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Added zero-calibration function and added offset values to the structure

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This commit is contained in:
Antonio Lignan 2016-01-21 18:06:51 +01:00
parent 426fa24e50
commit 9a80c0098f
3 changed files with 115 additions and 1 deletions
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5
examples/zolertia/zoul/test-grove-gyro.c
View file

@ -108,6 +108,11 @@ PROCESS_THREAD(remote_grove_gyro_process, ev, data)
*/
grove_gyro.configure(GROVE_GYRO_POWER_ON, GROVE_GYRO_XYZ);
/* Calibrate the sensor taking 200 samples every 5ms for the zero-point offset
* value, this has to be done manually and is up to the user
*/
grove_gyro.configure(GROVE_GYRO_CALIBRATE_ZERO, 1);
/* Enabling the data interrupt will feed data directly to the extern data
* structure and notify us about it, depending on the sampling rate and
* divisor this could generate many interrupts/second. A zero argument would

103
platform/zoul/dev/grove-gyro.c
View file

@ -45,6 +45,7 @@
#include "dev/i2c.h"
#include "dev/grove-gyro.h"
#include "lib/sensors.h"
#include "dev/watchdog.h"
/*---------------------------------------------------------------------------*/
#define DEBUG 0
#if DEBUG
@ -58,6 +59,7 @@
/*---------------------------------------------------------------------------*/
static uint8_t enabled;
static uint8_t power_mgmt;
static uint8_t int_en;
/*---------------------------------------------------------------------------*/
grove_gyro_values_t gyro_values;
/*---------------------------------------------------------------------------*/
@ -347,6 +349,89 @@ grove_gyro_read(int type)
return GROVE_GYRO_ERROR;
}
/*---------------------------------------------------------------------------*/
static int
grove_gyro_calibrate(void)
{
uint8_t i;
uint8_t buf[GROVE_GYRO_MAX_DATA];
uint8_t power_mgmt_backup;
uint32_t x, y, z;
/* Disable interrupts */
if(int_en) {
if(grove_gyro_interrupt(GROVE_GYRO_INT_CFG_DISABLE) == GROVE_GYRO_ERROR) {
PRINTF("Gyro: failed to disable the interrupts\n");
return GROVE_GYRO_ERROR;
}
GPIO_DISABLE_INTERRUPT(GROVE_GYRO_INT_PORT_BASE, GROVE_GYRO_INT_PIN_MASK);
}
/* Turn on the 3-axis, save the current config */
if(grove_gyro_read_reg(GROVE_GYRO_PWR_MGMT, &power_mgmt_backup, 1) ==
GROVE_GYRO_ERROR) {
PRINTF("Gyro: failed to read power mgmt config\n");
return GROVE_GYRO_ERROR;
}
if(grove_gyro_power_mgmt(GROVE_GYRO_ALL, GROVE_GYRO_POWER_ON) ==
GROVE_GYRO_ERROR) {
PRINTF("Gyro: failed to bring sensor up\n");
return GROVE_GYRO_ERROR;
}
x = 0;
y = 0;
z = 0;
for (i = 0; i < GROVE_GYRO_CALIB_SAMPLES; i++){
clock_delay_usec(GROVE_GYRO_CALIB_TIME_US);
watchdog_periodic();
if(grove_gyro_read_reg(GROVE_GYRO_XOUT_H, buf, GROVE_GYRO_MAX_DATA) ==
GROVE_GYRO_SUCCESS) {
x += (buf[0] << 8) + buf[1];
y += (buf[2] << 8) + buf[3];
z += (buf[4] << 8) + buf[5];
}
}
gyro_values.x_offset = ABS(x)/GROVE_GYRO_CALIB_SAMPLES;
gyro_values.y_offset = ABS(y)/GROVE_GYRO_CALIB_SAMPLES;
gyro_values.z_offset = ABS(z)/GROVE_GYRO_CALIB_SAMPLES;
PRINTF("Gyro: x_offset (RAW) 0x%02X\n", gyro_values.x_offset);
PRINTF("Gyro: y_offset (RAW) 0x%02X\n", gyro_values.y_offset);
PRINTF("Gyro: z_offset (RAW) 0x%02X\n", gyro_values.z_offset);
gyro_values.x_offset = grove_gyro_convert_to_value(gyro_values.x_offset);
gyro_values.y_offset = grove_gyro_convert_to_value(gyro_values.y_offset);
gyro_values.z_offset = grove_gyro_convert_to_value(gyro_values.z_offset);
PRINTF("Gyro: x_offset (converted) %d\n", gyro_values.x_offset);
PRINTF("Gyro: y_offset (converted) %d\n", gyro_values.y_offset);
PRINTF("Gyro: z_offset (converted) %d\n", gyro_values.z_offset);
/* Cleaning up */
buf[0] = GROVE_GYRO_PWR_MGMT;
buf[1] = power_mgmt_backup;
if(grove_gyro_write_reg(&buf[0], 2) != GROVE_GYRO_SUCCESS) {
PRINTF("Gyro: failed restoring power mgmt (0x%02X)\n", power_mgmt_backup);
return GROVE_GYRO_ERROR;
}
if(int_en) {
if(grove_gyro_interrupt(GROVE_GYRO_INT_CFG_RAW_READY_EN +
GROVE_GYRO_INT_CFG_LATCH_EN) == GROVE_GYRO_ERROR) {
PRINTF("Gyro: failed to enable the interrupt\n");
return GROVE_GYRO_ERROR;
}
GPIO_ENABLE_INTERRUPT(GROVE_GYRO_INT_PORT_BASE, GROVE_GYRO_INT_PIN_MASK);
}
return GROVE_GYRO_SUCCESS;
}
/*---------------------------------------------------------------------------*/
PROCESS(grove_gyro_int_process, "Grove gyroscope interrupt process handler");
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(grove_gyro_int_process, ev, data)
@ -407,7 +492,8 @@ configure(int type, int value)
{
if((type != GROVE_GYRO_ACTIVE) && (type != GROVE_GYRO_SAMPLE_RATE) &&
(type != GROVE_GYRO_SAMPLE_RATE_DIVIDER) && (type != GROVE_GYRO_POWER_ON) &&
(type != GROVE_GYRO_POWER_OFF) && (type != GROVE_GYRO_DATA_INTERRUPT)) {
(type != GROVE_GYRO_POWER_OFF) && (type != GROVE_GYRO_DATA_INTERRUPT) &&
(type != GROVE_GYRO_CALIBRATE_ZERO)) {
PRINTF("Gyro: option not supported\n");
return GROVE_GYRO_ERROR;
}
@ -418,6 +504,15 @@ configure(int type, int value)
i2c_init(I2C_SDA_PORT, I2C_SDA_PIN, I2C_SCL_PORT, I2C_SCL_PIN,
I2C_SCL_FAST_BUS_SPEED);
/* Initialize the data structure values */
gyro_values.x = 0;
gyro_values.y = 0;
gyro_values.z = 0;
gyro_values.temp = 0;
gyro_values.x_offset = 0;
gyro_values.y_offset = 0;
gyro_values.z_offset = 0;
/* Make sure the sensor is on */
if(grove_gyro_power_mgmt(GROVE_GYRO_ALL, GROVE_GYRO_POWER_ON) !=
GROVE_GYRO_SUCCESS) {
@ -456,6 +551,7 @@ configure(int type, int value)
} else {
enabled = 0;
int_en = 0;
GPIO_DISABLE_INTERRUPT(GROVE_GYRO_INT_PORT_BASE, GROVE_GYRO_INT_PIN_MASK);
grove_gyro_int_callback = NULL;
if(grove_gyro_interrupt(GROVE_GYRO_INT_CFG_DISABLE) ==
@ -479,6 +575,7 @@ configure(int type, int value)
* I2C digital sensors using the bus and sharing this pin, so an user may
* comment the line below
*/
int_en = 0;
GPIO_DISABLE_INTERRUPT(GROVE_GYRO_INT_PORT_BASE, GROVE_GYRO_INT_PIN_MASK);
return grove_gyro_interrupt(GROVE_GYRO_INT_CFG_DISABLE);
}
@ -503,6 +600,7 @@ configure(int type, int value)
process_start(&grove_gyro_int_process, NULL);
/* Enable interrupts */
int_en = 1;
GPIO_ENABLE_INTERRUPT(GROVE_GYRO_INT_PORT_BASE, GROVE_GYRO_INT_PIN_MASK);
ioc_set_over(I2C_INT_PORT, I2C_INT_PIN, IOC_OVERRIDE_PUE);
nvic_interrupt_enable(I2C_INT_VECTOR);
@ -534,6 +632,9 @@ configure(int type, int value)
}
return grove_gyro_power_mgmt(value, type);
case GROVE_GYRO_CALIBRATE_ZERO:
return grove_gyro_calibrate();
default:
return GROVE_GYRO_ERROR;
}

8
platform/zoul/dev/grove-gyro.h
View file

@ -64,6 +64,9 @@ typedef struct {
uint16_t x;
uint16_t y;
uint16_t z;
uint16_t x_offset;
uint16_t y_offset;
uint16_t z_offset;
int16_t temp;
} grove_gyro_values_t;
@ -149,6 +152,7 @@ extern grove_gyro_values_t gyro_values;
#define GROVE_GYRO_SAMPLE_RATE_DIVIDER 0x03
#define GROVE_GYRO_POWER_ON 0x04
#define GROVE_GYRO_POWER_OFF 0x05
#define GROVE_GYRO_CALIBRATE_ZERO 0x06
/* Sensor value request type, match to the stand-by mask to check if enabled */
#define GROVE_GYRO_X GROVE_GYRO_PWR_MGMT_STBY_XG
@ -163,6 +167,10 @@ extern grove_gyro_values_t gyro_values;
/* Return types */
#define GROVE_GYRO_ERROR (-1)
#define GROVE_GYRO_SUCCESS 0x00
/* Calibration constants */
#define GROVE_GYRO_CALIB_SAMPLES 200
#define GROVE_GYRO_CALIB_TIME_US 5000
/** @} */
/* -------------------------------------------------------------------------- */
#define GROVE_GYRO_STRING "Grove 3-axis gyroscope Sensor"