imu_umarim.h File Reference

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

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Data Structures
struct	ImuUmarim

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_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_GYRO_P_NEUTRAL   0
#define	IMU_GYRO_Q_NEUTRAL   0
#define	IMU_GYRO_R_NEUTRAL   0
#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   39.24
#define	IMU_ACCEL_Z_SENS_DEN   100
#define	IMU_ACCEL_X_NEUTRAL   0
#define	IMU_ACCEL_Y_NEUTRAL   0
#define	IMU_ACCEL_Z_NEUTRAL   0

Functions
void	imu_umarim_init (void)
void	imu_umarim_periodic (void)
void	imu_umarim_event (void)
void	imu_umarim_downlink_raw (void)

Variables
volatile bool	gyr_valid
volatile bool	acc_valid
struct ImuUmarim	imu_umarim

---

Data Structure Documentation

struct ImuUmarim

Definition at line 108 of file imu_umarim.h.

Collaboration diagram for ImuUmarim:

Data Fields
struct Adxl345_I2c	adxl
struct Itg3200	itg

Macro Definition Documentation

#define IMU_ACCEL_X_NEUTRAL   0

Definition at line 100 of file imu_umarim.h.

#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

what about the offset at 3.3V?

Definition at line 89 of file imu_umarim.h.

#define IMU_ACCEL_X_SENS_DEN   100

Definition at line 91 of file imu_umarim.h.

#define IMU_ACCEL_X_SENS_NUM   3791

Definition at line 90 of file imu_umarim.h.

#define IMU_ACCEL_X_SIGN   1

Definition at line 49 of file imu_umarim.h.

#define IMU_ACCEL_Y_NEUTRAL   0

Definition at line 101 of file imu_umarim.h.

#define IMU_ACCEL_Y_SENS   37.91

Definition at line 92 of file imu_umarim.h.

#define IMU_ACCEL_Y_SENS_DEN   100

Definition at line 94 of file imu_umarim.h.

#define IMU_ACCEL_Y_SENS_NUM   3791

Definition at line 93 of file imu_umarim.h.

#define IMU_ACCEL_Y_SIGN   1

Definition at line 50 of file imu_umarim.h.

#define IMU_ACCEL_Z_NEUTRAL   0

Definition at line 102 of file imu_umarim.h.

#define IMU_ACCEL_Z_SENS   39.24

Definition at line 95 of file imu_umarim.h.

#define IMU_ACCEL_Z_SENS_DEN   100

Definition at line 97 of file imu_umarim.h.

#define IMU_ACCEL_Z_SENS_NUM   39.24

Definition at line 96 of file imu_umarim.h.

#define IMU_ACCEL_Z_SIGN   1

Definition at line 51 of file imu_umarim.h.

#define IMU_GYRO_P_NEUTRAL   0

Definition at line 71 of file imu_umarim.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 60 of file imu_umarim.h.

#define IMU_GYRO_P_SENS_DEN   1000

Definition at line 62 of file imu_umarim.h.

#define IMU_GYRO_P_SENS_NUM   4973

Definition at line 61 of file imu_umarim.h.

#define IMU_GYRO_P_SIGN   1

Definition at line 44 of file imu_umarim.h.

#define IMU_GYRO_Q_NEUTRAL   0

Definition at line 72 of file imu_umarim.h.

#define IMU_GYRO_Q_SENS   4.973

Definition at line 63 of file imu_umarim.h.

#define IMU_GYRO_Q_SENS_DEN   1000

Definition at line 65 of file imu_umarim.h.

#define IMU_GYRO_Q_SENS_NUM   4973

Definition at line 64 of file imu_umarim.h.

#define IMU_GYRO_Q_SIGN   1

Definition at line 45 of file imu_umarim.h.

#define IMU_GYRO_R_NEUTRAL   0

Definition at line 73 of file imu_umarim.h.

#define IMU_GYRO_R_SENS   4.973

Definition at line 66 of file imu_umarim.h.

#define IMU_GYRO_R_SENS_DEN   1000

Definition at line 68 of file imu_umarim.h.

#define IMU_GYRO_R_SENS_NUM   4973

Definition at line 67 of file imu_umarim.h.

#define IMU_GYRO_R_SIGN   1

Definition at line 46 of file imu_umarim.h.

Function Documentation

void imu_umarim_downlink_raw

(

void

)

Definition at line 94 of file imu_umarim.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_umarim_event

(

void

)

Definition at line 103 of file imu_umarim.c.

References Imu::accel, Imu::accel_unscaled, ImuUmarim::adxl, adxl345_i2c_event(), Adxl345_I2c::data, Itg3200::data, Adxl345_I2c::data_available, Itg3200::data_available, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, IMU_BOARD_ID, imu_scale_accel(), imu_scale_gyro(), imu_umarim, ImuUmarim::itg, itg3200_event(), RATES_COPY, and VECT3_ASSIGN.

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void imu_umarim_init

(

void

)

Definition at line 66 of file imu_umarim.c.

References ImuUmarim::adxl, ADXL345_ADDR_ALT, adxl345_i2c_init(), Adxl345_I2c::config, Itg3200::config, Itg3200Config::dlpf_cfg, ImuUmarim::itg, ITG3200_ADDR_ALT, itg3200_init(), Adxl345Config::range, Adxl345Config::rate, Itg3200Config::smplrt_div, UMARIM_ACCEL_RANGE, UMARIM_ACCEL_RATE, UMARIM_GYRO_LOWPASS, and UMARIM_GYRO_SMPLRT_DIV.

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void imu_umarim_periodic

(

void

)

Definition at line 83 of file imu_umarim.c.

References ImuUmarim::adxl, adxl345_i2c_periodic(), imu_umarim, ImuUmarim::itg, and itg3200_periodic().

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Variable Documentation

volatile bool acc_valid

volatile bool gyr_valid

struct ImuUmarim imu_umarim

Definition at line 64 of file imu_umarim.c.

Referenced by imu_umarim_event(), and imu_umarim_periodic().