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Paparazzi UAS
v5.14.0_stable-0-g3f680d1
Paparazzi is a free software Unmanned Aircraft System.
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Paparazzi UAS
v5.14.0_stable-0-g3f680d1
Paparazzi is a free software Unmanned Aircraft System.
|
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 |
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 |
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.
| struct ImuKrooz |
Definition at line 80 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 | |
| #define IMU_ACCEL_X_NEUTRAL 32768 |
Definition at line 78 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 67 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_X_SENS_DEN 10000 |
Definition at line 69 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_X_SENS_NUM 9197 |
Definition at line 68 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_Y_NEUTRAL 32768 |
Definition at line 79 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_Y_SENS 0.9197 |
Definition at line 70 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_Y_SENS_DEN 10000 |
Definition at line 72 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_Y_SENS_NUM 9197 |
Definition at line 71 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_Z_NEUTRAL 32768 |
Definition at line 80 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_Z_SENS 0.9197 |
Definition at line 73 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_Z_SENS_DEN 10000 |
Definition at line 75 of file imu_krooz_memsic.h.
| #define IMU_ACCEL_Z_SENS_NUM 9197 |
Definition at line 74 of file imu_krooz_memsic.h.
| #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE] |
Definition at line 49 of file imu_krooz_memsic.h.
| #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1] |
Definition at line 51 of file imu_krooz_memsic.h.
| #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0] |
Definition at line 50 of file imu_krooz_memsic.h.
| #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE] |
Definition at line 52 of file imu_krooz_memsic.h.
| #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1] |
Definition at line 54 of file imu_krooz_memsic.h.
| #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0] |
Definition at line 53 of file imu_krooz_memsic.h.
| #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE] |
Definition at line 55 of file imu_krooz_memsic.h.
| #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1] |
Definition at line 57 of file imu_krooz_memsic.h.
| #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0] |
Definition at line 56 of file imu_krooz_memsic.h.
| #define IMU_KROOZ_ACCEL_AVG_FILTER 15 |
Definition at line 84 of file imu_krooz_memsic.h.
| #define KROOZ_GYRO_RANGE MPU60X0_GYRO_RANGE_250 |
Definition at line 44 of file imu_krooz_memsic.h.
| void imu_krooz_downlink_raw | ( | void | ) |
Definition at line 130 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 139 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.
Here is the call graph for this function:| void imu_krooz_init | ( | void | ) |
Definition at line 61 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_DEFAULT_SIZE, 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.
Here is the call graph for this function:| void imu_krooz_periodic | ( | void | ) |
Definition at line 91 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.
Here is the call graph for this function:| struct ImuKrooz imu_krooz |
Definition at line 54 of file imu_krooz.c.
Referenced by exti9_5_isr().
1.8.8 
