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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  *
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 
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 // Default configuration
41 #if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
42 #define IMU_GYRO_P_SIGN 1
43 #define IMU_GYRO_Q_SIGN 1
44 #define IMU_GYRO_R_SIGN 1
45 #endif
46 #if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
47 #define IMU_ACCEL_X_SIGN 1
48 #define IMU_ACCEL_Y_SIGN 1
49 #define IMU_ACCEL_Z_SIGN 1
50 #endif
51 #if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
52 #define IMU_MAG_X_SIGN 1
53 #define IMU_MAG_Y_SIGN 1
54 #define IMU_MAG_Z_SIGN 1
55 #endif
56 
62 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
63 // FIXME
64 #define IMU_GYRO_P_SENS 0.5454
65 #define IMU_GYRO_P_SENS_NUM 2727
66 #define IMU_GYRO_P_SENS_DEN 5000
67 #define IMU_GYRO_Q_SENS 0.5454
68 #define IMU_GYRO_Q_SENS_NUM 2727
69 #define IMU_GYRO_Q_SENS_DEN 5000
70 #define IMU_GYRO_R_SENS 0.5454
71 #define IMU_GYRO_R_SENS_NUM 2727
72 #define IMU_GYRO_R_SENS_DEN 5000
73 #endif
74 #if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
75 #define IMU_GYRO_P_NEUTRAL 0
76 #define IMU_GYRO_Q_NEUTRAL 0
77 #define IMU_GYRO_R_NEUTRAL 0
78 #endif
79 
80 
85 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
86 // FIXME
87 #define IMU_ACCEL_X_SENS 0.6131
88 #define IMU_ACCEL_X_SENS_NUM 6131
89 #define IMU_ACCEL_X_SENS_DEN 10000
90 #define IMU_ACCEL_Y_SENS 0.6131
91 #define IMU_ACCEL_Y_SENS_NUM 6131
92 #define IMU_ACCEL_Y_SENS_DEN 10000
93 #define IMU_ACCEL_Z_SENS 0.6131
94 #define IMU_ACCEL_Z_SENS_NUM 6131
95 #define IMU_ACCEL_Z_SENS_DEN 10000
96 #endif
97 #if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
98 #define IMU_ACCEL_X_NEUTRAL 0
99 #define IMU_ACCEL_Y_NEUTRAL 0
100 #define IMU_ACCEL_Z_NEUTRAL 0
101 #endif
102 
103 #ifndef IMU_KROOZ_ACCEL_AVG_FILTER
104 #define IMU_KROOZ_ACCEL_AVG_FILTER 15
105 #endif
106 
107 struct ImuKrooz {
108  volatile bool_t gyr_valid;
109  volatile bool_t acc_valid;
110  volatile bool_t mag_valid;
111  volatile bool_t mpu_eoc;
112  volatile bool_t hmc_eoc;
113  struct Mpu60x0_I2c mpu;
114  struct Hmc58xx hmc;
117  volatile uint8_t meas_nb;
120 };
121 
122 extern struct ImuKrooz imu_krooz;
123 
124 
125 /* must be defined in order to be IMU code: declared in imu.h
126 extern void imu_impl_init(void);
127 extern void imu_periodic(void);
128 */
129 
130 /* Own Extra Functions */
131 extern void imu_krooz_event( void );
132 extern void imu_krooz_downlink_raw( void );
133 
134 static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void) __attribute__((unused))) {
135  imu_krooz_event();
136  if (imu_krooz.gyr_valid) {
138  _gyro_handler();
139  }
140  if (imu_krooz.acc_valid) {
142  _accel_handler();
143  }
144  if (imu_krooz.mag_valid) {
146  _mag_handler();
147  }
148 }
149 
150 #endif // IMU_KROOZ_H
volatile bool_t acc_valid
Definition: imu_krooz.h:109
volatile bool_t gyr_valid
Definition: imu_krooz.h:108
volatile bool_t mpu_eoc
Definition: imu_krooz.h:111
static void ImuEvent(void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))
Definition: imu_krooz.h:134
#define FALSE
Definition: imu_chimu.h:141
int32_t temperature
Definition: imu_krooz.h:119
volatile uint8_t meas_nb
Definition: imu_krooz.h:117
void imu_krooz_downlink_raw(void)
Definition: imu_krooz.c:133
struct Int32Vect3 accel_filtered
Definition: imu_krooz.h:118
Inertial Measurement Unit interface.
angular rates
signed long int32_t
Definition: types.h:19
struct Int32Vect3 accel_sum
Definition: imu_krooz.h:116
volatile bool_t hmc_eoc
Definition: imu_krooz.h:112
Driver for the MPU-60X0 using I2C.
struct Hmc58xx hmc
Definition: imu_krooz.h:114
volatile bool_t mag_valid
Definition: imu_krooz.h:110
unsigned char uint8_t
Definition: types.h:14
void imu_krooz_event(void)
Definition: imu_krooz.c:140
struct Mpu60x0_I2c mpu
Definition: imu_krooz.h:113
struct Int32Rates rates_sum
Definition: imu_krooz.h:115
struct ImuKrooz imu_krooz
Definition: imu_krooz.c:60