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Commit dc7b44ec authored by Grzegorz Daniluk's avatar Grzegorz Daniluk
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lsm303: apply hard-iron calibration to each compass sample, hardcoded

parent 97552746
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Showing with 14 additions and 1 deletion
sw/common/drivers/LSM303C/lsm303c.c
View file @ dc7b44ec
......@@ -124,7 +124,7 @@ int lsm303_init()
lsm303_fifo_mode(DEV_ACC, LSM303_FMODE_BYPASS, 0);
lsm303_odr(DEV_ACC, LSM303_ACC_ODR_10_Hz);
lsm303_odr(DEV_MAG, LSM303_MAG_ODR_1_25_Hz);
lsm303_odr(DEV_MAG, LSM303_MAG_ODR_20_Hz);
lsm303_opmode(DEV_MAG, LSM303_MAG_OPM_MED, LSM303_MAG_CONV_CONT);
lsm303_fullscale(DEV_MAG, LSM303_16Ga);
lsm303_selftest(DEV_MAG, 0, 0);
......@@ -358,6 +358,13 @@ int lsm303_fifo_mode(int dev, LSM303_FMODE_t mode, int en)
return LSM303_SUCCESS;
}
static void lsm303_iron_calib(lsm303_smpl *smpl)
{
smpl->x -= LSM303_IRON_X;
smpl->y -= LSM303_IRON_Y;
smpl->z -= LSM303_IRON_Z;
}
int lsm303_get_sample(int dev, lsm303_smpl *smpl)
{
uint8_t val_l, val_h;
......@@ -377,6 +384,8 @@ int lsm303_get_sample(int dev, lsm303_smpl *smpl)
return LSM303_ERROR;
smpl->z = (int16_t) ((val_h << 8) | val_l);
lsm303_iron_calib(smpl);
return LSM303_SUCCESS;
}
......
sw/common/drivers/LSM303C/lsm303c.h
View file @ dc7b44ec
......@@ -20,6 +20,10 @@
#define DEV_ACC 0
#define DEV_MAG 1
#define LSM303_IRON_X 176
#define LSM303_IRON_Y 368
#define LSM303_IRON_Z 484
/* Accelerometer & Magnetometer registers */
//#define LSM303_ACC_TEMP_L 0x0B
//#define LSM303_ACC_TEMP_H 0x0C
......
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