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