Paparazzi UAS  v5.15_devel-81-gd13dafb
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imu_analog.c
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21 
22 #include "imu_analog.h"
23 #include "mcu_periph/adc.h"
24 #include "subsystems/abi.h"
25 
27 
29 
30 void imu_analog_init(void)
31 {
32 
33  imu_overrun = 0;
34 
35 #ifdef ADC_CHANNEL_GYRO_P
36  adc_buf_channel(ADC_CHANNEL_GYRO_P, &analog_imu_adc_buf[0], ADC_CHANNEL_GYRO_NB_SAMPLES);
37 #endif
38 #ifdef ADC_CHANNEL_GYRO_Q
39  adc_buf_channel(ADC_CHANNEL_GYRO_Q, &analog_imu_adc_buf[1], ADC_CHANNEL_GYRO_NB_SAMPLES);
40 #endif
41 #ifdef ADC_CHANNEL_GYRO_R
42  adc_buf_channel(ADC_CHANNEL_GYRO_R, &analog_imu_adc_buf[2], ADC_CHANNEL_GYRO_NB_SAMPLES);
43 #endif
44 #ifdef ADC_CHANNEL_ACCEL_X
45  adc_buf_channel(ADC_CHANNEL_ACCEL_X, &analog_imu_adc_buf[3], ADC_CHANNEL_ACCEL_NB_SAMPLES);
46 #endif
47 #ifdef ADC_CHANNEL_ACCEL_Y
48  adc_buf_channel(ADC_CHANNEL_ACCEL_Y, &analog_imu_adc_buf[4], ADC_CHANNEL_ACCEL_NB_SAMPLES);
49 #endif
50 #ifdef ADC_CHANNEL_ACCEL_Z
51  adc_buf_channel(ADC_CHANNEL_ACCEL_Z, &analog_imu_adc_buf[5], ADC_CHANNEL_ACCEL_NB_SAMPLES);
52 #endif
53 
54 }
55 
57 {
58  // Actual Nr of ADC measurements per channel per periodic loop
59  static int last_head = 0;
60 
61  uint32_t now_ts = get_sys_time_usec();
62 
63  imu_overrun = analog_imu_adc_buf[0].head - last_head;
64  if (imu_overrun < 0) {
65  imu_overrun += ADC_CHANNEL_GYRO_NB_SAMPLES;
66  }
67  last_head = analog_imu_adc_buf[0].head;
68 
69  // Read All Measurements
70 #ifdef ADC_CHANNEL_GYRO_P
71  imu.gyro_unscaled.p = analog_imu_adc_buf[0].sum / ADC_CHANNEL_GYRO_NB_SAMPLES;
72 #endif
73 #ifdef ADC_CHANNEL_GYRO_Q
74  imu.gyro_unscaled.q = analog_imu_adc_buf[1].sum / ADC_CHANNEL_GYRO_NB_SAMPLES;
75 #endif
76 #ifdef ADC_CHANNEL_GYRO_R
77  imu.gyro_unscaled.r = analog_imu_adc_buf[2].sum / ADC_CHANNEL_GYRO_NB_SAMPLES;
78 #endif
79 #ifdef ADC_CHANNEL_ACCEL_X
80  imu.accel_unscaled.x = analog_imu_adc_buf[3].sum / ADC_CHANNEL_ACCEL_NB_SAMPLES;
81 #endif
82 #ifdef ADC_CHANNEL_ACCEL_Y
83  imu.accel_unscaled.y = analog_imu_adc_buf[4].sum / ADC_CHANNEL_ACCEL_NB_SAMPLES;
84 #endif
85 #ifdef ADC_CHANNEL_ACCEL_Z
86  imu.accel_unscaled.z = analog_imu_adc_buf[5].sum / ADC_CHANNEL_ACCEL_NB_SAMPLES;
87 #endif
88 
91  AbiSendMsgIMU_GYRO_INT32(IMU_ANALOG_ID, now_ts, &imu.gyro);
92  AbiSendMsgIMU_ACCEL_INT32(IMU_ANALOG_ID, now_ts, &imu.accel);
93 }
94 
95 // if not all gyros are used, override the imu_scale_gyro handler
96 #if defined ADC_CHANNEL_GYRO_P && defined ADC_CHANNEL_GYRO_Q && ! defined ADC_CHANNEL_GYRO_R
97 
98 void imu_scale_gyro(struct Imu *_imu)
99 {
100  _imu->gyro.p = ((_imu->gyro_unscaled.p - _imu->gyro_neutral.p) * IMU_GYRO_P_SIGN * IMU_GYRO_P_SENS_NUM) /
102  _imu->gyro.q = ((_imu->gyro_unscaled.q - _imu->gyro_neutral.q) * IMU_GYRO_Q_SIGN * IMU_GYRO_Q_SENS_NUM) /
104 }
105 
106 #elif defined ADC_CHANNEL_GYRO_P && ! defined ADC_CHANNEL_GYRO_Q && ! defined ADC_CHANNEL_GYRO_R
107 
108 void imu_scale_gyro(struct Imu *_imu)
109 {
110  _imu->gyro.p = ((_imu->gyro_unscaled.p - _imu->gyro_neutral.p) * IMU_GYRO_P_SIGN * IMU_GYRO_P_SENS_NUM) /
112 }
113 
114 #endif
115 
116 // if we don't have any accelerometers, set an empty imu_scale_accel handler
117 #if ! defined ADC_CHANNEL_ACCEL_X && ! defined ADC_CHANNEL_ACCEL_Z && ! defined ADC_CHANNEL_ACCEL_Z
118 void imu_scale_accel(struct Imu *_imu __attribute__((unused))) {}
119 #endif
#define IMU_GYRO_Q_SENS_DEN
Definition: imu_apogee.h:68
int imu_overrun
Definition: imu_analog.c:26
#define IMU_GYRO_P_SIGN
Definition: imu_apogee.h:44
Main include for ABI (AirBorneInterface).
void adc_buf_channel(uint8_t adc_channel, struct adc_buf *s, uint8_t av_nb_sample)
Link between ChibiOS ADC drivers and Paparazzi adc_buffers.
Definition: adc_arch.c:281
#define IMU_GYRO_Q_SENS_NUM
Definition: imu_apogee.h:67
uint32_t sum
Definition: adc.h:54
#define IMU_GYRO_P_SENS_NUM
Definition: imu_apogee.h:64
#define IMU_ANALOG_ID
struct Imu imu
global IMU state
Definition: imu.c:108
uint8_t head
Definition: adc.h:56
arch independent ADC (Analog to Digital Converter) API
static struct adc_buf analog_imu_adc_buf[NB_ANALOG_IMU_ADC]
Definition: imu_analog.c:28
struct Int32Rates gyro_neutral
static gyroscope bias from calibration in raw/unscaled units
Definition: imu.h:43
int32_t r
in rad/s with INT32_RATE_FRAC
struct Int32Rates gyro_unscaled
unscaled gyroscope measurements
Definition: imu.h:46
Generic interface for all ADC hardware drivers, independent from microcontroller architecture.
Definition: adc.h:53
void imu_scale_accel(struct Imu *_imu)
Definition: imu_analog.c:118
struct Int32Vect3 accel
accelerometer measurements in m/s^2 in BFP with INT32_ACCEL_FRAC
Definition: imu.h:39
#define IMU_GYRO_P_SENS_DEN
Definition: imu_apogee.h:65
unsigned long uint32_t
Definition: types.h:18
void imu_analog_init(void)
Definition: imu_analog.c:30
void imu_scale_gyro(struct Imu *_imu)
Definition: imu_vectornav.c:43
#define NB_ANALOG_IMU_ADC
Definition: imu_analog.h:31
void imu_analog_periodic(void)
Definition: imu_analog.c:56
Inertial Measurement Unit using onboard ADCs.
int32_t p
in rad/s with INT32_RATE_FRAC
struct Int32Vect3 accel_unscaled
unscaled accelerometer measurements
Definition: imu.h:47
abstract IMU interface providing fixed point interface
Definition: imu.h:37
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
#define IMU_GYRO_Q_SIGN
Definition: imu_apogee.h:45
int32_t q
in rad/s with INT32_RATE_FRAC
struct Int32Rates gyro
gyroscope measurements in rad/s in BFP with INT32_RATE_FRAC
Definition: imu.h:38