Paparazzi UAS  v5.15_devel-59-g8c145b7
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imu_krooz.h
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1 /*
2  * Copyright (C) 2013 Sergey Krukowski <softsr@yahoo.de>
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  *
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17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
30 #ifndef IMU_KROOZ_H
31 #define IMU_KROOZ_H
32 
33 #include "std.h"
34 #include "generated/airframe.h"
35 #include "subsystems/imu.h"
36 
38 #include "peripherals/hmc58xx.h"
39 
40 #ifndef KROOZ_GYRO_RANGE
41 #define KROOZ_GYRO_RANGE MPU60X0_GYRO_RANGE_250
42 #endif
43 
44 #ifndef KROOZ_ACCEL_RANGE
45 #define KROOZ_ACCEL_RANGE MPU60X0_ACCEL_RANGE_2G
46 #endif
47 
48 
49 // Set default sensitivity based on range if needed
50 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
51 #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
52 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
53 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
54 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
55 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
56 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
57 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
58 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
59 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
60 #endif
61 
62 // Set default sensitivity based on range if needed
63 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
64 #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[KROOZ_ACCEL_RANGE]
65 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][0]
66 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][1]
67 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[KROOZ_ACCEL_RANGE]
68 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][0]
69 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][1]
70 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[KROOZ_ACCEL_RANGE]
71 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][0]
72 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][1]
73 #endif
74 
75 
76 #ifndef IMU_KROOZ_ACCEL_AVG_FILTER
77 #define IMU_KROOZ_ACCEL_AVG_FILTER 15
78 #endif
79 
80 struct ImuKrooz {
81  volatile bool mpu_eoc;
82  volatile bool hmc_eoc;
83  struct Mpu60x0_I2c mpu;
84  struct Hmc58xx hmc;
87  volatile uint8_t meas_nb;
90 };
91 
92 extern struct ImuKrooz imu_krooz;
93 
94 extern void imu_krooz_init(void);
95 extern void imu_krooz_periodic(void);
96 extern void imu_krooz_event(void);
97 extern void imu_krooz_downlink_raw(void);
98 
99 #endif // IMU_KROOZ_H
struct Int32Vect3 accel_filtered
Definition: imu_krooz.h:88
angular rates
volatile bool mpu_eoc
Definition: imu_krooz.h:81
volatile bool hmc_eoc
Definition: imu_krooz.h:82
struct Int32Rates rates_sum
Definition: imu_krooz.h:85
volatile uint8_t meas_nb
Definition: imu_krooz.h:87
void imu_krooz_downlink_raw(void)
Definition: imu_krooz.c:130
void imu_krooz_periodic(void)
Definition: imu_krooz.c:91
Inertial Measurement Unit interface.
int32_t temperature
Definition: imu_krooz.h:89
signed long int32_t
Definition: types.h:19
struct Hmc58xx hmc
Definition: imu_krooz.h:84
Driver for the MPU-60X0 using I2C.
struct Int32Vect3 accel_sum
Definition: imu_krooz.h:86
void imu_krooz_init(void)
Definition: imu_krooz.c:61
unsigned char uint8_t
Definition: types.h:14
struct Mpu60x0_I2c mpu
Definition: imu_krooz.h:83
void imu_krooz_event(void)
Definition: imu_krooz.c:139
struct ImuKrooz imu_krooz
Definition: imu_krooz.c:54