altos: Calibrate IMU accelerometers too

[fw/altos] / src / core / ao_config.c

diff --git a/src/core/ao_config.c b/src/core/ao_config.c
index b480e14c40edd3effc85b0da3f6474283bdd669a..82faf32bbb904b22517fb814f86d829f30231d3f 100644 (file)
--- a/src/core/ao_config.c
+++ b/src/core/ao_config.c
@@ -155,6 +155,19 @@ _ao_config_get(void)
 #if HAS_RADIO_AMP
                if (minor  < 14)
                        ao_config.radio_amp = AO_CONFIG_DEFAULT_RADIO_AMP;
+#endif
+#if HAS_GYRO
+               if (minor < 15) {
+                       ao_config.accel_zero_along = 0;
+                       ao_config.accel_zero_across = 0;
+                       ao_config.accel_zero_through = 0;
+
+                       /* Reset the main accel offsets to force
+                        * re-calibration
+                        */
+                       ao_config.accel_plus_g = 0;
+                       ao_config.accel_minus_g = 0;
+               }
 #endif
                ao_config.minor = AO_CONFIG_MINOR;
                ao_config_dirty = 1;
@@ -275,17 +288,34 @@ ao_config_accel_calibrate_show(void) __reentrant
 {
        printf("Accel cal +1g: %d -1g: %d\n",
               ao_config.accel_plus_g, ao_config.accel_minus_g);
+#if HAS_GYRO
+       printf ("IMU cal along %d across %d through %d\n",
+               ao_config.accel_zero_along,
+               ao_config.accel_zero_across,
+               ao_config.accel_zero_through);
+#endif
 }
 
 #define ACCEL_CALIBRATE_SAMPLES        1024
 #define ACCEL_CALIBRATE_SHIFT  10
 
+#if HAS_GYRO
+static int16_t accel_cal_along;
+static int16_t accel_cal_across;
+static int16_t accel_cal_through;
+#endif
+
 static int16_t
 ao_config_accel_calibrate_auto(char *orientation) __reentrant
 {
        uint16_t        i;
        int32_t         accel_total;
        uint8_t         cal_data_ring;
+#if HAS_GYRO
+       int32_t         accel_along_total = 0;
+       int32_t         accel_across_total = 0;
+       int32_t         accel_through_total = 0;
+#endif
 
        printf("Orient antenna %s and press a key...", orientation);
        flush();
@@ -299,10 +329,20 @@ ao_config_accel_calibrate_auto(char *orientation) __reentrant
                ao_sleep(DATA_TO_XDATA(&ao_sample_data));
                while (i && cal_data_ring != ao_sample_data) {
                        accel_total += (int32_t) ao_data_accel(&ao_data_ring[cal_data_ring]);
+#if HAS_GYRO
+                       accel_along_total += (int32_t) ao_data_along(&ao_data_ring[cal_data_ring]);
+                       accel_across_total += (int32_t) ao_data_across(&ao_data_ring[cal_data_ring]);
+                       accel_through_total += (int32_t) ao_data_through(&ao_data_ring[cal_data_ring]);
+#endif
                        cal_data_ring = ao_data_ring_next(cal_data_ring);
                        i--;
                }
        }
+#if HAS_GYRO
+       accel_cal_along = accel_along_total >> ACCEL_CALIBRATE_SHIFT;
+       accel_cal_across = accel_across_total >> ACCEL_CALIBRATE_SHIFT;
+       accel_cal_through = accel_through_total >> ACCEL_CALIBRATE_SHIFT;
+#endif
        return accel_total >> ACCEL_CALIBRATE_SHIFT;
 }
 
@@ -310,12 +350,28 @@ void
 ao_config_accel_calibrate_set(void) __reentrant
 {
        int16_t up, down;
+#if HAS_GYRO
+       int16_t accel_along_up, accel_along_down;
+       int16_t accel_across_up, accel_across_down;
+       int16_t accel_through_up, accel_through_down;
+#endif
+       
        ao_cmd_decimal();
        if (ao_cmd_status != ao_cmd_success)
                return;
        if (ao_cmd_lex_i == 0) {
                up = ao_config_accel_calibrate_auto("up");
+#if HAS_GYRO
+               accel_along_up = accel_cal_along;
+               accel_across_up = accel_cal_across;
+               accel_through_up = accel_cal_through;
+#endif
                down = ao_config_accel_calibrate_auto("down");
+#if HAS_GYRO
+               accel_along_down = accel_cal_along;
+               accel_across_down = accel_cal_across;
+               accel_through_down = accel_cal_through;
+#endif
        } else {
                up = ao_cmd_lex_i;
                ao_cmd_decimal();
@@ -331,6 +387,11 @@ ao_config_accel_calibrate_set(void) __reentrant
        _ao_config_edit_start();
        ao_config.accel_plus_g = up;
        ao_config.accel_minus_g = down;
+#if HAS_GYRO
+       ao_config.accel_zero_along = (accel_along_up + accel_along_down) / 2;
+       ao_config.accel_zero_across = (accel_across_up + accel_across_down) / 2;
+       ao_config.accel_zero_through = (accel_through_up + accel_through_down) / 2;
+#endif
        _ao_config_edit_finish();
 }
 #endif /* HAS_ACCEL */