Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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imu_bebop.c
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1/*
2 * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@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
28#include "modules/imu/imu.h"
29#include "modules/core/abi.h"
30#include "mcu_periph/i2c.h"
31#include "generated/modules.h"
32
33
34/* defaults suitable for Bebop */
35#ifndef BEBOP_MAG_I2C_DEV
36#define BEBOP_MAG_I2C_DEV i2c1
37#endif
39
40#ifndef BEBOP_MPU_I2C_DEV
41#define BEBOP_MPU_I2C_DEV i2c2
42#endif
44
45#if !defined BEBOP_LOWPASS_FILTER && !defined BEBOP_SMPLRT_DIV
46#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
47/* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
48 * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
49 */
50#define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_42HZ
51#define BEBOP_SMPLRT_DIV 9
52PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
53#elif PERIODIC_FREQUENCY == 512
54/* Accelerometer: Bandwidth 260Hz, Delay 0ms
55 * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
56 */
57#define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_256HZ
58#define BEBOP_SMPLRT_DIV 3
59PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
60#endif
61#endif
64
67
69
72
77{
78 /* MPU-60X0 */
84
85 // Set the default scaling
88
89 /* AKM8963 */
91
92#if BEBOP_VERSION2
93 //the magnetometer of the bebop2 is located on the gps board,
94 //which is under a slight angle
96 { 0.0, RadOfDeg(8.5), M_PI };
98#endif
99}
100
106{
107 // Start reading the latest gyroscope data
109
110 // AKM8963
112}
113
119{
121
122 /* MPU-60x0 event taks */
124
126 /* default orientation of the MPU is upside down sor corrigate this here */
127 struct Int32Rates gyro;
128 struct Int32Vect3 accel;
130 -imu_bebop.mpu.data_rates.rates.r);
132 -imu_bebop.mpu.data_accel.vect.z);
133
137 }
138
139 /* AKM8963 event task */
141
143 struct Int32Vect3 mag;
144#if BEBOP_VERSION2
145 struct Int32Vect3 mag_temp;
146 // In the second bebop version the magneto is turned 90 degrees
148 // Rotate the magneto
151#else //BEBOP regular first verion
152 VECT3_ASSIGN(mag, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);
153#endif
154
157 }
158}
Main include for ABI (AirBorneInterface).
#define IMU_BOARD_ID
void ak8963_event(struct Ak8963 *ak)
Definition ak8963.c:95
void ak8963_init(struct Ak8963 *ak, struct i2c_periph *i2c_p, uint8_t addr)
Initialize AK8963 struct.
Definition ak8963.c:34
volatile bool data_available
data ready flag
Definition ak8963.h:61
union Ak8963::@310 data
static void ak8963_periodic(struct Ak8963 *ak)
convenience function: read or start configuration if not already initialized
Definition ak8963.h:75
#define AK8963_ADDR
Definition ak8963_regs.h:31
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
euler angles
#define RATES_ASSIGN(_ra, _p, _q, _r)
#define VECT3_ASSIGN(_a, _x, _y, _z)
void int32_rmat_vmult(struct Int32Vect3 *vb, struct Int32RMat *m_a2b, struct Int32Vect3 *va)
rotate 3D vector by rotation matrix.
rotation matrix
angular rates
static void orientationSetEulers_f(struct OrientationReps *orientation, struct FloatEulers *eulers)
Set vehicle body attitude from euler angles (float).
static struct Int32RMat * orientationGetRMat_i(struct OrientationReps *orientation)
Get vehicle body attitude rotation matrix (int).
Architecture independent I2C (Inter-Integrated Circuit Bus) API.
void imu_set_defaults_accel(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Vect3 *neutral, const struct Int32Vect3 *scale)
Set the defaults for a accel sensor WARNING: Should be called before sensor is publishing messages to...
Definition imu.c:610
void imu_set_defaults_gyro(uint8_t abi_id, const struct Int32RMat *imu_to_sensor, const struct Int32Rates *neutral, const struct Int32Rates *scale)
Set the defaults for a gyro sensor WARNING: Should be called before sensor is publishing messages to ...
Definition imu.c:580
Inertial Measurement Unit interface.
#define BEBOP_MPU_I2C_DEV
Definition imu_bebop.c:41
#define BEBOP_MAG_I2C_DEV
Definition imu_bebop.c:36
struct OrientationReps imu_to_mag_bebop
IMU to magneto rotation.
Definition imu_bebop.c:68
void imu_bebop_periodic(void)
Handle all the periodic tasks of the Navstik IMU components.
Definition imu_bebop.c:105
void imu_bebop_init(void)
Navstik IMU initializtion of the MPU-60x0 and HMC58xx.
Definition imu_bebop.c:76
void imu_bebop_event(void)
Handle all the events of the Navstik IMU components.
Definition imu_bebop.c:118
struct ImuBebop imu_bebop
Basic Navstik IMU data.
Definition imu_bebop.c:71
Interface for the Bebop magnetometer, accelerometer and gyroscope.
#define BEBOP_ACCEL_RANGE
Definition imu_bebop.h:42
#define BEBOP_GYRO_RANGE
Definition imu_bebop.h:38
struct Ak8963 ak
The AK8963 mag.
Definition imu_bebop.h:48
struct Mpu60x0_I2c mpu
The MPU gyro/accel device.
Definition imu_bebop.h:47
Everything that is in the bebop IMU.
Definition imu_bebop.h:46
PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
uint16_t foo
Definition main_demo5.c:58
const struct Int32Rates MPU60X0_GYRO_SENS_FRAC[4][2]
Definition mpu60x0.c:38
const struct Int32Vect3 MPU60X0_ACCEL_SENS_FRAC[4][2]
Definition mpu60x0.c:56
uint8_t smplrt_div
Sample rate divider.
Definition mpu60x0.h:140
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition mpu60x0.h:141
enum Mpu60x0AccelRanges accel_range
g Range
Definition mpu60x0.h:144
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition mpu60x0.h:143
void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
Definition mpu60x0_i2c.c:31
void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
Definition mpu60x0_i2c.c:82
union Mpu60x0_I2c::@341 data_accel
volatile bool data_available
data ready flag
Definition mpu60x0_i2c.h:57
static void mpu60x0_i2c_periodic(struct Mpu60x0_I2c *mpu)
convenience function: read or start configuration if not already initialized
Definition mpu60x0_i2c.h:79
union Mpu60x0_I2c::@342 data_rates
float temp
temperature in degrees Celcius
Definition mpu60x0_i2c.h:66
struct Mpu60x0Config config
Definition mpu60x0_i2c.h:68
#define MPU60X0_ADDR
PRINT_CONFIG_VAR(ONELOOP_ANDI_FILT_CUTOFF)
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.