Merge pull request #13 from Devoalda/main
Added calibration for magnetometer
This commit is contained in:
Devoalda
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32ddff1e97
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@ -38,6 +38,198 @@ direction_t g_direction = {
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.pitch_angle = UP
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.pitch_angle = UP
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};
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};
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struct s_calibration_data {
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int16_t accelerometerBias[3];
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int16_t magnetometerBias[3];
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};
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struct s_calibration_data g_calibration_data = {
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.accelerometerBias = {0, 0, 0},
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.magnetometerBias = {0, 0, 0}
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};
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/**
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* @brief Read Data with I2C, given the address and register
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* @param addr Address of the device
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* @param reg Register to read from
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* @return 1 piece of data read from the register
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*/
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static inline int
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read_data(uint8_t addr, uint8_t reg) {
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uint8_t data[1];
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// Send the register address to read from
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i2c_write_blocking(i2c_default, addr, ®, 1, true);
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// Read the data
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i2c_read_blocking(i2c_default, addr, data, 1, false);
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return data[0];
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}
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/**
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* @brief Read Accelerometer Data
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* @param accelerometer Accelerometer Data
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*/
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static inline void
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read_accelerometer(int16_t accelerometer[3]) {
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uint8_t buffer[6];
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buffer[0] = read_data(ACCEL_ADDR, LSM303_OUT_X_L_A);
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buffer[1] = read_data(ACCEL_ADDR, LSM303_OUT_X_H_A);
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buffer[2] = read_data(ACCEL_ADDR, LSM303_OUT_Y_L_A);
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buffer[3] = read_data(ACCEL_ADDR, LSM303_OUT_Y_H_A);
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buffer[4] = read_data(ACCEL_ADDR, LSM303_OUT_Z_L_A);
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buffer[5] = read_data(ACCEL_ADDR, LSM303_OUT_Z_H_A);
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// Combine high and low bytes
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// xAcceleration
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accelerometer[0] = (int16_t) ((buffer[1] << 8) | buffer[0]);
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// yAcceleration
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accelerometer[1] = (int16_t) ((buffer[3] << 8) | buffer[2]);
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// zAcceleration
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accelerometer[2] = (int16_t) ((buffer[5] << 8) | buffer[4]);
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// Apply the calibration data
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accelerometer[0] -= g_calibration_data.accelerometerBias[0];
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accelerometer[1] -= g_calibration_data.accelerometerBias[1];
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accelerometer[2] -= g_calibration_data.accelerometerBias[2];
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}
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/**
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* @brief Read Magnetometer Data with Moving Average
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* @param magnetometer Magnetometer Data
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*/
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static inline void
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read_magnetometer(int16_t magnetometer[3]) {
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uint8_t buffer[6];
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int32_t xMagFiltered = 0;
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int32_t yMagFiltered = 0;
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int32_t zMagFiltered = 0;
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for (int i = 0; i < NUM_READINGS; i ++)
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{
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buffer[0] = read_data(MAG_ADDR, LSM303_OUT_X_H_M);
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buffer[1] = read_data(MAG_ADDR, LSM303_OUT_X_L_M);
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buffer[2] = read_data(MAG_ADDR, LSM303_OUT_Y_H_M);
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buffer[3] = read_data(MAG_ADDR, LSM303_OUT_Y_L_M);
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buffer[4] = read_data(MAG_ADDR, LSM303_OUT_Z_H_M);
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buffer[5] = read_data(MAG_ADDR, LSM303_OUT_Z_L_M);
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// Update the cumulative sum of the magnetometer data
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xMagFiltered += (int16_t) (buffer[0] << 8 | buffer[1]);
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yMagFiltered += (int16_t) (buffer[2] << 8 | buffer[3]);
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zMagFiltered += (int16_t) (buffer[4] << 8 | buffer[5]);
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}
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// Calculate the moving average
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magnetometer[0] = xMagFiltered / NUM_READINGS;
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magnetometer[1] = yMagFiltered / NUM_READINGS;
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magnetometer[2] = zMagFiltered / NUM_READINGS;
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// Apply the calibration data
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magnetometer[0] -= g_calibration_data.magnetometerBias[0];
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magnetometer[1] -= g_calibration_data.magnetometerBias[1];
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magnetometer[2] -= g_calibration_data.magnetometerBias[2];
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}
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/**
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* @brief Read Temperature Data in Degrees Celsius
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* @param temperature Temperature Data in Degrees Celsius
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*/
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static inline void
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read_temperature(int16_t temperature[1]) {
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uint8_t buffer[2];
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buffer[0] = read_data(MAG_ADDR, LSM303_TEMP_OUT_H_M);
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buffer[1] = read_data(MAG_ADDR, LSM303_TEMP_OUT_L_M);
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/**
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* Normalize temperature; it is big-endian, fixed-point
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* 9 bits signed integer, 3 bits fractional part, 4 bits zeros
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* and is relative to 20 degrees Celsius
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* Source: https://electronics.stackexchange.com/a/356964
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*/
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int16_t raw_temperature =
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(20 << 3) + (((int16_t) buffer[0] << 8 | buffer[1]) >> 4);
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// Convert the raw temperature data to degrees Celsius
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float temperature_celsius = (float) raw_temperature / 8.0;
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// Store the result in the temperature array
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temperature[0] = (int16_t) temperature_celsius;
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}
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static void initial_calibration() {
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int16_t accelerometer[3];
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int16_t magnetometer[3];
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int16_t accelerometerMin[3] = {0, 0, 0};
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int16_t accelerometerMax[3] = {0, 0, 0};
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int16_t magnetometerMin[3] = {0, 0, 0};
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int16_t magnetometerMax[3] = {0, 0, 0};
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printf("Initial Calibration\n");
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for (int i = 0; i < 100; i ++)
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{
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printf("Calibrating... %d\n", i);
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read_accelerometer(accelerometer);
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read_magnetometer(magnetometer);
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for (int j = 0; j < 3; j ++)
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{
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if (accelerometer[j] > accelerometerMax[j])
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{
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accelerometerMax[j] = accelerometer[j];
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}
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if (accelerometer[j] < accelerometerMin[j])
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{
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accelerometerMin[j] = accelerometer[j];
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}
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if (magnetometer[j] > magnetometerMax[j])
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{
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magnetometerMax[j] = magnetometer[j];
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}
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if (magnetometer[j] < magnetometerMin[j])
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{
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magnetometerMin[j] = magnetometer[j];
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}
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}
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sleep_ms(10);
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}
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g_calibration_data.accelerometerBias[0] =
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(accelerometerMax[0] + accelerometerMin[0]) / 2;
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g_calibration_data.accelerometerBias[1] =
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(accelerometerMax[1] + accelerometerMin[1]) / 2;
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g_calibration_data.accelerometerBias[2] =
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(accelerometerMax[2] + accelerometerMin[2]) / 2;
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g_calibration_data.magnetometerBias[0] =
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(magnetometerMax[0] + magnetometerMin[0]) / 2;
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g_calibration_data.magnetometerBias[1] =
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(magnetometerMax[1] + magnetometerMin[1]) / 2;
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g_calibration_data.magnetometerBias[2] =
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(magnetometerMax[2] + magnetometerMin[2]) / 2;
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printf("Accelerometer Bias: %d, %d, %d\n",
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g_calibration_data.accelerometerBias[0],
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g_calibration_data.accelerometerBias[1],
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g_calibration_data.accelerometerBias[2]);
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printf("Magnetometer Bias: %d, %d, %d\n",
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g_calibration_data.magnetometerBias[0],
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g_calibration_data.magnetometerBias[1],
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g_calibration_data.magnetometerBias[2]);
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}
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/**
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/**
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* @brief Initialise the LSM303DLHC sensor (Accelerometer and Magnetometer)
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* @brief Initialise the LSM303DLHC sensor (Accelerometer and Magnetometer)
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* @details
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* @details
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@ -104,6 +296,10 @@ magnetometer_init()
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LSM303DLHC_init();
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LSM303DLHC_init();
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// initial_calibration();
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// sleep_ms(3000);
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// printf("Magnetometer Initialised\n");
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// Semaphore
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// Semaphore
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g_direction_sem = xSemaphoreCreateBinary();
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g_direction_sem = xSemaphoreCreateBinary();
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}
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}
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@ -122,4 +318,5 @@ h_direction_timer_handler(repeating_timer_t *repeatingTimer) {
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portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
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portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
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return true;
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return true;
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}
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}
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#endif
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#endif
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@ -10,110 +10,5 @@
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#include "magnetometer_init.h"
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#include "magnetometer_init.h"
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/**
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* @brief Read Data with I2C, given the address and register
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* @param addr Address of the device
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* @param reg Register to read from
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* @return 1 piece of data read from the register
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*/
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static inline int
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read_data(uint8_t addr, uint8_t reg) {
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uint8_t data[1];
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// Send the register address to read from
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i2c_write_blocking(i2c_default, addr, ®, 1, true);
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// Read the data
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i2c_read_blocking(i2c_default, addr, data, 1, false);
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return data[0];
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}
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/**
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* @brief Read Accelerometer Data
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* @param accelerometer Accelerometer Data
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*/
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static inline void
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read_accelerometer(int16_t accelerometer[3]) {
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uint8_t buffer[6];
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buffer[0] = read_data(ACCEL_ADDR, LSM303_OUT_X_L_A);
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buffer[1] = read_data(ACCEL_ADDR, LSM303_OUT_X_H_A);
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buffer[2] = read_data(ACCEL_ADDR, LSM303_OUT_Y_L_A);
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buffer[3] = read_data(ACCEL_ADDR, LSM303_OUT_Y_H_A);
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buffer[4] = read_data(ACCEL_ADDR, LSM303_OUT_Z_L_A);
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buffer[5] = read_data(ACCEL_ADDR, LSM303_OUT_Z_H_A);
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// Combine high and low bytes
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// xAcceleration
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accelerometer[0] = (int16_t) ((buffer[1] << 8) | buffer[0]);
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// yAcceleration
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accelerometer[1] = (int16_t) ((buffer[3] << 8) | buffer[2]);
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// zAcceleration
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accelerometer[2] = (int16_t) ((buffer[5] << 8) | buffer[4]);
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}
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/**
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* @brief Read Magnetometer Data with Moving Average
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* @param magnetometer Magnetometer Data
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*/
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static inline void
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read_magnetometer(int16_t magnetometer[3]) {
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uint8_t buffer[6];
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int32_t xMagFiltered = 0;
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int32_t yMagFiltered = 0;
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int32_t zMagFiltered = 0;
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for (int i = 0; i < NUM_READINGS; i++) {
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buffer[0] = read_data(MAG_ADDR, LSM303_OUT_X_H_M);
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buffer[1] = read_data(MAG_ADDR, LSM303_OUT_X_L_M);
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buffer[2] = read_data(MAG_ADDR, LSM303_OUT_Y_H_M);
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buffer[3] = read_data(MAG_ADDR, LSM303_OUT_Y_L_M);
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buffer[4] = read_data(MAG_ADDR, LSM303_OUT_Z_H_M);
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buffer[5] = read_data(MAG_ADDR, LSM303_OUT_Z_L_M);
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// Update the cumulative sum of the magnetometer data
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xMagFiltered += (int16_t)(buffer[0] << 8 | buffer[1]);
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yMagFiltered += (int16_t)(buffer[2] << 8 | buffer[3]);
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zMagFiltered += (int16_t)(buffer[4] << 8 | buffer[5]);
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}
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// Calculate the moving average
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magnetometer[0] = xMagFiltered / NUM_READINGS;
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magnetometer[1] = yMagFiltered / NUM_READINGS;
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magnetometer[2] = zMagFiltered / NUM_READINGS;
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}
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/**
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* @brief Read Temperature Data in Degrees Celsius
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* @param temperature Temperature Data in Degrees Celsius
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*/
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static inline void
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read_temperature(int16_t temperature[1]) {
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uint8_t buffer[2];
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buffer[0] = read_data(MAG_ADDR, LSM303_TEMP_OUT_H_M);
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buffer[1] = read_data(MAG_ADDR, LSM303_TEMP_OUT_L_M);
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/**
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* Normalize temperature; it is big-endian, fixed-point
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* 9 bits signed integer, 3 bits fractional part, 4 bits zeros
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* and is relative to 20 degrees Celsius
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* Source: https://electronics.stackexchange.com/a/356964
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*/
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int16_t raw_temperature =
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(20 << 3) + (((int16_t) buffer[0] << 8 | buffer[1]) >> 4);
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// Convert the raw temperature data to degrees Celsius
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float temperature_celsius = (float) raw_temperature / 8.0;
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// Store the result in the temperature array
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temperature[0] = (int16_t) temperature_celsius;
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}
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#endif
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#endif
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