/******************** (C) COPYRIGHT 2020 GEEKIMU ******************************* * File Name : calibrate.c * Current Version : V2.0 & ST 3.5.0 * Author : zhanli 719901725@qq.com & JustFeng. * Date of Issued : 2015.10.3 zhanli : Create * Comments : 从MCU的flash中加载校准数据 ********************************************************************************/ #ifndef _CALIBRATE_H_ #define _CALIBRATE_H_ #include #include #define CALIBRATION_SIZE (8+8+8*3+8*3+sizeof(uint16_t)) typedef struct calibrate_struct { float temperature; float Gyr_Offset[3]; float acc_offset[3]; // scale and cross axis sensitivity // 坐标轴缩放矩阵 float gyro_scale[3][3]; float acc_scale[3][3]; }calibrate_s, *calibrate_p; typedef struct{ float temp; float Gyr_Offset[3]; float Acc_Offset[3]; float Mag_Offset[3]; float Mag_Scale[3][3]; }Calibrate_Info; /**---------------------------------------------------------------------- * Function : Calibrate_Init(void) * Description : 初始化追踪器的所有校准数据 * Author : zhanli&719901725@qq.com & JustFeng. * Date : 2015/2/13 zhanli *---------------------------------------------------------------------**/ void Calibrate_Init(void); /**---------------------------------------------------------------------- * Function : Init_Gyro_Offset(void) * Description : 初始化陀螺仪零偏值,从EEROM中读取陀螺仪零偏值 * Author : zhanli&719901725@qq.com & JustFeng. * Date : 2015/10/3 zhanli *---------------------------------------------------------------------**/ void Init_Gyro_Offset(Calibrate_Info *mCali_Info); /**---------------------------------------------------------------------- * Function : Compute_Gyro_Offset(void) * Description : 在静止时候读取MPU6050的陀螺仪数值，计算陀螺仪的零偏 * Author : zhanli&719901725@qq.com & JustFeng. * Date : 2015/10/3 zhanli *---------------------------------------------------------------------**/ void Compute_Gyro_Offset(void); /**---------------------------------------------------------------------- * Function : Store_Gyro_Offset(void) * Description : 把误差参数存到eeprom中 * Author : zhanli&719901725@qq.com & JustFeng. * Date : 2015/10/3 zhanli *---------------------------------------------------------------------**/ void Store_Gyro_Offset(Calibrate_Info *mCali_Info); /**---------------------------------------------------------------------- * Function : void Clean_Gyro_Offset(void) * Description : 从EEPROM中擦除陀螺仪零偏数据 * Author : JustFeng. * Date : 2015/10/3 zhanli *---------------------------------------------------------------------**/ void Clean_Gyro_Offset(void); /**---------------------------------------------------------------------- * Function : Get_Acc_Offset(float* acc) * Description : 从STM32的EEROM中读取加速计零偏数据 * Author : JustFeng. * Date : 2016/12/4 JustFeng *---------------------------------------------------------------------**/ void Get_Gyro_Offset(float* gyro); /**---------------------------------------------------------------------- * Function : Save_Acc_Offset(float*) * Description : 从STM32的EEROM中读取加速计零偏数据 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Save_Gyro_Offset(float* Gyr_Offset); /**---------------------------------------------------------------------- * Function : Reset_Acc_Offset(void) * Description : 从EEPROM中擦除加速计校准参数 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Reset_Gyro_Offset(void); /**---------------------------------------------------------------------- * Function : Load_Acc_Offset() * Description : 从STM32的EEROM中读取加速计零偏值 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Load_Gyro_Offset(void); /**---------------------------------------------------------------------- * Function : Reset_Acc_Offset(void) * Description : 从EEPROM中擦除加速计校准参数 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Load_Acc_Offset(void); /**---------------------------------------------------------------------- * Function : Get_Acc_Offset(float* acc) * Description : 从STM32的EEROM中读取加速计零偏数据 * Author : JustFeng. * Date : 2016/12/4 JustFeng *---------------------------------------------------------------------**/ void Get_Acc_Offset(float* acc); /**---------------------------------------------------------------------- * Function : Save_Acc_Offset(float*) * Description : 从STM32的EEROM中读取加速计零偏数据 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Save_Acc_Offset(float* acc_offset); /**---------------------------------------------------------------------- * Function : Reset_Acc_Offset(void) * Description : 从EEPROM中擦除加速计校准参数 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Reset_Acc_Offset(void); /**---------------------------------------------------------------------- * Function : Load_Mag_Offset() * Description : 从STM32的EEROM中读取磁力计校准参数 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Load_Mag_Offset(void); /**---------------------------------------------------------------------- * Function : Get_Mag_Offset * Description : 从STM32的EEROM中读取磁力计校准参数 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Get_Mag_Offset(float* mag); /**---------------------------------------------------------------------- * Function : Save_Mag_Offset * Description : 从STM32的EEROM中保存磁力计校准参数 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Save_Mag_Offset(float* mag_offset); /**---------------------------------------------------------------------- * Function : Reset_Mag_Offset * Description : 从EEPROM中擦除磁力计校准参数 * Author : JustFeng. * Date : 2016/12/2 JustFeng *---------------------------------------------------------------------**/ void Reset_Mag_Offset(void); #endif /* _CALIBRATE_H_ */