Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
imu_mpu6000_hmc5883.c
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2013 Felix Ruess <felix.ruess@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 
29 #include "mcu_periph/spi.h"
31 
32 
33 /* SPI/I2C defaults set in subsystem makefile, can be configured from airframe file */
34 PRINT_CONFIG_VAR(IMU_MPU_SPI_SLAVE_IDX)
35 PRINT_CONFIG_VAR(IMU_MPU_SPI_DEV)
36 PRINT_CONFIG_VAR(IMU_HMC_I2C_DEV)
37 
38 
39 /* MPU60x0 gyro/accel internal lowpass frequency */
40 #if !defined IMU_MPU_LOWPASS_FILTER && !defined IMU_MPU_SMPLRT_DIV
41 #if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
42 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
43  * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
44  */
45 #define IMU_MPU_LOWPASS_FILTER MPU60X0_DLPF_42HZ
46 #define IMU_MPU_SMPLRT_DIV 9
47 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
48 #elif PERIODIC_FREQUENCY == 512
49 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
50  * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
51  */
52 #define IMU_MPU_LOWPASS_FILTER MPU60X0_DLPF_256HZ
53 #define IMU_MPU_SMPLRT_DIV 3
54 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
55 #else
56 #error Non-default PERIODIC_FREQUENCY: please define MPU_HMC_LOWPASS_FILTER and MPU_HMC_SMPLRT_DIV.
57 #endif
58 #endif
59 PRINT_CONFIG_VAR(IMU_MPU_LOWPASS_FILTER)
60 PRINT_CONFIG_VAR(IMU_MPU_SMPLRT_DIV)
61 
62 #ifndef IMU_MPU_GYRO_RANGE
63 #define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
64 #endif
66 
67 #ifndef IMU_MPU_ACCEL_RANGE
68 #define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
69 #endif
71 
72 
74 
75 void imu_impl_init(void)
76 {
77  imu_mpu_hmc.accel_valid = FALSE;
78  imu_mpu_hmc.gyro_valid = FALSE;
79  imu_mpu_hmc.mag_valid = FALSE;
80 
81  mpu60x0_spi_init(&imu_mpu_hmc.mpu, &IMU_MPU_SPI_DEV, IMU_MPU_SPI_SLAVE_IDX);
82  // change the default configuration
83  imu_mpu_hmc.mpu.config.smplrt_div = IMU_MPU_SMPLRT_DIV;
84  imu_mpu_hmc.mpu.config.dlpf_cfg = IMU_MPU_LOWPASS_FILTER;
87 
88  /* initialize mag and set default options */
89  hmc58xx_init(&imu_mpu_hmc.hmc, &IMU_HMC_I2C_DEV, HMC58XX_ADDR);
90 }
91 
92 
93 void imu_periodic(void)
94 {
96 
97  /* Read HMC58XX every 10 times of main freq
98  * at ~50Hz (main loop for rotorcraft: 512Hz)
99  */
100  RunOnceEvery(10, hmc58xx_periodic(&imu_mpu_hmc.hmc));
101 }
102 
104 {
112  }
113 
114  /* HMC58XX event task */
117  /* mag rotated by 90deg around z axis relative to MPU */
123  }
124 }
void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
Definition: mpu60x0_spi.c:31
struct Int16Rates rates
rates data as angular rates in gyro coordinate system
Definition: mpu60x0_spi.h:62
#define IMU_MPU_ACCEL_RANGE
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: mpu60x0.h:75
void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:99
#define RATES_COPY(_a, _b)
Definition: pprz_algebra.h:326
struct Int32Rates gyro_unscaled
unscaled gyroscope measurements
Definition: imu.h:49
union Mpu60x0_Spi::@39 data_accel
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:74
union Hmc58xx::@29 data
struct ImuMpu6000Hmc5883 imu_mpu_hmc
#define IMU_MPU_GYRO_RANGE
void imu_mpu_hmc_event(void)
#define HMC58XX_ADDR
Definition: hmc58xx_regs.h:31
#define FALSE
Definition: imu_chimu.h:141
Architecture independent SPI (Serial Peripheral Interface) API.
volatile bool_t mag_valid
volatile bool_t accel_valid
struct Mpu60x0Config config
Definition: mpu60x0_spi.h:66
static void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu60x0_spi.h:77
struct Int32Vect3 accel_unscaled
unscaled accelerometer measurements
Definition: imu.h:50
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:77
union Mpu60x0_Spi::@40 data_rates
void imu_impl_init(void)
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:47
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:76
Inertial Measurement Unit interface.
struct Int32Vect3 mag_unscaled
unscaled magnetometer measurements
Definition: imu.h:51
struct Mpu60x0_Spi mpu
struct Int16Vect3 vect
data vector in mag coordinate system
Definition: hmc58xx.h:67
#define TRUE
Definition: imu_chimu.h:144
Register defs for Honeywell HMC5843 and HMC5883 magnetometers.
volatile bool_t data_available
data ready flag
Definition: mpu60x0_spi.h:56
static void hmc58xx_periodic(struct Hmc58xx *hmc)
convenience function: read or start configuration if not already initialized
Definition: hmc58xx.h:84
void imu_periodic(void)
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
void hmc58xx_event(struct Hmc58xx *hmc)
Definition: hmc58xx.c:151
volatile bool_t data_available
data ready flag
Definition: hmc58xx.h:65
struct Int16Vect3 vect
accel data vector in accel coordinate system
Definition: mpu60x0_spi.h:58
volatile bool_t gyro_valid