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Added iirFilter to LSM303D

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This commit is contained in:
Julian Oes
2013-07-18 16:15:43 +02:00
parent f4df4a4e08
commit da152e148d
5 changed files with 345 additions and 5 deletions
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src/drivers/lsm303d/lsm303d.cpp
+29 -3
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@@ -65,6 +65,7 @@
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include "iirFilter.h"
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@@ -220,6 +221,10 @@ private:
unsigned _current_samplerate;
FIL_T _filter_x;
FIL_T _filter_y;
FIL_T _filter_z;
unsigned _num_mag_reports;
volatile unsigned _next_mag_report;
volatile unsigned _oldest_mag_report;
@@ -489,6 +494,22 @@ LSM303D::init()
set_antialias_filter_bandwidth(50); /* available bandwidths: 50, 194, 362 or 773 Hz */
set_samplerate(400); /* max sample rate */
/* initiate filter */
TF_DIF_t tf_filter;
tf_filter.numInt = 0;
tf_filter.numDiff = 0;
tf_filter.lowpassLength = 2;
tf_filter.highpassLength = 0;
tf_filter.lowpassData[0] = 10;
tf_filter.lowpassData[1] = 10;
//tf_filter.highpassData[0] = ;
tf_filter.gain = 1;
tf_filter.Ts = 1/_current_samplerate;
initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_x);
initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_y);
initFilter(&tf_filter, 1.0/(double)_current_samplerate, &_filter_z);
mag_set_range(4); /* XXX: take highest sensor range of 12GA? */
mag_set_samplerate(100);
@@ -1161,9 +1182,14 @@ LSM303D::measure()
accel_report->y_raw = raw_accel_report.y;
accel_report->z_raw = raw_accel_report.z;
accel_report->x = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
accel_report->y = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
accel_report->z = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
float x_in_new = ((accel_report->x_raw * _accel_range_scale) - _accel_scale.x_offset) * _accel_scale.x_scale;
float y_in_new = ((accel_report->y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
float z_in_new = ((accel_report->z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
accel_report->x = updateFilter(&_filter_x, x_in_new);
accel_report->y = updateFilter(&_filter_y, y_in_new);
accel_report->z = updateFilter(&_filter_z, z_in_new);
accel_report->scaling = _accel_range_scale;
accel_report->range_m_s2 = _accel_range_m_s2;