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[imu] Remove ppzuav
This commit is contained in:
Freek van Tienen
@@ -1,46 +0,0 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="imu_pprzuav" dir="imu" task="sensors">
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<doc>
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<description>
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PPZUAV IMU.
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- Accelerometer: ADXL345 via I2C
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- Gyroscope: ITG3200 via I2C
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- Magnetometer: HMC58xx via I2C
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</description>
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<configure name="IMU_PPZUAV_I2C_DEV" value="i2c2" description="I2C device to use"/>
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<section name="IMU" prefix="IMU_">
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<define name="MAG_X_NEUTRAL" value="2358"/>
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<define name="MAG_Y_NEUTRAL" value="2362"/>
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<define name="MAG_Z_NEUTRAL" value="2119"/>
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<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
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<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
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<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
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</section>
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</doc>
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<dep>
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<depends>i2c,imu_common</depends>
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<provides>imu,mag</provides>
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</dep>
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<autoload name="imu_nps"/>
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<autoload name="imu_sim"/>
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<header>
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<file name="imu_ppzuav.h"/>
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</header>
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<init fun="imu_ppzuav_init()"/>
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<periodic fun="imu_ppzuav_periodic()"/>
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<event fun="imu_ppzuav_event()"/>
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<makefile target="!sim|nps|fbw">
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<configure name="IMU_PPZUAV_I2C_DEV" default="i2c2" case="lower|upper"/>
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<define name="IMU_PPZUAV_I2C_DEV" value="$(IMU_PPZUAV_I2C_DEV_LOWER)"/>
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<define name="USE_$(IMU_PPZUAV_I2C_DEV_UPPER)"/>
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<define name="IMU_TYPE_H" value="imu/imu_ppzuav.h" type="string"/>
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<file name="adxl345_i2c.c" dir="peripherals"/>
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<file name="itg3200.c" dir="peripherals"/>
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<file name="hmc58xx.c" dir="peripherals"/>
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<file name="imu_ppzuav.c"/>
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</makefile>
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</module>
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@@ -1,147 +0,0 @@
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/*
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* Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
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* 2013 Felix Ruess <felix.ruess@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/**
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* @file modules/imu/imu_ppzuav.h
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*
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* Driver for the PPZUAV IMU.
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*
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* 9DoM IMU with ITG-3200, ADXL345 and HMC5843, all via I2C.
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*/
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#include "modules/imu/imu.h"
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#include "modules/core/abi.h"
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#include "mcu_periph/i2c.h"
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/* i2c default suitable for Tiny/Twog */
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#ifndef IMU_PPZUAV_I2C_DEV
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#define IMU_PPZUAV_I2C_DEV i2c0
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#endif
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/** adxl345 accelerometer output rate, lowpass is set to half of rate */
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#ifndef IMU_PPZUAV_ACCEL_RATE
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# if PERIODIC_FREQUENCY <= 60
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# define IMU_PPZUAV_ACCEL_RATE ADXL345_RATE_50HZ
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# elif PERIODIC_FREQUENCY <= 120
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# define IMU_PPZUAV_ACCEL_RATE ADXL345_RATE_100HZ
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# else
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# define IMU_PPZUAV_ACCEL_RATE ADXL345_RATE_200HZ
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# endif
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#endif
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PRINT_CONFIG_VAR(IMU_PPZUAV_ACCEL_RATE)
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/** gyro internal lowpass frequency */
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#ifndef IMU_PPZUAV_GYRO_LOWPASS
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# if PERIODIC_FREQUENCY <= 60
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# define IMU_PPZUAV_GYRO_LOWPASS ITG3200_DLPF_20HZ
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# elif PERIODIC_FREQUENCY <= 120
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# define IMU_PPZUAV_GYRO_LOWPASS ITG3200_DLPF_42HZ
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# else
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# define IMU_PPZUAV_GYRO_LOWPASS ITG3200_DLPF_98HZ
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# endif
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#endif
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PRINT_CONFIG_VAR(IMU_PPZUAV_GYRO_LOWPASS)
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/** gyro sample rate divider */
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#ifndef IMU_PPZUAV_GYRO_SMPLRT_DIV
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# if PERIODIC_FREQUENCY <= 60
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# define IMU_PPZUAV_GYRO_SMPLRT_DIV 19
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PRINT_CONFIG_MSG("Gyro output rate is 50Hz")
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# else
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# define IMU_PPZUAV_GYRO_SMPLRT_DIV 9
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PRINT_CONFIG_MSG("Gyro output rate is 100Hz")
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# endif
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#endif
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PRINT_CONFIG_VAR(IMU_PPZUAV_GYRO_SMPLRT_DIV)
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struct ImuPpzuav imu_ppzuav;
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void imu_ppzuav_init(void)
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{
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/* Set accel configuration */
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adxl345_i2c_init(&imu_ppzuav.acc_adxl, &(IMU_PPZUAV_I2C_DEV), ADXL345_ADDR);
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/* set the data rate */
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imu_ppzuav.acc_adxl.config.rate = IMU_PPZUAV_ACCEL_RATE;
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/* Gyro configuration and initalization */
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itg3200_init(&imu_ppzuav.gyro_itg, &(IMU_PPZUAV_I2C_DEV), ITG3200_ADDR);
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/* change the default config */
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imu_ppzuav.gyro_itg.config.smplrt_div = IMU_PPZUAV_GYRO_SMPLRT_DIV;
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imu_ppzuav.gyro_itg.config.dlpf_cfg = IMU_PPZUAV_GYRO_LOWPASS;
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/* initialize mag and set default options */
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hmc58xx_init(&imu_ppzuav.mag_hmc, &(IMU_PPZUAV_I2C_DEV), HMC58XX_ADDR);
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/* set the type to the old HMC5843 */
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imu_ppzuav.mag_hmc.type = HMC_TYPE_5843;
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}
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void imu_ppzuav_periodic(void)
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{
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adxl345_i2c_periodic(&imu_ppzuav.acc_adxl);
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// Start reading the latest gyroscope data
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itg3200_periodic(&imu_ppzuav.gyro_itg);
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// Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
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RunOnceEvery(10, hmc58xx_periodic(&imu_ppzuav.mag_hmc));
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}
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void imu_ppzuav_event(void)
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{
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uint32_t now_ts = get_sys_time_usec();
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adxl345_i2c_event(&imu_ppzuav.acc_adxl);
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if (imu_ppzuav.acc_adxl.data_available) {
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imu.accel_unscaled.x = -imu_ppzuav.acc_adxl.data.vect.x;
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imu.accel_unscaled.y = imu_ppzuav.acc_adxl.data.vect.y;
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imu.accel_unscaled.z = -imu_ppzuav.acc_adxl.data.vect.z;
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imu_ppzuav.acc_adxl.data_available = false;
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imu_scale_accel(&imu);
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AbiSendMsgIMU_ACCEL_INT32(IMU_PPZUAV_ID, now_ts, &imu.accel);
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}
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/* If the itg3200 I2C transaction has succeeded: convert the data */
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itg3200_event(&imu_ppzuav.gyro_itg);
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if (imu_ppzuav.gyro_itg.data_available) {
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imu.gyro_unscaled.p = -imu_ppzuav.gyro_itg.data.rates.p;
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imu.gyro_unscaled.q = imu_ppzuav.gyro_itg.data.rates.q;
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imu.gyro_unscaled.r = -imu_ppzuav.gyro_itg.data.rates.r;
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imu_ppzuav.gyro_itg.data_available = false;
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imu_scale_gyro(&imu);
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AbiSendMsgIMU_GYRO_INT32(IMU_PPZUAV_ID, now_ts, &imu.gyro);
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}
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/* HMC58XX event task */
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hmc58xx_event(&imu_ppzuav.mag_hmc);
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if (imu_ppzuav.mag_hmc.data_available) {
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imu.mag_unscaled.x = -imu_ppzuav.mag_hmc.data.vect.y;
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imu.mag_unscaled.y = -imu_ppzuav.mag_hmc.data.vect.x;
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imu.mag_unscaled.z = -imu_ppzuav.mag_hmc.data.vect.z;
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imu_ppzuav.mag_hmc.data_available = false;
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imu_scale_mag(&imu);
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AbiSendMsgIMU_MAG_INT32(IMU_PPZUAV_ID, now_ts, &imu.mag);
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}
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}
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@@ -1,94 +0,0 @@
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/*
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* Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
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* 2013 Felix Ruess <felix.ruess@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/**
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* @file modules/imu/imu_ppzuav.h
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*
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* Interface and defaults for the PPZUAV IMU.
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*
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* 9DoM IMU with ITG-3200, ADXL345 and HMC5843, all via I2C.
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*/
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#ifndef IMU_PPZUAV_H
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#define IMU_PPZUAV_H
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#include "generated/airframe.h"
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#include "modules/imu/imu.h"
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#include "peripherals/itg3200.h"
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#include "peripherals/hmc58xx.h"
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#include "peripherals/adxl345_i2c.h"
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#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
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/** default gyro sensitivy and neutral from the datasheet
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* ITG3200 has 14.375 LSB/(deg/s)
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* sens = 1/14.375 * pi/180 * 2^INT32_RATE_FRAC
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* sens = 1/14.375 * pi/180 * 4096 = 4.973126
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*/
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#define IMU_GYRO_P_SENS 4.973
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#define IMU_GYRO_P_SENS_NUM 4973
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#define IMU_GYRO_P_SENS_DEN 1000
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#define IMU_GYRO_Q_SENS 4.973
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#define IMU_GYRO_Q_SENS_NUM 4973
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#define IMU_GYRO_Q_SENS_DEN 1000
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#define IMU_GYRO_R_SENS 4.973
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#define IMU_GYRO_R_SENS_NUM 4973
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#define IMU_GYRO_R_SENS_DEN 1000
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#endif
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#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
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/** default accel sensitivy from the ADXL345 datasheet
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* sensitivity of x & y axes depends on supply voltage:
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* - 256 LSB/g @ 2.5V
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* - 265 LSB/g @ 3.3V
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* z sensitivity stays at 256 LSB/g
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* fixed point sens: 9.81 [m/s^2] / 256 [LSB/g] * 2^INT32_ACCEL_FRAC
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* x/y sens = 9.81 / 265 * 1024 = 37.91
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* z sens = 9.81 / 256 * 1024 = 39.24
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*/
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#define IMU_ACCEL_X_SENS 37.91
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#define IMU_ACCEL_X_SENS_NUM 3791
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#define IMU_ACCEL_X_SENS_DEN 100
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#define IMU_ACCEL_Y_SENS 37.91
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#define IMU_ACCEL_Y_SENS_NUM 3791
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#define IMU_ACCEL_Y_SENS_DEN 100
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#define IMU_ACCEL_Z_SENS 39.24
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#define IMU_ACCEL_Z_SENS_NUM 3924
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#define IMU_ACCEL_Z_SENS_DEN 100
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#endif
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struct ImuPpzuav {
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struct Adxl345_I2c acc_adxl;
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struct Itg3200 gyro_itg;
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struct Hmc58xx mag_hmc;
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};
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extern struct ImuPpzuav imu_ppzuav;
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extern void imu_ppzuav_init(void);
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extern void imu_ppzuav_periodic(void);
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extern void imu_ppzuav_event(void);
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#endif /* IMU_PPZUAV_H */
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