Driver for the IMU on the KroozSD Big Rotorcraft Edition board. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_i2c.h"
#include "peripherals/hmc58xx.h"
#include "mcu_periph/spi.h"

Include dependency graph for imu_krooz_memsic.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	ImuKrooz

Macros
#define	IMU_GYRO_P_SIGN 1

#define	IMU_GYRO_Q_SIGN 1

#define	IMU_GYRO_R_SIGN 1

#define	IMU_ACCEL_X_SIGN 1

#define	IMU_ACCEL_Y_SIGN 1

#define	IMU_ACCEL_Z_SIGN 1

#define	IMU_MAG_X_SIGN 1

#define	IMU_MAG_Y_SIGN 1

#define	IMU_MAG_Z_SIGN 1

#define	IMU_GYRO_P_SENS 0.5454
	default gyro sensitivy and neutral from the datasheet MPU with 250 deg/s has 131.072 LSB/(deg/s) sens = 1/131.072 * pi/180 * 2^INT32_RATE_FRAC sens = 1/131.072 * pi/180 * 4096 = 0.5454 I More...

#define	IMU_GYRO_P_SENS_NUM 2727

#define	IMU_GYRO_P_SENS_DEN 5000

#define	IMU_GYRO_Q_SENS 0.5454

#define	IMU_GYRO_Q_SENS_NUM 2727

#define	IMU_GYRO_Q_SENS_DEN 5000

#define	IMU_GYRO_R_SENS 0.5454

#define	IMU_GYRO_R_SENS_NUM 2727

#define	IMU_GYRO_R_SENS_DEN 5000

#define	IMU_GYRO_P_NEUTRAL 0

#define	IMU_GYRO_Q_NEUTRAL 0

#define	IMU_GYRO_R_NEUTRAL 0

#define	IMU_ACCEL_X_SENS 0.9197
	default accel sensitivy using 16 bit AD7689 adc MXR9500 with 1.5g has 21845 LSB/g sens = 9.81 [m/s^2] / 21845 [LSB/g] * 2^INT32_ACCEL_FRAC = 0.6131 More...

#define	IMU_ACCEL_X_SENS_NUM 9197

#define	IMU_ACCEL_X_SENS_DEN 10000

#define	IMU_ACCEL_Y_SENS 0.9197

#define	IMU_ACCEL_Y_SENS_NUM 9197

#define	IMU_ACCEL_Y_SENS_DEN 10000

#define	IMU_ACCEL_Z_SENS 0.9197

#define	IMU_ACCEL_Z_SENS_NUM 9197

#define	IMU_ACCEL_Z_SENS_DEN 10000

#define	IMU_ACCEL_X_NEUTRAL 32768

#define	IMU_ACCEL_Y_NEUTRAL 32768

#define	IMU_ACCEL_Z_NEUTRAL 32768

#define	IMU_KROOZ_ACCEL_AVG_FILTER 15

Functions
void	imu_krooz_init (void)

void	imu_krooz_periodic (void)

void	imu_krooz_event (void)

void	imu_krooz_downlink_raw (void)

Variables
struct ImuKrooz	imu_krooz

Detailed Description

Driver for the IMU on the KroozSD Big Rotorcraft Edition board.

Invensense MPU-6050 Memsic MXR9500 with AD7689 Honeywell HMC-5883

Definition in file imu_krooz_memsic.h.

Data Structure Documentation

struct ImuKrooz

Definition at line 107 of file imu_krooz.h.

Collaboration diagram for ImuKrooz:

Data Fields
struct Int32Vect3	accel_filtered
struct Int32Vect3	accel_sum
volatile uint8_t	ad7689_spi_rx_buffer[2]
volatile uint8_t	ad7689_spi_tx_buffer[2]
struct spi_transaction	ad7689_trans
struct Hmc58xx	hmc
volatile bool	hmc_eoc
volatile uint8_t	meas_nb
struct Uint8Vect3	meas_nb_acc
struct Mpu60x0_I2c	mpu
volatile bool	mpu_eoc
struct Int32Rates	rates_sum
int32_t	temperature

Macro Definition Documentation

#define IMU_ACCEL_X_NEUTRAL 32768

Definition at line 101 of file imu_krooz_memsic.h.

#define IMU_ACCEL_X_SENS 0.9197

default accel sensitivy using 16 bit AD7689 adc MXR9500 with 1.5g has 21845 LSB/g sens = 9.81 [m/s^2] / 21845 [LSB/g] * 2^INT32_ACCEL_FRAC = 0.6131

Definition at line 90 of file imu_krooz_memsic.h.

#define IMU_ACCEL_X_SENS_DEN 10000

Definition at line 92 of file imu_krooz_memsic.h.

#define IMU_ACCEL_X_SENS_NUM 9197

Definition at line 91 of file imu_krooz_memsic.h.

#define IMU_ACCEL_X_SIGN 1

Definition at line 50 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Y_NEUTRAL 32768

Definition at line 102 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Y_SENS 0.9197

Definition at line 93 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Y_SENS_DEN 10000

Definition at line 95 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Y_SENS_NUM 9197

Definition at line 94 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Y_SIGN 1

Definition at line 51 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Z_NEUTRAL 32768

Definition at line 103 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Z_SENS 0.9197

Definition at line 96 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Z_SENS_DEN 10000

Definition at line 98 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Z_SENS_NUM 9197

Definition at line 97 of file imu_krooz_memsic.h.

#define IMU_ACCEL_Z_SIGN 1

Definition at line 52 of file imu_krooz_memsic.h.

#define IMU_GYRO_P_NEUTRAL 0

Definition at line 78 of file imu_krooz_memsic.h.

#define IMU_GYRO_P_SENS 0.5454

default gyro sensitivy and neutral from the datasheet MPU with 250 deg/s has 131.072 LSB/(deg/s) sens = 1/131.072 * pi/180 * 2^INT32_RATE_FRAC sens = 1/131.072 * pi/180 * 4096 = 0.5454 I

Definition at line 67 of file imu_krooz_memsic.h.

#define IMU_GYRO_P_SENS_DEN 5000

Definition at line 69 of file imu_krooz_memsic.h.

#define IMU_GYRO_P_SENS_NUM 2727

Definition at line 68 of file imu_krooz_memsic.h.

#define IMU_GYRO_P_SIGN 1

Definition at line 45 of file imu_krooz_memsic.h.

#define IMU_GYRO_Q_NEUTRAL 0

Definition at line 79 of file imu_krooz_memsic.h.

#define IMU_GYRO_Q_SENS 0.5454

Definition at line 70 of file imu_krooz_memsic.h.

#define IMU_GYRO_Q_SENS_DEN 5000

Definition at line 72 of file imu_krooz_memsic.h.

#define IMU_GYRO_Q_SENS_NUM 2727

Definition at line 71 of file imu_krooz_memsic.h.

#define IMU_GYRO_Q_SIGN 1

Definition at line 46 of file imu_krooz_memsic.h.

#define IMU_GYRO_R_NEUTRAL 0

Definition at line 80 of file imu_krooz_memsic.h.

#define IMU_GYRO_R_SENS 0.5454

Definition at line 73 of file imu_krooz_memsic.h.

#define IMU_GYRO_R_SENS_DEN 5000

Definition at line 75 of file imu_krooz_memsic.h.

#define IMU_GYRO_R_SENS_NUM 2727

Definition at line 74 of file imu_krooz_memsic.h.

#define IMU_GYRO_R_SIGN 1

Definition at line 47 of file imu_krooz_memsic.h.

#define IMU_KROOZ_ACCEL_AVG_FILTER 15

Definition at line 107 of file imu_krooz_memsic.h.

#define IMU_MAG_X_SIGN 1

Definition at line 55 of file imu_krooz_memsic.h.

#define IMU_MAG_Y_SIGN 1

Definition at line 56 of file imu_krooz_memsic.h.

#define IMU_MAG_Z_SIGN 1

Definition at line 57 of file imu_krooz_memsic.h.

Function Documentation

void imu_krooz_downlink_raw ( void )

Definition at line 137 of file imu_krooz.c.

References Imu::accel_unscaled, DefaultChannel, DefaultDevice, Imu::gyro_unscaled, imu, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

void imu_krooz_event ( void )

Definition at line 146 of file imu_krooz.c.

References ImuKrooz::accel_sum, ImuKrooz::ad7689_trans, Hmc58xx::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Hmc58xx::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), ImuKrooz::hmc, hmc58xx_event(), hmc58xx_read(), ImuKrooz::hmc_eoc, imu, IMU_BOARD_ID, imu_scale_mag(), spi_transaction::input_buf, Imu::mag, Imu::mag_unscaled, ImuKrooz::meas_nb, ImuKrooz::meas_nb_acc, median_mag, ImuKrooz::mpu, mpu60x0_i2c_event(), mpu60x0_i2c_read(), ImuKrooz::mpu_eoc, spi_transaction::output_buf, RATES_ADD, ImuKrooz::rates_sum, spi_submit(), SPITransDone, SPITransSuccess, spi_transaction::status, SysTimeTimer, SysTimeTimerStart, ImuKrooz::temperature, UpdateMedianFilterVect3Int, VECT3_ADD, VECT3_ASSIGN, Uint8Vect3::x, Int32Vect3::x, Uint8Vect3::y, Int32Vect3::y, Uint8Vect3::z, and Int32Vect3::z.

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void imu_krooz_init ( void )

Definition at line 68 of file imu_krooz.c.

References Mpu60x0Config::accel_range, ImuKrooz::accel_sum, ImuKrooz::ad7689_spi_rx_buffer, ImuKrooz::ad7689_spi_tx_buffer, ImuKrooz::ad7689_trans, spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, Mpu60x0_I2c::config, spi_transaction::cpha, spi_transaction::cpol, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::drdy_int_enable, spi_transaction::dss, Mpu60x0Config::gyro_range, ImuKrooz::hmc, HMC58XX_ADDR, hmc58xx_init(), ImuKrooz::hmc_eoc, imu_krooz_sd_arch_init(), InitMedianFilterVect3Int, spi_transaction::input_buf, spi_transaction::input_length, KROOZ_ACCEL_RANGE, KROOZ_GYRO_RANGE, KROOZ_LOWPASS_FILTER, KROOZ_SMPLRT_DIV, ImuKrooz::meas_nb, median_mag, ImuKrooz::mpu, MPU60X0_ADDR, mpu60x0_i2c_init(), ImuKrooz::mpu_eoc, spi_transaction::output_buf, spi_transaction::output_length, RATES_ASSIGN, ImuKrooz::rates_sum, spi_transaction::select, spi_transaction::slave_idx, Mpu60x0Config::smplrt_div, SPICphaEdge1, SPICpolIdleLow, SPIDiv16, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, and VECT3_ASSIGN.

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void imu_krooz_periodic ( void )

Definition at line 98 of file imu_krooz.c.

References Imu::accel, ImuKrooz::accel_filtered, ImuKrooz::accel_sum, Imu::accel_unscaled, Mpu60x0_I2c::config, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuKrooz::hmc, hmc58xx_start_configure(), imu, IMU_BOARD_ID, IMU_KROOZ_ACCEL_AVG_FILTER, imu_scale_accel(), imu_scale_gyro(), Hmc58xx::initialized, Mpu60x0Config::initialized, INT_VECT3_ZERO, ImuKrooz::meas_nb, ImuKrooz::meas_nb_acc, ImuKrooz::mpu, mpu60x0_i2c_start_configure(), Int32Rates::p, Int32Rates::q, Int32Rates::r, RATES_ASSIGN, ImuKrooz::rates_sum, UpdateMedianFilterVect3Int, VECT3_ADD, VECT3_ASSIGN, VECT3_COPY, VECT3_SDIV, VECT3_SMUL, Uint8Vect3::x, Int32Vect3::x, Uint8Vect3::y, Int32Vect3::y, Uint8Vect3::z, and Int32Vect3::z.

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Variable Documentation

struct ImuKrooz imu_krooz

Definition at line 61 of file imu_krooz.c.

Referenced by exti9_5_isr().

Data Structures

Macros

Functions

Variables

Detailed Description

Data Structure Documentation

Macro Definition Documentation

Function Documentation

Variable Documentation