forked from tkurbad/RTIMULib2
/
RTIMUSettings.cpp
1941 lines (1697 loc) · 71.4 KB
/
RTIMUSettings.cpp
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////////////////////////////////////////////////////////////////////////////
//
// This file is part of RTIMULib
//
// Copyright (c) 2014-2015, richards-tech, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of
// this software and associated documentation files (the "Software"), to deal in
// the Software without restriction, including without limitation the rights to use,
// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
// Software, and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
// The MPU-9250 and SPI driver code is based on code generously supplied by
// staslock@gmail.com (www.clickdrive.io)
// The LSM6DS33 + LIS3MDL driver code has been contributed by
// Torsten Kurbad <github@tk-webart.de>
#include "RTIMUSettings.h"
#include "IMUDrivers/RTIMUMPU9150.h"
#include "IMUDrivers/RTIMUMPU925x.h"
#include "IMUDrivers/RTIMUGD20HM303D.h"
#include "IMUDrivers/RTIMUGD20M303DLHC.h"
#include "IMUDrivers/RTIMUGD20HM303DLHC.h"
#include "IMUDrivers/RTIMULSM9DS0.h"
#include "IMUDrivers/RTIMULSM9DS1.h"
#include "IMUDrivers/RTIMUBMX055.h"
#include "IMUDrivers/RTIMULSM6DS33LIS3MDL.h"
#include "IMUDrivers/RTPressureBMP180.h"
#include "IMUDrivers/RTPressureLPS25H.h"
#include "IMUDrivers/RTHumidityHTS221.h"
#include "IMUDrivers/RTHumidityHTU21D.h"
#define RATE_TIMER_INTERVAL 2
RTIMUSettings::RTIMUSettings(const char *productType)
{
if ((strlen(productType) > 200) || (strlen(productType) == 0)) {
HAL_ERROR("Product name too long or null - using default\n");
strcpy(m_filename, "RTIMULib.ini");
} else {
sprintf(m_filename, "%s.ini", productType);
}
loadSettings();
}
RTIMUSettings::RTIMUSettings(const char *settingsDirectory, const char *productType)
{
if (((strlen(productType) + strlen(settingsDirectory)) > 200) || (strlen(productType) == 0)) {
HAL_ERROR("Product name too long or null - using default\n");
strcpy(m_filename, "RTIMULib.ini");
} else {
sprintf(m_filename, "%s/%s.ini", settingsDirectory, productType);
}
loadSettings();
}
bool RTIMUSettings::discoverIMU(int& imuType, bool& busIsI2C, unsigned char& slaveAddress)
{
unsigned char result;
unsigned char altResult;
// auto detect on I2C bus
m_busIsI2C = true;
if (HALOpen()) {
if (HALRead(MPU9150_ADDRESS0, MPU9150_WHO_AM_I, 1, &result, "")) {
if (result == MPU9250_ID || result == MPU9255_ID) {
imuType = RTIMU_TYPE_MPU925x;
slaveAddress = MPU925x_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected MPU9250/MPU9255 at standard address\n");
return true;
} else if (result == MPU9150_ID) {
imuType = RTIMU_TYPE_MPU9150;
slaveAddress = MPU9150_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected MPU9150 at standard address\n");
return true;
}
}
if (HALRead(MPU9150_ADDRESS1, MPU9150_WHO_AM_I, 1, &result, "")) {
if (result == MPU9250_ID || result == MPU9255_ID) {
imuType = RTIMU_TYPE_MPU925x;
slaveAddress = MPU925x_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected MPU9250/MPU9255 at option address\n");
return true;
} else if (result == MPU9150_ID) {
imuType = RTIMU_TYPE_MPU9150;
slaveAddress = MPU9150_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected MPU9150 at option address\n");
return true;
}
}
if (HALRead(L3GD20H_ADDRESS0, L3GD20H_WHO_AM_I, 1, &result, "")) {
if (result == L3GD20H_ID) {
if (HALRead(LSM303D_ADDRESS0, LSM303D_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM303D_ID) {
imuType = RTIMU_TYPE_GD20HM303D;
slaveAddress = L3GD20H_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected L3GD20H/LSM303D at standard/standard address\n");
return true;
}
}
if (HALRead(LSM303D_ADDRESS1, LSM303D_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM303D_ID) {
imuType = RTIMU_TYPE_GD20HM303D;
slaveAddress = L3GD20H_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected L3GD20H/LSM303D at standard/option address\n");
return true;
}
}
if (HALRead(LSM303DLHC_ACCEL_ADDRESS, LSM303DLHC_STATUS_A, 1, &altResult, "")) {
imuType = RTIMU_TYPE_GD20HM303DLHC;
slaveAddress = L3GD20H_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected L3GD20H/LSM303DLHC at standard/standard address\n");
return true;
}
} else if (result == LSM9DS0_GYRO_ID) {
if (HALRead(LSM9DS0_ACCELMAG_ADDRESS0, LSM9DS0_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS0_ACCELMAG_ID) {
imuType = RTIMU_TYPE_LSM9DS0;
slaveAddress = LSM9DS0_GYRO_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected LSM9DS0 at standard/standard address\n");
return true;
}
}
if (HALRead(LSM9DS0_ACCELMAG_ADDRESS1, LSM9DS0_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS0_ACCELMAG_ID) {
imuType = RTIMU_TYPE_LSM9DS0;
slaveAddress = LSM9DS0_GYRO_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected LSM9DS0 at standard/option address\n");
return true;
}
}
} else if (result == LSM9DS1_ID) {
if (HALRead(LSM9DS1_MAG_ADDRESS0, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS1_MAG_ID) {
imuType = RTIMU_TYPE_LSM9DS1;
slaveAddress = LSM9DS1_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected LSM9DS1 at standard/standard address\n");
return true;
}
}
if (HALRead(LSM9DS1_MAG_ADDRESS1, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS1_MAG_ID) {
imuType = RTIMU_TYPE_LSM9DS1;
slaveAddress = LSM9DS1_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected LSM9DS1 at standard/option 1 address\n");
return true;
}
}
if (HALRead(LSM9DS1_MAG_ADDRESS2, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS1_MAG_ID) {
imuType = RTIMU_TYPE_LSM9DS1;
slaveAddress = LSM9DS1_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected LSM9DS1 at standard/option 2 address\n");
return true;
}
}
if (HALRead(LSM9DS1_MAG_ADDRESS3, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS1_MAG_ID) {
imuType = RTIMU_TYPE_LSM9DS1;
slaveAddress = LSM9DS1_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected LSM9DS1 at standard/option 3 address\n");
return true;
}
}
} else if (result == LSM6DS33_ID) {
if (HALRead(LIS3MDL_ADDRESS0, LIS3MDL_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LIS3MDL_ID) {
imuType = RTIMU_TYPE_LSM6DS33LIS3MDL;
slaveAddress = LSM6DS33_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected LSM6DS33/LIS3MDL at standard/standard address\n");
return true;
}
}
if (HALRead(LIS3MDL_ADDRESS1, LIS3MDL_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LIS3MDL_ID) {
imuType = RTIMU_TYPE_LSM6DS33LIS3MDL;
slaveAddress = LSM6DS33_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected LSM6DS33/LIS3MDL at standard/option address\n");
return true;
}
}
}
}
if (HALRead(L3GD20H_ADDRESS1, L3GD20H_WHO_AM_I, 1, &result, "")) {
if (result == L3GD20H_ID) {
if (HALRead(LSM303D_ADDRESS1, LSM303D_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM303D_ID) {
imuType = RTIMU_TYPE_GD20HM303D;
slaveAddress = L3GD20H_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected L3GD20H/LSM303D at option/option address\n");
return true;
}
}
if (HALRead(LSM303D_ADDRESS0, LSM303D_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM303D_ID) {
imuType = RTIMU_TYPE_GD20HM303D;
slaveAddress = L3GD20H_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected L3GD20H/LSM303D at option/standard address\n");
return true;
}
}
if (HALRead(LSM303DLHC_ACCEL_ADDRESS, LSM303DLHC_STATUS_A, 1, &altResult, "")) {
imuType = RTIMU_TYPE_GD20HM303DLHC;
slaveAddress = L3GD20H_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected L3GD20H/LSM303DLHC at option/standard address\n");
return true;
}
} else if (result == LSM9DS0_GYRO_ID) {
if (HALRead(LSM9DS0_ACCELMAG_ADDRESS1, LSM9DS0_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS0_ACCELMAG_ID) {
imuType = RTIMU_TYPE_LSM9DS0;
slaveAddress = LSM9DS0_GYRO_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected LSM9DS0 at option/option address\n");
return true;
}
}
if (HALRead(LSM9DS0_ACCELMAG_ADDRESS0, LSM9DS0_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS0_ACCELMAG_ID) {
imuType = RTIMU_TYPE_LSM9DS0;
slaveAddress = LSM9DS0_GYRO_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected LSM9DS0 at option/standard address\n");
return true;
}
}
} else if (result == LSM9DS1_ID) {
if (HALRead(LSM9DS1_MAG_ADDRESS0, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS1_MAG_ID) {
imuType = RTIMU_TYPE_LSM9DS1;
slaveAddress = LSM9DS1_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected LSM9DS1 at option/standard address\n");
return true;
}
}
if (HALRead(LSM9DS1_MAG_ADDRESS1, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS1_MAG_ID) {
imuType = RTIMU_TYPE_LSM9DS1;
slaveAddress = LSM9DS1_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected LSM9DS1 at option/option 1 address\n");
return true;
}
}
if (HALRead(LSM9DS1_MAG_ADDRESS2, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS1_MAG_ID) {
imuType = RTIMU_TYPE_LSM9DS1;
slaveAddress = LSM9DS1_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected LSM9DS1 at option/option 2 address\n");
return true;
}
}
if (HALRead(LSM9DS1_MAG_ADDRESS3, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LSM9DS1_MAG_ID) {
imuType = RTIMU_TYPE_LSM9DS1;
slaveAddress = LSM9DS1_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected LSM9DS1 at option/option 3 address\n");
return true;
}
}
} else if (result == LSM6DS33_ID) {
if (HALRead(LIS3MDL_ADDRESS0, LIS3MDL_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LIS3MDL_ID) {
imuType = RTIMU_TYPE_LSM6DS33LIS3MDL;
slaveAddress = LSM6DS33_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected LSM6DS33/LIS3MDL at option/standard address\n");
return true;
}
}
if (HALRead(LIS3MDL_ADDRESS1, LIS3MDL_WHO_AM_I, 1, &altResult, "")) {
if (altResult == LIS3MDL_ID) {
imuType = RTIMU_TYPE_LSM6DS33LIS3MDL;
slaveAddress = LSM6DS33_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected LSM6DS33/LIS3MDL at option/option address\n");
return true;
}
}
}
}
if (HALRead(L3GD20_ADDRESS0, L3GD20_WHO_AM_I, 1, &result, "")) {
if (result == L3GD20_ID) {
imuType = RTIMU_TYPE_GD20M303DLHC;
slaveAddress = L3GD20_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected L3GD20 at standard address\n");
return true;
}
}
if (HALRead(L3GD20_ADDRESS1, L3GD20_WHO_AM_I, 1, &result, "")) {
if (result == L3GD20_ID) {
imuType = RTIMU_TYPE_GD20M303DLHC;
slaveAddress = L3GD20_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected L3GD20 at option address\n");
return true;
}
}
if (HALRead(BMX055_GYRO_ADDRESS0, BMX055_GYRO_WHO_AM_I, 1, &result, "")) {
if (result == BMX055_GYRO_ID) {
imuType = RTIMU_TYPE_BMX055;
slaveAddress = BMX055_GYRO_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected BMX055 at standard address\n");
return true;
}
}
if (HALRead(BMX055_GYRO_ADDRESS1, BMX055_GYRO_WHO_AM_I, 1, &result, "")) {
if (result == BMX055_GYRO_ID) {
imuType = RTIMU_TYPE_BMX055;
slaveAddress = BMX055_GYRO_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected BMX055 at option address\n");
return true;
}
}
if (HALRead(BNO055_ADDRESS0, BNO055_WHO_AM_I, 1, &result, "")) {
if (result == BNO055_ID) {
imuType = RTIMU_TYPE_BNO055;
slaveAddress = BNO055_ADDRESS0;
busIsI2C = true;
HAL_INFO("Detected BNO055 at standard address\n");
return true;
}
}
if (HALRead(BNO055_ADDRESS1, BNO055_WHO_AM_I, 1, &result, "")) {
if (result == BNO055_ID) {
imuType = RTIMU_TYPE_BNO055;
slaveAddress = BNO055_ADDRESS1;
busIsI2C = true;
HAL_INFO("Detected BNO055 at option address\n");
return true;
}
}
if (HALRead(HMC5883_ADDRESS, HMC5883L_WHO_AM_I, 1, &result, "")) {
if (result == HMC5883L_ID) {
imuType = RTIMU_TYPE_HMC5883LADXL345;
slaveAddress = HMC5883_ADDRESS;
busIsI2C = true;
HAL_INFO("Detected HMC5883L at standard address\n");
return true;
}
}
HALClose();
}
// nothing found on I2C bus - try SPI instead
m_busIsI2C = false;
m_SPIBus = 0;
m_SPISelect = 0;
if (HALOpen()) {
if (HALRead(MPU925x_ADDRESS0, MPU925x_WHO_AM_I, 1, &result, "")) {
if (result == MPU9250_ID || result == MPU9255_ID) {
imuType = RTIMU_TYPE_MPU925x;
slaveAddress = MPU925x_ADDRESS0;
busIsI2C = false;
HAL_INFO("Detected MPU9250/MPU9255 on SPI bus 0, select 0\n");
return true;
}
}
HALClose();
}
m_SPISelect = 1;
if (HALOpen()) {
if (HALRead(MPU925x_ADDRESS0, MPU925x_WHO_AM_I, 1, &result, "")) {
if (result == MPU9250_ID || result == MPU9255_ID) {
imuType = RTIMU_TYPE_MPU925x;
slaveAddress = MPU925x_ADDRESS0;
busIsI2C = false;
HAL_INFO("Detected MPU9250/MPU9255 on SPI bus 0, select 1\n");
return true;
}
}
HALClose();
}
HAL_ERROR("No IMU detected\n");
return false;
}
bool RTIMUSettings::discoverPressure(int& pressureType, unsigned char& pressureAddress)
{
unsigned char result;
// auto detect on current bus
if (HALOpen()) {
if (HALRead(BMP180_ADDRESS, BMP180_REG_ID, 1, &result, "")) {
if (result == BMP180_ID) {
pressureType = RTPRESSURE_TYPE_BMP180;
pressureAddress = BMP180_ADDRESS;
HAL_INFO("Detected BMP180\n");
return true;
}
}
if (HALRead(LPS25H_ADDRESS0, LPS25H_REG_ID, 1, &result, "")) {
if (result == LPS25H_ID) {
pressureType = RTPRESSURE_TYPE_LPS25H;
pressureAddress = LPS25H_ADDRESS0;
HAL_INFO("Detected LPS25H at standard address\n");
return true;
}
}
if (HALRead(LPS25H_ADDRESS1, LPS25H_REG_ID, 1, &result, "")) {
if (result == LPS25H_ID) {
pressureType = RTPRESSURE_TYPE_LPS25H;
pressureAddress = LPS25H_ADDRESS1;
HAL_INFO("Detected LPS25H at option address\n");
return true;
}
}
// check for MS5611 (which unfortunately has no ID reg)
if (HALRead(MS5611_ADDRESS0, 0, 1, &result, "")) {
pressureType = RTPRESSURE_TYPE_MS5611;
pressureAddress = MS5611_ADDRESS0;
HAL_INFO("Detected MS5611 at standard address\n");
return true;
}
if (HALRead(MS5611_ADDRESS1, 0, 1, &result, "")) {
pressureType = RTPRESSURE_TYPE_MS5611;
pressureAddress = MS5611_ADDRESS1;
HAL_INFO("Detected MS5611 at option address\n");
return true;
}
}
HAL_ERROR("No pressure sensor detected\n");
return false;
}
bool RTIMUSettings::discoverHumidity(int& humidityType, unsigned char& humidityAddress)
{
unsigned char result;
// auto detect on current bus
if (HALOpen()) {
if (HALRead(HTS221_ADDRESS, HTS221_REG_ID, 1, &result, "")) {
if (result == HTS221_ID) {
humidityType = RTHUMIDITY_TYPE_HTS221;
humidityAddress = HTS221_ADDRESS;
HAL_INFO("Detected HTS221 at standard address\n");
return true;
}
}
if (HALRead(HTU21D_ADDRESS, HTU21D_READ_USER_REG, 1, &result, "")) {
humidityType = RTHUMIDITY_TYPE_HTU21D;
humidityAddress = HTU21D_ADDRESS;
HAL_INFO("Detected HTU21D at standard address\n");
return true;
}
}
HAL_ERROR("No humidity sensor detected\n");
return false;
}
/* the default bus is 1 for raspberry pi, but for orange pi,
the bus is 0
*/
int DefaultI2CBus()
{
int bus = 1;
FILE *f = fopen("/proc/cpuinfo", "r");
if(f) {
char line[80];
while(fgets(line, sizeof line, f)) {
if(strstr(line, "Hardware")) {
if(strstr(line, "sun8i"))
bus = 0;
break;
}
}
}
fclose(f);
return bus;
}
void RTIMUSettings::setDefaults()
{
// preset general defaults
m_imuType = RTIMU_TYPE_AUTODISCOVER;
m_I2CSlaveAddress = 0;
m_busIsI2C = true;
m_I2CBus = DefaultI2CBus();
m_SPIBus = 0;
m_SPISelect = 0;
m_SPISpeed = 500000;
m_fusionType = RTFUSION_TYPE_RTQF;
m_axisRotation = RTIMU_XNORTH_YEAST;
m_pressureType = RTPRESSURE_TYPE_AUTODISCOVER;
m_I2CPressureAddress = 0;
m_humidityType = RTHUMIDITY_TYPE_AUTODISCOVER;
m_I2CHumidityAddress = 0;
m_compassCalValid = false;
m_compassCalEllipsoidValid = false;
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
m_compassCalEllipsoidCorr[i][j] = 0;
}
}
m_compassCalEllipsoidCorr[0][0] = 1;
m_compassCalEllipsoidCorr[1][1] = 1;
m_compassCalEllipsoidCorr[2][2] = 1;
m_compassAdjDeclination = 0;
m_accelCalValid = false;
m_gyroBiasValid = false;
m_kalmanRk = 5e-4;
m_kalmanQ = 1e-3;
// MPU9150 defaults
m_MPU9150GyroAccelSampleRate = 50;
m_MPU9150CompassSampleRate = 25;
m_MPU9150GyroAccelLpf = MPU9150_LPF_20;
m_MPU9150GyroFsr = MPU9150_GYROFSR_1000;
m_MPU9150AccelFsr = MPU9150_ACCELFSR_8;
// MPU9250 / MPU9255 defaults
m_MPU925xGyroAccelSampleRate = 100;
m_MPU925xCompassSampleRate = 100;
m_MPU925xGyroLpf = MPU925x_GYRO_LPF_41;
m_MPU925xAccelLpf = MPU925x_ACCEL_LPF_41;
m_MPU925xGyroFsr = MPU925x_GYROFSR_250;
m_MPU925xAccelFsr = MPU925x_ACCELFSR_2;
// GD20HM303D defaults
m_GD20HM303DGyroSampleRate = L3GD20H_SAMPLERATE_50;
m_GD20HM303DGyroBW = L3GD20H_BANDWIDTH_1;
m_GD20HM303DGyroHpf = L3GD20H_HPF_4;
m_GD20HM303DGyroFsr = L3GD20H_FSR_500;
m_GD20HM303DAccelSampleRate = LSM303D_ACCEL_SAMPLERATE_50;
m_GD20HM303DAccelFsr = LSM303D_ACCEL_FSR_8;
m_GD20HM303DAccelLpf = LSM303D_ACCEL_LPF_50;
m_GD20HM303DCompassSampleRate = LSM303D_COMPASS_SAMPLERATE_50;
m_GD20HM303DCompassFsr = LSM303D_COMPASS_FSR_2;
// GD20M303DLHC defaults
m_GD20M303DLHCGyroSampleRate = L3GD20_SAMPLERATE_95;
m_GD20M303DLHCGyroBW = L3GD20_BANDWIDTH_1;
m_GD20M303DLHCGyroHpf = L3GD20_HPF_4;
m_GD20M303DLHCGyroFsr = L3GD20H_FSR_500;
m_GD20M303DLHCAccelSampleRate = LSM303DLHC_ACCEL_SAMPLERATE_50;
m_GD20M303DLHCAccelFsr = LSM303DLHC_ACCEL_FSR_8;
m_GD20M303DLHCCompassSampleRate = LSM303DLHC_COMPASS_SAMPLERATE_30;
m_GD20M303DLHCCompassFsr = LSM303DLHC_COMPASS_FSR_1_3;
// GD20HM303DLHC defaults
m_GD20HM303DLHCGyroSampleRate = L3GD20H_SAMPLERATE_50;
m_GD20HM303DLHCGyroBW = L3GD20H_BANDWIDTH_1;
m_GD20HM303DLHCGyroHpf = L3GD20H_HPF_4;
m_GD20HM303DLHCGyroFsr = L3GD20H_FSR_500;
m_GD20HM303DLHCAccelSampleRate = LSM303DLHC_ACCEL_SAMPLERATE_50;
m_GD20HM303DLHCAccelFsr = LSM303DLHC_ACCEL_FSR_8;
m_GD20HM303DLHCCompassSampleRate = LSM303DLHC_COMPASS_SAMPLERATE_30;
m_GD20HM303DLHCCompassFsr = LSM303DLHC_COMPASS_FSR_1_3;
// LSM9DS0 defaults
m_LSM9DS0GyroSampleRate = LSM9DS0_GYRO_SAMPLERATE_95;
m_LSM9DS0GyroBW = LSM9DS0_GYRO_BANDWIDTH_1;
m_LSM9DS0GyroHpf = LSM9DS0_GYRO_HPF_4;
m_LSM9DS0GyroFsr = LSM9DS0_GYRO_FSR_500;
m_LSM9DS0AccelSampleRate = LSM9DS0_ACCEL_SAMPLERATE_50;
m_LSM9DS0AccelFsr = LSM9DS0_ACCEL_FSR_8;
m_LSM9DS0AccelLpf = LSM9DS0_ACCEL_LPF_50;
m_LSM9DS0CompassSampleRate = LSM9DS0_COMPASS_SAMPLERATE_50;
m_LSM9DS0CompassFsr = LSM9DS0_COMPASS_FSR_2;
// LSM9DS1 defaults
m_LSM9DS1GyroSampleRate = LSM9DS1_GYRO_SAMPLERATE_119;
m_LSM9DS1GyroBW = LSM9DS1_GYRO_BANDWIDTH_1;
m_LSM9DS1GyroHpf = LSM9DS1_GYRO_HPF_4;
m_LSM9DS1GyroFsr = LSM9DS1_GYRO_FSR_500;
m_LSM9DS1AccelSampleRate = LSM9DS1_ACCEL_SAMPLERATE_119;
m_LSM9DS1AccelFsr = LSM9DS1_ACCEL_FSR_8;
m_LSM9DS1AccelLpf = LSM9DS1_ACCEL_LPF_50;
m_LSM9DS1CompassSampleRate = LSM9DS1_COMPASS_SAMPLERATE_20;
m_LSM9DS1CompassFsr = LSM9DS1_COMPASS_FSR_4;
// BMX055 defaults
m_BMX055GyroSampleRate = BMX055_GYRO_SAMPLERATE_100_32;
m_BMX055GyroFsr = BMX055_GYRO_FSR_500;
m_BMX055AccelSampleRate = BMX055_ACCEL_SAMPLERATE_125;
m_BMX055AccelFsr = BMX055_ACCEL_FSR_8;
m_BMX055MagPreset = BMX055_MAG_REGULAR;
// LSM6DS33LIS3MDL defaults
m_LSM6DS33LIS3MDLGyroSampleRate = LSM6DS33_GYRO_SAMPLERATE_104;
m_LSM6DS33LIS3MDLGyroHpf = LSM6DS33_GYRO_HPF_3;
m_LSM6DS33LIS3MDLGyroFsr = LSM6DS33_GYRO_FSR_500;
m_LSM6DS33LIS3MDLAccelSampleRate = LSM6DS33_ACCEL_SAMPLERATE_104;
m_LSM6DS33LIS3MDLAccelFsr = LSM6DS33_ACCEL_FSR_8;
m_LSM6DS33LIS3MDLAccelLpf = LSM6DS33_ACCEL_LPF_50;
m_LSM6DS33LIS3MDLCompassSampleRate = LIS3MDL_SAMPLERATE_20;
m_LSM6DS33LIS3MDLCompassFsr = LIS3MDL_FSR_4;
m_LSM6DS33LIS3MDLCompassPowerMode = LIS3MDL_POWER_LP;
}
bool RTIMUSettings::loadSettings()
{
setDefaults();
char buf[200];
char key[200];
char val[200];
RTFLOAT ftemp;
// check to see if settings file exists
if (!(m_fd = fopen(m_filename, "r"))) {
HAL_INFO("Settings file not found. Using defaults and creating settings file\n");
return saveSettings();
}
while (fgets(buf, 200, m_fd)) {
if ((buf[0] == '#') || (buf[0] == ' ') || (buf[0] == '\n'))
// just a comment
continue;
if (sscanf(buf, "%[^=]=%s", key, val) != 2) {
HAL_ERROR1("Bad line in settings file: %s\n", buf);
fclose(m_fd);
return false;
}
// now decode keys
// general config
if (strcmp(key, RTIMULIB_IMU_TYPE) == 0) {
m_imuType = atoi(val);
} else if (strcmp(key, RTIMULIB_FUSION_TYPE) == 0) {
m_fusionType = atoi(val);
} else if (strcmp(key, RTIMULIB_BUS_IS_I2C) == 0) {
m_busIsI2C = strcmp(val, "true") == 0;
} else if (strcmp(key, RTIMULIB_I2C_BUS) == 0) {
m_I2CBus = atoi(val);
} else if (strcmp(key, RTIMULIB_SPI_BUS) == 0) {
m_SPIBus = atoi(val);
} else if (strcmp(key, RTIMULIB_SPI_SELECT) == 0) {
m_SPISelect = atoi(val);
} else if (strcmp(key, RTIMULIB_SPI_SPEED) == 0) {
m_SPISpeed = atoi(val);
} else if (strcmp(key, RTIMULIB_I2C_SLAVEADDRESS) == 0) {
m_I2CSlaveAddress = atoi(val);
} else if (strcmp(key, RTIMULIB_AXIS_ROTATION) == 0) {
m_axisRotation = atoi(val);
} else if (strcmp(key, RTIMULIB_PRESSURE_TYPE) == 0) {
m_pressureType = atoi(val);
} else if (strcmp(key, RTIMULIB_I2C_PRESSUREADDRESS) == 0) {
m_I2CPressureAddress = atoi(val);
} else if (strcmp(key, RTIMULIB_HUMIDITY_TYPE) == 0) {
m_humidityType = atoi(val);
} else if (strcmp(key, RTIMULIB_I2C_HUMIDITYADDRESS) == 0) {
m_I2CHumidityAddress = atoi(val);
// compass calibration and adjustment
} else if (strcmp(key, RTIMULIB_COMPASSCAL_VALID) == 0) {
m_compassCalValid = strcmp(val, "true") == 0;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_MINX) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalMin.setX(ftemp);
} else if (strcmp(key, RTIMULIB_COMPASSCAL_MINY) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalMin.setY(ftemp);
} else if (strcmp(key, RTIMULIB_COMPASSCAL_MINZ) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalMin.setZ(ftemp);
} else if (strcmp(key, RTIMULIB_COMPASSCAL_MAXX) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalMax.setX(ftemp);
} else if (strcmp(key, RTIMULIB_COMPASSCAL_MAXY) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalMax.setY(ftemp);
} else if (strcmp(key, RTIMULIB_COMPASSCAL_MAXZ) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalMax.setZ(ftemp);
} else if (strcmp(key, RTIMULIB_COMPASSADJ_DECLINATION) == 0) {
sscanf(val, "%f", &ftemp);
m_compassAdjDeclination = ftemp;
// compass ellipsoid calibration
} else if (strcmp(key, RTIMULIB_COMPASSCAL_ELLIPSOID_VALID) == 0) {
m_compassCalEllipsoidValid = strcmp(val, "true") == 0;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_OFFSET_X) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidOffset.setX(ftemp);
} else if (strcmp(key, RTIMULIB_COMPASSCAL_OFFSET_Y) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidOffset.setY(ftemp);
} else if (strcmp(key, RTIMULIB_COMPASSCAL_OFFSET_Z) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidOffset.setZ(ftemp);
} else if (strcmp(key, RTIMULIB_COMPASSCAL_CORR11) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidCorr[0][0] = ftemp;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_CORR12) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidCorr[0][1] = ftemp;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_CORR13) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidCorr[0][2] = ftemp;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_CORR21) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidCorr[1][0] = ftemp;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_CORR22) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidCorr[1][1] = ftemp;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_CORR23) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidCorr[1][2] = ftemp;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_CORR31) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidCorr[2][0] = ftemp;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_CORR32) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidCorr[2][1] = ftemp;
} else if (strcmp(key, RTIMULIB_COMPASSCAL_CORR33) == 0) {
sscanf(val, "%f", &ftemp);
m_compassCalEllipsoidCorr[2][2] = ftemp;
// accel calibration
} else if (strcmp(key, RTIMULIB_ACCELCAL_VALID) == 0) {
m_accelCalValid = strcmp(val, "true") == 0;
} else if (strcmp(key, RTIMULIB_ACCELCAL_MINX) == 0) {
sscanf(val, "%f", &ftemp);
m_accelCalMin.setX(ftemp);
} else if (strcmp(key, RTIMULIB_ACCELCAL_MINY) == 0) {
sscanf(val, "%f", &ftemp);
m_accelCalMin.setY(ftemp);
} else if (strcmp(key, RTIMULIB_ACCELCAL_MINZ) == 0) {
sscanf(val, "%f", &ftemp);
m_accelCalMin.setZ(ftemp);
} else if (strcmp(key, RTIMULIB_ACCELCAL_MAXX) == 0) {
sscanf(val, "%f", &ftemp);
m_accelCalMax.setX(ftemp);
} else if (strcmp(key, RTIMULIB_ACCELCAL_MAXY) == 0) {
sscanf(val, "%f", &ftemp);
m_accelCalMax.setY(ftemp);
} else if (strcmp(key, RTIMULIB_ACCELCAL_MAXZ) == 0) {
sscanf(val, "%f", &ftemp);
m_accelCalMax.setZ(ftemp);
// gyro bias
} else if (strcmp(key, RTIMULIB_GYRO_BIAS_VALID) == 0) {
m_gyroBiasValid = strcmp(val, "true") == 0;
} else if (strcmp(key, RTIMULIB_GYRO_BIAS_X) == 0) {
sscanf(val, "%f", &ftemp);
m_gyroBias.setX(ftemp);
} else if (strcmp(key, RTIMULIB_GYRO_BIAS_Y) == 0) {
sscanf(val, "%f", &ftemp);
m_gyroBias.setY(ftemp);
} else if (strcmp(key, RTIMULIB_GYRO_BIAS_Z) == 0) {
sscanf(val, "%f", &ftemp);
m_gyroBias.setZ(ftemp);
// MPU9150 settings
} else if (strcmp(key, RTIMULIB_MPU9150_GYROACCEL_SAMPLERATE) == 0) {
m_MPU9150GyroAccelSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_MPU9150_COMPASS_SAMPLERATE) == 0) {
m_MPU9150CompassSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_MPU9150_GYROACCEL_LPF) == 0) {
m_MPU9150GyroAccelLpf = atoi(val);
} else if (strcmp(key, RTIMULIB_MPU9150_GYRO_FSR) == 0) {
m_MPU9150GyroFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_MPU9150_ACCEL_FSR) == 0) {
m_MPU9150AccelFsr = atoi(val);
// MPU9250/MPU9255 settings
} else if (strcmp(key, RTIMULIB_MPU925x_GYROACCEL_SAMPLERATE) == 0) {
m_MPU925xGyroAccelSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_MPU925x_COMPASS_SAMPLERATE) == 0) {
m_MPU925xCompassSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_MPU925x_GYRO_LPF) == 0) {
m_MPU925xGyroLpf = atoi(val);
} else if (strcmp(key, RTIMULIB_MPU925x_ACCEL_LPF) == 0) {
m_MPU925xAccelLpf = atoi(val);
} else if (strcmp(key, RTIMULIB_MPU925x_GYRO_FSR) == 0) {
m_MPU925xGyroFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_MPU925x_ACCEL_FSR) == 0) {
m_MPU925xAccelFsr = atoi(val);
// GD20HM303D settings
} else if (strcmp(key, RTIMULIB_GD20HM303D_GYRO_SAMPLERATE) == 0) {
m_GD20HM303DGyroSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303D_GYRO_FSR) == 0) {
m_GD20HM303DGyroFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303D_GYRO_HPF) == 0) {
m_GD20HM303DGyroHpf = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303D_GYRO_BW) == 0) {
m_GD20HM303DGyroBW = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303D_ACCEL_SAMPLERATE) == 0) {
m_GD20HM303DAccelSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303D_ACCEL_FSR) == 0) {
m_GD20HM303DAccelFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303D_ACCEL_LPF) == 0) {
m_GD20HM303DAccelLpf = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303D_COMPASS_SAMPLERATE) == 0) {
m_GD20HM303DCompassSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303D_COMPASS_FSR) == 0) {
m_GD20HM303DCompassFsr = atoi(val);
// GD20M303DLHC settings
} else if (strcmp(key, RTIMULIB_GD20M303DLHC_GYRO_SAMPLERATE) == 0) {
m_GD20M303DLHCGyroSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20M303DLHC_GYRO_FSR) == 0) {
m_GD20M303DLHCGyroFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20M303DLHC_GYRO_HPF) == 0) {
m_GD20M303DLHCGyroHpf = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20M303DLHC_GYRO_BW) == 0) {
m_GD20M303DLHCGyroBW = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20M303DLHC_ACCEL_SAMPLERATE) == 0) {
m_GD20M303DLHCAccelSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20M303DLHC_ACCEL_FSR) == 0) {
m_GD20M303DLHCAccelFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20M303DLHC_COMPASS_SAMPLERATE) == 0) {
m_GD20M303DLHCCompassSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20M303DLHC_COMPASS_FSR) == 0) {
m_GD20M303DLHCCompassFsr = atoi(val);
// GD20HM303DLHC settings
} else if (strcmp(key, RTIMULIB_GD20HM303DLHC_GYRO_SAMPLERATE) == 0) {
m_GD20HM303DLHCGyroSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303DLHC_GYRO_FSR) == 0) {
m_GD20HM303DLHCGyroFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303DLHC_GYRO_HPF) == 0) {
m_GD20HM303DLHCGyroHpf = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303DLHC_GYRO_BW) == 0) {
m_GD20HM303DLHCGyroBW = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303DLHC_ACCEL_SAMPLERATE) == 0) {
m_GD20HM303DLHCAccelSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303DLHC_ACCEL_FSR) == 0) {
m_GD20HM303DLHCAccelFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303DLHC_COMPASS_SAMPLERATE) == 0) {
m_GD20HM303DLHCCompassSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_GD20HM303DLHC_COMPASS_FSR) == 0) {
m_GD20HM303DLHCCompassFsr = atoi(val);
// LSM9DS0 settings
} else if (strcmp(key, RTIMULIB_LSM9DS0_GYRO_SAMPLERATE) == 0) {
m_LSM9DS0GyroSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS0_GYRO_FSR) == 0) {
m_LSM9DS0GyroFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS0_GYRO_HPF) == 0) {
m_LSM9DS0GyroHpf = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS0_GYRO_BW) == 0) {
m_LSM9DS0GyroBW = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS0_ACCEL_SAMPLERATE) == 0) {
m_LSM9DS0AccelSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS0_ACCEL_FSR) == 0) {
m_LSM9DS0AccelFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS0_ACCEL_LPF) == 0) {
m_LSM9DS0AccelLpf = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS0_COMPASS_SAMPLERATE) == 0) {
m_LSM9DS0CompassSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS0_COMPASS_FSR) == 0) {
m_LSM9DS0CompassFsr = atoi(val);
// LSM9DS1 settings
} else if (strcmp(key, RTIMULIB_LSM9DS1_GYRO_SAMPLERATE) == 0) {
m_LSM9DS1GyroSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS1_GYRO_FSR) == 0) {
m_LSM9DS1GyroFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS1_GYRO_HPF) == 0) {
m_LSM9DS1GyroHpf = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS1_GYRO_BW) == 0) {
m_LSM9DS1GyroBW = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS1_ACCEL_SAMPLERATE) == 0) {
m_LSM9DS1AccelSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS1_ACCEL_FSR) == 0) {
m_LSM9DS1AccelFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS1_ACCEL_LPF) == 0) {
m_LSM9DS1AccelLpf = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS1_COMPASS_SAMPLERATE) == 0) {
m_LSM9DS1CompassSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM9DS1_COMPASS_FSR) == 0) {
m_LSM9DS1CompassFsr = atoi(val);
// BMX055 settings
} else if (strcmp(key, RTIMULIB_BMX055_GYRO_SAMPLERATE) == 0) {
m_BMX055GyroSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_BMX055_GYRO_FSR) == 0) {
m_BMX055GyroFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_BMX055_ACCEL_SAMPLERATE) == 0) {
m_BMX055AccelSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_BMX055_ACCEL_FSR) == 0) {
m_BMX055AccelFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_BMX055_MAG_PRESET) == 0) {
m_BMX055MagPreset = atoi(val);
// LSM6DS33LIS3MDL settings
} else if (strcmp(key, RTIMULIB_LSM6DS33LIS3MDL_GYRO_SAMPLERATE) == 0) {
m_LSM6DS33LIS3MDLGyroSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM6DS33LIS3MDL_GYRO_FSR) == 0) {
m_LSM6DS33LIS3MDLGyroFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM6DS33LIS3MDL_GYRO_HPF) == 0) {
m_LSM6DS33LIS3MDLGyroHpf = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM6DS33LIS3MDL_ACCEL_SAMPLERATE) == 0) {
m_LSM6DS33LIS3MDLAccelSampleRate = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM6DS33LIS3MDL_ACCEL_FSR) == 0) {
m_LSM6DS33LIS3MDLAccelFsr = atoi(val);
} else if (strcmp(key, RTIMULIB_LSM6DS33LIS3MDL_ACCEL_LPF) == 0) {