Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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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 // Default configuration
44 #if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
45 #define IMU_GYRO_P_SIGN 1
46 #define IMU_GYRO_Q_SIGN 1
47 #define IMU_GYRO_R_SIGN 1
48 #endif
49 #if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
50 #define IMU_ACCEL_X_SIGN 1
51 #define IMU_ACCEL_Y_SIGN 1
52 #define IMU_ACCEL_Z_SIGN 1
53 #endif
54 #if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
55 #define IMU_MAG_X_SIGN 1
56 #define IMU_MAG_Y_SIGN 1
57 #define IMU_MAG_Z_SIGN 1
58 #endif
59 
65 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
66 // FIXME
67 #define IMU_GYRO_P_SENS 0.5454
68 #define IMU_GYRO_P_SENS_NUM 2727
69 #define IMU_GYRO_P_SENS_DEN 5000
70 #define IMU_GYRO_Q_SENS 0.5454
71 #define IMU_GYRO_Q_SENS_NUM 2727
72 #define IMU_GYRO_Q_SENS_DEN 5000
73 #define IMU_GYRO_R_SENS 0.5454
74 #define IMU_GYRO_R_SENS_NUM 2727
75 #define IMU_GYRO_R_SENS_DEN 5000
76 #endif
77 #if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
78 #define IMU_GYRO_P_NEUTRAL 0
79 #define IMU_GYRO_Q_NEUTRAL 0
80 #define IMU_GYRO_R_NEUTRAL 0
81 #endif
82 
83 
88 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
89 // FIXME
90 #define IMU_ACCEL_X_SENS 0.9197
91 #define IMU_ACCEL_X_SENS_NUM 9197
92 #define IMU_ACCEL_X_SENS_DEN 10000
93 #define IMU_ACCEL_Y_SENS 0.9197
94 #define IMU_ACCEL_Y_SENS_NUM 9197
95 #define IMU_ACCEL_Y_SENS_DEN 10000
96 #define IMU_ACCEL_Z_SENS 0.9197
97 #define IMU_ACCEL_Z_SENS_NUM 9197
98 #define IMU_ACCEL_Z_SENS_DEN 10000
99 #endif
100 #if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
101 #define IMU_ACCEL_X_NEUTRAL 32768
102 #define IMU_ACCEL_Y_NEUTRAL 32768
103 #define IMU_ACCEL_Z_NEUTRAL 32768
104 #endif
105 
106 #ifndef IMU_KROOZ_ACCEL_AVG_FILTER
107 #define IMU_KROOZ_ACCEL_AVG_FILTER 15
108 #endif
109 
110 struct ImuKrooz {
111  volatile bool_t gyr_valid;
112  volatile bool_t acc_valid;
113  volatile bool_t mag_valid;
114  volatile bool_t mpu_eoc;
115  volatile bool_t hmc_eoc;
116  struct Mpu60x0_I2c mpu;
120  struct Hmc58xx hmc;
121  struct Int32Rates rates_sum;
122  struct Int32Vect3 accel_sum;
123  volatile uint8_t meas_nb;
125  struct Int32Vect3 accel_filtered;
127 };
128 
129 extern struct ImuKrooz imu_krooz;
130 
131 /* must be defined in order to be IMU code: declared in imu.h
132 extern void imu_impl_init(void);
133 extern void imu_periodic(void);
134 */
135 
136 /* Own Extra Functions */
137 extern void imu_krooz_event( void );
138 extern void imu_krooz_downlink_raw( void );
139 
140 static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void) __attribute__((unused))) {
141  imu_krooz_event();
142  if (imu_krooz.gyr_valid) {
144  _gyro_handler();
145  }
146  if (imu_krooz.acc_valid) {
148  _accel_handler();
149  }
150  if (imu_krooz.mag_valid) {
152  _mag_handler();
153  }
154 }
155 
156 #endif // IMU_KROOZ_H
struct Uint8Vect3 meas_nb_acc
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
void imu_krooz_event(void)
Definition: imu_krooz.c:140
static void ImuEvent(void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))
#define FALSE
Definition: imu_chimu.h:141
int32_t temperature
Definition: imu_krooz.h:119
Architecture independent SPI (Serial Peripheral Interface) API.
volatile uint8_t meas_nb
Definition: imu_krooz.h:117
struct ImuKrooz imu_krooz
Definition: imu_krooz.c:60
volatile uint8_t ad7689_spi_tx_buffer[2]
volatile uint8_t ad7689_spi_rx_buffer[2]
struct Int32Vect3 accel_filtered
Definition: imu_krooz.h:118
Inertial Measurement Unit interface.
angular rates
struct spi_transaction ad7689_trans
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_downlink_raw(void)
Definition: imu_krooz.c:133
SPI transaction structure.
Definition: spi.h:142
struct Int32Rates rates_sum
Definition: imu_krooz.h:115