Paparazzi UAS  v5.8.2_stable-0-g6260b7c
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imu_px4fmu.c
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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)
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10  *
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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.
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
27 #include "subsystems/imu.h"
28 #include "subsystems/abi.h"
29 #include "mcu_periph/spi.h"
31 
32 
33 /* MPU60x0 gyro/accel internal lowpass frequency */
34 #if !defined PX4FMU_LOWPASS_FILTER && !defined PX4FMU_SMPLRT_DIV
35 #if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
36 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
37  * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
38  */
39 #define PX4FMU_LOWPASS_FILTER MPU60X0_DLPF_42HZ
40 #define PX4FMU_SMPLRT_DIV 9
41 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
42 #elif PERIODIC_FREQUENCY == 512
43 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
44  * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
45  */
46 #define PX4FMU_LOWPASS_FILTER MPU60X0_DLPF_256HZ
47 #define PX4FMU_SMPLRT_DIV 3
48 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
49 #else
50 #error Non-default PERIODIC_FREQUENCY: please define PX4FMU_LOWPASS_FILTER and PX4FMU_SMPLRT_DIV.
51 #endif
52 #endif
53 PRINT_CONFIG_VAR(PX4FMU_LOWPASS_FILTER)
54 PRINT_CONFIG_VAR(PX4FMU_SMPLRT_DIV)
55 
56 #ifndef PX4FMU_GYRO_RANGE
57 #define PX4FMU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
58 #endif
59 PRINT_CONFIG_VAR(PX4FMU_GYRO_RANGE)
60 
61 #ifndef PX4FMU_ACCEL_RANGE
62 #define PX4FMU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
63 #endif
64 PRINT_CONFIG_VAR(PX4FMU_ACCEL_RANGE)
65 
67 
68 void imu_impl_init(void)
69 {
70  /* MPU is on spi1 and CS is SLAVE2 */
71  mpu60x0_spi_init(&imu_px4fmu.mpu, &spi1, SPI_SLAVE2);
72  // change the default configuration
73  imu_px4fmu.mpu.config.smplrt_div = PX4FMU_SMPLRT_DIV;
74  imu_px4fmu.mpu.config.dlpf_cfg = PX4FMU_LOWPASS_FILTER;
77 
78  /* initialize mag on i2c2 and set default options */
79  hmc58xx_init(&imu_px4fmu.hmc, &i2c2, HMC58XX_ADDR);
80 }
81 
82 
83 void imu_periodic(void)
84 {
86 
87  // Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
88  RunOnceEvery(10, hmc58xx_periodic(&imu_px4fmu.hmc));
89 }
90 
91 void imu_px4fmu_event(void)
92 {
93  uint32_t now_ts = get_sys_time_usec();
94 
98  imu_px4fmu.mpu.data_rates.rates.q,
99  imu_px4fmu.mpu.data_rates.rates.p,
100  -imu_px4fmu.mpu.data_rates.rates.r);
102  imu_px4fmu.mpu.data_accel.vect.y,
103  imu_px4fmu.mpu.data_accel.vect.x,
104  -imu_px4fmu.mpu.data_accel.vect.z);
108  AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
109  AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
110  }
111 
112  /* HMC58XX event task */
115  imu.mag_unscaled.x = imu_px4fmu.hmc.data.vect.y;
116  imu.mag_unscaled.y = imu_px4fmu.hmc.data.vect.x;
117  imu.mag_unscaled.z = -imu_px4fmu.hmc.data.vect.z;
119  imu_scale_mag(&imu);
120  AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
121  }
122 }
123 
void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
Definition: mpu60x0_spi.c:31
void imu_scale_gyro(struct Imu *_imu)
Definition: ahrs_gx3.c:349
#define IMU_BOARD_ID
void imu_scale_accel(struct Imu *_imu)
Definition: ahrs_gx3.c:350
volatile bool_t data_available
data ready flag
Definition: mpu60x0_spi.h:56
struct Mpu60x0Config config
Definition: mpu60x0_spi.h:67
void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:100
#define VECT3_ASSIGN(_a, _x, _y, _z)
Definition: pprz_algebra.h:124
#define RATES_ASSIGN(_ra, _p, _q, _r)
Definition: pprz_algebra.h:329
Main include for ABI (AirBorneInterface).
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:74
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:76
union Mpu60x0_Spi::@43 data_accel
struct Mpu60x0_Spi mpu
Definition: imu_px4fmu.h:39
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:77
#define HMC58XX_ADDR
Definition: hmc58xx_regs.h:31
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: mpu60x0.h:75
#define FALSE
Definition: std.h:5
static uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.h:39
Architecture independent SPI (Serial Peripheral Interface) API.
struct Int32Vect3 mag_unscaled
unscaled magnetometer measurements
Definition: imu.h:52
struct Int32Rates gyro_unscaled
unscaled gyroscope measurements
Definition: imu.h:50
struct Hmc58xx hmc
Definition: imu_px4fmu.h:40
struct Int32Vect3 accel
accelerometer measurements in m/s^2 in BFP with INT32_ACCEL_FRAC
Definition: imu.h:43
static void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu60x0_spi.h:78
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:43
unsigned long uint32_t
Definition: types.h:18
PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
struct Int32Vect3 mag
magnetometer measurements scaled to 1 in BFP with INT32_MAG_FRAC
Definition: imu.h:44
Inertial Measurement Unit interface.
#define PX4FMU_GYRO_RANGE
Definition: imu_px4fmu.c:57
struct ImuPx4fmu imu_px4fmu
Definition: imu_px4fmu.c:66
volatile bool_t data_available
data ready flag
Definition: hmc58xx.h:65
union Hmc58xx::@33 data
Register defs for Honeywell HMC5843 and HMC5883 magnetometers.
void imu_scale_mag(struct Imu *_imu)
Definition: ahrs_gx3.c:351
static void hmc58xx_periodic(struct Hmc58xx *hmc)
convenience function: read or start configuration if not already initialized
Definition: hmc58xx.h:85
void imu_periodic(void)
optional.
Definition: imu_px4fmu.c:83
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
union Mpu60x0_Spi::@44 data_rates
struct Int32Vect3 accel_unscaled
unscaled accelerometer measurements
Definition: imu.h:51
void hmc58xx_event(struct Hmc58xx *hmc)
Definition: hmc58xx.c:152
void imu_px4fmu_event(void)
Definition: imu_px4fmu.c:91
void imu_impl_init(void)
must be defined by underlying hardware
Definition: imu_px4fmu.c:68
#define SPI_SLAVE2
Definition: spi.h:188
process_rx_dma_interrupt & spi1
receive transferred over DMA
Definition: spi_arch.c:967
struct Int32Rates gyro
gyroscope measurements in rad/s in BFP with INT32_RATE_FRAC
Definition: imu.h:42
#define PX4FMU_ACCEL_RANGE
Definition: imu_px4fmu.c:62