mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-24 16:55:36 +03:00
070ea81816
AK8963 driver updates Increase resolution for brushed motors from 250 to 750 steps (@32Khz pwm rate)
107 lines
3.2 KiB
C
107 lines
3.2 KiB
C
/*
|
|
* This file is part of Cleanflight.
|
|
*
|
|
* Cleanflight is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* Cleanflight is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
|
|
#include "platform.h"
|
|
|
|
#include "common/axis.h"
|
|
|
|
#include "drivers/sensor.h"
|
|
#include "drivers/compass.h"
|
|
#include "drivers/compass_hmc5883l.h"
|
|
#include "drivers/gpio.h"
|
|
#include "drivers/light_led.h"
|
|
|
|
#include "sensors/boardalignment.h"
|
|
#include "config/runtime_config.h"
|
|
#include "config/config.h"
|
|
|
|
#include "sensors/sensors.h"
|
|
#include "sensors/compass.h"
|
|
|
|
#ifdef NAZE
|
|
#include "hardware_revision.h"
|
|
#endif
|
|
|
|
mag_t mag; // mag access functions
|
|
|
|
extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
|
|
|
|
int16_t magADCRaw[XYZ_AXIS_COUNT];
|
|
int32_t magADC[XYZ_AXIS_COUNT];
|
|
sensor_align_e magAlign = 0;
|
|
#ifdef MAG
|
|
static uint8_t magInit = 0;
|
|
|
|
void compassInit(void)
|
|
{
|
|
// initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
|
|
LED1_ON;
|
|
mag.init();
|
|
LED1_OFF;
|
|
magInit = 1;
|
|
}
|
|
|
|
void updateCompass(flightDynamicsTrims_t *magZero)
|
|
{
|
|
static uint32_t tCal = 0;
|
|
static flightDynamicsTrims_t magZeroTempMin;
|
|
static flightDynamicsTrims_t magZeroTempMax;
|
|
uint32_t axis;
|
|
|
|
mag.read(magADCRaw);
|
|
for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) magADC[axis] = magADCRaw[axis]; // int32_t copy to work with
|
|
alignSensors(magADC, magADC, magAlign);
|
|
|
|
if (STATE(CALIBRATE_MAG)) {
|
|
tCal = currentTime;
|
|
for (axis = 0; axis < 3; axis++) {
|
|
magZero->raw[axis] = 0;
|
|
magZeroTempMin.raw[axis] = magADC[axis];
|
|
magZeroTempMax.raw[axis] = magADC[axis];
|
|
}
|
|
DISABLE_STATE(CALIBRATE_MAG);
|
|
}
|
|
|
|
if (magInit) { // we apply offset only once mag calibration is done
|
|
magADC[X] -= magZero->raw[X];
|
|
magADC[Y] -= magZero->raw[Y];
|
|
magADC[Z] -= magZero->raw[Z];
|
|
}
|
|
|
|
if (tCal != 0) {
|
|
if ((currentTime - tCal) < 30000000) { // 30s: you have 30s to turn the multi in all directions
|
|
LED0_TOGGLE;
|
|
for (axis = 0; axis < 3; axis++) {
|
|
if (magADC[axis] < magZeroTempMin.raw[axis])
|
|
magZeroTempMin.raw[axis] = magADC[axis];
|
|
if (magADC[axis] > magZeroTempMax.raw[axis])
|
|
magZeroTempMax.raw[axis] = magADC[axis];
|
|
}
|
|
} else {
|
|
tCal = 0;
|
|
for (axis = 0; axis < 3; axis++) {
|
|
magZero->raw[axis] = (magZeroTempMin.raw[axis] + magZeroTempMax.raw[axis]) / 2; // Calculate offsets
|
|
}
|
|
|
|
saveConfigAndNotify();
|
|
}
|
|
}
|
|
}
|
|
#endif
|