Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
imu_bmi088_i2c.c
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1 /*
2  * Copyright (C) 2019 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
29 #include "modules/imu/imu.h"
30 #include "mcu_periph/i2c.h"
31 #include "mcu_periph/sys_time.h"
32 #include "modules/core/abi.h"
33 
34 PRINT_CONFIG_VAR(IMU_BMI088_GYRO_RANGE)
35 PRINT_CONFIG_VAR(IMU_BMI088_ACCEL_RANGE)
36 
37 #ifndef IMU_BMI088_GYRO_ODR
38 #define IMU_BMI088_GYRO_ODR BMI088_GYRO_ODR_1000_BW_116
39 #endif
40 PRINT_CONFIG_VAR(IMU_BMI088_GYRO_ODR)
41 
42 #ifndef IMU_BMI088_ACCEL_ODR
43 #define IMU_BMI088_ACCEL_ODR BMI088_ACCEL_ODR_1600
44 #endif
45 PRINT_CONFIG_VAR(IMU_BMI088_ACCEL_ODR)
46 
47 #ifndef IMU_BMI088_ACCEL_BW
48 #define IMU_BMI088_ACCEL_BW BMI088_ACCEL_BW_OSR4
49 #endif
50 PRINT_CONFIG_VAR(IMU_BMI088_ACCEL_BW)
51 
52 #ifndef IMU_BMI088_GYRO_I2C_ADDR
53 #define IMU_BMI088_GYRO_I2C_ADDR BMI088_GYRO_ADDR
54 #endif
55 PRINT_CONFIG_VAR(IMU_BMI088_GYRO_I2C_ADDR)
56 
57 #ifndef IMU_BMI088_ACCEL_I2C_ADDR
58 #define IMU_BMI088_ACCEL_I2C_ADDR BMI088_ACCEL_ADDR
59 #endif
60 PRINT_CONFIG_VAR(IMU_BMI088_ACCEL_I2C_ADDR)
61 
62 // Default channels order
63 #ifndef IMU_BMI088_CHAN_X
64 #define IMU_BMI088_CHAN_X 0
65 #endif
66 PRINT_CONFIG_VAR(IMU_BMI088_CHAN_X)
67 #ifndef IMU_BMI088_CHAN_Y
68 #define IMU_BMI088_CHAN_Y 1
69 #endif
70 PRINT_CONFIG_VAR(IMU_BMI088_CHAN_Y)
71 #ifndef IMU_BMI088_CHAN_Z
72 #define IMU_BMI088_CHAN_Z 2
73 #endif
74 PRINT_CONFIG_VAR(IMU_BMI088_CHAN_Z)
75 
76 #ifndef IMU_BMI088_X_SIGN
77 #define IMU_BMI088_X_SIGN 1
78 #endif
79 PRINT_CONFIG_VAR(IMU_BMI088_X_SIGN)
80 #ifndef IMU_BMI088_Y_SIGN
81 #define IMU_BMI088_Y_SIGN 1
82 #endif
83 PRINT_CONFIG_VAR(IMU_BMI088_Y_SIGN)
84 #ifndef IMU_BMI088_Z_SIGN
85 #define IMU_BMI088_Z_SIGN 1
86 #endif
87 PRINT_CONFIG_VAR(IMU_BMI088_Z_SIGN)
88 
89 
90 struct ImuBmi088 imu_bmi088;
91 
92 void imu_bmi088_init(void)
93 {
94  /* BMI088 */
96  // change the default configuration
102 
103  // Set the default scaling
106 }
107 
109 {
111 }
112 
114 {
115  uint32_t now_ts = get_sys_time_usec();
116 
117  // If the BMI088 I2C transaction has succeeded: convert the data
119 
121  struct Int32Rates rates = {
125  };
126 
127  imu_bmi088.bmi.gyro_available = false;
128  AbiSendMsgIMU_GYRO_RAW(IMU_BMI088_ID, now_ts, &rates, 1, imu_bmi088.bmi.config.gyro_samplerate, NAN);
129  }
131  // set channel order
132  struct Int32Vect3 accel = {
136  };
137 
139  AbiSendMsgIMU_ACCEL_RAW(IMU_BMI088_ID, now_ts, &accel, 1, imu_bmi088.bmi.config.accel_samplerate, NAN);
140  }
141 }
142 
Main include for ABI (AirBorneInterface).
#define IMU_BMI088_ID
const struct Int32Vect3 BMI088_ACCEL_SENS_FRAC[4][2]
Definition: bmi088.c:59
const struct Int32Rates BMI088_GYRO_SENS_FRAC[5][2]
Definition: bmi088.c:39
enum Bmi088AccelODR accel_odr
output data rate
Definition: bmi088.h:118
enum Bmi088AccelRanges accel_range
g Range
Definition: bmi088.h:117
enum Bmi088GyroODR gyro_odr
output data rate
Definition: bmi088.h:116
enum Bmi088AccelBW accel_bw
bandwidth
Definition: bmi088.h:119
float accel_samplerate
samplerate in Hz from accel_odr
Definition: bmi088.h:124
float gyro_samplerate
samplerate in Hz from gyro_odr
Definition: bmi088.h:123
enum Bmi088GyroRanges gyro_range
deg/s Range
Definition: bmi088.h:115
void bmi088_i2c_init(struct Bmi088_I2c *bmi, struct i2c_periph *i2c_p, uint8_t gyro_addr, uint8_t accel_addr)
Definition: bmi088_i2c.c:30
void bmi088_i2c_event(struct Bmi088_I2c *bmi)
Definition: bmi088_i2c.c:93
static void bmi088_i2c_periodic(struct Bmi088_I2c *bmi)
convenience function: read or start configuration if not already initialized
Definition: bmi088_i2c.h:61
volatile bool accel_available
accel data ready flag
Definition: bmi088_i2c.h:42
struct Bmi088Config config
Definition: bmi088_i2c.h:51
union Bmi088_I2c::@303 data_rates
volatile bool gyro_available
gyro data ready flag
Definition: bmi088_i2c.h:41
union Bmi088_I2c::@302 data_accel
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:71
angular rates
Architecture independent I2C (Inter-Integrated Circuit Bus) API.
void imu_set_defaults_accel(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Vect3 *neutral, const struct Int32Vect3 *scale)
Set the defaults for a accel sensor WARNING: Should be called before sensor is publishing messages to...
Definition: imu.c:521
void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Rates *neutral, const struct Int32Rates *scale)
Set the defaults for a gyro sensor WARNING: Should be called before sensor is publishing messages to ...
Definition: imu.c:491
Inertial Measurement Unit interface.
#define IMU_BMI088_ACCEL_I2C_ADDR
#define IMU_BMI088_Z_SIGN
void imu_bmi088_init(void)
#define IMU_BMI088_Y_SIGN
#define IMU_BMI088_ACCEL_BW
void imu_bmi088_event(void)
#define IMU_BMI088_X_SIGN
#define IMU_BMI088_CHAN_Y
#define IMU_BMI088_ACCEL_ODR
struct ImuBmi088 imu_bmi088
#define IMU_BMI088_GYRO_I2C_ADDR
void imu_bmi088_periodic(void)
#define IMU_BMI088_CHAN_Z
#define IMU_BMI088_CHAN_X
#define IMU_BMI088_GYRO_ODR
IMU driver for the BMI088 using I2C.
struct Bmi088_I2c bmi
#define IMU_BMI088_GYRO_RANGE
#define IMU_BMI088_ACCEL_RANGE
Architecture independent timing functions.
int int32_t
Typedef defining 32 bit int type.
Definition: vl53l1_types.h:83
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78