imu_ppzuav.h File Reference

Driver for the PPZUAV IMU. More...

#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/itg3200.h"
#include "peripherals/hmc58xx.h"
#include "peripherals/adxl345_i2c.h"

Include dependency graph for imu_ppzuav.h:

Go to the source code of this file.

Data Structures
struct	ImuPpzuav

Macros
#define	IMU_GYRO_P_SENS   4.973
	default gyro sensitivy and neutral from the datasheet ITG3200 has 14.375 LSB/(deg/s) sens = 1/14.375 * pi/180 * 2^INT32_RATE_FRAC sens = 1/14.375 * pi/180 * 4096 = 4.973126 More...
#define	IMU_GYRO_P_SENS_NUM   4973
#define	IMU_GYRO_P_SENS_DEN   1000
#define	IMU_GYRO_Q_SENS   4.973
#define	IMU_GYRO_Q_SENS_NUM   4973
#define	IMU_GYRO_Q_SENS_DEN   1000
#define	IMU_GYRO_R_SENS   4.973
#define	IMU_GYRO_R_SENS_NUM   4973
#define	IMU_GYRO_R_SENS_DEN   1000
#define	IMU_ACCEL_X_SENS   37.91
	default accel sensitivy from the ADXL345 datasheet sensitivity of x & y axes depends on supply voltage: More...
#define	IMU_ACCEL_X_SENS_NUM   3791
#define	IMU_ACCEL_X_SENS_DEN   100
#define	IMU_ACCEL_Y_SENS   37.91
#define	IMU_ACCEL_Y_SENS_NUM   3791
#define	IMU_ACCEL_Y_SENS_DEN   100
#define	IMU_ACCEL_Z_SENS   39.24
#define	IMU_ACCEL_Z_SENS_NUM   3924
#define	IMU_ACCEL_Z_SENS_DEN   100

Functions
void	imu_ppzuav_init (void)
void	imu_ppzuav_periodic (void)
void	imu_ppzuav_event (void)

Variables
struct ImuPpzuav	imu_ppzuav

Detailed Description

Driver for the PPZUAV IMU.

Interface and defaults for the PPZUAV IMU.

9DoM IMU with ITG-3200, ADXL345 and HMC5843, all via I2C.

Definition in file imu_ppzuav.h.

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Data Structure Documentation

struct ImuPpzuav

Definition at line 82 of file imu_ppzuav.h.

Collaboration diagram for ImuPpzuav:

Data Fields
struct Adxl345_I2c	acc_adxl
struct Itg3200	gyro_itg
struct Hmc58xx	mag_hmc

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   37.91

default accel sensitivy from the ADXL345 datasheet sensitivity of x & y axes depends on supply voltage:

• 256 LSB/g @ 2.5V
• 265 LSB/g @ 3.3V z sensitivity stays at 256 LSB/g fixed point sens: 9.81 [m/s^2] / 256 [LSB/g] * 2^INT32_ACCEL_FRAC x/y sens = 9.81 / 265 * 1024 = 37.91 z sens = 9.81 / 256 * 1024 = 39.24

Definition at line 70 of file imu_ppzuav.h.

#define IMU_ACCEL_X_SENS_DEN   100

Definition at line 72 of file imu_ppzuav.h.

#define IMU_ACCEL_X_SENS_NUM   3791

Definition at line 71 of file imu_ppzuav.h.

#define IMU_ACCEL_Y_SENS   37.91

Definition at line 73 of file imu_ppzuav.h.

#define IMU_ACCEL_Y_SENS_DEN   100

Definition at line 75 of file imu_ppzuav.h.

#define IMU_ACCEL_Y_SENS_NUM   3791

Definition at line 74 of file imu_ppzuav.h.

#define IMU_ACCEL_Z_SENS   39.24

Definition at line 76 of file imu_ppzuav.h.

#define IMU_ACCEL_Z_SENS_DEN   100

Definition at line 78 of file imu_ppzuav.h.

#define IMU_ACCEL_Z_SENS_NUM   3924

Definition at line 77 of file imu_ppzuav.h.

#define IMU_GYRO_P_SENS   4.973

default gyro sensitivy and neutral from the datasheet ITG3200 has 14.375 LSB/(deg/s) sens = 1/14.375 * pi/180 * 2^INT32_RATE_FRAC sens = 1/14.375 * pi/180 * 4096 = 4.973126

Definition at line 48 of file imu_ppzuav.h.

#define IMU_GYRO_P_SENS_DEN   1000

Definition at line 50 of file imu_ppzuav.h.

#define IMU_GYRO_P_SENS_NUM   4973

Definition at line 49 of file imu_ppzuav.h.

#define IMU_GYRO_Q_SENS   4.973

Definition at line 51 of file imu_ppzuav.h.

#define IMU_GYRO_Q_SENS_DEN   1000

Definition at line 53 of file imu_ppzuav.h.

#define IMU_GYRO_Q_SENS_NUM   4973

Definition at line 52 of file imu_ppzuav.h.

#define IMU_GYRO_R_SENS   4.973

Definition at line 54 of file imu_ppzuav.h.

#define IMU_GYRO_R_SENS_DEN   1000

Definition at line 56 of file imu_ppzuav.h.

#define IMU_GYRO_R_SENS_NUM   4973

Definition at line 55 of file imu_ppzuav.h.

Function Documentation

void imu_ppzuav_event

(

void

)

Definition at line 112 of file imu_ppzuav.c.

References ImuPpzuav::acc_adxl, Imu::accel, Imu::accel_unscaled, adxl345_i2c_event(), Adxl345_I2c::data, Hmc58xx::data, Itg3200::data, Adxl345_I2c::data_available, Hmc58xx::data_available, Itg3200::data_available, get_sys_time_usec(), Imu::gyro, ImuPpzuav::gyro_itg, Imu::gyro_unscaled, hmc58xx_event(), imu, imu_ppzuav, IMU_PPZUAV_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), itg3200_event(), Imu::mag, ImuPpzuav::mag_hmc, Imu::mag_unscaled, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_ppzuav_init

(

void

)

Definition at line 81 of file imu_ppzuav.c.

References ImuPpzuav::acc_adxl, ADXL345_ADDR, adxl345_i2c_init(), Adxl345_I2c::config, Itg3200::config, Itg3200Config::dlpf_cfg, ImuPpzuav::gyro_itg, HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5843, IMU_PPZUAV_ACCEL_RATE, IMU_PPZUAV_GYRO_LOWPASS, IMU_PPZUAV_GYRO_SMPLRT_DIV, IMU_PPZUAV_I2C_DEV, ITG3200_ADDR, itg3200_init(), ImuPpzuav::mag_hmc, Adxl345Config::rate, Itg3200Config::smplrt_div, and Hmc58xx::type.

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void imu_ppzuav_periodic

(

void

)

Definition at line 101 of file imu_ppzuav.c.

References ImuPpzuav::acc_adxl, adxl345_i2c_periodic(), ImuPpzuav::gyro_itg, hmc58xx_periodic(), imu_ppzuav, itg3200_periodic(), and ImuPpzuav::mag_hmc.

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Variable Documentation

struct ImuPpzuav imu_ppzuav

Definition at line 79 of file imu_ppzuav.c.

Referenced by imu_ppzuav_event(), and imu_ppzuav_periodic().