s8ReadRegister(OUT_Y_H_M);
zlm = LSM303D_s8ReadRegister(OUT_Z_L_M);
zhm = LSM303D_s8ReadRegister(OUT_Z_H_M);
/* combine high and low bytes - each magnetometer channel have 16-bit resolution */
aMgnVal.x = (T_S16)xhm << 8 | xlm;
aMgnVal.y = (T_S16)yhm << 8 | ylm;
aMgnVal.z = (T_S16)zhm << 8 | zlm;
}
/*******************************************************************************
* Function name : LSM303D_vRead
* Description : Reads all 6 channels of the LSM303 and stores them in the
* object variables
* Reads the 3 accelerometer channels
* Reads the 3 magnetometer channels
*
* List of arguments: no arguments
* Return value : no return value
********************************************************************************/
void LSM303D_vRead(void)
{
LSM303D_vReadAcc();
LSM303D_vReadMag();
}
/* variable for minim and maximum readings magnetometer */
Vector aMgnVal_min ,aMgnVal_max;
/*******************************************************************************
* Function name : LSM303D_vInit_MinMaxMag
* Description : First time the min is a maximum number and max is a
* minimum number
* After we done to calculate min and max for each axis
* we will return to modify min and max values.
* List of arguments: no arguments
* Return value : no return value
********************************************************************************/
void LSM303D_vInit_MinMaxMag(void)
{
if(CAR == 1)
{
aMgnVal_min.x = -699;
aMgnVal_min.y = -1235;
aMgnVal_max.x = 1258;
aMgnVal_max.y = 757;
aMgnVal_min.z = -2549;
aMgnVal_max.z = -2183;
}
if(CAR == 2)
{
aMgnVal_min.x = 883;
aMgnVal_min.y = -853;
aMgnVal_max.x = 3045;
aMgnVal_max.y = 1144;
aMgnVal_min.z = -1918;
aMgnVal_max.z = -1756;
}
}
/*******************************************************************************
* Function name : LSM303D_vMinMaxMag
* Description : Each car has a calibration and for this is necessary to
* calculate minimum an maximum value for each axis
* In this case the values were calculated turning the car 360
* degrees
* List of arguments: no arguments
* Return value : no return value
********************************************************************************/
void LSM303D_vMinMaxMag(void)
{
LSM303D_vReadMag();
if(aMgnVal.x > aMgnVal_max.x)
aMgnVal_max.x = aMgnVal.x;
if(aMgnVal.x <= aMgnVal_min.x)
aMgnVal_min.x = aMgnVal.x;
if(aMgnVal.y > aMgnVal_max.y)
aMgnVal_max.y = aMgnVal.y;
if(aMgnVal.y <= aMgnVal_min.y)
aMgnVal_min.y = aMgnVal.y;
if(aMgnVal_max.z < aMgnVal.z)
aMgnVal_max.z = aMgnVal.z;
if(aMgnVal_min.z >= aMgnVal.z)
aMgnVal_min.z = aMgnVal.z;
}
/*******************************************************************************
* Function name : LSM303D_vMinMaxMag
* Description : In this function we are calculating values of each axis
* calibrate and then heading
* List of arguments: no arguments
* Return value : return angle
********************************************************************************/
T_F16 LSM303D_f16Heading(void)
{
LSM303D_vRead();
Vector offset_Mgn;
/* subtract offset (average of min and max) from magnetometer readings */
offset_Mgn.x = (aMgnVal_min.x +aMgnVal_max.x) / 2;
offset_Mgn.y= (aMgnVal_min.y +aMgnVal_max.y) / 2;
offset_Mgn.z = (aMgnVal_min.z +aMgnVal_max.z) / 2;
/*calibrate magnetometer readings */
aMgnVal.x-=offset_Mgn.x;
aMgnVal.y-=offset_Mgn.y;
aMgnVal.z-=offset_Mgn.z;
/**************************************************************************
* calculate pitch and roll
*
* float pitch,roll;
*
* pitch = asin(-(aAccVal.x*0.000061));
* roll = asin(aAccVal.y*0.000061/cos(pitch));
* aMgnVal.x =aMgnVal.x*cos(pitch)+aMgnVal.z*sin(pitch);
* aMgnVal.y =aMgnVal.x*sin(roll)*sin(pitch)+aMgnVal.y*cos(roll)-aMgnVal.z*sin(roll)*cos(pitch);
**************************************************************************/
/* compute heading */
T_F16 heading;
heading = atan2(aMgnVal.y,aMgnVal.x);
if(heading < 0)
heading += 2 * PI;
heading=(heading * 180/PI);
return heading;
}