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sensors.c
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sensors.c
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/*================================================================================*
* O O __ ______ __ __ ____ __ ___ __ *
* \ / /\ / /_ _ / /___/ / / / / / __ \ / / / \ /\ / / *
* [+] / \/ / \\ // / /____ / / / / \ \_ / / | | | | / \/ / *
* / \ / /\ / \\__// / /----// /__/ / \ \__ \ / / | | | | / /\ / *
* O O /_/ \/ \__/ /_/ \_ ___/ \___ //_/ \___/ /_/ \/ *
* *
* *
* Nuvoton Sensor Fusion Application Firmware for Cortex M4 Series *
* *
* Written by by T.L. Shen for Nuvoton Technology. *
* tlshen@nuvoton.com/tzulan611126@gmail.com *
* *
*================================================================================*
*/
#include <stdio.h>
#include <math.h>
#include "MPU6050.h"
#include "sensors.h"
#include "flash.h"
#include "timerctrl.h"
#include "Report.h"
SensorInit_T SensorInitState = {false,false,false};
SensorInit_T SensorCalState = {false,false,false};
CAL_FLASH_STATE_T CalFlashState = {false,false,false,0xff};
Sensor_T Sensor;
float GyroScale[3];
float AccScale[3];
float GyroOffset[3];
float AccOffset[3];
float MagCalMatrix[10];
CAL_FLASH_STATE_T* GetFlashState()
{
return &CalFlashState;
}
void SetFlashState(CAL_FLASH_STATE_T* State)
{
CalFlashState.ACC_FLASH = State->ACC_FLASH;
CalFlashState.GYRO_FLASH = State->GYRO_FLASH;
CalFlashState.MAG_FLASH = State->MAG_FLASH;
CalFlashState.MAG_QFACTOR = State->MAG_QFACTOR;
}
void temperatureRead(float *temperatureOut)
{
#if STACK_ACC
#ifdef MPU6050
*temperatureOut = (MPU6050_getTemperature()-512)/340+34;
*temperatureOut = *temperatureOut*25/20;
#endif
#endif
}
#if STACK_GYRO
#ifdef MPU6050
#endif
#endif
/* Sensors Init */
void SensorInitACC()
{
float Cal[ACC_CAL_DATA_SIZE];
bool FlashValid;
if(!SensorInitState.ACC_Done) {
#ifdef MPU6050
SensorInitState.ACC_Done = MPU6050_initialize();
SensorInitState.GYRO_Done = SensorInitState.ACC_Done;
#endif
}
if(SensorInitState.ACC_Done) {
printf("ACC connect - [OK]\n");
FlashValid = GetFlashCal(SENSOR_ACC, Cal);
if(FlashValid) {
CalFlashState.ACC_FLASH = true;
AccOffset[0] = Cal[0];
AccOffset[1] = Cal[1];
AccOffset[2] = Cal[2];
AccScale[0] = Cal[3];
AccScale[1] = Cal[4];
AccScale[2] = Cal[5];
printf("ACC calibration - [FLASH]\n");
}
else {
AccOffset[0] = ACC_OFFSET_X;//0;
AccOffset[1] = ACC_OFFSET_Y;//0;
AccOffset[2] = ACC_OFFSET_Z;//0;
AccScale[0] = ACC_SCALE_X;//IMU_G_PER_LSB_CFG;
AccScale[1] = ACC_SCALE_Y;//IMU_G_PER_LSB_CFG;
AccScale[2] = ACC_SCALE_Z;//IMU_G_PER_LSB_CFG;
printf("ACC calibration - [DEF]\n");
}
//printf("Offset: %f %f %f\n", AccOffset[0], AccOffset[1], AccOffset[2]);
//printf("Scale: %f %f %f\n", AccScale[0], AccScale[1], AccScale[2]);
nvtSetAccScale(AccScale);
nvtSetAccOffset(AccOffset);
nvtSetAccG_PER_LSB(IMU_G_PER_LSB_CFG);
}
else
printf("ACC connect - [FAIL]\n");
}
void SensorInitGYRO()
{
float Cal[GYRO_CAL_DATA_SIZE];
bool FlashValid;
if(!SensorInitState.GYRO_Done) {
#ifdef MPU6050
SensorInitState.GYRO_Done = MPU6050_initialize();
SensorInitState.ACC_Done = SensorInitState.GYRO_Done;
#endif
}
if(SensorInitState.GYRO_Done) {
printf("GYRO connect - [OK]\n");
FlashValid = GetFlashCal(SENSOR_GYRO, Cal);
if(FlashValid) {
CalFlashState.GYRO_FLASH = true;
GyroOffset[0] = Cal[0];
GyroOffset[1] = Cal[1];
GyroOffset[2] = Cal[2];
GyroScale[0] = Cal[3]*IMU_DEG_PER_LSB_CFG;
GyroScale[1] = Cal[4]*IMU_DEG_PER_LSB_CFG;
GyroScale[2] = Cal[5]*IMU_DEG_PER_LSB_CFG;
printf("GYRO calibration - [FLASH]\n");
}
else {
GyroOffset[0] = 0;
GyroOffset[1] = 0;
GyroOffset[2] = 0;
GyroScale[0] = IMU_DEG_PER_LSB_CFG;
GyroScale[1] = IMU_DEG_PER_LSB_CFG;
GyroScale[2] = IMU_DEG_PER_LSB_CFG;
printf("GYRO calibration - [DEF]\n");
}
//printf("Offset: %f %f %f\n", GyroOffset[0], GyroOffset[1], GyroOffset[2]);
//printf("Scale: %f %f %f\n", GyroScale[0], GyroScale[1], GyroScale[2]);
nvtSetGyroScale(GyroScale);
nvtSetGyroOffset(GyroOffset);
nvtSetGYRODegPLSB(IMU_DEG_PER_LSB_CFG);
}
else
printf("GYRO connect - [FAIL]\n");
}
void SensorInitMAG()
{
float Cal[MAG_CAL_DATA_SIZE + QUALITY_FACTOR_SIZE],magCal[3];
bool FlashValid;
int i;
if(!SensorInitState.MAG_Done) {
#ifdef HMC5883
SensorInitState.MAG_Done = hmc5883lInit();
hmc5883lSelfTest();
hmc5883lGetRatioFactor(&magCal[0],&magCal[1],&magCal[2]);
#endif
#ifdef AK8975
SensorInitState.MAG_Done = AK8975_initialize();
#endif
}
if(SensorInitState.MAG_Done) {
if (report_format == REPORT_FORMAT_TEXT)
printf("MAG connect - [OK]\n");
FlashValid = GetFlashCal(SENSOR_MAG, Cal);
if(FlashValid) {
CalFlashState.MAG_FLASH = true;
for(i=0;i<MAG_CAL_DATA_SIZE;i++)
MagCalMatrix[i] = Cal[i];
CalFlashState.MAG_QFACTOR = Cal[i];
if (report_format == REPORT_FORMAT_TEXT)
printf("MAG calibration from - [FLASH], Q:%d\n",CalFlashState.MAG_QFACTOR);
}
else {
for(i=0;i<MAG_CAL_DATA_SIZE;i++)
MagCalMatrix[i] = 0;
MagCalMatrix[3] = magCal[0];//MAG_GAUSS_PER_LSB;
MagCalMatrix[4] = magCal[1];//MAG_GAUSS_PER_LSB;
MagCalMatrix[5] = magCal[2];//MAG_GAUSS_PER_LSB;
if (report_format == REPORT_FORMAT_TEXT)
printf("MAG calibration from - [DEFAULT], Q:%d\n",CalFlashState.MAG_QFACTOR);
}
/*printf("M[0][1][2]: %f %f %f\n", MagCalMatrix[0], MagCalMatrix[1], MagCalMatrix[2]);
printf("M[3][4][5]: %f %f %f\n", MagCalMatrix[3], MagCalMatrix[4], MagCalMatrix[5]);
printf("M[6][7][8]: %f %f %f\n", MagCalMatrix[6], MagCalMatrix[7], MagCalMatrix[8]);
printf("M[9]: %f\n", MagCalMatrix[9]);*/
nvtSetMagCalMatrix(MagCalMatrix);
nvtSetMagGaussPLSB(MAG_GAUSS_PER_LSB);
}
else
printf("MAG connect - [FAIL]\n");
}
void SensorsInit()
{
#if STACK_ACC
SensorInitACC();
#endif
#if STACK_GYRO
SensorInitGYRO();
#endif
#if STACK_MAG
SensorInitMAG();
#endif
}
/* Sensors Read */
void SensorReadACC()
{
#if STACK_ACC
int16_t rawACC[3];
#ifdef MPU6050
MPU6050_getAcceleration(&rawACC[0],&rawACC[1], &rawACC[2]);
#endif
ACC_ORIENTATION(rawACC[0],rawACC[1],rawACC[2]);
#endif
}
void SensorReadGYRO()
{
#if STACK_GYRO
int16_t rawGYRO[3];
#ifdef MPU6050
MPU6050_getRotation(&rawGYRO[0],&rawGYRO[1], &rawGYRO[2]);
#endif
GYRO_ORIENTATION(rawGYRO[0],rawGYRO[1],rawGYRO[2]);
//printf("Raw GYRO:%d %d %d\n",Sensor.rawGYRO[0], Sensor.rawGYRO[1], Sensor.rawGYRO[2]);
#endif
}
void SensorReadMAG()
{
int16_t rawMAG[3];
#ifdef HMC5883
hmc5883lGetHeading(&rawMAG[0],&rawMAG[1], &rawMAG[2]);
#endif
#ifdef AK8975
AK8975_getHeading(&rawMAG[0],&rawMAG[1], &rawMAG[2]);
#endif
MAG_ORIENTATION(rawMAG[0],rawMAG[1],rawMAG[2]);
//printf("Raw Mag:%d %d %d\n",Sensor.rawMAG[0], Sensor.rawMAG[1], Sensor.rawMAG[2]);
}
void SensorsRead(char SensorType, char interval)
{
#if STACK_ACC
if(SensorType&SENSOR_ACC&&SensorInitState.ACC_Done) {
SensorReadACC();
nvtInputSensorRawACC(&Sensor.rawACC[0]);
}
#endif
#if STACK_MAG
if(SensorType&SENSOR_MAG&&SensorInitState.MAG_Done) {
if((GetFrameCount()%interval)==0) {
SensorReadMAG();
nvtInputSensorRawMAG(&Sensor.rawMAG[0]);
}
}
else {
Sensor.rawMAG[0] = 0;
Sensor.rawMAG[1] = 0;
Sensor.rawMAG[2] = 0;
nvtInputSensorRawMAG(&Sensor.rawMAG[0]);
}
#endif
#if STACK_GYRO
if(SensorType&SENSOR_GYRO&&SensorInitState.GYRO_Done) {
SensorReadGYRO();
nvtInputSensorRawGYRO(&Sensor.rawGYRO[0]);
}
#endif
}
void SensorsDynamicCalibrate(char SensorType)
{
#if STACK_ACC
if(SensorType&SENSOR_ACC&&SensorInitState.ACC_Done) {
/* TBD */
}
#endif
#if STACK_GYRO
if(SensorType&SENSOR_GYRO&&SensorInitState.GYRO_Done) {
if(!SensorCalState.GYRO_Done) {
if(nvtGyroCenterCalibrate()!=STATUS_GYRO_CAL_DONE) {}
//led_arm_state(LED_STATE_TOGGLE);
else {
float GyroMean[3];
SensorCalState.GYRO_Done = true;
//led_arm_state(LED_STATE_OFF);
nvtGetGyroOffset(GyroMean);
}
}
}
#endif
#if STACK_MAG
if(SensorType&SENSOR_MAG&&SensorInitState.MAG_Done) {
if(!SensorCalState.MAG_Done) {
static float rpy[3],lastY,diff;
nvtGetEulerRPY(rpy);
diff = fabsf(rpy[2] - lastY);
if((diff>0.01f)||(diff==0)) {}
//led_mag_state(LED_STATE_TOGGLE);
else {
//led_arm_state(LED_STATE_OFF);
SensorCalState.MAG_Done = true;
}
lastY = rpy[2];
}
}
#endif
}
char GetSensorInitState()
{
char InitState = 0;
InitState = (((SensorInitState.ACC_Done<<ACC))|((SensorInitState.GYRO_Done<<GYRO))|((SensorInitState.MAG_Done<<MAG)));
return InitState;
}
char GetSensorCalState()
{
char CalState = 0;
CalState = (((SensorCalState.ACC_Done<<ACC))|((SensorCalState.GYRO_Done<<GYRO))|((SensorCalState.MAG_Done<<MAG)));
return CalState;
}