Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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imu_aspirin_i2c.c
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1 /*
2  * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
3  * 2013 Felix Ruess <felix.ruess@gmail.com>
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.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  */
22 
28 #include "subsystems/imu.h"
29 
30 #include "mcu_periph/i2c.h"
31 
32 // Set SPI_CS High to enable I2C mode of ADXL345
33 #include "mcu_periph/gpio.h"
34 
35 
36 /* i2c default suitable for Lisa */
37 #ifndef ASPIRIN_I2C_DEV
38 #define ASPIRIN_I2C_DEV i2c2
39 #endif
41 
42 
43 #ifndef ASPIRIN_ACCEL_RATE
44 # if PERIODIC_FREQUENCY <= 60
45 # define ASPIRIN_ACCEL_RATE ADXL345_RATE_50HZ
46 # elif PERIODIC_FREQUENCY <= 120
47 # define ASPIRIN_ACCEL_RATE ADXL345_RATE_100HZ
48 # else
49 # define ASPIRIN_ACCEL_RATE ADXL345_RATE_200HZ
50 # endif
51 #endif
53 
54 
55 
56 #ifndef ASPIRIN_GYRO_LOWPASS
57 # if PERIODIC_FREQUENCY <= 60
58 # define ASPIRIN_GYRO_LOWPASS ITG3200_DLPF_20HZ
59 # elif PERIODIC_FREQUENCY <= 120
60 # define ASPIRIN_GYRO_LOWPASS ITG3200_DLPF_42HZ
61 # else
62 # define ASPIRIN_GYRO_LOWPASS ITG3200_DLPF_98HZ
63 # endif
64 #endif
66 
67 
68 
69 #ifndef ASPIRIN_GYRO_SMPLRT_DIV
70 # if PERIODIC_FREQUENCY <= 60
71 # define ASPIRIN_GYRO_SMPLRT_DIV 19
72  PRINT_CONFIG_MSG("Gyro output rate is 50Hz")
73 # else
74 # define ASPIRIN_GYRO_SMPLRT_DIV 9
75  PRINT_CONFIG_MSG("Gyro output rate is 100Hz")
76 # endif
77 #endif
79 
80 
82 
83 void imu_impl_init(void)
84 {
85  imu_aspirin.accel_valid = FALSE;
86  imu_aspirin.gyro_valid = FALSE;
87  imu_aspirin.mag_valid = FALSE;
88 
89  /* Set accel configuration */
91  // set the data rate
92  imu_aspirin.acc_adxl.config.rate = ASPIRIN_ACCEL_RATE;
94  //imu_aspirin.acc_adxl.config.drdy_int_enable = TRUE;
95 
96  // With CS tied high to VDD I/O, the ADXL345 is in I2C mode
97 #ifdef ASPIRIN_I2C_CS_PORT
98  gpio_setup_output(ASPIRIN_I2C_CS_PORT, ASPIRIN_I2C_CS_PIN);
99  gpio_set(ASPIRIN_I2C_CS_PORT, ASPIRIN_I2C_CS_PIN);
100 #endif
101 
102  /* Gyro configuration and initalization */
104  /* change the default config */
105  // Aspirin sample rate divider
107  // digital low pass filter
109 
111  /* interrupt on data ready, idle high, latch until read any register */
112  //itg_conf.int_cfg = (0x01 | (0x1<<4) | (0x1<<5) | 0x01<<7);
113 
114  /* initialize mag and set default options */
116 #ifdef IMU_ASPIRIN_VERSION_1_0
117  imu_aspirin.mag_hmc.type = HMC_TYPE_5843;
118 #endif
119 }
120 
121 
122 void imu_periodic(void)
123 {
125 
126  // Start reading the latest gyroscope data
128 
129  // Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
130  RunOnceEvery(10, hmc58xx_periodic(&imu_aspirin.mag_hmc));
131 }
132 
134 {
140  }
141 
142  /* If the itg3200 I2C transaction has succeeded: convert the data */
148  }
149 
150  /* HMC58XX event task */
153 #ifdef IMU_ASPIRIN_VERSION_1_0
155 #else // aspirin 1.5 with hmc5883
159 #endif
162  }
163 }
void imu_aspirin_i2c_event(void)
void imu_periodic(void)
void itg3200_init(struct Itg3200 *itg, struct i2c_periph *i2c_p, uint8_t addr)
Initialize Itg3200 struct and set default config options.
Definition: itg3200.c:48
Some architecture independent helper functions for GPIOs.
#define ASPIRIN_I2C_DEV
void gpio_set(uint32_t port, uint16_t pin)
Set a gpio output to high level.
#define RATES_COPY(_a, _b)
Definition: pprz_algebra.h:326
#define ASPIRIN_ACCEL_RATE
adxl345 accelerometer output rate, lowpass is set to half of rate
struct Int32Rates gyro_unscaled
unscaled gyroscope measurements
Definition: imu.h:49
struct Int32Rates rates
data as angular rates in gyro coordinate system
Definition: itg3200.h:77
union Adxl345_I2c::@21 data
volatile uint8_t accel_valid
union Hmc58xx::@29 data
#define ASPIRIN_GYRO_LOWPASS
gyro internal lowpass frequency
struct Int16Vect3 vect
data vector in accel coordinate system
Definition: adxl345_i2c.h:46
#define HMC58XX_ADDR
Definition: hmc58xx_regs.h:31
#define FALSE
Definition: imu_chimu.h:141
union Itg3200::@30 data
struct ImuAspirinI2c imu_aspirin
struct Int32Vect3 accel_unscaled
unscaled accelerometer measurements
Definition: imu.h:50
struct Itg3200Config config
Definition: itg3200.h:80
enum Itg3200DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: itg3200.h:55
static void adxl345_i2c_periodic(struct Adxl345_I2c *adxl)
convenience function: read or start configuration if not already initialized
Definition: adxl345_i2c.h:59
void adxl345_i2c_event(struct Adxl345_I2c *adxl)
Definition: adxl345_i2c.c:114
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:47
volatile uint8_t gyro_valid
enum Hmc58xxType type
Definition: hmc58xx.h:71
Inertial Measurement Unit interface.
struct Int32Vect3 mag_unscaled
unscaled magnetometer measurements
Definition: imu.h:51
void adxl345_i2c_init(struct Adxl345_I2c *adxl, struct i2c_periph *i2c_p, uint8_t addr)
Definition: adxl345_i2c.c:36
struct Int16Vect3 vect
data vector in mag coordinate system
Definition: hmc58xx.h:67
#define ITG3200_ADDR
Definition: itg3200_regs.h:31
#define TRUE
Definition: imu_chimu.h:144
volatile bool_t data_available
data ready flag
Definition: itg3200.h:75
#define ASPIRIN_GYRO_SMPLRT_DIV
gyro sample rate divider
void imu_impl_init(void)
static void gpio_setup_output(uint32_t port, uint32_t gpios)
Setup one or more pins of the given GPIO port as outputs.
Definition: gpio_arch.h:76
static void hmc58xx_periodic(struct Hmc58xx *hmc)
convenience function: read or start configuration if not already initialized
Definition: hmc58xx.h:84
enum Adxl345Rates rate
Data Output Rate.
Definition: adxl345.h:53
struct Adxl345_I2c acc_adxl
void itg3200_event(struct Itg3200 *itg)
Definition: itg3200.c:125
static void itg3200_periodic(struct Itg3200 *itg)
convenience function: read or start configuration if not already initialized
Definition: itg3200.h:93
#define ADXL345_ADDR
default I2C address
Definition: adxl345_regs.h:32
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
#define VECT3_COPY(_a, _b)
Definition: pprz_algebra.h:129
struct Adxl345Config config
Definition: adxl345_i2c.h:49
uint8_t smplrt_div
Sample rate divider.
Definition: itg3200.h:53
void hmc58xx_event(struct Hmc58xx *hmc)
Definition: hmc58xx.c:151
volatile bool_t data_available
data ready flag
Definition: hmc58xx.h:65
struct Itg3200 gyro_itg
volatile bool_t data_available
data ready flag
Definition: adxl345_i2c.h:44
volatile uint8_t mag_valid
struct Hmc58xx mag_hmc
Architecture independent I2C (Inter-Integrated Circuit Bus) API.