Paparazzi UAS  v5.15_devel-81-gd13dafb
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imu_mpu60x0_i2c.c
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1 /*
2  * Copyright (C) 2013-2015 Felix Ruess <felix.ruess@gmail.com>
3  *
4  * This file is part of paparazzi.
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21 
27 #include <math.h>
28 #include "subsystems/imu.h"
29 #include "subsystems/abi.h"
30 #include "mcu_periph/i2c.h"
31 #include "led.h"
32 
33 /* MPU60x0 gyro/accel internal lowpass frequency */
34 #if !defined IMU_MPU60X0_LOWPASS_FILTER && !defined IMU_MPU60X0_SMPLRT_DIV
35 #if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
36 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
37  * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
38  */
39 #define IMU_MPU60X0_LOWPASS_FILTER MPU60X0_DLPF_42HZ
40 #define IMU_MPU60X0_SMPLRT_DIV 9
41 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
42 #elif PERIODIC_FREQUENCY == 512
43 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
44  * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
45  */
46 #define IMU_MPU60X0_LOWPASS_FILTER MPU60X0_DLPF_256HZ
47 #define IMU_MPU60X0_SMPLRT_DIV 3
48 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
49 #else
50 #error Non-default PERIODIC_FREQUENCY: please define IMU_MPU60X0_LOWPASS_FILTER and IMU_MPU60X0_SMPLRT_DIV.
51 #endif
52 #endif
53 PRINT_CONFIG_VAR(IMU_MPU60X0_LOWPASS_FILTER)
54 PRINT_CONFIG_VAR(IMU_MPU60X0_SMPLRT_DIV)
55 
56 PRINT_CONFIG_VAR(IMU_MPU60X0_GYRO_RANGE)
57 PRINT_CONFIG_VAR(IMU_MPU60X0_ACCEL_RANGE)
58 
59 #ifndef IMU_MPU60X0_I2C_ADDR
60 #define IMU_MPU60X0_I2C_ADDR MPU60X0_ADDR
61 #endif
62 
64 
65 void imu_mpu_i2c_init(void)
66 {
67  mpu60x0_i2c_init(&imu_mpu_i2c.mpu, &(IMU_MPU60X0_I2C_DEV), IMU_MPU60X0_I2C_ADDR);
68  // change the default configuration
69  imu_mpu_i2c.mpu.config.smplrt_div = IMU_MPU60X0_SMPLRT_DIV;
70  imu_mpu_i2c.mpu.config.dlpf_cfg = IMU_MPU60X0_LOWPASS_FILTER;
73 }
74 
76 {
78 }
79 
81 {
82  uint32_t now_ts = get_sys_time_usec();
83 
84  // If the MPU60X0 I2C transaction has succeeded: convert the data
92  AbiSendMsgIMU_GYRO_INT32(IMU_MPU60X0_ID, now_ts, &imu.gyro);
93  AbiSendMsgIMU_ACCEL_INT32(IMU_MPU60X0_ID, now_ts, &imu.accel);
94  }
95 }
struct ImuMpu60x0 imu_mpu_i2c
void imu_mpu_i2c_event(void)
void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
Definition: mpu60x0_i2c.c:82
#define IMU_MPU60X0_GYRO_RANGE
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_mpu_i2c_periodic(void)
#define VECT3_COPY(_a, _b)
Definition: pprz_algebra.h:140
Main include for ABI (AirBorneInterface).
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:140
union Mpu60x0_I2c::@322 data_accel
#define IMU_MPU60X0_ID
struct Imu imu
global IMU state
Definition: imu.c:108
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:143
#define IMU_MPU60X0_ACCEL_RANGE
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:144
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: mpu60x0.h:141
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
unsigned long uint32_t
Definition: types.h:18
PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
Inertial Measurement Unit interface.
void imu_scale_gyro(struct Imu *_imu)
Definition: imu_vectornav.c:43
union Mpu60x0_I2c::@323 data_rates
struct Mpu60x0_I2c mpu
#define IMU_MPU60X0_I2C_ADDR
arch independent LED (Light Emitting Diodes) API
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
#define RATES_COPY(_a, _b)
Definition: pprz_algebra.h:337
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
void imu_mpu_i2c_init(void)
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.