Paparazzi UAS  v5.15_devel-112-g521f3cf
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imu_navstik.c
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1 /*
2  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
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 
27 #include "subsystems/imu.h"
28 #include "subsystems/abi.h"
29 #include "mcu_periph/i2c.h"
30 
31 
32 /* defaults suitable for Navstik */
33 #ifndef NAVSTIK_MAG_I2C_DEV
34 #define NAVSTIK_MAG_I2C_DEV i2c3
35 #endif
36 PRINT_CONFIG_VAR(NAVSTIK_MAG_I2C_DEV)
37 
38 #ifndef NAVSTIK_MPU_I2C_DEV
39 #define NAVSTIK_MPU_I2C_DEV i2c1
40 #endif
41 PRINT_CONFIG_VAR(NAVSTIK_MPU_I2C_DEV)
42 
43 #if !defined NAVSTIK_LOWPASS_FILTER && !defined NAVSTIK_SMPLRT_DIV
44 #if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
45 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
46  * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
47  */
48 #define NAVSTIK_LOWPASS_FILTER MPU60X0_DLPF_42HZ
49 #define NAVSTIK_SMPLRT_DIV 9
50 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
51 #elif PERIODIC_FREQUENCY == 512
52 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
53  * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
54  */
55 #define NAVSTIK_LOWPASS_FILTER MPU60X0_DLPF_256HZ
56 #define NAVSTIK_SMPLRT_DIV 3
57 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
58 #endif
59 #endif
60 PRINT_CONFIG_VAR(NAVSTIK_SMPLRT_DIV)
61 PRINT_CONFIG_VAR(NAVSTIK_LOWPASS_FILTER)
62 
63 PRINT_CONFIG_VAR(NAVSTIK_GYRO_RANGE)
64 PRINT_CONFIG_VAR(NAVSTIK_ACCEL_RANGE)
65 
68 
72 void imu_navstik_init(void)
73 {
74  /* MPU-60X0 */
76  imu_navstik.mpu.config.smplrt_div = NAVSTIK_SMPLRT_DIV;
77  imu_navstik.mpu.config.dlpf_cfg = NAVSTIK_LOWPASS_FILTER;
80 
81  /* HMC58XX */
83 }
84 
90 {
91  // Start reading the latest gyroscope data
93 
94  // Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
95  RunOnceEvery(10, hmc58xx_periodic(&imu_navstik.hmc));
96 }
97 
103 {
104  uint32_t now_ts = get_sys_time_usec();
105 
106  /* MPU-60x0 event taks */
108 
110  /* default orientation as should be printed on the pcb, z-down, ICs down */
113 
117  AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
118  AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
119  }
120 
121  /* HMC58XX event task */
125  imu.mag_unscaled.y = -imu_navstik.hmc.data.vect.x;
128  imu_scale_mag(&imu);
129  AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
130  }
131 }
void imu_navstik_event(void)
Handle all the events of the Navstik IMU components.
Definition: imu_navstik.c:102
volatile bool data_available
data ready flag
Definition: hmc58xx.h:65
void imu_navstik_periodic(void)
Handle all the periodic tasks of the Navstik IMU components.
Definition: imu_navstik.c:89
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
#define NAVSTIK_GYRO_RANGE
Definition: imu_navstik.h:38
struct Mpu60x0Config config
Definition: mpu60x0_i2c.h:68
#define VECT3_COPY(_a, _b)
Definition: pprz_algebra.h:140
#define MPU60X0_ADDR_ALT
Definition: mpu60x0_regs.h:33
Main include for ABI (AirBorneInterface).
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:140
union Mpu60x0_I2c::@322 data_accel
union Hmc58xx::@309 data
struct Imu imu
global IMU state
Definition: imu.c:108
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:143
#define NAVSTIK_MPU_I2C_DEV
Definition: imu_navstik.c:39
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:144
#define HMC58XX_ADDR
Definition: hmc58xx_regs.h:31
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 Hmc58xx hmc
Definition: imu_navstik.h:74
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
union Mpu60x0_I2c::@323 data_rates
void imu_scale_mag(struct Imu *_imu)
Definition: ahrs_gx3.c:351
static void hmc58xx_periodic(struct Hmc58xx *hmc)
convenience function: read or start configuration if not already initialized
Definition: hmc58xx.h:85
void hmc58xx_init(struct Hmc58xx *hmc, struct i2c_periph *i2c_p, uint8_t addr)
Initialize Hmc58xx struct and set default config options.
Definition: hmc58xx.c:75
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
struct Mpu60x0_I2c mpu
Definition: imu_navstik.h:73
void imu_scale_accel(struct Imu *_imu)
Definition: imu_vectornav.c:44
#define RATES_COPY(_a, _b)
Definition: pprz_algebra.h:337
struct ImuNavstik imu_navstik
Basic Navstik IMU data.
Definition: imu_navstik.c:67
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:68
void hmc58xx_event(struct Hmc58xx *hmc)
Definition: hmc58xx.c:152
#define NAVSTIK_ACCEL_RANGE
Definition: imu_navstik.h:42
void imu_navstik_init(void)
Navstik IMU initializtion of the MPU-60x0 and HMC58xx.
Definition: imu_navstik.c: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
#define NAVSTIK_MAG_I2C_DEV
Definition: imu_navstik.c:34
Architecture independent I2C (Inter-Integrated Circuit Bus) API.