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EM7180_STM32
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de-Arduin-ify the drivers; now compiles, but won't do much

master
Daniel Peter Chokola 4 years ago
parent
4ac2f8860f
commit
eb4e55c6de
4 changed files with 292 additions and 204 deletions
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  1. 308
      Drivers/EM7180/Src/em7180.c
  2. 53
      Drivers/EM7180/Src/lis2mdl.c
  3. 30
      Drivers/EM7180/Src/lps22hb.c
  4. 95
      Drivers/EM7180/Src/lsm6dsm.c

308
Drivers/EM7180/Src/em7180.c
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@ -15,6 +15,7 @@
/* Includes */ /* Includes */
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#include <math.h>
#include "em7180.h" #include "em7180.h"
/* Private Global Variables */ /* Private Global Variables */
@ -49,7 +50,7 @@ static void em7180_read(uint8_t address, uint8_t subAddress, uint8_t count,
/* Function Definitions */ /* Function Definitions */
em7180_new(uint8_t pin, bool passthru) em7180_new(uint8_t pin, bool passthru)
{ {
pinMode(pin, INPUT); /* pinMode(pin, INPUT); */
_intPin = pin; _intPin = pin;
_passThru = passthru; _passThru = passthru;
} }
@ -59,23 +60,23 @@ void em7180_chip_id_get()
// Read SENtral device information // Read SENtral device information
uint16_t ROM1 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ROMVersion1); uint16_t ROM1 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ROMVersion1);
uint16_t ROM2 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ROMVersion2); uint16_t ROM2 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ROMVersion2);
Serial.print("EM7180 ROM Version: 0x"); /* Serial.print("EM7180 ROM Version: 0x"); */
Serial.print(ROM1, HEX); /* Serial.print(ROM1, HEX); */
Serial.println(ROM2, HEX); /* Serial.println(ROM2, HEX); */
Serial.println("Should be: 0xE609"); /* Serial.println("Should be: 0xE609"); */
uint16_t RAM1 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RAMVersion1); uint16_t RAM1 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RAMVersion1);
uint16_t RAM2 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RAMVersion2); uint16_t RAM2 = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RAMVersion2);
Serial.print("EM7180 RAM Version: 0x"); /* Serial.print("EM7180 RAM Version: 0x"); */
Serial.print(RAM1); /* Serial.print(RAM1); */
Serial.println(RAM2); /* Serial.println(RAM2); */
uint8_t PID = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ProductID); uint8_t PID = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ProductID);
Serial.print("EM7180 ProductID: 0x"); /* Serial.print("EM7180 ProductID: 0x"); */
Serial.print(PID, HEX); /* Serial.print(PID, HEX); */
Serial.println(" Should be: 0x80"); /* Serial.println(" Should be: 0x80"); */
uint8_t RID = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RevisionID); uint8_t RID = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RevisionID);
Serial.print("EM7180 RevisionID: 0x"); /* Serial.print("EM7180 RevisionID: 0x"); */
Serial.print(RID, HEX); /* Serial.print(RID, HEX); */
Serial.println(" Should be: 0x02"); /* Serial.println(" Should be: 0x02"); */
} }
void em7180_load_fw_from_eeprom() void em7180_load_fw_from_eeprom()
@ -84,55 +85,92 @@ void em7180_load_fw_from_eeprom()
uint8_t featureflag = lsm6dsm_read_byte(EM7180_ADDRESS, uint8_t featureflag = lsm6dsm_read_byte(EM7180_ADDRESS,
EM7180_FeatureFlags); EM7180_FeatureFlags);
if(featureflag & 0x01) if(featureflag & 0x01)
Serial.println("A barometer is installed"); {
/* Serial.println("A barometer is installed"); */
}
if(featureflag & 0x02) if(featureflag & 0x02)
Serial.println("A humidity sensor is installed"); {
/* Serial.println("A humidity sensor is installed"); */
}
if(featureflag & 0x04) if(featureflag & 0x04)
Serial.println("A temperature sensor is installed"); {
/* Serial.println("A temperature sensor is installed"); */
}
if(featureflag & 0x08) if(featureflag & 0x08)
Serial.println("A custom sensor is installed"); {
/* Serial.println("A custom sensor is installed"); */
}
if(featureflag & 0x10) if(featureflag & 0x10)
Serial.println("A second custom sensor is installed"); {
/* Serial.println("A second custom sensor is installed"); */
}
if(featureflag & 0x20) if(featureflag & 0x20)
Serial.println("A third custom sensor is installed"); {
/* Serial.println("A third custom sensor is installed"); */
}
delay(1000); // give some time to read the screen HAL_Delay(1000); // give some time to read the screen
// Check SENtral status, make sure EEPROM upload of firmware was accomplished // Check SENtral status, make sure EEPROM upload of firmware was accomplished
byte STAT = (lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01); uint8_t STAT = (lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus)
& 0x01);
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01)
Serial.println("EEPROM detected on the sensor bus!"); {
/* Serial.println("EEPROM detected on the sensor bus!"); */
}
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02)
Serial.println("EEPROM uploaded config file!"); {
/* Serial.println("EEPROM uploaded config file!"); */
}
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04)
Serial.println("EEPROM CRC incorrect!"); {
/* Serial.println("EEPROM CRC incorrect!"); */
}
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08)
Serial.println("EM7180 in initialized state!"); {
/* Serial.println("EM7180 in initialized state!"); */
}
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10)
Serial.println("No EEPROM detected!"); {
/* Serial.println("No EEPROM detected!"); */
}
int count = 0; int count = 0;
while(!STAT) while(!STAT)
{ {
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ResetRequest, 0x01); lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ResetRequest, 0x01);
delay(500); HAL_Delay(500);
count++; count++;
STAT = (lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01); STAT = (lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01);
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x01)
Serial.println("EEPROM detected on the sensor bus!"); {
/* Serial.println("EEPROM detected on the sensor bus!"); */
}
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x02)
Serial.println("EEPROM uploaded config file!"); {
/* Serial.println("EEPROM uploaded config file!"); */
}
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04)
Serial.println("EEPROM CRC incorrect!"); {
/* Serial.println("EEPROM CRC incorrect!"); */
}
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x08)
Serial.println("EM7180 in initialized state!"); {
/* Serial.println("EM7180 in initialized state!"); */
}
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x10)
Serial.println("No EEPROM detected!"); {
/* Serial.println("No EEPROM detected!"); */
}
if(count > 10) if(count > 10)
{
break; break;
} }
}
if(!(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04)) if(!(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SentralStatus) & 0x04))
Serial.println("EEPROM upload successful!"); {
/* Serial.println("EEPROM upload successful!"); */
}
} }
uint8_t em7180_status() uint8_t em7180_status()
@ -179,15 +217,15 @@ void em7180_init(uint8_t accBW, uint8_t gyroBW, uint16_t accFS, uint16_t gyroFS,
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_EnableEvents, 0x07); lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_EnableEvents, 0x07);
// Enable EM7180 run mode // Enable EM7180 run mode
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_HostControl, 0x01); // set SENtral in normal run mode lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_HostControl, 0x01); // set SENtral in normal run mode
delay(100); HAL_Delay(100);
// EM7180 parameter adjustments // EM7180 parameter adjustments
Serial.println("Beginning Parameter Adjustments"); /* Serial.println("Beginning Parameter Adjustments"); */
// Read sensor default FS values from parameter space // Read sensor default FS values from parameter space
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4A); // Request to read parameter 74 lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4A); // Request to read parameter 74
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer process lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x80); // Request parameter transfer process
byte param_xfer = lsm6dsm_read_byte(EM7180_ADDRESS, uint8_t param_xfer = lsm6dsm_read_byte(EM7180_ADDRESS,
EM7180_ParamAcknowledge); EM7180_ParamAcknowledge);
while(!(param_xfer == 0x4A)) while(!(param_xfer == 0x4A))
{ {
@ -199,12 +237,12 @@ void em7180_init(uint8_t accBW, uint8_t gyroBW, uint16_t accFS, uint16_t gyroFS,
param[3] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte3); param[3] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_mag_fs = ((int16_t) (param[1] << 8) | param[0]); EM7180_mag_fs = ((int16_t) (param[1] << 8) | param[0]);
EM7180_acc_fs = ((int16_t) (param[3] << 8) | param[2]); EM7180_acc_fs = ((int16_t) (param[3] << 8) | param[2]);
Serial.print("Magnetometer Default Full Scale Range: +/-"); /* Serial.print("Magnetometer Default Full Scale Range: +/-"); */
Serial.print(EM7180_mag_fs); /* Serial.print(EM7180_mag_fs); */
Serial.println("uT"); /* Serial.println("uT"); */
Serial.print("Accelerometer Default Full Scale Range: +/-"); /* Serial.print("Accelerometer Default Full Scale Range: +/-"); */
Serial.print(EM7180_acc_fs); /* Serial.print(EM7180_acc_fs); */
Serial.println("g"); /* Serial.println("g"); */
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4B); // Request to read parameter 75 lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4B); // Request to read parameter 75
param_xfer = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); param_xfer = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer == 0x4B)) while(!(param_xfer == 0x4B))
@ -216,9 +254,9 @@ void em7180_init(uint8_t accBW, uint8_t gyroBW, uint16_t accFS, uint16_t gyroFS,
param[2] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte2); param[2] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte3); param[3] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_gyro_fs = ((int16_t) (param[1] << 8) | param[0]); EM7180_gyro_fs = ((int16_t) (param[1] << 8) | param[0]);
Serial.print("Gyroscope Default Full Scale Range: +/-"); /* Serial.print("Gyroscope Default Full Scale Range: +/-"); */
Serial.print(EM7180_gyro_fs); /* Serial.print(EM7180_gyro_fs); */
Serial.println("dps"); /* Serial.println("dps"); */
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //End parameter transfer lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //End parameter transfer
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // re-enable algorithm lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // re-enable algorithm
@ -243,12 +281,12 @@ void em7180_init(uint8_t accBW, uint8_t gyroBW, uint16_t accFS, uint16_t gyroFS,
param[3] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte3); param[3] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_mag_fs = ((int16_t) (param[1] << 8) | param[0]); EM7180_mag_fs = ((int16_t) (param[1] << 8) | param[0]);
EM7180_acc_fs = ((int16_t) (param[3] << 8) | param[2]); EM7180_acc_fs = ((int16_t) (param[3] << 8) | param[2]);
Serial.print("Magnetometer New Full Scale Range: +/-"); /* Serial.print("Magnetometer New Full Scale Range: +/-"); */
Serial.print(EM7180_mag_fs); /* Serial.print(EM7180_mag_fs); */
Serial.println("uT"); /* Serial.println("uT"); */
Serial.print("Accelerometer New Full Scale Range: +/-"); /* Serial.print("Accelerometer New Full Scale Range: +/-"); */
Serial.print(EM7180_acc_fs); /* Serial.print(EM7180_acc_fs); */
Serial.println("g"); /* Serial.println("g"); */
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4B); // Request to read parameter 75 lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x4B); // Request to read parameter 75
param_xfer = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge); param_xfer = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ParamAcknowledge);
while(!(param_xfer == 0x4B)) while(!(param_xfer == 0x4B))
@ -260,81 +298,120 @@ void em7180_init(uint8_t accBW, uint8_t gyroBW, uint16_t accFS, uint16_t gyroFS,
param[2] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte2); param[2] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte2);
param[3] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte3); param[3] = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_SavedParamByte3);
EM7180_gyro_fs = ((int16_t) (param[1] << 8) | param[0]); EM7180_gyro_fs = ((int16_t) (param[1] << 8) | param[0]);
Serial.print("Gyroscope New Full Scale Range: +/-"); /* Serial.print("Gyroscope New Full Scale Range: +/-"); */
Serial.print(EM7180_gyro_fs); /* Serial.print(EM7180_gyro_fs); */
Serial.println("dps"); /* Serial.println("dps"); */
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //End parameter transfer lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_ParamRequest, 0x00); //End parameter transfer
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // re-enable algorithm lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, 0x00); // re-enable algorithm
// Read EM7180 status // Read EM7180 status
uint8_t runStatus = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RunStatus); uint8_t runStatus = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_RunStatus);
if(runStatus & 0x01) if(runStatus & 0x01)
Serial.println(" EM7180 run status = normal mode"); {
/* Serial.println(" EM7180 run status = normal mode"); */
}
uint8_t algoStatus = lsm6dsm_read_byte(EM7180_ADDRESS, uint8_t algoStatus = lsm6dsm_read_byte(EM7180_ADDRESS,
EM7180_AlgorithmStatus); EM7180_AlgorithmStatus);
if(algoStatus & 0x01) if(algoStatus & 0x01)
Serial.println(" EM7180 standby status"); {
/* Serial.println(" EM7180 standby status"); */
}
if(algoStatus & 0x02) if(algoStatus & 0x02)
Serial.println(" EM7180 algorithm slow"); {
/* Serial.println(" EM7180 algorithm slow"); */
}
if(algoStatus & 0x04) if(algoStatus & 0x04)
Serial.println(" EM7180 in stillness mode"); {
/* Serial.println(" EM7180 in stillness mode"); */
}
if(algoStatus & 0x08) if(algoStatus & 0x08)
Serial.println(" EM7180 mag calibration completed"); {
/* Serial.println(" EM7180 mag calibration completed"); */
}
if(algoStatus & 0x10) if(algoStatus & 0x10)
Serial.println(" EM7180 magnetic anomaly detected"); {
/* Serial.println(" EM7180 magnetic anomaly detected"); */
}
if(algoStatus & 0x20) if(algoStatus & 0x20)
Serial.println(" EM7180 unreliable sensor data"); {
/* Serial.println(" EM7180 unreliable sensor data"); */
}
uint8_t passthruStatus = lsm6dsm_read_byte(EM7180_ADDRESS, uint8_t passthruStatus = lsm6dsm_read_byte(EM7180_ADDRESS,
EM7180_PassThruStatus); EM7180_PassThruStatus);
if(passthruStatus & 0x01) if(passthruStatus & 0x01)
Serial.print(" EM7180 in passthru mode!"); {
/* Serial.print(" EM7180 in passthru mode!"); */
}
uint8_t eventStatus = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_EventStatus); uint8_t eventStatus = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_EventStatus);
if(eventStatus & 0x01) if(eventStatus & 0x01)
Serial.println(" EM7180 CPU reset"); {
/* Serial.println(" EM7180 CPU reset"); */
}
if(eventStatus & 0x02) if(eventStatus & 0x02)
Serial.println(" EM7180 Error"); {
/* Serial.println(" EM7180 Error"); */
}
if(eventStatus & 0x04) if(eventStatus & 0x04)
Serial.println(" EM7180 new quaternion result"); {
/* Serial.println(" EM7180 new quaternion result"); */
}
if(eventStatus & 0x08) if(eventStatus & 0x08)
Serial.println(" EM7180 new mag result"); {
/* Serial.println(" EM7180 new mag result"); */
}
if(eventStatus & 0x10) if(eventStatus & 0x10)
Serial.println(" EM7180 new accel result"); {
/* Serial.println(" EM7180 new accel result"); */
}
if(eventStatus & 0x20) if(eventStatus & 0x20)
Serial.println(" EM7180 new gyro result"); {
/* Serial.println(" EM7180 new gyro result"); */
}
delay(1000); // give some time to read the screen HAL_Delay(1000); // give some time to read the screen
// Check sensor status // Check sensor status
uint8_t sensorStatus = lsm6dsm_read_byte(EM7180_ADDRESS, uint8_t sensorStatus = lsm6dsm_read_byte(EM7180_ADDRESS,
EM7180_SensorStatus); EM7180_SensorStatus);
Serial.print(" EM7180 sensor status = "); /* Serial.print(" EM7180 sensor status = "); */
Serial.println(sensorStatus); /* Serial.println(sensorStatus); */
if(sensorStatus & 0x01) if(sensorStatus & 0x01)
Serial.print("Magnetometer not acknowledging!"); {
/* Serial.print("Magnetometer not acknowledging!"); */
}
if(sensorStatus & 0x02) if(sensorStatus & 0x02)
Serial.print("Accelerometer not acknowledging!"); {
/* Serial.print("Accelerometer not acknowledging!"); */
}
if(sensorStatus & 0x04) if(sensorStatus & 0x04)
Serial.print("Gyro not acknowledging!"); {
/* Serial.print("Gyro not acknowledging!"); */
}
if(sensorStatus & 0x10) if(sensorStatus & 0x10)
Serial.print("Magnetometer ID not recognized!"); {
/* Serial.print("Magnetometer ID not recognized!"); */
}
if(sensorStatus & 0x20) if(sensorStatus & 0x20)
Serial.print("Accelerometer ID not recognized!"); {
/* Serial.print("Accelerometer ID not recognized!"); */
}
if(sensorStatus & 0x40) if(sensorStatus & 0x40)
Serial.print("Gyro ID not recognized!"); {
/* Serial.print("Gyro ID not recognized!"); */
Serial.print("Actual MagRate = "); }
Serial.print(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualMagRate));
Serial.println(" Hz"); /* Serial.print("Actual MagRate = "); */
Serial.print("Actual AccelRate = "); /* Serial.print(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualMagRate)); */
Serial.print( /* Serial.println(" Hz"); */
10 * lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualAccelRate)); /* Serial.print("Actual AccelRate = "); */
Serial.println(" Hz"); /* Serial.print(10 * lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualAccelRate)); */
Serial.print("Actual GyroRate = "); /* Serial.println(" Hz"); */
Serial.print(10 * lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualGyroRate)); /* Serial.print("Actual GyroRate = "); */
Serial.println(" Hz"); /* Serial.print(10 * lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualGyroRate)); */
Serial.print("Actual BaroRate = "); /* Serial.println(" Hz"); */
Serial.print(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualBaroRate)); /* Serial.print("Actual BaroRate = "); */
Serial.println(" Hz"); /* Serial.print(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_ActualBaroRate)); */
/* Serial.println(" Hz"); */
} }
float em7180_uint32_reg_to_float(uint8_t *buf) float em7180_uint32_reg_to_float(uint8_t *buf)
@ -596,19 +673,19 @@ void em7180_passthrough()
uint8_t c = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_AlgorithmControl); uint8_t c = lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_AlgorithmControl);
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, c | 0x01); lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_AlgorithmControl, c | 0x01);
// c = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus); // c = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus);
// Serial.print("c = "); Serial.println(c); /* // Serial.print("c = "); Serial.println(c); */
// Verify standby status // Verify standby status
// if(readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus) & 0x01) { // if(readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus) & 0x01) {
Serial.println("SENtral in standby mode"); /* Serial.println("SENtral in standby mode"); */
// Place SENtral in pass-through mode // Place SENtral in pass-through mode
lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_PassThruControl, 0x01); lsm6dsm_write_byte(EM7180_ADDRESS, EM7180_PassThruControl, 0x01);
if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_PassThruStatus) & 0x01) if(lsm6dsm_read_byte(EM7180_ADDRESS, EM7180_PassThruStatus) & 0x01)
{ {
Serial.println("SENtral in pass-through mode"); /* Serial.println("SENtral in pass-through mode"); */
} }
else else
{ {
Serial.println("ERROR! SENtral not in pass-through mode!"); /* Serial.println("ERROR! SENtral not in pass-through mode!"); */
} }
} }
@ -618,8 +695,8 @@ static void m24512dfm_write_byte(uint8_t device_address, uint8_t data_address1,
uint8_t data_address2, uint8_t data) uint8_t data_address2, uint8_t data)
{ {
uint8_t temp[2] = { data_address1, data_address2 }; uint8_t temp[2] = { data_address1, data_address2 };
Wire.transfer(device_address, &temp[0], 2, NULL, 0); /* Wire.transfer(device_address, &temp[0], 2, NULL, 0); */
Wire.transfer(device_address, &data, 1, NULL, 0); /* Wire.transfer(device_address, &data, 1, NULL, 0); */
} }
static void m24512dfm_write(uint8_t device_address, uint8_t data_address1, static void m24512dfm_write(uint8_t device_address, uint8_t data_address1,
@ -628,23 +705,23 @@ static void m24512dfm_write(uint8_t device_address, uint8_t data_address1,
if(count > 128) if(count > 128)
{ {
count = 128; count = 128;
Serial.print("Page count cannot be more than 128 bytes!"); /* Serial.print("Page count cannot be more than 128 bytes!"); */
} }
uint8_t temp[2] = { data_address1, data_address2 }; uint8_t temp[2] = { data_address1, data_address2 };
Wire.transfer(device_address, &temp[0], 2, NULL, 0); /* Wire.transfer(device_address, &temp[0], 2, NULL, 0); */
Wire.transfer(device_address, &dest[0], count, NULL, 0); /* Wire.transfer(device_address, &dest[0], count, NULL, 0); */
} }
static uint8_t m24512dfm_read_byte(uint8_t device_address, static uint8_t m24512dfm_read_byte(uint8_t device_address,
uint8_t data_address1, uint8_t data_address2) uint8_t data_address1, uint8_t data_address2)
{ {
uint8_t data; // `data` will store the register data uint8_t data; // `data` will store the register data
Wire.beginTransmission(device_address); // Initialize the Tx buffer /* Wire.beginTransmission(device_address); // Initialize the Tx buffer */
Wire.write(data_address1); // Put slave register address in Tx buffer /* Wire.write(data_address1); // Put slave register address in Tx buffer */
Wire.write(data_address2); // Put slave register address in Tx buffer /* Wire.write(data_address2); // Put slave register address in Tx buffer */
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive /* Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive */
Wire.requestFrom(device_address, 1); // Read one byte from slave register address /* Wire.requestFrom(device_address, 1); // Read one byte from slave register address */
data = Wire.read(); // Fill Rx buffer with result /* data = Wire.read(); // Fill Rx buffer with result */
return data; // Return data read from slave register return data; // Return data read from slave register
} }
@ -652,7 +729,7 @@ static void m24512dfm_read(uint8_t device_address, uint8_t data_address1,
uint8_t data_address2, uint8_t count, uint8_t *dest) uint8_t data_address2, uint8_t count, uint8_t *dest)
{ {
uint8_t temp[2] = { data_address1, data_address2 }; uint8_t temp[2] = { data_address1, data_address2 };
Wire.transfer(device_address, &temp[0], 2, dest, count); /* Wire.transfer(device_address, &temp[0], 2, dest, count); */
} }
// I2C read/write functions for the EM7180 // I2C read/write functions for the EM7180
@ -661,20 +738,20 @@ void em7180_write_byte(uint8_t address, uint8_t subAddress, uint8_t data)
uint8_t temp[2]; uint8_t temp[2];
temp[0] = subAddress; temp[0] = subAddress;
temp[1] = data; temp[1] = data;
Wire.transfer(address, &temp[0], 2, NULL, 0); /* Wire.transfer(address, &temp[0], 2, NULL, 0); */
} }
static uint8_t em7180_read_byte(uint8_t address, uint8_t subAddress) static uint8_t em7180_read_byte(uint8_t address, uint8_t subAddress)
{ {
uint8_t temp[1]; uint8_t temp[1];
Wire.transfer(address, &subAddress, 1, &temp[0], 1); /* Wire.transfer(address, &subAddress, 1, &temp[0], 1); */
return temp[0]; return temp[0];
} }
static void em7180_read(uint8_t address, uint8_t subAddress, uint8_t count, static void em7180_read(uint8_t address, uint8_t subAddress, uint8_t count,
uint8_t *dest) uint8_t *dest)
{ {
Wire.transfer(address, &subAddress, 1, dest, count); /* Wire.transfer(address, &subAddress, 1, dest, count); */
} }
// Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays" // Implementation of Sebastian Madgwick's "...efficient orientation filter for... inertial/magnetic sensor arrays"
@ -726,7 +803,9 @@ __attribute__((optimize("O3"))) void em7180_update_quat_madgwick(float ax,
// Normalize accelerometer measurement // Normalize accelerometer measurement
norm = sqrt(ax * ax + ay * ay + az * az); norm = sqrt(ax * ax + ay * ay + az * az);
if(norm == 0.0f) if(norm == 0.0f)
{
return; // handle NaN return; // handle NaN
}
norm = 1.0f / norm; norm = 1.0f / norm;
ax *= norm; ax *= norm;
ay *= norm; ay *= norm;
@ -735,7 +814,9 @@ __attribute__((optimize("O3"))) void em7180_update_quat_madgwick(float ax,
// Normalize magnetometer measurement // Normalize magnetometer measurement
norm = sqrt(mx * mx + my * my + mz * mz); norm = sqrt(mx * mx + my * my + mz * mz);
if(norm == 0.0f) if(norm == 0.0f)
{
return; // handle NaN return; // handle NaN
}
norm = 1.0f / norm; norm = 1.0f / norm;
mx *= norm; mx *= norm;
my *= norm; my *= norm;
@ -854,7 +935,9 @@ void em7180_update_quat_mahony(float ax, float ay, float az, float gx, float gy,
// Normalize accelerometer measurement // Normalize accelerometer measurement
norm = sqrt(ax * ax + ay * ay + az * az); norm = sqrt(ax * ax + ay * ay + az * az);
if(norm == 0.0f) if(norm == 0.0f)
{
return; // handle NaN return; // handle NaN
}
norm = 1.0f / norm; // use reciprocal for division norm = 1.0f / norm; // use reciprocal for division
ax *= norm; ax *= norm;
ay *= norm; ay *= norm;
@ -863,7 +946,9 @@ void em7180_update_quat_mahony(float ax, float ay, float az, float gx, float gy,
// Normalize magnetometer measurement // Normalize magnetometer measurement
norm = sqrt(mx * mx + my * my + mz * mz); norm = sqrt(mx * mx + my * my + mz * mz);
if(norm == 0.0f) if(norm == 0.0f)
{
return; // handle NaN return; // handle NaN
}
norm = 1.0f / norm; // use reciprocal for division norm = 1.0f / norm; // use reciprocal for division
mx *= norm; mx *= norm;
my *= norm; my *= norm;
@ -924,5 +1009,4 @@ void em7180_update_quat_mahony(float ax, float ay, float az, float gx, float gy,
_q[1] = q2 * norm; _q[1] = q2 * norm;
_q[2] = q3 * norm; _q[2] = q3 * norm;
_q[3] = q4 * norm; _q[3] = q4 * norm;
} }

53
Drivers/EM7180/Src/lis2mdl.c
Unescape View File

@ -32,7 +32,7 @@ static void lis2mdl_read(uint8_t address, uint8_t subAddress, uint8_t count,
/* Function Definitions */ /* Function Definitions */
lis2mdl_new(uint8_t pin) lis2mdl_new(uint8_t pin)
{ {
pinMode(pin, INPUT); /* pinMode(pin, INPUT); */
_intPin = pin; _intPin = pin;
} }
@ -47,9 +47,9 @@ void lis2mdl_reset()
// reset device // reset device
uint8_t temp = lis2mdl_read_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A); uint8_t temp = lis2mdl_read_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A);
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x20); // Set bit 5 to 1 to reset LIS2MDL lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x20); // Set bit 5 to 1 to reset LIS2MDL
delay(1); HAL_Delay(1);
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x40); // Set bit 6 to 1 to boot LIS2MDL lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_A, temp | 0x40); // Set bit 6 to 1 to boot LIS2MDL
delay(100); // Wait for all registers to reset HAL_Delay(100); // Wait for all registers to reset
} }
void lis2mdl_init(uint8_t MODR) void lis2mdl_init(uint8_t MODR)
@ -101,9 +101,8 @@ void lis2mdl_offset_bias(float *dest1, float *dest2)
{ 32767, 32767, 32767 }, mag_temp[3] = { 0, 0, 0 }; { 32767, 32767, 32767 }, mag_temp[3] = { 0, 0, 0 };
float _mRes = 0.0015f; float _mRes = 0.0015f;
Serial.println( /* Serial.println("Calculate mag offset bias: move all around to sample the complete response surface!"); */
"Calculate mag offset bias: move all around to sample the complete response surface!"); HAL_Delay(4000);
delay(4000);
for(int ii = 0; ii < 4000; ii++) for(int ii = 0; ii < 4000; ii++)
{ {
@ -111,11 +110,15 @@ void lis2mdl_offset_bias(float *dest1, float *dest2)
for(int jj = 0; jj < 3; jj++) for(int jj = 0; jj < 3; jj++)
{ {
if(mag_temp[jj] > mag_max[jj]) if(mag_temp[jj] > mag_max[jj])
{
mag_max[jj] = mag_temp[jj]; mag_max[jj] = mag_temp[jj];
}
if(mag_temp[jj] < mag_min[jj]) if(mag_temp[jj] < mag_min[jj])
{
mag_min[jj] = mag_temp[jj]; mag_min[jj] = mag_temp[jj];
} }
delay(12); }
HAL_Delay(12);
} }
_mRes = 0.0015f; // fixed sensitivity _mRes = 0.0015f; // fixed sensitivity
@ -140,7 +143,7 @@ void lis2mdl_offset_bias(float *dest1, float *dest2)
dest2[1] = avg_rad / ((float) mag_scale[1]); dest2[1] = avg_rad / ((float) mag_scale[1]);
dest2[2] = avg_rad / ((float) mag_scale[2]); dest2[2] = avg_rad / ((float) mag_scale[2]);
Serial.println("Mag Calibration done!"); /* Serial.println("Mag Calibration done!"); */
} }
void lis2mdl_self_test() void lis2mdl_self_test()
@ -158,7 +161,7 @@ void lis2mdl_self_test()
sum[0] += temp[0]; sum[0] += temp[0];
sum[1] += temp[1]; sum[1] += temp[1];
sum[2] += temp[2]; sum[2] += temp[2];
delay(50); HAL_Delay(50);
} }
magNom[0] = (float) sum[0] / 50.0f; magNom[0] = (float) sum[0] / 50.0f;
@ -167,7 +170,7 @@ void lis2mdl_self_test()
uint8_t c = lis2mdl_read_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C); uint8_t c = lis2mdl_read_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C);
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c | 0x02); // enable self test lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c | 0x02); // enable self test
delay(100); // let mag respond HAL_Delay(100); // let mag respond
sum[0] = 0; sum[0] = 0;
sum[1] = 0; sum[1] = 0;
@ -178,7 +181,7 @@ void lis2mdl_self_test()
sum[0] += temp[0]; sum[0] += temp[0];
sum[1] += temp[1]; sum[1] += temp[1];
sum[2] += temp[2]; sum[2] += temp[2];
delay(50); HAL_Delay(50);
} }
magTest[0] = (float) sum[0] / 50.0f; magTest[0] = (float) sum[0] / 50.0f;
@ -186,18 +189,18 @@ void lis2mdl_self_test()
magTest[2] = (float) sum[2] / 50.0f; magTest[2] = (float) sum[2] / 50.0f;
lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c); // return to previous settings/normal mode lis2mdl_write_byte(LIS2MDL_ADDRESS, LIS2MDL_CFG_REG_C, c); // return to previous settings/normal mode
delay(100); // let mag respond HAL_Delay(100); // let mag respond
Serial.println("Mag Self Test:"); /* Serial.println("Mag Self Test:"); */
Serial.print("Mx results:"); /* Serial.print("Mx results:"); */
Serial.print((magTest[0] - magNom[0]) * _mRes * 1000.0); /* Serial.print((magTest[0] - magNom[0]) * _mRes * 1000.0); */
Serial.println(" mG"); /* Serial.println(" mG"); */
Serial.print("My results:"); /* Serial.print("My results:"); */
Serial.println((magTest[0] - magNom[0]) * _mRes * 1000.0); /* Serial.println((magTest[0] - magNom[0]) * _mRes * 1000.0); */
Serial.print("Mz results:"); /* Serial.print("Mz results:"); */
Serial.println((magTest[1] - magNom[1]) * _mRes * 1000.0); /* Serial.println((magTest[1] - magNom[1]) * _mRes * 1000.0); */
Serial.println("Should be between 15 and 500 mG"); /* Serial.println("Should be between 15 and 500 mG"); */
delay(2000); // give some time to read the screen HAL_Delay(2000); // give some time to read the screen
} }
// I2C read/write functions for the LIS2MDL // I2C read/write functions for the LIS2MDL
@ -208,18 +211,18 @@ static void lis2mdl_write_byte(uint8_t address, uint8_t subAddress,
uint8_t temp[2]; uint8_t temp[2];
temp[0] = subAddress; temp[0] = subAddress;
temp[1] = data; temp[1] = data;
Wire.transfer(address, &temp[0], 2, NULL, 0); /* Wire.transfer(address, &temp[0], 2, NULL, 0); */
} }
static uint8_t lis2mdl_read_byte(uint8_t address, uint8_t subAddress) static uint8_t lis2mdl_read_byte(uint8_t address, uint8_t subAddress)
{ {
uint8_t temp[1]; uint8_t temp[1];
Wire.transfer(address, &subAddress, 1, &temp[0], 1); /* Wire.transfer(address, &subAddress, 1, &temp[0], 1); */
return temp[0]; return temp[0];
} }
static void lis2mdl_read(uint8_t address, uint8_t subAddress, uint8_t count, static void lis2mdl_read(uint8_t address, uint8_t subAddress, uint8_t count,
uint8_t *dest) uint8_t *dest)
{ {
Wire.transfer(address, &subAddress, 1, dest, count); /* Wire.transfer(address, &subAddress, 1, dest, count); */
} }

30
Drivers/EM7180/Src/lps22hb.c
Unescape View File

@ -30,7 +30,7 @@ static void lps22h_read(uint8_t address, uint8_t subAddress, uint8_t count,
/* Function Definitions */ /* Function Definitions */
lps22h_new(uint8_t pin) lps22h_new(uint8_t pin)
{ {
pinMode(pin, INPUT); /* pinMode(pin, INPUT); */
_intPin = pin; _intPin = pin;
} }
@ -76,33 +76,35 @@ void lps22h_init(uint8_t PODR)
static void lps22h_write_byte(uint8_t address, uint8_t subAddress, uint8_t data) static void lps22h_write_byte(uint8_t address, uint8_t subAddress, uint8_t data)
{ {
Wire.beginTransmission(address); // Initialize the Tx buffer /* Wire.beginTransmission(address); // Initialize the Tx buffer */
Wire.write(subAddress); // Put slave register address in Tx buffer /* Wire.write(subAddress); // Put slave register address in Tx buffer */
Wire.write(data); // Put data in Tx buffer /* Wire.write(data); // Put data in Tx buffer */
Wire.endTransmission(); // Send the Tx buffer /* Wire.endTransmission(); // Send the Tx buffer */
} }
static uint8_t lps22h_read_byte(uint8_t address, uint8_t subAddress) static uint8_t lps22h_read_byte(uint8_t address, uint8_t subAddress)
{ {
uint8_t data; // `data` will store the register data uint8_t data; // `data` will store the register data
Wire.beginTransmission(address); // Initialize the Tx buffer /* Wire.beginTransmission(address); // Initialize the Tx buffer */
Wire.write(subAddress); // Put slave register address in Tx buffer /* Wire.write(subAddress); // Put slave register address in Tx buffer */
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive /* Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive */
Wire.requestFrom(address, (size_t) 1); // Read one uint8_t from slave register address /* Wire.requestFrom(address, (size_t) 1); // Read one uint8_t from slave register address */
data = Wire.read(); // Fill Rx buffer with result /* data = Wire.read(); // Fill Rx buffer with result */
return data; // Return data lps22h_read from slave register return data; // Return data lps22h_read from slave register
} }
static void lps22h_read(uint8_t address, uint8_t subAddress, uint8_t count, static void lps22h_read(uint8_t address, uint8_t subAddress, uint8_t count,
uint8_t *dest) uint8_t *dest)
{ {
Wire.beginTransmission(address); // Initialize the Tx buffer /* Wire.beginTransmission(address); // Initialize the Tx buffer */
Wire.write(subAddress); // Put slave register address in Tx buffer /* Wire.write(subAddress); // Put slave register address in Tx buffer */
Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive /* Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive */
uint8_t i = 0; uint8_t i = 0;
Wire.requestFrom(address, (size_t) count); // Read bytes from slave register address /* Wire.requestFrom(address, (size_t) count); // Read bytes from slave register address */
/*
while(Wire.available()) while(Wire.available())
{ {
dest[i++] = Wire.lps22h_read(); dest[i++] = Wire.lps22h_read();
} // Put lps22h_read results in the Rx buffer } // Put lps22h_read results in the Rx buffer
*/
} }

95
Drivers/EM7180/Src/lsm6dsm.c
Unescape View File

@ -34,9 +34,9 @@ static void lsm6dsm_read(uint8_t address, uint8_t subAddress, uint8_t count,
/* Function Definitions */ /* Function Definitions */
lsm6dsm_new(uint8_t pin1, uint8_t pin2) lsm6dsm_new(uint8_t pin1, uint8_t pin2)
{ {
pinMode(pin1, INPUT); /* pinMode(pin1, INPUT); */
_intPin1 = pin1; _intPin1 = pin1;
pinMode(pin2, INPUT); /* pinMode(pin2, INPUT); */
_intPin2 = pin2; _intPin2 = pin2;
} }
@ -102,7 +102,7 @@ void lsm6dsm_reset()
// reset device // reset device
uint8_t temp = lsm6dsm_read_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C); uint8_t temp = lsm6dsm_read_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C);
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C, temp | 0x01); // Set bit 0 to 1 to reset LSM6DSM lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL3_C, temp | 0x01); // Set bit 0 to 1 to reset LSM6DSM
delay(100); // Wait for all registers to reset HAL_Delay(100); // Wait for all registers to reset
} }
void lsm6dsm_init(uint8_t ascale, uint8_t gscale, uint8_t AODR, uint8_t GODR) void lsm6dsm_init(uint8_t ascale, uint8_t gscale, uint8_t AODR, uint8_t GODR)
@ -144,68 +144,68 @@ void lsm6dsm_selfTest()
gyroNom[2] = temp[3]; gyroNom[2] = temp[3];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x01); // positive accel self test lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x01); // positive accel self test
delay(100); // let accel respond HAL_Delay(100); // let accel respond
readData(temp); readData(temp);
accelPTest[0] = temp[4]; accelPTest[0] = temp[4];
accelPTest[1] = temp[5]; accelPTest[1] = temp[5];
accelPTest[2] = temp[6]; accelPTest[2] = temp[6];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x03); // negative accel self test lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x03); // negative accel self test
delay(100); // let accel respond HAL_Delay(100); // let accel respond
readData(temp); readData(temp);
accelNTest[0] = temp[4]; accelNTest[0] = temp[4];
accelNTest[1] = temp[5]; accelNTest[1] = temp[5];
accelNTest[2] = temp[6]; accelNTest[2] = temp[6];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x04); // positive gyro self test lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x04); // positive gyro self test
delay(100); // let gyro respond HAL_Delay(100); // let gyro respond
readData(temp); readData(temp);
gyroPTest[0] = temp[1]; gyroPTest[0] = temp[1];
gyroPTest[1] = temp[2]; gyroPTest[1] = temp[2];
gyroPTest[2] = temp[3]; gyroPTest[2] = temp[3];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x0C); // negative gyro self test lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x0C); // negative gyro self test
delay(100); // let gyro respond HAL_Delay(100); // let gyro respond
readData(temp); readData(temp);
gyroNTest[0] = temp[1]; gyroNTest[0] = temp[1];
gyroNTest[1] = temp[2]; gyroNTest[1] = temp[2];
gyroNTest[2] = temp[3]; gyroNTest[2] = temp[3];
lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x00); // normal mode lsm6dsm_write_byte(LSM6DSM_ADDRESS, LSM6DSM_CTRL5_C, 0x00); // normal mode
delay(100); // let accel and gyro respond HAL_Delay(100); // let accel and gyro respond
Serial.println("Accel Self Test:"); /* Serial.println("Accel Self Test:"); */
Serial.print("+Ax results:"); /* Serial.print("+Ax results:"); */
Serial.print((accelPTest[0] - accelNom[0]) * _aRes * 1000.0); /* Serial.print((accelPTest[0] - accelNom[0]) * _aRes * 1000.0); */
Serial.println(" mg"); /* Serial.println(" mg"); */
Serial.print("-Ax results:"); /* Serial.print("-Ax results:"); */
Serial.println((accelNTest[0] - accelNom[0]) * _aRes * 1000.0); /* Serial.println((accelNTest[0] - accelNom[0]) * _aRes * 1000.0); */
Serial.print("+Ay results:"); /* Serial.print("+Ay results:"); */
Serial.println((accelPTest[1] - accelNom[1]) * _aRes * 1000.0); /* Serial.println((accelPTest[1] - accelNom[1]) * _aRes * 1000.0); */
Serial.print("-Ay results:"); /* Serial.print("-Ay results:"); */
Serial.println((accelNTest[1] - accelNom[1]) * _aRes * 1000.0); /* Serial.println((accelNTest[1] - accelNom[1]) * _aRes * 1000.0); */
Serial.print("+Az results:"); /* Serial.print("+Az results:"); */
Serial.println((accelPTest[2] - accelNom[2]) * _aRes * 1000.0); /* Serial.println((accelPTest[2] - accelNom[2]) * _aRes * 1000.0); */
Serial.print("-Az results:"); /* Serial.print("-Az results:"); */
Serial.println((accelNTest[2] - accelNom[2]) * _aRes * 1000.0); /* Serial.println((accelNTest[2] - accelNom[2]) * _aRes * 1000.0); */
Serial.println("Should be between 90 and 1700 mg"); /* Serial.println("Should be between 90 and 1700 mg"); */
Serial.println("Gyro Self Test:"); /* Serial.println("Gyro Self Test:"); */
Serial.print("+Gx results:"); /* Serial.print("+Gx results:"); */
Serial.print((gyroPTest[0] - gyroNom[0]) * _gRes); /* Serial.print((gyroPTest[0] - gyroNom[0]) * _gRes); */
Serial.println(" dps"); /* Serial.println(" dps"); */
Serial.print("-Gx results:"); /* Serial.print("-Gx results:"); */
Serial.println((gyroNTest[0] - gyroNom[0]) * _gRes); /* Serial.println((gyroNTest[0] - gyroNom[0]) * _gRes); */
Serial.print("+Gy results:"); /* Serial.print("+Gy results:"); */
Serial.println((gyroPTest[1] - gyroNom[1]) * _gRes); /* Serial.println((gyroPTest[1] - gyroNom[1]) * _gRes); */
Serial.print("-Gy results:"); /* Serial.print("-Gy results:"); */
Serial.println((gyroNTest[1] - gyroNom[1]) * _gRes); /* Serial.println((gyroNTest[1] - gyroNom[1]) * _gRes); */
Serial.print("+Gz results:"); /* Serial.print("+Gz results:"); */
Serial.println((gyroPTest[2] - gyroNom[2]) * _gRes); /* Serial.println((gyroPTest[2] - gyroNom[2]) * _gRes); */
Serial.print("-Gz results:"); /* Serial.print("-Gz results:"); */
Serial.println((gyroNTest[2] - gyroNom[2]) * _gRes); /* Serial.println((gyroNTest[2] - gyroNom[2]) * _gRes); */
Serial.println("Should be between 20 and 80 dps"); /* Serial.println("Should be between 20 and 80 dps"); */
delay(2000); HAL_Delay(2000);
} }
@ -214,9 +214,8 @@ void lsm6dsm_offsetBias(float *dest1, float *dest2)
int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 }; int16_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 };
int32_t sum[7] = { 0, 0, 0, 0, 0, 0, 0 }; int32_t sum[7] = { 0, 0, 0, 0, 0, 0, 0 };
Serial.println( /* Serial.println("Calculate accel and gyro offset biases: keep sensor flat and motionless!"); */
"Calculate accel and gyro offset biases: keep sensor flat and motionless!"); HAL_Delay(4000);
delay(4000);
for(int ii = 0; ii < 128; ii++) for(int ii = 0; ii < 128; ii++)
{ {
@ -227,7 +226,7 @@ void lsm6dsm_offsetBias(float *dest1, float *dest2)
sum[4] += temp[4]; sum[4] += temp[4];
sum[5] += temp[5]; sum[5] += temp[5];
sum[6] += temp[6]; sum[6] += temp[6];
delay(50); HAL_Delay(50);
} }
dest1[0] = sum[1] * _gRes / 128.0f; dest1[0] = sum[1] * _gRes / 128.0f;
@ -284,18 +283,18 @@ static void lsm6dsm_write_byte(uint8_t address, uint8_t subAddress,
uint8_t temp[2]; uint8_t temp[2];
temp[0] = subAddress; temp[0] = subAddress;
temp[1] = data; temp[1] = data;
Wire.transfer(address, &temp[0], 2, NULL, 0); /* Wire.transfer(address, &temp[0], 2, NULL, 0); */
} }
static uint8_t lsm6dsm_read_byte(uint8_t address, uint8_t subAddress) static uint8_t lsm6dsm_read_byte(uint8_t address, uint8_t subAddress)
{ {
uint8_t temp[1]; uint8_t temp[1];
Wire.transfer(address, &subAddress, 1, &temp[0], 1); /* Wire.transfer(address, &subAddress, 1, &temp[0], 1); */
return temp[0]; return temp[0];
} }
static void lsm6dsm_read(uint8_t address, uint8_t subAddress, uint8_t count, static void lsm6dsm_read(uint8_t address, uint8_t subAddress, uint8_t count,
uint8_t *dest) uint8_t *dest)
{ {
Wire.transfer(address, &subAddress, 1, dest, count); /* Wire.transfer(address, &subAddress, 1, dest, count); */
} }

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