imu.h

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/*
 * Copyright (C) 2008-2022 The Paparazzi Team
 *                         Freek van Tienen <freek.v.tienen@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef IMU_H
#define IMU_H
 
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_orientation_conversion.h"
#include "filters/low_pass_filter.h"
#include "generated/airframe.h"
 
#ifndef IMU_MAX_SENSORS
#define IMU_MAX_SENSORS 4
#endif
 
struct imu_calib_t {
  bool neutral: 1;    
  bool scale: 1;      
  bool scale_f: 1;    
  bool rotation: 1;   
  bool rot_euler: 1;  
  bool current: 1;    
  bool filter: 1;     
};
 
struct imu_gyro_t {
  uint8_t abi_id;                     
  uint32_t last_stamp;                
  struct imu_calib_t calibrated;      
  struct Int32Rates scaled;           
  struct Int32Rates unscaled;         
  float temperature;                  
  struct Int32Rates neutral;          
  struct Int32Rates scale[2];         
  struct FloatRates scale_f;          
  struct Int32RMat body_to_sensor;    
  struct FloatEulers body_to_sensor_f;
  float filter_freq;                  
  float filter_sample_freq;           
  Butterworth2LowPass filter[3];      
};
 
struct imu_accel_t {
  uint8_t abi_id;                     
  uint32_t last_stamp;                
  struct imu_calib_t calibrated;      
  struct Int32Vect3 scaled;           
  struct Int32Vect3 unscaled;         
  float temperature;                  
  struct Int32Vect3 neutral;          
  struct Int32Vect3 scale[2];         
  struct FloatVect3 scale_f;          
  struct Int32RMat body_to_sensor;    
  struct FloatEulers body_to_sensor_f;
  float filter_freq;                  
  float filter_sample_freq;           
  Butterworth2LowPass filter[3];      
};
 
struct imu_mag_t {
  uint8_t abi_id;                     
  struct imu_calib_t calibrated;      
  struct Int32Vect3 scaled;           
  struct Int32Vect3 unscaled;         
  struct Int32Vect3 neutral;          
  struct Int32Vect3 scale[2];         
  struct FloatVect3 scale_f;          
  struct FloatVect3 current_scale;    
  struct Int32RMat body_to_sensor;    
  struct FloatEulers body_to_sensor_f;
};
 
 
struct Imu {
  bool initialized;                           
  struct imu_gyro_t gyros[IMU_MAX_SENSORS];   
  struct imu_accel_t accels[IMU_MAX_SENSORS]; 
  struct imu_mag_t mags[IMU_MAX_SENSORS];     
  struct OrientationReps body_to_imu;         
  uint8_t gyro_abi_send_id;                   
  uint8_t accel_abi_send_id;                  
  uint8_t mag_abi_send_id;                    
 
  bool b2i_set_current;
};
 
extern struct Imu imu;
 
extern void imu_init(void);
 
extern void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Rates *neutral, const struct FloatRates *scale_f);
extern void imu_set_defaults_accel(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Vect3 *neutral, const struct FloatVect3 *scale_f);
extern void imu_set_defaults_mag(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Vect3 *neutral, const struct FloatVect3 *scale_f);
 
extern struct imu_gyro_t *imu_get_gyro(uint8_t sender_id, bool create);
extern struct imu_accel_t *imu_get_accel(uint8_t sender_id, bool create);
extern struct imu_mag_t *imu_get_mag(uint8_t sender_id, bool create);
 
extern void imu_SetBodyToImuPhi(float phi);
extern void imu_SetBodyToImuTheta(float theta);
extern void imu_SetBodyToImuPsi(float psi);
extern void imu_SetBodyToImuCurrent(float set);
extern void imu_ResetBodyToImu(float reset);
 
#endif /* IMU_H */