Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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imu_ppzuav.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 
31 #include "subsystems/imu.h"
32 #include "mcu_periph/i2c.h"
33 
34 /* i2c default suitable for Tiny/Twog */
35 #ifndef IMU_PPZUAV_I2C_DEV
36 #define IMU_PPZUAV_I2C_DEV i2c0
37 #endif
38 
40 #ifndef IMU_PPZUAV_ACCEL_RATE
41 # if PERIODIC_FREQUENCY <= 60
42 # define IMU_PPZUAV_ACCEL_RATE ADXL345_RATE_50HZ
43 # elif PERIODIC_FREQUENCY <= 120
44 # define IMU_PPZUAV_ACCEL_RATE ADXL345_RATE_100HZ
45 # else
46 # define IMU_PPZUAV_ACCEL_RATE ADXL345_RATE_200HZ
47 # endif
48 #endif
50 
51 
52 
53 #ifndef IMU_PPZUAV_GYRO_LOWPASS
54 # if PERIODIC_FREQUENCY <= 60
55 # define IMU_PPZUAV_GYRO_LOWPASS ITG3200_DLPF_20HZ
56 # elif PERIODIC_FREQUENCY <= 120
57 # define IMU_PPZUAV_GYRO_LOWPASS ITG3200_DLPF_42HZ
58 # else
59 # define IMU_PPZUAV_GYRO_LOWPASS ITG3200_DLPF_98HZ
60 # endif
61 #endif
63 
64 
65 
66 #ifndef IMU_PPZUAV_GYRO_SMPLRT_DIV
67 # if PERIODIC_FREQUENCY <= 60
68 # define IMU_PPZUAV_GYRO_SMPLRT_DIV 19
69  PRINT_CONFIG_MSG("Gyro output rate is 50Hz")
70 # else
71 # define IMU_PPZUAV_GYRO_SMPLRT_DIV 9
72  PRINT_CONFIG_MSG("Gyro output rate is 100Hz")
73 # endif
74 #endif
76 
77 
79 
80 void imu_impl_init(void)
81 {
82  imu_ppzuav.accel_valid = FALSE;
83  imu_ppzuav.gyro_valid = FALSE;
84  imu_ppzuav.mag_valid = FALSE;
85 
86  /* Set accel configuration */
88  /* set the data rate */
90 
91  /* Gyro configuration and initalization */
93  /* change the default config */
96 
97  /* initialize mag and set default options */
99  /* set the type to the old HMC5843 */
100  imu_ppzuav.mag_hmc.type = HMC_TYPE_5843;
101 }
102 
103 
104 void imu_periodic(void)
105 {
107 
108  // Start reading the latest gyroscope data
110 
111  // Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
112  RunOnceEvery(10, hmc58xx_periodic(&imu_ppzuav.mag_hmc));
113 }
114 
116 {
124  }
125 
126  /* If the itg3200 I2C transaction has succeeded: convert the data */
134  }
135 
136  /* HMC58XX event task */
144  }
145 }
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
int32_t p
in rad/s with INT32_RATE_FRAC
#define IMU_PPZUAV_GYRO_LOWPASS
gyro internal lowpass frequency
Definition: imu_ppzuav.c:55
volatile uint8_t gyro_valid
Definition: imu_ppzuav.h:84
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
union Hmc58xx::@29 data
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
#define IMU_PPZUAV_ACCEL_RATE
adxl345 accelerometer output rate, lowpass is set to half of rate
Definition: imu_ppzuav.c:42
struct Adxl345_I2c acc_adxl
Definition: imu_ppzuav.h:86
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 imu_ppzuav_event(void)
Definition: imu_ppzuav.c:115
void adxl345_i2c_event(struct Adxl345_I2c *adxl)
Definition: adxl345_i2c.c:114
#define IMU_PPZUAV_I2C_DEV
Definition: imu_ppzuav.c:36
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:47
enum Hmc58xxType type
Definition: hmc58xx.h:71
struct Hmc58xx mag_hmc
Definition: imu_ppzuav.h:88
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
void imu_periodic(void)
Handle all the periodic tasks of the Navstik IMU components.
Definition: imu_ppzuav.c:104
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
#define IMU_PPZUAV_GYRO_SMPLRT_DIV
gyro sample rate divider
Definition: imu_ppzuav.c:68
struct ImuPpzuav imu_ppzuav
Definition: imu_ppzuav.c:78
void itg3200_event(struct Itg3200 *itg)
Definition: itg3200.c:125
volatile uint8_t mag_valid
Definition: imu_ppzuav.h:85
static void itg3200_periodic(struct Itg3200 *itg)
convenience function: read or start configuration if not already initialized
Definition: itg3200.h:93
int32_t q
in rad/s with INT32_RATE_FRAC
#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
struct Adxl345Config config
Definition: adxl345_i2c.h:49
uint8_t smplrt_div
Sample rate divider.
Definition: itg3200.h:53
int32_t r
in rad/s with INT32_RATE_FRAC
struct Itg3200 gyro_itg
Definition: imu_ppzuav.h:87
volatile uint8_t accel_valid
Definition: imu_ppzuav.h:83
void hmc58xx_event(struct Hmc58xx *hmc)
Definition: hmc58xx.c:151
volatile bool_t data_available
data ready flag
Definition: hmc58xx.h:65
volatile bool_t data_available
data ready flag
Definition: adxl345_i2c.h:44
Architecture independent I2C (Inter-Integrated Circuit Bus) API.
void imu_impl_init(void)
Navstik IMU initializtion of the MPU-60x0 and HMC58xx.
Definition: imu_ppzuav.c:80