Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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imu_mpu6000_hmc5883.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)
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/spi.h"
32#include "generated/modules.h"
33
34
35/* SPI/I2C defaults set in subsystem makefile, can be configured from airframe file */
39
40
41/* MPU60x0 gyro/accel internal lowpass frequency */
42#if !defined IMU_MPU_LOWPASS_FILTER && !defined IMU_MPU_SMPLRT_DIV
43#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
44/* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
45 * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
46 */
47#define IMU_MPU_LOWPASS_FILTER MPU60X0_DLPF_42HZ
48#define IMU_MPU_SMPLRT_DIV 9
49PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
50#elif PERIODIC_FREQUENCY == 512
51/* Accelerometer: Bandwidth 260Hz, Delay 0ms
52 * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
53 */
54#define IMU_MPU_LOWPASS_FILTER MPU60X0_DLPF_256HZ
55#define IMU_MPU_SMPLRT_DIV 3
56PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
57#else
58#error Non-default PERIODIC_FREQUENCY: please define IMU_MPU_LOWPASS_FILTER and IMU_MPU_SMPLRT_DIV.
59#endif
60#endif
63
66
67// Default channels order
68#ifndef IMU_MPU_CHAN_X
69#define IMU_MPU_CHAN_X 0
70#endif
72#ifndef IMU_MPU_CHAN_Y
73#define IMU_MPU_CHAN_Y 1
74#endif
76#ifndef IMU_MPU_CHAN_Z
77#define IMU_MPU_CHAN_Z 2
78#endif
80
81#ifndef IMU_MPU_X_SIGN
82#define IMU_MPU_X_SIGN 1
83#endif
85#ifndef IMU_MPU_Y_SIGN
86#define IMU_MPU_Y_SIGN 1
87#endif
89#ifndef IMU_MPU_Z_SIGN
90#define IMU_MPU_Z_SIGN 1
91#endif
93
94/* mag by default rotated by 90deg around z axis relative to MPU */
95#ifndef IMU_HMC_CHAN_X
96#define IMU_HMC_CHAN_X 1
97#endif
99#ifndef IMU_HMC_CHAN_Y
100#define IMU_HMC_CHAN_Y 0
101#endif
103#ifndef IMU_HMC_CHAN_Z
104#define IMU_HMC_CHAN_Z 2
105#endif
107
108#ifndef IMU_HMC_X_SIGN
109#define IMU_HMC_X_SIGN 1
110#endif
112#ifndef IMU_HMC_Y_SIGN
113#define IMU_HMC_Y_SIGN -1
114#endif
116#ifndef IMU_HMC_Z_SIGN
117#define IMU_HMC_Z_SIGN 1
118#endif
120
121
123
140
141
143{
145
146 /* Read HMC58XX every 10 times of main freq
147 * at ~50Hz (main loop for rotorcraft: 512Hz)
148 */
150}
151
153{
155
158 // set channel order
159 struct Int32Vect3 accel = {
163 };
164 struct Int32Rates rates = {
168 };
169
173 }
174
175 /* HMC58XX event task */
178 /* mag by default rotated by 90deg around z axis relative to MPU */
179 struct Int32Vect3 mag = {
183 };
186 }
187}
Main include for ABI (AirBorneInterface).
#define IMU_MPU6000_HMC_ID
uint32_t get_sys_time_usec(void)
Get the time in microseconds since startup.
angular rates
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:83
void hmc58xx_event(struct Hmc58xx *hmc)
Definition hmc58xx.c:160
static void hmc58xx_periodic(struct Hmc58xx *hmc)
convenience function: read or start configuration if not already initialized
Definition hmc58xx.h:87
union Hmc58xx::@323 data
volatile bool data_available
data ready flag
Definition hmc58xx.h:67
Register defs for Honeywell HMC5843, HMC5883 and HMC5983 magnetometers.
#define HMC58XX_ADDR
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 IMU_MPU_LOWPASS_FILTER
Definition imu_mpu6000.c:65
#define IMU_MPU_SMPLRT_DIV
Definition imu_mpu6000.c:66
#define IMU_MPU_GYRO_RANGE
Definition imu_mpu6000.h:38
#define IMU_MPU_ACCEL_RANGE
Definition imu_mpu6000.h:42
#define IMU_MPU_Z_SIGN
#define IMU_HMC_Y_SIGN
#define IMU_HMC_CHAN_Y
#define IMU_MPU_X_SIGN
#define IMU_HMC_CHAN_X
#define IMU_HMC_CHAN_Z
struct ImuMpu6000Hmc5883 imu_mpu_hmc
void imu_mpu_hmc_periodic(void)
#define IMU_MPU_CHAN_Y
#define IMU_MPU_CHAN_X
#define IMU_MPU_Y_SIGN
#define IMU_MPU_CHAN_Z
void imu_mpu_hmc_event(void)
void imu_mpu_hmc_init(void)
#define IMU_HMC_X_SIGN
#define IMU_HMC_Z_SIGN
Driver for IMU with MPU6000 via SPI and HMC5883 via I2c.
struct Mpu60x0_Spi mpu
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_spi_event(struct Mpu60x0_Spi *mpu)
void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
Definition mpu60x0_spi.c:31
volatile bool data_available
data ready flag
Definition mpu60x0_spi.h:56
struct Mpu60x0Config config
Definition mpu60x0_spi.h:67
float temp
temperature in degrees Celcius
Definition mpu60x0_spi.h:65
union Mpu60x0_Spi::@344 data_rates
static void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition mpu60x0_spi.h:78
union Mpu60x0_Spi::@343 data_accel
PRINT_CONFIG_VAR(ONELOOP_ANDI_FILT_CUTOFF)
Architecture independent SPI (Serial Peripheral Interface) API.
int int32_t
Typedef defining 32 bit int type.
unsigned int uint32_t
Typedef defining 32 bit unsigned int type.