Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
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 
27 #include "modules/imu/imu.h"
28 #include "modules/core/abi.h"
29 #include "mcu_periph/i2c.h"
30 
31 
32 /* defaults suitable for Bebop */
33 #ifndef BEBOP_MAG_I2C_DEV
34 #define BEBOP_MAG_I2C_DEV i2c1
35 #endif
36 PRINT_CONFIG_VAR(BEBOP_MAG_I2C_DEV)
37 
38 #ifndef BEBOP_MPU_I2C_DEV
39 #define BEBOP_MPU_I2C_DEV i2c2
40 #endif
41 PRINT_CONFIG_VAR(BEBOP_MPU_I2C_DEV)
42 
43 #if !defined BEBOP_LOWPASS_FILTER && !defined BEBOP_SMPLRT_DIV
44 #if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
45 /* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
46  * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
47  */
48 #define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_42HZ
49 #define BEBOP_SMPLRT_DIV 9
50 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
51 #elif PERIODIC_FREQUENCY == 512
52 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
53  * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
54  */
55 #define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_256HZ
56 #define BEBOP_SMPLRT_DIV 3
57 PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
58 #endif
59 #endif
60 PRINT_CONFIG_VAR(BEBOP_SMPLRT_DIV)
61 PRINT_CONFIG_VAR(BEBOP_LOWPASS_FILTER)
62 
63 PRINT_CONFIG_VAR(BEBOP_GYRO_RANGE)
64 PRINT_CONFIG_VAR(BEBOP_ACCEL_RANGE)
65 
67 
70 
74 void imu_bebop_init(void)
75 {
76  /* MPU-60X0 */
78  imu_bebop.mpu.config.smplrt_div = BEBOP_SMPLRT_DIV;
79  imu_bebop.mpu.config.dlpf_cfg = BEBOP_LOWPASS_FILTER;
82 
83  /* AKM8963 */
85 
86 #if BEBOP_VERSION2
87  //the magnetometer of the bebop2 is located on the gps board,
88  //which is under a slight angle
89  struct FloatEulers imu_to_mag_eulers =
90  { 0.0, RadOfDeg(8.5), M_PI };
91  orientationSetEulers_f(&imu_to_mag_bebop, &imu_to_mag_eulers);
92 #endif
93 }
94 
100 {
101  // Start reading the latest gyroscope data
103 
104  // AKM8963
106 }
107 
112 void imu_bebop_event(void)
113 {
114  uint32_t now_ts = get_sys_time_usec();
115 
116  /* MPU-60x0 event taks */
118 
120  /* default orientation of the MPU is upside down sor corrigate this here */
122  -imu_bebop.mpu.data_rates.rates.r);
124  -imu_bebop.mpu.data_accel.vect.z);
125 
126  imu_bebop.mpu.data_available = false;
129  AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
130  AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
131  }
132 
133  /* AKM8963 event task */
135 
137 #if BEBOP_VERSION2
138  struct Int32Vect3 mag_temp;
139  // In the second bebop version the magneto is turned 90 degrees
140  VECT3_ASSIGN(mag_temp, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.z);
141  // Rotate the magneto
142  struct Int32RMat *imu_to_mag_rmat = orientationGetRMat_i(&imu_to_mag_bebop);
143  int32_rmat_vmult(&imu.mag_unscaled, imu_to_mag_rmat, &mag_temp);
144 #else //BEBOP regular first verion
146 #endif
147 
148  imu_bebop.ak.data_available = false;
149  imu_scale_mag(&imu);
150  AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
151  }
152 }
Imu::gyro_unscaled
struct Int32Rates gyro_unscaled
unscaled gyroscope measurements
Definition: imu.h:46
OrientationReps
Definition: pprz_orientation_conversion.h:79
uint32_t
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.
Definition: vl53l1_types.h:78
Mpu60x0Config::smplrt_div
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:140
BEBOP_MAG_I2C_DEV
#define BEBOP_MAG_I2C_DEV
Definition: imu_bebop.c:34
mpu60x0_i2c_periodic
static void mpu60x0_i2c_periodic(struct Mpu60x0_I2c *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu60x0_i2c.h:79
Int32RMat
rotation matrix
Definition: pprz_algebra_int.h:159
imu_bebop_event
void imu_bebop_event(void)
Handle all the events of the Navstik IMU components.
Definition: imu_bebop.c:112
Ak8963::data
union Ak8963::@297 data
Mpu60x0Config::gyro_range
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:143
abi.h
Imu::accel
struct Int32Vect3 accel
accelerometer measurements in m/s^2 in BFP with INT32_ACCEL_FRAC
Definition: imu.h:39
Mpu60x0Config::accel_range
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:144
IMU_BOARD_ID
#define IMU_BOARD_ID
Definition: abi_sender_ids.h:291
Mpu60x0Config::dlpf_cfg
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: mpu60x0.h:141
ak8963_init
void ak8963_init(struct Ak8963 *ak, struct i2c_periph *i2c_p, uint8_t addr)
Initialize AK8963 struct.
Definition: ak8963.c:34
imu_scale_gyro
void WEAK imu_scale_gyro(struct Imu *_imu)
Definition: imu.c:208
Imu::accel_unscaled
struct Int32Vect3 accel_unscaled
unscaled accelerometer measurements
Definition: imu.h:47
get_sys_time_usec
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
Definition: sys_time_arch.c:75
imu.h
RATES_ASSIGN
#define RATES_ASSIGN(_ra, _p, _q, _r)
Definition: pprz_algebra.h:330
Mpu60x0_I2c::data_rates
union Mpu60x0_I2c::@323 data_rates
Mpu60x0_I2c::data_accel
union Mpu60x0_I2c::@322 data_accel
mpu60x0_i2c_init
void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
Definition: mpu60x0_i2c.c:31
imu_to_mag_bebop
struct OrientationReps imu_to_mag_bebop
IMU to magneto rotation.
Definition: imu_bebop.c:66
Int32Vect3
Definition: pprz_algebra_int.h:88
imu_bebop
struct ImuBebop imu_bebop
Basic Navstik IMU data.
Definition: imu_bebop.c:69
imu_scale_accel
void WEAK imu_scale_accel(struct Imu *_imu)
Definition: imu.c:219
mpu60x0_i2c_event
void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
Definition: mpu60x0_i2c.c:82
ImuBebop::ak
struct Ak8963 ak
The AK8963 mag.
Definition: imu_bebop.h:75
orientationSetEulers_f
static void orientationSetEulers_f(struct OrientationReps *orientation, struct FloatEulers *eulers)
Set vehicle body attitude from euler angles (float).
Definition: pprz_orientation_conversion.h:189
Mpu60x0_I2c::config
struct Mpu60x0Config config
Definition: mpu60x0_i2c.h:68
imu
struct Imu imu
global IMU state
Definition: imu.c:108
PRINT_CONFIG_MSG
PRINT_CONFIG_MSG("USE_INS_NAV_INIT defaulting to TRUE")
int32_rmat_vmult
void int32_rmat_vmult(struct Int32Vect3 *vb, struct Int32RMat *m_a2b, struct Int32Vect3 *va)
rotate 3D vector by rotation matrix.
Definition: pprz_algebra_int.c:107
BEBOP_GYRO_RANGE
#define BEBOP_GYRO_RANGE
Definition: imu_bebop.h:38
imu_bebop_periodic
void imu_bebop_periodic(void)
Handle all the periodic tasks of the Navstik IMU components.
Definition: imu_bebop.c:99
ak8963_periodic
static void ak8963_periodic(struct Ak8963 *ak)
convenience function: read or start configuration if not already initialized
Definition: ak8963.h:75
MPU60X0_ADDR
#define MPU60X0_ADDR
Definition: mpu60x0_regs.h:32
ImuBebop::mpu
struct Mpu60x0_I2c mpu
The MPU gyro/accel device.
Definition: imu_bebop.h:74
orientationGetRMat_i
static struct Int32RMat * orientationGetRMat_i(struct OrientationReps *orientation)
Get vehicle body attitude rotation matrix (int).
Definition: pprz_orientation_conversion.h:207
Imu::mag
struct Int32Vect3 mag
magnetometer measurements scaled to 1 in BFP with INT32_MAG_FRAC
Definition: imu.h:40
Imu::mag_unscaled
struct Int32Vect3 mag_unscaled
unscaled magnetometer measurements
Definition: imu.h:48
imu_bebop_init
void imu_bebop_init(void)
Navstik IMU initializtion of the MPU-60x0 and HMC58xx.
Definition: imu_bebop.c:74
AK8963_ADDR
#define AK8963_ADDR
Definition: ak8963_regs.h:31
Mpu60x0_I2c::data_available
volatile bool data_available
data ready flag
Definition: mpu60x0_i2c.h:57
FloatEulers
euler angles
Definition: pprz_algebra_float.h:84
ImuBebop
Everything that is in the bebop IMU.
Definition: imu_bebop.h:73
VECT3_ASSIGN
#define VECT3_ASSIGN(_a, _x, _y, _z)
Definition: pprz_algebra.h:125
Ak8963::data_available
volatile bool data_available
data ready flag
Definition: ak8963.h:61
i2c.h
imu_scale_mag
void WEAK imu_scale_mag(struct Imu *_imu)
Definition: imu.c:246
BEBOP_ACCEL_RANGE
#define BEBOP_ACCEL_RANGE
Definition: imu_bebop.h:42
Imu::gyro
struct Int32Rates gyro
gyroscope measurements in rad/s in BFP with INT32_RATE_FRAC
Definition: imu.h:38
BEBOP_MPU_I2C_DEV
#define BEBOP_MPU_I2C_DEV
Definition: imu_bebop.c:39
ak8963_event
void ak8963_event(struct Ak8963 *ak)
Definition: ak8963.c:95