1556 lines
56 KiB
C++
1556 lines
56 KiB
C++
////////////////////////////////////////////////////////////////////////////
|
|
//
|
|
// This file is part of RTIMULib-Teensy
|
|
//
|
|
// Copyright (c) 2014-2015, richards-tech
|
|
//
|
|
// 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 driver code is based on code generously supplied by
|
|
// staslock@gmail.com (www.clickdrive.io)
|
|
|
|
|
|
#include "RTIMUSettings.h"
|
|
#include "utility/RTIMUMPU9150.h"
|
|
#include "utility/RTIMUMPU9250.h"
|
|
#include "utility/RTIMUGD20HM303D.h"
|
|
#include "utility/RTIMUGD20M303DLHC.h"
|
|
#include "utility/RTIMUGD20HM303DLHC.h"
|
|
#include "utility/RTIMULSM9DS0.h"
|
|
#include "utility/RTIMUBMX055.h"
|
|
|
|
#include "utility/RTPressureBMP180.h"
|
|
#include "utility/RTPressureLPS25H.h"
|
|
#include "utility/RTPressureMS5611.h"
|
|
|
|
#define BUFFER_SIZE 200
|
|
|
|
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);
|
|
}
|
|
pinMode(SD_CHIP_SELECT, OUTPUT);
|
|
if (!SD.begin(SD_CHIP_SELECT)) {
|
|
Serial.println("SD card not found - using EEPROM mag calibration settings");
|
|
m_usingSD = false;
|
|
} else {
|
|
Serial.println("Using SD card for settings");
|
|
m_usingSD = true;
|
|
}
|
|
|
|
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) {
|
|
imuType = RTIMU_TYPE_MPU9250;
|
|
slaveAddress = MPU9250_ADDRESS0;
|
|
busIsI2C = true;
|
|
HAL_INFO("Detected MPU9250 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) {
|
|
imuType = RTIMU_TYPE_MPU9250;
|
|
slaveAddress = MPU9250_ADDRESS1;
|
|
busIsI2C = true;
|
|
HAL_INFO("Detected MPU9250 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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
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;
|
|
}
|
|
}
|
|
HALClose();
|
|
}
|
|
|
|
// nothing found on I2C bus - try SPI instead
|
|
|
|
m_busIsI2C = false;
|
|
m_SPIBus = 0;
|
|
m_SPISelect = IMU_CHIP_SELECT;
|
|
|
|
if (HALOpen()) {
|
|
if (HALRead(MPU9250_ADDRESS0, MPU9250_WHO_AM_I, 1, &result, "")) {
|
|
if (result == MPU9250_ID) {
|
|
imuType = RTIMU_TYPE_MPU9250;
|
|
slaveAddress = MPU9250_ADDRESS0;
|
|
busIsI2C = false;
|
|
HAL_INFO1("Detected MPU9250 on SPI bus 0, select %d\n", IMU_CHIP_SELECT);
|
|
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;
|
|
}
|
|
|
|
void RTIMUSettings::setDefaults()
|
|
{
|
|
// preset general defaults
|
|
|
|
m_imuType = RTIMU_TYPE_AUTODISCOVER;
|
|
m_I2CSlaveAddress = 0;
|
|
m_busIsI2C = true;
|
|
m_I2CBus = 1;
|
|
m_SPIBus = 0;
|
|
m_SPISelect = IMU_CHIP_SELECT;
|
|
m_SPISpeed = 500000;
|
|
m_fusionType = RTFUSION_TYPE_RTQF;
|
|
m_axisRotation = RTIMU_XNORTH_YEAST;
|
|
m_pressureType = RTPRESSURE_TYPE_AUTODISCOVER;
|
|
m_I2CPressureAddress = 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;
|
|
|
|
// MPU9150 defaults
|
|
|
|
m_MPU9150GyroAccelSampleRate = 50;
|
|
m_MPU9150CompassSampleRate = 25;
|
|
m_MPU9150GyroAccelLpf = MPU9150_LPF_20;
|
|
m_MPU9150GyroFsr = MPU9150_GYROFSR_1000;
|
|
m_MPU9150AccelFsr = MPU9150_ACCELFSR_8;
|
|
|
|
// MPU9250 defaults
|
|
|
|
m_MPU9250GyroAccelSampleRate = 80;
|
|
m_MPU9250CompassSampleRate = 40;
|
|
m_MPU9250GyroLpf = MPU9250_GYRO_LPF_41;
|
|
m_MPU9250AccelLpf = MPU9250_ACCEL_LPF_41;
|
|
m_MPU9250GyroFsr = MPU9250_GYROFSR_1000;
|
|
m_MPU9250AccelFsr = MPU9250_ACCELFSR_8;
|
|
|
|
// 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;
|
|
|
|
// 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;
|
|
}
|
|
|
|
bool RTIMUSettings::loadSettings()
|
|
{
|
|
char buf[BUFFER_SIZE];
|
|
char key[BUFFER_SIZE];
|
|
char val[BUFFER_SIZE];
|
|
RTFLOAT ftemp;
|
|
int bufIndex;
|
|
|
|
setDefaults();
|
|
|
|
if (!m_usingSD) {
|
|
// see if EEPROM has valid cal data
|
|
m_compassCalValid = false;
|
|
|
|
RTIMULIB_CAL_DATA calData;
|
|
if (EERead(0, &calData)) {
|
|
if (calData.magValid != 1) {
|
|
return true;
|
|
}
|
|
} else {
|
|
return true;
|
|
}
|
|
m_compassCalValid = true;
|
|
m_compassCalMin.setX(calData.magMin[0]);
|
|
m_compassCalMin.setY(calData.magMin[1]);
|
|
m_compassCalMin.setZ(calData.magMin[2]);
|
|
m_compassCalMax.setX(calData.magMax[0]);
|
|
m_compassCalMax.setY(calData.magMax[1]);
|
|
m_compassCalMax.setZ(calData.magMax[2]);
|
|
return true;
|
|
}
|
|
|
|
// check to see if settings file exists
|
|
|
|
if (!(m_fd = SD.open(m_filename))) {
|
|
HAL_INFO("Settings file not found. Using defaults and creating settings file\n");
|
|
return saveSettings();
|
|
}
|
|
|
|
while (true) {
|
|
|
|
// read in a line
|
|
|
|
for (bufIndex = 0; bufIndex < BUFFER_SIZE; bufIndex++) {
|
|
if ((buf[bufIndex] = m_fd.read()) == 0xff) {
|
|
m_fd.close();
|
|
return true; // end of file
|
|
}
|
|
if ((buf[bufIndex] == '\r') || (buf[bufIndex] == '\n')) {
|
|
buf[bufIndex] = 0;
|
|
break;
|
|
}
|
|
}
|
|
if (bufIndex == BUFFER_SIZE)
|
|
buf[BUFFER_SIZE - 1] = 0;
|
|
|
|
if ((buf[0] == '#') || (buf[0] == ' ') || (buf[0] == 0))
|
|
// just a comment
|
|
continue;
|
|
|
|
if (sscanf(buf, "%[^=]=%s", key, val) != 2) {
|
|
HAL_ERROR1("Bad line in settings file: %s\n", buf);
|
|
m_fd.close();
|
|
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);
|
|
|
|
// compass calibration
|
|
|
|
} 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 settings
|
|
|
|
} else if (strcmp(key, RTIMULIB_MPU9250_GYROACCEL_SAMPLERATE) == 0) {
|
|
m_MPU9250GyroAccelSampleRate = atoi(val);
|
|
} else if (strcmp(key, RTIMULIB_MPU9250_COMPASS_SAMPLERATE) == 0) {
|
|
m_MPU9250CompassSampleRate = atoi(val);
|
|
} else if (strcmp(key, RTIMULIB_MPU9250_GYRO_LPF) == 0) {
|
|
m_MPU9250GyroLpf = atoi(val);
|
|
} else if (strcmp(key, RTIMULIB_MPU9250_ACCEL_LPF) == 0) {
|
|
m_MPU9250AccelLpf = atoi(val);
|
|
} else if (strcmp(key, RTIMULIB_MPU9250_GYRO_FSR) == 0) {
|
|
m_MPU9250GyroFsr = atoi(val);
|
|
} else if (strcmp(key, RTIMULIB_MPU9250_ACCEL_FSR) == 0) {
|
|
m_MPU9250AccelFsr = 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);
|
|
|
|
// 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);
|
|
|
|
// Handle unrecognized key
|
|
|
|
} else {
|
|
HAL_ERROR1("Unrecognized key in settings file: %s\n", buf);
|
|
}
|
|
}
|
|
HAL_INFO1("Settings file %s loaded\n", m_filename);
|
|
m_fd.close();
|
|
return saveSettings(); // make sure settings file is correct and complete
|
|
}
|
|
|
|
bool RTIMUSettings::saveSettings()
|
|
{
|
|
if (!m_usingSD) {
|
|
RTIMULIB_CAL_DATA calData;
|
|
|
|
calData.magValid = m_compassCalValid;
|
|
calData.magMin[0] = m_compassCalMin.x();
|
|
calData.magMin[1] = m_compassCalMin.y();
|
|
calData.magMin[2] = m_compassCalMin.z();
|
|
calData.magMax[0] = m_compassCalMax.x();
|
|
calData.magMax[1] = m_compassCalMax.y();
|
|
calData.magMax[2] = m_compassCalMax.z();
|
|
|
|
EEWrite(0, &calData);
|
|
return true;
|
|
}
|
|
|
|
SD.remove(m_filename);
|
|
|
|
if (!(m_fd = SD.open(m_filename, FILE_WRITE))) {
|
|
HAL_ERROR("Failed to open settings file for save");
|
|
return false;
|
|
}
|
|
|
|
// General settings
|
|
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
setComment("RTIMULib settings file");
|
|
setBlank();
|
|
setComment("General settings");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("IMU type - ");
|
|
setComment(" 0 = Auto discover");
|
|
setComment(" 1 = Null (used when data is provided from a remote IMU");
|
|
setComment(" 2 = InvenSense MPU-9150");
|
|
setComment(" 3 = STM L3GD20H + LSM303D");
|
|
setComment(" 4 = STM L3GD20 + LSM303DLHC");
|
|
setComment(" 5 = STM LSM9DS0");
|
|
setComment(" 6 = InvenSense MPU-9250");
|
|
setComment(" 7 = STM L3GD20H + LSM303DLHC");
|
|
setValue(RTIMULIB_IMU_TYPE, m_imuType);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Fusion type type - ");
|
|
setComment(" 0 - Null. Use if only sensor data required without fusion");
|
|
setComment(" 1 - Kalman STATE4");
|
|
setComment(" 2 - RTQF");
|
|
setValue(RTIMULIB_FUSION_TYPE, m_fusionType);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Is bus I2C: 'true' for I2C, 'false' for SPI");
|
|
setValue(RTIMULIB_BUS_IS_I2C, m_busIsI2C);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("I2C Bus (between 0 and 7) ");
|
|
setValue(RTIMULIB_I2C_BUS, m_I2CBus);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("SPI Bus (between 0 and 7) ");
|
|
setValue(RTIMULIB_SPI_BUS, m_SPIBus);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("SPI select pin (default pin 9) ");
|
|
setValue(RTIMULIB_SPI_SELECT, m_SPISelect);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("SPI Speed in Hz");
|
|
setValue(RTIMULIB_SPI_SPEED, (int)m_SPISpeed);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("I2C slave address (filled in automatically by auto discover) ");
|
|
setValue(RTIMULIB_I2C_SLAVEADDRESS, m_I2CSlaveAddress);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("IMU axis rotation - see RTIMU.h for details");
|
|
setValue(RTIMULIB_AXIS_ROTATION, m_axisRotation);
|
|
|
|
setBlank();
|
|
setComment("Pressure sensor type - ");
|
|
setComment(" 0 = Auto discover");
|
|
setComment(" 1 = Null (no hardware or don't use)");
|
|
setComment(" 2 = BMP180");
|
|
setComment(" 3 = LPS25H");
|
|
setComment(" 4 = MS5611");
|
|
setComment(" 5 = MS5637");
|
|
|
|
setValue(RTIMULIB_PRESSURE_TYPE, m_pressureType);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("I2C pressure sensor address (filled in automatically by auto discover) ");
|
|
setValue(RTIMULIB_I2C_PRESSUREADDRESS, m_I2CPressureAddress);
|
|
|
|
// Compass calibration settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("Compass calibration");
|
|
setValue(RTIMULIB_COMPASSCAL_VALID, m_compassCalValid);
|
|
setValue(RTIMULIB_COMPASSCAL_MINX, m_compassCalMin.x());
|
|
setValue(RTIMULIB_COMPASSCAL_MINY, m_compassCalMin.y());
|
|
setValue(RTIMULIB_COMPASSCAL_MINZ, m_compassCalMin.z());
|
|
setValue(RTIMULIB_COMPASSCAL_MAXX, m_compassCalMax.x());
|
|
setValue(RTIMULIB_COMPASSCAL_MAXY, m_compassCalMax.y());
|
|
setValue(RTIMULIB_COMPASSCAL_MAXZ, m_compassCalMax.z());
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("Compass adjustment settings");
|
|
setComment("Compass declination is in radians and is subtracted from calculated heading");
|
|
setValue(RTIMULIB_COMPASSADJ_DECLINATION, m_compassAdjDeclination);
|
|
|
|
// Compass ellipsoid calibration settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("Compass ellipsoid calibration");
|
|
setValue(RTIMULIB_COMPASSCAL_ELLIPSOID_VALID, m_compassCalEllipsoidValid);
|
|
setValue(RTIMULIB_COMPASSCAL_OFFSET_X, m_compassCalEllipsoidOffset.x());
|
|
setValue(RTIMULIB_COMPASSCAL_OFFSET_Y, m_compassCalEllipsoidOffset.y());
|
|
setValue(RTIMULIB_COMPASSCAL_OFFSET_Z, m_compassCalEllipsoidOffset.z());
|
|
setValue(RTIMULIB_COMPASSCAL_CORR11, m_compassCalEllipsoidCorr[0][0]);
|
|
setValue(RTIMULIB_COMPASSCAL_CORR12, m_compassCalEllipsoidCorr[0][1]);
|
|
setValue(RTIMULIB_COMPASSCAL_CORR13, m_compassCalEllipsoidCorr[0][2]);
|
|
setValue(RTIMULIB_COMPASSCAL_CORR21, m_compassCalEllipsoidCorr[1][0]);
|
|
setValue(RTIMULIB_COMPASSCAL_CORR22, m_compassCalEllipsoidCorr[1][1]);
|
|
setValue(RTIMULIB_COMPASSCAL_CORR23, m_compassCalEllipsoidCorr[1][2]);
|
|
setValue(RTIMULIB_COMPASSCAL_CORR31, m_compassCalEllipsoidCorr[2][0]);
|
|
setValue(RTIMULIB_COMPASSCAL_CORR32, m_compassCalEllipsoidCorr[2][1]);
|
|
setValue(RTIMULIB_COMPASSCAL_CORR33, m_compassCalEllipsoidCorr[2][2]);
|
|
|
|
// Accel calibration settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("Accel calibration");
|
|
setValue(RTIMULIB_ACCELCAL_VALID, m_accelCalValid);
|
|
setValue(RTIMULIB_ACCELCAL_MINX, m_accelCalMin.x());
|
|
setValue(RTIMULIB_ACCELCAL_MINY, m_accelCalMin.y());
|
|
setValue(RTIMULIB_ACCELCAL_MINZ, m_accelCalMin.z());
|
|
setValue(RTIMULIB_ACCELCAL_MAXX, m_accelCalMax.x());
|
|
setValue(RTIMULIB_ACCELCAL_MAXY, m_accelCalMax.y());
|
|
setValue(RTIMULIB_ACCELCAL_MAXZ, m_accelCalMax.z());
|
|
|
|
// Gyro bias settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("Saved gyro bias data");
|
|
setValue(RTIMULIB_GYRO_BIAS_VALID, m_gyroBiasValid);
|
|
setValue(RTIMULIB_GYRO_BIAS_X, m_gyroBias.x());
|
|
setValue(RTIMULIB_GYRO_BIAS_Y, m_gyroBias.y());
|
|
setValue(RTIMULIB_GYRO_BIAS_Z, m_gyroBias.z());
|
|
|
|
// MPU-9150 settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
setComment("MPU-9150 settings");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("Gyro sample rate (between 5Hz and 1000Hz) ");
|
|
setValue(RTIMULIB_MPU9150_GYROACCEL_SAMPLERATE, m_MPU9150GyroAccelSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass sample rate (between 1Hz and 100Hz) ");
|
|
setValue(RTIMULIB_MPU9150_COMPASS_SAMPLERATE, m_MPU9150CompassSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro/accel low pass filter - ");
|
|
setComment(" 0 - gyro: 256Hz, accel: 260Hz");
|
|
setComment(" 1 - gyro: 188Hz, accel: 184Hz");
|
|
setComment(" 2 - gyro: 98Hz, accel: 98Hz");
|
|
setComment(" 3 - gyro: 42Hz, accel: 44Hz");
|
|
setComment(" 4 - gyro: 20Hz, accel: 21Hz");
|
|
setComment(" 5 - gyro: 10Hz, accel: 10Hz");
|
|
setComment(" 6 - gyro: 5Hz, accel: 5Hz");
|
|
setValue(RTIMULIB_MPU9150_GYROACCEL_LPF, m_MPU9150GyroAccelLpf);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro full scale range - ");
|
|
setComment(" 0 - +/- 250 degress per second");
|
|
setComment(" 8 - +/- 500 degress per second");
|
|
setComment(" 16 - +/- 1000 degress per second");
|
|
setComment(" 24 - +/- 2000 degress per second");
|
|
setValue(RTIMULIB_MPU9150_GYRO_FSR, m_MPU9150GyroFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel full scale range - ");
|
|
setComment(" 0 - +/- 2g");
|
|
setComment(" 8 - +/- 4g");
|
|
setComment(" 16 - +/- 8g");
|
|
setComment(" 24 - +/- 16g");
|
|
setValue(RTIMULIB_MPU9150_ACCEL_FSR, m_MPU9150AccelFsr);
|
|
|
|
// MPU-9250 settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
setComment("MPU-9250 settings");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("Gyro sample rate (between 5Hz and 1000Hz plus 8000Hz and 32000Hz) ");
|
|
setValue(RTIMULIB_MPU9250_GYROACCEL_SAMPLERATE, m_MPU9250GyroAccelSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass sample rate (between 1Hz and 100Hz) ");
|
|
setValue(RTIMULIB_MPU9250_COMPASS_SAMPLERATE, m_MPU9250CompassSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro low pass filter - ");
|
|
setComment(" 0x11 - 8800Hz, 0.64mS delay");
|
|
setComment(" 0x10 - 3600Hz, 0.11mS delay");
|
|
setComment(" 0x00 - 250Hz, 0.97mS delay");
|
|
setComment(" 0x01 - 184Hz, 2.9mS delay");
|
|
setComment(" 0x02 - 92Hz, 3.9mS delay");
|
|
setComment(" 0x03 - 41Hz, 5.9mS delay");
|
|
setComment(" 0x04 - 20Hz, 9.9mS delay");
|
|
setComment(" 0x05 - 10Hz, 17.85mS delay");
|
|
setComment(" 0x06 - 5Hz, 33.48mS delay");
|
|
setValue(RTIMULIB_MPU9250_GYRO_LPF, m_MPU9250GyroLpf);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel low pass filter - ");
|
|
setComment(" 0x08 - 1130Hz, 0.75mS delay");
|
|
setComment(" 0x00 - 460Hz, 1.94mS delay");
|
|
setComment(" 0x01 - 184Hz, 5.80mS delay");
|
|
setComment(" 0x02 - 92Hz, 7.80mS delay");
|
|
setComment(" 0x03 - 41Hz, 11.80mS delay");
|
|
setComment(" 0x04 - 20Hz, 19.80mS delay");
|
|
setComment(" 0x05 - 10Hz, 35.70mS delay");
|
|
setComment(" 0x06 - 5Hz, 66.96mS delay");
|
|
setValue(RTIMULIB_MPU9250_ACCEL_LPF, m_MPU9250AccelLpf);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro full scale range - ");
|
|
setComment(" 0 - +/- 250 degress per second");
|
|
setComment(" 8 - +/- 500 degress per second");
|
|
setComment(" 16 - +/- 1000 degress per second");
|
|
setComment(" 24 - +/- 2000 degress per second");
|
|
setValue(RTIMULIB_MPU9250_GYRO_FSR, m_MPU9250GyroFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel full scale range - ");
|
|
setComment(" 0 - +/- 2g");
|
|
setComment(" 8 - +/- 4g");
|
|
setComment(" 16 - +/- 8g");
|
|
setComment(" 24 - +/- 16g");
|
|
setValue(RTIMULIB_MPU9250_ACCEL_FSR, m_MPU9250AccelFsr);
|
|
|
|
// GD20HM303D settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
setComment("L3GD20H + LSM303D settings");
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro sample rate - ");
|
|
setComment(" 0 = 12.5Hz ");
|
|
setComment(" 1 = 25Hz ");
|
|
setComment(" 2 = 50Hz ");
|
|
setComment(" 3 = 100Hz ");
|
|
setComment(" 4 = 200Hz ");
|
|
setComment(" 5 = 400Hz ");
|
|
setComment(" 6 = 800Hz ");
|
|
setValue(RTIMULIB_GD20HM303D_GYRO_SAMPLERATE, m_GD20HM303DGyroSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro full scale range - ");
|
|
setComment(" 0 = 245 degrees per second ");
|
|
setComment(" 1 = 500 degrees per second ");
|
|
setComment(" 2 = 2000 degrees per second ");
|
|
setValue(RTIMULIB_GD20HM303D_GYRO_FSR, m_GD20HM303DGyroFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro high pass filter - ");
|
|
setComment(" 0 - 9 but see the L3GD20H manual for details");
|
|
setValue(RTIMULIB_GD20HM303D_GYRO_HPF, m_GD20HM303DGyroHpf);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro bandwidth - ");
|
|
setComment(" 0 - 3 but see the L3GD20H manual for details");
|
|
setValue(RTIMULIB_GD20HM303D_GYRO_BW, m_GD20HM303DGyroBW);
|
|
|
|
setBlank();
|
|
setComment("Accel sample rate - ");
|
|
setComment(" 1 = 3.125Hz ");
|
|
setComment(" 2 = 6.25Hz ");
|
|
setComment(" 3 = 12.5Hz ");
|
|
setComment(" 4 = 25Hz ");
|
|
setComment(" 5 = 50Hz ");
|
|
setComment(" 6 = 100Hz ");
|
|
setComment(" 7 = 200Hz ");
|
|
setComment(" 8 = 400Hz ");
|
|
setComment(" 9 = 800Hz ");
|
|
setComment(" 10 = 1600Hz ");
|
|
setValue(RTIMULIB_GD20HM303D_ACCEL_SAMPLERATE, m_GD20HM303DAccelSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel full scale range - ");
|
|
setComment(" 0 = +/- 2g ");
|
|
setComment(" 1 = +/- 4g ");
|
|
setComment(" 2 = +/- 6g ");
|
|
setComment(" 3 = +/- 8g ");
|
|
setComment(" 4 = +/- 16g ");
|
|
setValue(RTIMULIB_GD20HM303D_ACCEL_FSR, m_GD20HM303DAccelFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel low pass filter - ");
|
|
setComment(" 0 = 773Hz");
|
|
setComment(" 1 = 194Hz");
|
|
setComment(" 2 = 362Hz");
|
|
setComment(" 3 = 50Hz");
|
|
setValue(RTIMULIB_GD20HM303D_ACCEL_LPF, m_GD20HM303DAccelLpf);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass sample rate - ");
|
|
setComment(" 0 = 3.125Hz ");
|
|
setComment(" 1 = 6.25Hz ");
|
|
setComment(" 2 = 12.5Hz ");
|
|
setComment(" 3 = 25Hz ");
|
|
setComment(" 4 = 50Hz ");
|
|
setComment(" 5 = 100Hz ");
|
|
setValue(RTIMULIB_GD20HM303D_COMPASS_SAMPLERATE, m_GD20HM303DCompassSampleRate);
|
|
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass full scale range - ");
|
|
setComment(" 0 = +/- 200 uT ");
|
|
setComment(" 1 = +/- 400 uT ");
|
|
setComment(" 2 = +/- 800 uT ");
|
|
setComment(" 3 = +/- 1200 uT ");
|
|
setValue(RTIMULIB_GD20HM303D_COMPASS_FSR, m_GD20HM303DCompassFsr);
|
|
|
|
// GD20M303DLHC settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
setComment("L3GD20 + LSM303DLHC settings");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("Gyro sample rate - ");
|
|
setComment(" 0 = 95z ");
|
|
setComment(" 1 = 190Hz ");
|
|
setComment(" 2 = 380Hz ");
|
|
setComment(" 3 = 760Hz ");
|
|
setValue(RTIMULIB_GD20M303DLHC_GYRO_SAMPLERATE, m_GD20M303DLHCGyroSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro full scale range - ");
|
|
setComment(" 0 = 250 degrees per second ");
|
|
setComment(" 1 = 500 degrees per second ");
|
|
setComment(" 2 = 2000 degrees per second ");
|
|
setValue(RTIMULIB_GD20M303DLHC_GYRO_FSR, m_GD20M303DLHCGyroFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro high pass filter - ");
|
|
setComment(" 0 - 9 but see the L3GD20 manual for details");
|
|
setValue(RTIMULIB_GD20M303DLHC_GYRO_HPF, m_GD20M303DLHCGyroHpf);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro bandwidth - ");
|
|
setComment(" 0 - 3 but see the L3GD20 manual for details");
|
|
setValue(RTIMULIB_GD20M303DLHC_GYRO_BW, m_GD20M303DLHCGyroBW);
|
|
|
|
setBlank();
|
|
setComment("Accel sample rate - ");
|
|
setComment(" 1 = 1Hz ");
|
|
setComment(" 2 = 10Hz ");
|
|
setComment(" 3 = 25Hz ");
|
|
setComment(" 4 = 50Hz ");
|
|
setComment(" 5 = 100Hz ");
|
|
setComment(" 6 = 200Hz ");
|
|
setComment(" 7 = 400Hz ");
|
|
setValue(RTIMULIB_GD20M303DLHC_ACCEL_SAMPLERATE, m_GD20M303DLHCAccelSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel full scale range - ");
|
|
setComment(" 0 = +/- 2g ");
|
|
setComment(" 1 = +/- 4g ");
|
|
setComment(" 2 = +/- 8g ");
|
|
setComment(" 3 = +/- 16g ");
|
|
setValue(RTIMULIB_GD20M303DLHC_ACCEL_FSR, m_GD20M303DLHCAccelFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass sample rate - ");
|
|
setComment(" 0 = 0.75Hz ");
|
|
setComment(" 1 = 1.5Hz ");
|
|
setComment(" 2 = 3Hz ");
|
|
setComment(" 3 = 7.5Hz ");
|
|
setComment(" 4 = 15Hz ");
|
|
setComment(" 5 = 30Hz ");
|
|
setComment(" 6 = 75Hz ");
|
|
setComment(" 7 = 220Hz ");
|
|
setValue(RTIMULIB_GD20M303DLHC_COMPASS_SAMPLERATE, m_GD20M303DLHCCompassSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass full scale range - ");
|
|
setComment(" 1 = +/- 130 uT ");
|
|
setComment(" 2 = +/- 190 uT ");
|
|
setComment(" 3 = +/- 250 uT ");
|
|
setComment(" 4 = +/- 400 uT ");
|
|
setComment(" 5 = +/- 470 uT ");
|
|
setComment(" 6 = +/- 560 uT ");
|
|
setComment(" 7 = +/- 810 uT ");
|
|
setValue(RTIMULIB_GD20M303DLHC_COMPASS_FSR, m_GD20M303DLHCCompassFsr);
|
|
|
|
// GD20HM303DLHC settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
setComment("L3GD20H + LSM303DLHC settings");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro sample rate - ");
|
|
setComment(" 0 = 12.5Hz ");
|
|
setComment(" 1 = 25Hz ");
|
|
setComment(" 2 = 50Hz ");
|
|
setComment(" 3 = 100Hz ");
|
|
setComment(" 4 = 200Hz ");
|
|
setComment(" 5 = 400Hz ");
|
|
setComment(" 6 = 800Hz ");
|
|
setValue(RTIMULIB_GD20HM303DLHC_GYRO_SAMPLERATE, m_GD20HM303DLHCGyroSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro full scale range - ");
|
|
setComment(" 0 = 245 degrees per second ");
|
|
setComment(" 1 = 500 degrees per second ");
|
|
setComment(" 2 = 2000 degrees per second ");
|
|
setValue(RTIMULIB_GD20HM303DLHC_GYRO_FSR, m_GD20HM303DLHCGyroFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro high pass filter - ");
|
|
setComment(" 0 - 9 but see the L3GD20H manual for details");
|
|
setValue(RTIMULIB_GD20HM303DLHC_GYRO_HPF, m_GD20HM303DLHCGyroHpf);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro bandwidth - ");
|
|
setComment(" 0 - 3 but see the L3GD20H manual for details");
|
|
setValue(RTIMULIB_GD20HM303DLHC_GYRO_BW, m_GD20HM303DLHCGyroBW);
|
|
setBlank();
|
|
setComment("Accel sample rate - ");
|
|
setComment(" 1 = 1Hz ");
|
|
setComment(" 2 = 10Hz ");
|
|
setComment(" 3 = 25Hz ");
|
|
setComment(" 4 = 50Hz ");
|
|
setComment(" 5 = 100Hz ");
|
|
setComment(" 6 = 200Hz ");
|
|
setComment(" 7 = 400Hz ");
|
|
setValue(RTIMULIB_GD20HM303DLHC_ACCEL_SAMPLERATE, m_GD20HM303DLHCAccelSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel full scale range - ");
|
|
setComment(" 0 = +/- 2g ");
|
|
setComment(" 1 = +/- 4g ");
|
|
setComment(" 2 = +/- 8g ");
|
|
setComment(" 3 = +/- 16g ");
|
|
setValue(RTIMULIB_GD20HM303DLHC_ACCEL_FSR, m_GD20HM303DLHCAccelFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass sample rate - ");
|
|
setComment(" 0 = 0.75Hz ");
|
|
setComment(" 1 = 1.5Hz ");
|
|
setComment(" 2 = 3Hz ");
|
|
setComment(" 3 = 7.5Hz ");
|
|
setComment(" 4 = 15Hz ");
|
|
setComment(" 5 = 30Hz ");
|
|
setComment(" 6 = 75Hz ");
|
|
setComment(" 7 = 220Hz ");
|
|
setValue(RTIMULIB_GD20HM303DLHC_COMPASS_SAMPLERATE, m_GD20HM303DLHCCompassSampleRate);
|
|
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass full scale range - ");
|
|
setComment(" 1 = +/- 130 uT ");
|
|
setComment(" 2 = +/- 190 uT ");
|
|
setComment(" 3 = +/- 250 uT ");
|
|
setComment(" 4 = +/- 400 uT ");
|
|
setComment(" 5 = +/- 470 uT ");
|
|
setComment(" 6 = +/- 560 uT ");
|
|
setComment(" 7 = +/- 810 uT ");
|
|
setValue(RTIMULIB_GD20HM303DLHC_COMPASS_FSR, m_GD20HM303DLHCCompassFsr);
|
|
|
|
// LSM9DS0 settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
setComment("LSM9DS0 settings");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("Gyro sample rate - ");
|
|
setComment(" 0 = 95z ");
|
|
setComment(" 1 = 190Hz ");
|
|
setComment(" 2 = 380Hz ");
|
|
setComment(" 3 = 760Hz ");
|
|
setValue(RTIMULIB_LSM9DS0_GYRO_SAMPLERATE, m_LSM9DS0GyroSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro full scale range - ");
|
|
setComment(" 0 = 250 degrees per second ");
|
|
setComment(" 1 = 500 degrees per second ");
|
|
setComment(" 2 = 2000 degrees per second ");
|
|
setValue(RTIMULIB_LSM9DS0_GYRO_FSR, m_LSM9DS0GyroFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro high pass filter - ");
|
|
setComment(" 0 - 9 but see the LSM9DS0 manual for details");
|
|
setValue(RTIMULIB_LSM9DS0_GYRO_HPF, m_LSM9DS0GyroHpf);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro bandwidth - ");
|
|
setComment(" 0 - 3 but see the LSM9DS0 manual for details");
|
|
setValue(RTIMULIB_LSM9DS0_GYRO_BW, m_LSM9DS0GyroBW);
|
|
|
|
setBlank();
|
|
setComment("Accel sample rate - ");
|
|
setComment(" 1 = 3.125Hz ");
|
|
setComment(" 2 = 6.25Hz ");
|
|
setComment(" 3 = 12.5Hz ");
|
|
setComment(" 4 = 25Hz ");
|
|
setComment(" 5 = 50Hz ");
|
|
setComment(" 6 = 100Hz ");
|
|
setComment(" 7 = 200Hz ");
|
|
setComment(" 8 = 400Hz ");
|
|
setComment(" 9 = 800Hz ");
|
|
setComment(" 10 = 1600Hz ");
|
|
setValue(RTIMULIB_LSM9DS0_ACCEL_SAMPLERATE, m_LSM9DS0AccelSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel full scale range - ");
|
|
setComment(" 0 = +/- 2g ");
|
|
setComment(" 1 = +/- 4g ");
|
|
setComment(" 2 = +/- 6g ");
|
|
setComment(" 3 = +/- 8g ");
|
|
setComment(" 4 = +/- 16g ");
|
|
setValue(RTIMULIB_LSM9DS0_ACCEL_FSR, m_LSM9DS0AccelFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel low pass filter - ");
|
|
setComment(" 0 = 773Hz");
|
|
setComment(" 1 = 194Hz");
|
|
setComment(" 2 = 362Hz");
|
|
setComment(" 3 = 50Hz");
|
|
setValue(RTIMULIB_LSM9DS0_ACCEL_LPF, m_LSM9DS0AccelLpf);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass sample rate - ");
|
|
setComment(" 0 = 3.125Hz ");
|
|
setComment(" 1 = 6.25Hz ");
|
|
setComment(" 2 = 12.5Hz ");
|
|
setComment(" 3 = 25Hz ");
|
|
setComment(" 4 = 50Hz ");
|
|
setComment(" 5 = 100Hz ");
|
|
setValue(RTIMULIB_LSM9DS0_COMPASS_SAMPLERATE, m_LSM9DS0CompassSampleRate);
|
|
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Compass full scale range - ");
|
|
setComment(" 0 = +/- 200 uT ");
|
|
setComment(" 1 = +/- 400 uT ");
|
|
setComment(" 2 = +/- 800 uT ");
|
|
setComment(" 3 = +/- 1200 uT ");
|
|
setValue(RTIMULIB_LSM9DS0_COMPASS_FSR, m_LSM9DS0CompassFsr);
|
|
|
|
// BMX055 settings
|
|
|
|
setBlank();
|
|
setComment("#####################################################################");
|
|
setComment("");
|
|
setComment("BMX055 settings");
|
|
setComment("");
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro sample rate - ");
|
|
setComment(" 0 = 2000Hz (532Hz filter)");
|
|
setComment(" 1 = 2000Hz (230Hz filter)");
|
|
setComment(" 2 = 1000Hz (116Hz filter)");
|
|
setComment(" 3 = 400Hz (47Hz filter)");
|
|
setComment(" 4 = 200Hz (23Hz filter)");
|
|
setComment(" 5 = 100Hz (12Hz filter)");
|
|
setComment(" 6 = 200Hz (64Hz filter)");
|
|
setComment(" 7 = 100Hz (32Hz filter)");
|
|
setValue(RTIMULIB_BMX055_GYRO_SAMPLERATE, m_BMX055GyroSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Gyro full scale range - ");
|
|
setComment(" 0 = 2000 deg/s");
|
|
setComment(" 1 = 1000 deg/s");
|
|
setComment(" 2 = 500 deg/s");
|
|
setComment(" 3 = 250 deg/s");
|
|
setComment(" 4 = 125 deg/s");
|
|
setValue(RTIMULIB_BMX055_GYRO_FSR, m_BMX055GyroFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel sample rate - ");
|
|
setComment(" 0 = 15.63Hz");
|
|
setComment(" 1 = 31.25");
|
|
setComment(" 2 = 62.5");
|
|
setComment(" 3 = 125");
|
|
setComment(" 4 = 250");
|
|
setComment(" 5 = 500");
|
|
setComment(" 6 = 1000");
|
|
setComment(" 7 = 2000");
|
|
setValue(RTIMULIB_BMX055_ACCEL_SAMPLERATE, m_BMX055AccelSampleRate);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Accel full scale range - ");
|
|
setComment(" 0 = +/- 2g");
|
|
setComment(" 1 = +/- 4g");
|
|
setComment(" 2 = +/- 8g");
|
|
setComment(" 3 = +/- 16g");
|
|
setValue(RTIMULIB_BMX055_ACCEL_FSR, m_BMX055AccelFsr);
|
|
|
|
setBlank();
|
|
setComment("");
|
|
setComment("Mag presets - ");
|
|
setComment(" 0 = Low power");
|
|
setComment(" 1 = Regular");
|
|
setComment(" 2 = Enhanced");
|
|
setComment(" 3 = High accuracy");
|
|
setValue(RTIMULIB_BMX055_MAG_PRESET, m_BMX055MagPreset);
|
|
|
|
m_fd.close();
|
|
return true;
|
|
}
|
|
|
|
void RTIMUSettings::setBlank()
|
|
{
|
|
m_fd.println();
|
|
}
|
|
|
|
void RTIMUSettings::setComment(const char *comment)
|
|
{
|
|
m_fd.print("# ");
|
|
m_fd.println(comment);
|
|
}
|
|
|
|
void RTIMUSettings::setValue(const char *key, const bool val)
|
|
{
|
|
m_fd.print(key);
|
|
m_fd.print("=");
|
|
if (val)
|
|
m_fd.println("true");
|
|
else
|
|
m_fd.println("false");
|
|
}
|
|
|
|
void RTIMUSettings::setValue(const char *key, const int val)
|
|
{
|
|
m_fd.print(key);
|
|
m_fd.print("=");
|
|
m_fd.println(val);
|
|
}
|
|
|
|
void RTIMUSettings::setValue(const char *key, const RTFLOAT val)
|
|
{
|
|
m_fd.print(key);
|
|
m_fd.print("=");
|
|
m_fd.println(val);
|
|
}
|
|
|
|
void RTIMUSettings::EEErase(byte device)
|
|
{
|
|
EEPROM.write(sizeof(RTIMULIB_CAL_DATA) * device, 0); // just destroy the valid byte
|
|
}
|
|
|
|
void RTIMUSettings::EEWrite(byte device, RTIMULIB_CAL_DATA *calData)
|
|
{
|
|
byte *ptr = (byte *)calData;
|
|
byte length = sizeof(RTIMULIB_CAL_DATA);
|
|
int eeprom = sizeof(RTIMULIB_CAL_DATA) * device;
|
|
|
|
calData->validL = RTIMULIB_CAL_DATA_VALID_LOW;
|
|
calData->validH = RTIMULIB_CAL_DATA_VALID_HIGH;
|
|
|
|
for (byte i = 0; i < length; i++)
|
|
EEPROM.write(eeprom + i, *ptr++);
|
|
}
|
|
|
|
boolean RTIMUSettings::EERead(byte device, RTIMULIB_CAL_DATA *calData)
|
|
{
|
|
byte *ptr = (byte *)calData;
|
|
byte length = sizeof(RTIMULIB_CAL_DATA);
|
|
int eeprom = sizeof(RTIMULIB_CAL_DATA) * device;
|
|
|
|
calData->magValid = false;
|
|
|
|
if ((EEPROM.read(eeprom) != RTIMULIB_CAL_DATA_VALID_LOW) ||
|
|
(EEPROM.read(eeprom + 1) != RTIMULIB_CAL_DATA_VALID_HIGH)) {
|
|
return false; // invalid data
|
|
}
|
|
|
|
for (byte i = 0; i < length; i++)
|
|
*ptr++ = EEPROM.read(eeprom + i);
|
|
return true;
|
|
}
|
|
|