//////////////////////////////////////////////////////////////////////////// // // This file is part of RTIMULib // // Copyright (c) 2014-2015, richards-tech, LLC // // 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 and SPI driver code is based on code generously supplied by // staslock@gmail.com (www.clickdrive.io) #include "RTIMUSettings.h" #include "IMUDrivers/RTIMUMPU9150.h" #include "IMUDrivers/RTIMUMPU9250.h" #include "IMUDrivers/RTIMUGD20HM303D.h" #include "IMUDrivers/RTIMUGD20M303DLHC.h" #include "IMUDrivers/RTIMUGD20HM303DLHC.h" #include "IMUDrivers/RTIMULSM9DS0.h" #include "IMUDrivers/RTIMULSM9DS1.h" #include "IMUDrivers/RTIMUBMX055.h" #include "IMUDrivers/RTPressureBMP180.h" #include "IMUDrivers/RTPressureLPS25H.h" #include "IMUDrivers/RTHumidityHTS221.h" #include "IMUDrivers/RTHumidityHTU21D.h" #define RATE_TIMER_INTERVAL 2 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); } loadSettings(); } RTIMUSettings::RTIMUSettings(const char *settingsDirectory, const char *productType) { if (((strlen(productType) + strlen(settingsDirectory)) > 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/%s.ini", settingsDirectory, productType); } 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; } } } else if (result == LSM9DS1_ID) { if (HALRead(LSM9DS1_MAG_ADDRESS0, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS1_MAG_ID) { imuType = RTIMU_TYPE_LSM9DS1; slaveAddress = LSM9DS1_ADDRESS0; busIsI2C = true; HAL_INFO("Detected LSM9DS1 at standard/standard address\n"); return true; } } if (HALRead(LSM9DS1_MAG_ADDRESS1, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS1_MAG_ID) { imuType = RTIMU_TYPE_LSM9DS1; slaveAddress = LSM9DS1_ADDRESS0; busIsI2C = true; HAL_INFO("Detected LSM9DS1 at standard/option 1 address\n"); return true; } } if (HALRead(LSM9DS1_MAG_ADDRESS2, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS1_MAG_ID) { imuType = RTIMU_TYPE_LSM9DS1; slaveAddress = LSM9DS1_ADDRESS0; busIsI2C = true; HAL_INFO("Detected LSM9DS1 at standard/option 2 address\n"); return true; } } if (HALRead(LSM9DS1_MAG_ADDRESS3, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS1_MAG_ID) { imuType = RTIMU_TYPE_LSM9DS1; slaveAddress = LSM9DS1_ADDRESS0; busIsI2C = true; HAL_INFO("Detected LSM9DS1 at standard/option 3 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; } } } else if (result == LSM9DS1_ID) { if (HALRead(LSM9DS1_MAG_ADDRESS0, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS1_MAG_ID) { imuType = RTIMU_TYPE_LSM9DS1; slaveAddress = LSM9DS1_ADDRESS1; busIsI2C = true; HAL_INFO("Detected LSM9DS1 at option/standard address\n"); return true; } } if (HALRead(LSM9DS1_MAG_ADDRESS1, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS1_MAG_ID) { imuType = RTIMU_TYPE_LSM9DS1; slaveAddress = LSM9DS1_ADDRESS1; busIsI2C = true; HAL_INFO("Detected LSM9DS1 at option/option 1 address\n"); return true; } } if (HALRead(LSM9DS1_MAG_ADDRESS2, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS1_MAG_ID) { imuType = RTIMU_TYPE_LSM9DS1; slaveAddress = LSM9DS1_ADDRESS1; busIsI2C = true; HAL_INFO("Detected LSM9DS1 at option/option 2 address\n"); return true; } } if (HALRead(LSM9DS1_MAG_ADDRESS3, LSM9DS1_MAG_WHO_AM_I, 1, &altResult, "")) { if (altResult == LSM9DS1_MAG_ID) { imuType = RTIMU_TYPE_LSM9DS1; slaveAddress = LSM9DS1_ADDRESS1; busIsI2C = true; HAL_INFO("Detected LSM9DS1 at option/option 3 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 = 0; 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_INFO("Detected MPU9250 on SPI bus 0, select 0\n"); return true; } } HALClose(); } m_SPISelect = 1; 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_INFO("Detected MPU9250 on SPI bus 0, select 1\n"); 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; } bool RTIMUSettings::discoverHumidity(int& humidityType, unsigned char& humidityAddress) { unsigned char result; // auto detect on current bus if (HALOpen()) { if (HALRead(HTS221_ADDRESS, HTS221_REG_ID, 1, &result, "")) { if (result == HTS221_ID) { humidityType = RTHUMIDITY_TYPE_HTS221; humidityAddress = HTS221_ADDRESS; HAL_INFO("Detected HTS221 at standard address\n"); return true; } } if (HALRead(HTU21D_ADDRESS, HTU21D_READ_USER_REG, 1, &result, "")) { humidityType = RTHUMIDITY_TYPE_HTU21D; humidityAddress = HTU21D_ADDRESS; HAL_INFO("Detected HTU21D at standard address\n"); return true; } } HAL_ERROR("No humidity 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 = 0; m_SPISpeed = 500000; m_fusionType = RTFUSION_TYPE_RTQF; m_axisRotation = RTIMU_XNORTH_YEAST; m_pressureType = RTPRESSURE_TYPE_AUTODISCOVER; m_I2CPressureAddress = 0; m_humidityType = RTHUMIDITY_TYPE_AUTODISCOVER; m_I2CHumidityAddress = 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; // LSM9DS1 defaults m_LSM9DS1GyroSampleRate = LSM9DS1_GYRO_SAMPLERATE_119; m_LSM9DS1GyroBW = LSM9DS1_GYRO_BANDWIDTH_1; m_LSM9DS1GyroHpf = LSM9DS1_GYRO_HPF_4; m_LSM9DS1GyroFsr = LSM9DS1_GYRO_FSR_500; m_LSM9DS1AccelSampleRate = LSM9DS1_ACCEL_SAMPLERATE_119; m_LSM9DS1AccelFsr = LSM9DS1_ACCEL_FSR_8; m_LSM9DS1AccelLpf = LSM9DS1_ACCEL_LPF_50; m_LSM9DS1CompassSampleRate = LSM9DS1_COMPASS_SAMPLERATE_20; m_LSM9DS1CompassFsr = LSM9DS1_COMPASS_FSR_4; // 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() { setDefaults(); char buf[200]; char key[200]; char val[200]; RTFLOAT ftemp; // check to see if settings file exists if (!(m_fd = fopen(m_filename, "r"))) { HAL_INFO("Settings file not found. Using defaults and creating settings file\n"); return saveSettings(); } while (fgets(buf, 200, m_fd)) { if ((buf[0] == '#') || (buf[0] == ' ') || (buf[0] == '\n')) // just a comment continue; if (sscanf(buf, "%[^=]=%s", key, val) != 2) { HAL_ERROR1("Bad line in settings file: %s\n", buf); fclose(m_fd); 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); } else if (strcmp(key, RTIMULIB_HUMIDITY_TYPE) == 0) { m_humidityType = atoi(val); } else if (strcmp(key, RTIMULIB_I2C_HUMIDITYADDRESS) == 0) { m_I2CHumidityAddress = atoi(val); // compass calibration and adjustment } 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); // LSM9DS1 settings } else if (strcmp(key, RTIMULIB_LSM9DS1_GYRO_SAMPLERATE) == 0) { m_LSM9DS1GyroSampleRate = atoi(val); } else if (strcmp(key, RTIMULIB_LSM9DS1_GYRO_FSR) == 0) { m_LSM9DS1GyroFsr = atoi(val); } else if (strcmp(key, RTIMULIB_LSM9DS1_GYRO_HPF) == 0) { m_LSM9DS1GyroHpf = atoi(val); } else if (strcmp(key, RTIMULIB_LSM9DS1_GYRO_BW) == 0) { m_LSM9DS1GyroBW = atoi(val); } else if (strcmp(key, RTIMULIB_LSM9DS1_ACCEL_SAMPLERATE) == 0) { m_LSM9DS1AccelSampleRate = atoi(val); } else if (strcmp(key, RTIMULIB_LSM9DS1_ACCEL_FSR) == 0) { m_LSM9DS1AccelFsr = atoi(val); } else if (strcmp(key, RTIMULIB_LSM9DS1_ACCEL_LPF) == 0) { m_LSM9DS1AccelLpf = atoi(val); } else if (strcmp(key, RTIMULIB_LSM9DS1_COMPASS_SAMPLERATE) == 0) { m_LSM9DS1CompassSampleRate = atoi(val); } else if (strcmp(key, RTIMULIB_LSM9DS1_COMPASS_FSR) == 0) { m_LSM9DS1CompassFsr = 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); fclose(m_fd); return saveSettings(); // make sure settings file is correct and complete } bool RTIMUSettings::saveSettings() { if (!(m_fd = fopen(m_filename, "w"))) { 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 = STM LSM9DS1"); setComment(" 7 = InvenSense MPU-9250"); setComment(" 8 = STM L3GD20H + LSM303DLHC"); setComment(" 9 = Bosch BMX055"); setComment(" 10 = Bosch BNX055"); 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 (between 0 and 1) "); 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); setBlank(); setComment("Humidity sensor type - "); setComment(" 0 = Auto discover"); setComment(" 1 = Null (no hardware or don't use)"); setComment(" 2 = HTS221"); setComment(" 3 = HTU21D"); setValue(RTIMULIB_HUMIDITY_TYPE, m_humidityType); setBlank(); setComment(""); setComment("I2C humidity sensor address (filled in automatically by auto discover) "); setValue(RTIMULIB_I2C_HUMIDITYADDRESS, m_I2CHumidityAddress); // Compass settings setBlank(); setComment("#####################################################################"); setComment(""); setBlank(); setComment("Compass calibration settings"); 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); // LSM9DS1 settings setBlank(); setComment("#####################################################################"); setComment(""); setComment("LSM9DS1 settings"); setComment(""); setBlank(); setComment("Gyro sample rate - "); setComment(" 0 = 95Hz "); setComment(" 1 = 190Hz "); setComment(" 2 = 380Hz "); setComment(" 3 = 760Hz "); setValue(RTIMULIB_LSM9DS1_GYRO_SAMPLERATE, m_LSM9DS1GyroSampleRate); 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_LSM9DS1_GYRO_FSR, m_LSM9DS1GyroFsr); setBlank(); setComment(""); setComment("Gyro high pass filter - "); setComment(" 0 - 9 but see the LSM9DS1 manual for details"); setValue(RTIMULIB_LSM9DS1_GYRO_HPF, m_LSM9DS1GyroHpf); setBlank(); setComment(""); setComment("Gyro bandwidth - "); setComment(" 0 - 3 but see the LSM9DS1 manual for details"); setValue(RTIMULIB_LSM9DS1_GYRO_BW, m_LSM9DS1GyroBW); setBlank(); setComment("Accel sample rate - "); setComment(" 1 = 14.9Hz "); setComment(" 2 = 59.5Hz "); setComment(" 3 = 119Hz "); setComment(" 4 = 238Hz "); setComment(" 5 = 476Hz "); setComment(" 6 = 952Hz "); setValue(RTIMULIB_LSM9DS1_ACCEL_SAMPLERATE, m_LSM9DS1AccelSampleRate); setBlank(); setComment(""); setComment("Accel full scale range - "); setComment(" 0 = +/- 2g "); setComment(" 1 = +/- 16g "); setComment(" 2 = +/- 4g "); setComment(" 3 = +/- 8g "); setValue(RTIMULIB_LSM9DS1_ACCEL_FSR, m_LSM9DS1AccelFsr); setBlank(); setComment(""); setComment("Accel low pass filter - "); setComment(" 0 = 408Hz"); setComment(" 1 = 211Hz"); setComment(" 2 = 105Hz"); setComment(" 3 = 50Hz"); setValue(RTIMULIB_LSM9DS1_ACCEL_LPF, m_LSM9DS1AccelLpf); setBlank(); setComment(""); setComment("Compass sample rate - "); setComment(" 0 = 0.625Hz "); setComment(" 1 = 1.25Hz "); setComment(" 2 = 2.5Hz "); setComment(" 3 = 5Hz "); setComment(" 4 = 10Hz "); setComment(" 5 = 20Hz "); setComment(" 6 = 40Hz "); setComment(" 7 = 80Hz "); setValue(RTIMULIB_LSM9DS1_COMPASS_SAMPLERATE, m_LSM9DS1CompassSampleRate); setBlank(); setComment(""); setComment("Compass full scale range - "); setComment(" 0 = +/- 400 uT "); setComment(" 1 = +/- 800 uT "); setComment(" 2 = +/- 1200 uT "); setComment(" 3 = +/- 1600 uT "); setValue(RTIMULIB_LSM9DS1_COMPASS_FSR, m_LSM9DS1CompassFsr); // 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); fclose(m_fd); return true; } void RTIMUSettings::setBlank() { fprintf(m_fd, "\n"); } void RTIMUSettings::setComment(const char *comment) { fprintf(m_fd, "# %s\n", comment); } void RTIMUSettings::setValue(const char *key, const bool val) { fprintf(m_fd, "%s=%s\n", key, val ? "true" : "false"); } void RTIMUSettings::setValue(const char *key, const int val) { fprintf(m_fd, "%s=%d\n", key, val); } void RTIMUSettings::setValue(const char *key, const RTFLOAT val) { fprintf(m_fd, "%s=%f\n", key, val); }