Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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imu_krooz_memsic.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  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
32 #ifndef IMU_KROOZ_H
33 #define IMU_KROOZ_H
34 
35 #include "std.h"
36 #include "generated/airframe.h"
37 #include "subsystems/imu.h"
38 
40 #include "peripherals/hmc58xx.h"
41 #include "mcu_periph/spi.h"
42 
43 #ifndef KROOZ_GYRO_RANGE
44 #define KROOZ_GYRO_RANGE MPU60X0_GYRO_RANGE_250
45 #endif
46 
47 // Set default sensitivity based on range if needed
48 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
49 #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
50 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
51 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
52 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
53 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
54 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
55 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]
56 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]
57 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]
58 #endif
59 
60 
65 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
66 // FIXME
67 #define IMU_ACCEL_X_SENS 0.9197
68 #define IMU_ACCEL_X_SENS_NUM 9197
69 #define IMU_ACCEL_X_SENS_DEN 10000
70 #define IMU_ACCEL_Y_SENS 0.9197
71 #define IMU_ACCEL_Y_SENS_NUM 9197
72 #define IMU_ACCEL_Y_SENS_DEN 10000
73 #define IMU_ACCEL_Z_SENS 0.9197
74 #define IMU_ACCEL_Z_SENS_NUM 9197
75 #define IMU_ACCEL_Z_SENS_DEN 10000
76 #endif
77 #if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
78 #define IMU_ACCEL_X_NEUTRAL 32768
79 #define IMU_ACCEL_Y_NEUTRAL 32768
80 #define IMU_ACCEL_Z_NEUTRAL 32768
81 #endif
82 
83 #ifndef IMU_KROOZ_ACCEL_AVG_FILTER
84 #define IMU_KROOZ_ACCEL_AVG_FILTER 15
85 #endif
86 
87 struct ImuKrooz {
88  volatile bool mpu_eoc;
89  volatile bool hmc_eoc;
90  struct Mpu60x0_I2c mpu;
94  struct Hmc58xx hmc;
95  struct Int32Rates rates_sum;
96  struct Int32Vect3 accel_sum;
97  volatile uint8_t meas_nb;
101 };
102 
103 extern struct ImuKrooz imu_krooz;
104 
105 extern void imu_krooz_init(void);
106 extern void imu_krooz_periodic(void);
107 extern void imu_krooz_event(void);
108 extern void imu_krooz_downlink_raw(void);
109 
110 #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 spi_transaction ad7689_trans
SPI transaction structure.
Definition: spi.h:142
void imu_krooz_event(void)
Definition: imu_krooz.c:139
struct Int32Rates rates_sum
Definition: imu_krooz.h:85
volatile uint8_t meas_nb
Definition: imu_krooz.h:87
void imu_krooz_periodic(void)
Definition: imu_krooz.c:91
Architecture independent SPI (Serial Peripheral Interface) API.
volatile uint8_t ad7689_spi_rx_buffer[2]
void imu_krooz_init(void)
Definition: imu_krooz.c:61
struct Uint8Vect3 meas_nb_acc
struct ImuKrooz imu_krooz
Definition: imu_krooz.c:54
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
unsigned char uint8_t
Definition: types.h:14
void imu_krooz_downlink_raw(void)
Definition: imu_krooz.c:130
volatile uint8_t ad7689_spi_tx_buffer[2]