Paparazzi UAS  v5.15_devel-99-g2ff7410
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imu_disco.c
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1 /*
2  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
3  * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
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17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, see
19  * <http://www.gnu.org/licenses/>.
20  */
21 
27 #include "subsystems/imu.h"
28 #include "subsystems/abi.h"
29 #include "mcu_periph/i2c.h"
30 
31 
32 /* I2C is hardwired on Disco autopilot */
33 #define DISCO_MAG_I2C_DEV i2c1
34 PRINT_CONFIG_VAR(DISCO_MAG_I2C_DEV)
35 #define DISCO_MPU_I2C_DEV i2c2
36 PRINT_CONFIG_VAR(DISCO_MPU_I2C_DEV)
37 
38 
39 #if !defined DISCO_LOWPASS_FILTER && !defined DISCO_SMPLRT_DIV
40 #if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
41 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
42  * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
43  */
44 #define DISCO_LOWPASS_FILTER MPU60X0_DLPF_42HZ
45 #define DISCO_SMPLRT_DIV 9
46 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
47 #elif PERIODIC_FREQUENCY == 512
48 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
49  * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
50  */
51 #define DISCO_LOWPASS_FILTER MPU60X0_DLPF_256HZ
52 #define DISCO_SMPLRT_DIV 3
53 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
54 #endif
55 #endif
56 
57 PRINT_CONFIG_VAR(DISCO_SMPLRT_DIV)
58 PRINT_CONFIG_VAR(DISCO_LOWPASS_FILTER)
59 
60 PRINT_CONFIG_VAR(DISCO_GYRO_RANGE)
61 PRINT_CONFIG_VAR(DISCO_ACCEL_RANGE)
62 
65 
69 void imu_disco_init(void)
70 {
71  /* MPU-60X0 */
73  imu_disco.mpu.config.smplrt_div = DISCO_SMPLRT_DIV;
74  imu_disco.mpu.config.dlpf_cfg = DISCO_LOWPASS_FILTER;
77 
78  /* AKM8963 */
80 }
81 
87 {
88  // Start reading the latest gyroscope data
90 
91  // AKM8963
93 }
94 
99 void imu_disco_event(void)
100 {
101  uint32_t now_ts = get_sys_time_usec();
102 
103  /* MPU-60x0 event taks */
105 
107  /* set correct orientation here */
109  -imu_disco.mpu.data_rates.rates.p,
110  -imu_disco.mpu.data_rates.rates.q,
111  imu_disco.mpu.data_rates.rates.r);
113  -imu_disco.mpu.data_accel.vect.x,
114  -imu_disco.mpu.data_accel.vect.y,
115  imu_disco.mpu.data_accel.vect.z);
116 
117  imu_disco.mpu.data_available = false;
120  AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
121  AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
122  }
123 
124  /* AKM8963 event task */
126 
129  imu_disco.ak.data.vect.x,
130  imu_disco.ak.data.vect.y,
131  imu_disco.ak.data.vect.z);
132 
133  imu_disco.ak.data_available = false;
134  imu_scale_mag(&imu);
135  AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
136  }
137 }
#define DISCO_GYRO_RANGE
Definition: imu_disco.h:38
void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
Definition: mpu60x0_i2c.c:82
#define IMU_BOARD_ID
void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
Definition: mpu60x0_i2c.c:31
struct Mpu60x0Config config
Definition: mpu60x0_i2c.h:68
void imu_disco_event(void)
Handle all the events of the Disco IMU components.
Definition: imu_disco.c:99
#define VECT3_ASSIGN(_a, _x, _y, _z)
Definition: pprz_algebra.h:125
#define RATES_ASSIGN(_ra, _p, _q, _r)
Definition: pprz_algebra.h:330
Main include for ABI (AirBorneInterface).
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:140
union Mpu60x0_I2c::@322 data_accel
#define AK8963_ADDR
Definition: ak8963_regs.h:31
void ak8963_init(struct Ak8963 *ak, struct i2c_periph *i2c_p, uint8_t addr)
Initialize AK8963 struct.
Definition: ak8963.c:34
struct Imu imu
global IMU state
Definition: imu.c:108
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:143
struct Ak8963 ak
The AK8963 mag.
Definition: imu_disco.h:74
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:144
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: mpu60x0.h:141
struct Int32Vect3 mag_unscaled
unscaled magnetometer measurements
Definition: imu.h:48
struct Int32Rates gyro_unscaled
unscaled gyroscope measurements
Definition: imu.h:46
struct Int32Vect3 accel
accelerometer measurements in m/s^2 in BFP with INT32_ACCEL_FRAC
Definition: imu.h:39
struct ImuDisco imu_disco
Disco IMU data.
Definition: imu_disco.c:64
#define DISCO_ACCEL_RANGE
Definition: imu_disco.h:42
unsigned long uint32_t
Definition: types.h:18
PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
struct Int32Vect3 mag
magnetometer measurements scaled to 1 in BFP with INT32_MAG_FRAC
Definition: imu.h:40
Inertial Measurement Unit interface.
void imu_scale_gyro(struct Imu *_imu)
Definition: imu_vectornav.c:43
#define MPU60X0_ADDR
Definition: mpu60x0_regs.h:32
union Mpu60x0_I2c::@323 data_rates
void ak8963_event(struct Ak8963 *ak)
Definition: ak8963.c:95
void imu_scale_mag(struct Imu *_imu)
Definition: ahrs_gx3.c:351
static void ak8963_periodic(struct Ak8963 *ak)
convenience function: read or start configuration if not already initialized
Definition: ak8963.h:75
#define DISCO_MPU_I2C_DEV
Definition: imu_disco.c:35
union Ak8963::@301 data
struct Int32Vect3 accel_unscaled
unscaled accelerometer measurements
Definition: imu.h:47
static void mpu60x0_i2c_periodic(struct Mpu60x0_I2c *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu60x0_i2c.h:79
void imu_scale_accel(struct Imu *_imu)
Definition: imu_vectornav.c:44
volatile bool data_available
data ready flag
Definition: ak8963.h:61
void imu_disco_init(void)
Disco IMU initializtion of the MPU-60x0 and HMC58xx.
Definition: imu_disco.c:69
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
#define DISCO_MAG_I2C_DEV
Definition: imu_disco.c:33
void imu_disco_periodic(void)
Handle all the periodic tasks of the Disco IMU components.
Definition: imu_disco.c:86
Everything that is in the disco IMU.
Definition: imu_disco.h:72
struct Int32Rates gyro
gyroscope measurements in rad/s in BFP with INT32_RATE_FRAC
Definition: imu.h:38
volatile bool data_available
data ready flag
Definition: mpu60x0_i2c.h:57
Architecture independent I2C (Inter-Integrated Circuit Bus) API.
struct Mpu60x0_I2c mpu
The MPU gyro/accel device.
Definition: imu_disco.h:73