From 6a631c260dfb5aa83f97dfe6556db4cba3fd3c2f Mon Sep 17 00:00:00 2001
From: SnickerSun <snickersun@163.com>
Date: Fri, 26 Jan 2024 11:36:33 +0800
Subject: [PATCH] =?utf8?q?mmc5603=E6=8C=87=E5=8D=97=E9=92=88=E6=B7=BB?=
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---
 .../peripheral/mag/mmc5603/mmc5603_main.c     | 79 +++++--------------
 1 file changed, 19 insertions(+), 60 deletions(-)

diff --git a/code/sdk/drivers/peripheral/mag/mmc5603/mmc5603_main.c b/code/sdk/drivers/peripheral/mag/mmc5603/mmc5603_main.c
index dc4d7eb26..23f82dc08 100644
--- a/code/sdk/drivers/peripheral/mag/mmc5603/mmc5603_main.c
+++ b/code/sdk/drivers/peripheral/mag/mmc5603/mmc5603_main.c
@@ -156,25 +156,18 @@ extern uint8_t is_xts_test_done(void);
 	/* This variable is used to save calibrated mag sensor parameters */
 	float caliMagPara[4] = {0.0f};	
 	/* convert the coordinate system */		
-	acc_coordinate_raw_to_real(A_LAYOUT, acc_raw_data, acc_real_data);			
-	MMC_LOG("acc_coordinate_raw_to_real raw(%.02f,%.02f,%.02f) , real(%.02f,%.02f,%.02f)\r\n",
-	acc_raw_data[0],acc_raw_data[1],acc_raw_data[2],
-	acc_real_data[0],acc_real_data[1],acc_real_data[2]
-	);	
-	/* Get the MMC5603 mag raw data, unit is gauss */
+	acc_coordinate_raw_to_real(A_LAYOUT, acc_raw_data, acc_real_data);				
+	// /* Get the MMC5603 mag raw data, unit is gauss */
 	MMC5603_GetData(mag_raw_data);
 
 	/* Convert the coordinate system */		
 	mag_coordinate_raw_to_real(M_LAYOUT, mag_raw_data, mag_real_data);		
-	MMC_LOG("mag_coordinate_raw_to_real raw(%.02f,%.02f,%.02f) , real(%.02f,%.02f,%.02f)\r\n",
-	mag_raw_data[0],mag_raw_data[1],mag_raw_data[2],
-	mag_real_data[0],mag_real_data[1],mag_real_data[2]
-	);	
-
 	/* Below functions are algorithm interface. 
 		* input acc, mag data into algorithm
 		* make sure that acc and mag XYZ data meet the right-hand(right-front-up) coordinate system
 		*/
+
+	// MMC_LOG("acc_raw :%f %f %f  mag_raw:%f %f %f \r\n",acc_real_data[0],acc_real_data[1],acc_real_data[2],mag_real_data[0],mag_real_data[1],mag_real_data[2]);
 	MainAlgorithmProcess(acc_real_data, mag_real_data, 1);	
 	
 	/* Get calibrated mag data */
@@ -186,57 +179,23 @@ extern uint8_t is_xts_test_done(void);
 	calMagZ = caliMag[2];
 	
 	
-	/* Get orientation vector */
-	if (GetCalOri(acc_real_data, caliMag, caliOri) == 1 )
-	{
+	// MMC_LOG("calmag :%f %f %f \r\n",caliMag[0],caliMag[1],caliMag[2]);
 
-		/* Get the accuracy of the algorithm */
-		iAccuracy = GetMagAccuracy();
-	
-		/* Get the fAzimuth Pitch Roll for the eCompass */
-			fAzimuth  = caliOri[0];
-			fPitch    = caliOri[1];
-			fRoll     = caliOri[2];	
-			if(iAccuracy == 3){
-				MMC_LOG("== Mag x %.02F,y %.02F , z %.02F\r\n",
-				calMagX,//高斯X
-				calMagY,//高斯Y
-				calMagZ//高斯Z
-				);
-				MMC_LOG("iAccuracy %d== Acc Azimuth %.02F,Pitch %.02F , Roll %.02F\r\n", 
-				iAccuracy,//可信度
-				fAzimuth, //水平方向角，左转右转
-				fPitch,//上下俯仰角
-				fRoll//左右翻滚角
-				);
-			}else{
-				MMC_LOG("--iAccuracy %d < 3 skip\r\n", 
-				iAccuracy   //可信度
-				);
-
-				MMC_LOG("--== Mag x %.02F,y %.02F , z %.02F\r\n",
-				calMagX,//高斯X
-				calMagY,//高斯Y
-				calMagZ//高斯Z
-				);
-				MMC_LOG("--iAccuracy %d== Acc Azimuth %.02F,Pitch %.02F , Roll %.02F\r\n", 
-				iAccuracy,//可信度
-				fAzimuth, //水平方向角，左转右转
-				fPitch,//上下俯仰角
-				fRoll//左右翻滚角
-				);
-			
-			}
-	}
+	GetCalOri(acc_real_data, caliMag, caliOri);
+	fAzimuth  = caliOri[0];
+	fPitch    = caliOri[1];
+	fRoll     = caliOri[2];	
+	iAccuracy = GetMagAccuracy();
+
+	// MMC_LOG("fAzimuth =%f iAccuracy=%d\r\n",fAzimuth,iAccuracy);	
 
-	  
 	/* Get the SET Flag from algorithm */   
-	if(GetMagSaturation())  
-	{
-		//MEMSIC_Magnetic_Sensor_SET();	//Do SET action
-		MMC_LOG("Do SET action MMC5603_SET\r\n");
-		MMC5603_SET();
-	}
+	// if(GetMagSaturation())  
+	// {
+	// 	//MEMSIC_Magnetic_Sensor_SET();	//Do SET action
+	// 	MMC_LOG("Do SET action MMC5603_SET\r\n");
+	// 	MMC5603_SET();
+	// }
 	
 	/* Get corrected mag data */
 	save_flag = GetCalPara(caliMagPara);
@@ -260,7 +219,7 @@ extern uint8_t is_xts_test_done(void);
 	clock_gettime(CLOCK_MONOTONIC, &time);
 	uint32_t _endTimestamp = (uint32_t ) time.tv_sec * SEC_TO_MILLISEC + time.tv_nsec / MILLISEC_TO_NANOSEC;
 	
-	MMC_LOG("mmc5603_check  cost %u\r\n",(_endTimestamp-_startTimestamp));
+	// MMC_LOG("mmc5603_check  cost %u\r\n",(_endTimestamp-_startTimestamp));
 	return 0;
 }
 
-- 
2.17.1