113 lines
3.2 KiB
C
113 lines
3.2 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight 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
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include "platform.h"
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#include "common/axis.h"
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#include "drivers/sensor.h"
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#include "drivers/compass.h"
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#include "drivers/compass_hmc5883l.h"
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#include "drivers/gpio.h"
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#include "drivers/light_led.h"
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#include "sensors/boardalignment.h"
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#include "config/runtime_config.h"
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#include "config/config.h"
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#include "sensors/sensors.h"
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#include "sensors/compass.h"
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#ifdef NAZE
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#include "hardware_revision.h"
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#endif
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mag_t mag; // mag access functions
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extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
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int16_t magADC[XYZ_AXIS_COUNT];
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sensor_align_e magAlign = 0;
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#ifdef MAG
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static uint8_t magInit = 0;
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void compassInit(void)
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{
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// initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
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LED1_ON;
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mag.init();
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LED1_OFF;
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magInit = 1;
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}
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#define COMPASS_UPDATE_FREQUENCY_10HZ (1000 * 100)
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void updateCompass(flightDynamicsTrims_t *magZero)
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{
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static uint32_t nextUpdateAt, tCal = 0;
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static flightDynamicsTrims_t magZeroTempMin;
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static flightDynamicsTrims_t magZeroTempMax;
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uint32_t axis;
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if ((int32_t)(currentTime - nextUpdateAt) < 0)
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return;
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nextUpdateAt = currentTime + COMPASS_UPDATE_FREQUENCY_10HZ;
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mag.read(magADC);
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alignSensors(magADC, magADC, magAlign);
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if (STATE(CALIBRATE_MAG)) {
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tCal = nextUpdateAt;
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for (axis = 0; axis < 3; axis++) {
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magZero->raw[axis] = 0;
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magZeroTempMin.raw[axis] = magADC[axis];
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magZeroTempMax.raw[axis] = magADC[axis];
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}
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DISABLE_STATE(CALIBRATE_MAG);
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}
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if (magInit) { // we apply offset only once mag calibration is done
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magADC[X] -= magZero->raw[X];
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magADC[Y] -= magZero->raw[Y];
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magADC[Z] -= magZero->raw[Z];
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}
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if (tCal != 0) {
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if ((nextUpdateAt - tCal) < 30000000) { // 30s: you have 30s to turn the multi in all directions
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LED0_TOGGLE;
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for (axis = 0; axis < 3; axis++) {
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if (magADC[axis] < magZeroTempMin.raw[axis])
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magZeroTempMin.raw[axis] = magADC[axis];
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if (magADC[axis] > magZeroTempMax.raw[axis])
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magZeroTempMax.raw[axis] = magADC[axis];
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}
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} else {
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tCal = 0;
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for (axis = 0; axis < 3; axis++) {
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magZero->raw[axis] = (magZeroTempMin.raw[axis] + magZeroTempMax.raw[axis]) / 2; // Calculate offsets
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}
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saveConfigAndNotify();
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}
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}
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}
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#endif
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