use imu_analog subsystem for gyro only as well instead of making an extra subsystem

conf/airframes/jsbsim.xml

@@ -206,7 +206,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="imu"       type="analog_gyro">
+    <subsystem name="imu"       type="analog">
       <configure name="GYRO_P" value="ADC_3"/>
     </subsystem>
     <subsystem name="ahrs" 		type="infrared"/>

conf/airframes/microjet_example.xml

@@ -188,7 +188,7 @@
 
     <subsystem name="control"/>
     <!-- Sensors -->
-    <subsystem name="imu"       type="analog_gyro">
+    <subsystem name="imu"       type="analog">
       <configure name="GYRO_P" value="ADC_3"/>
     </subsystem>
     <subsystem name="ahrs"      type="infrared"/>

conf/airframes/twinjet_example.xml

@@ -22,7 +22,7 @@
     <subsystem name="telemetry"     type="transparent"/>
     <subsystem name="control"/>
     <subsystem name="ahrs"      type="infrared"/>
-    <subsystem name="imu"       type="analog_gyro">
+    <subsystem name="imu"       type="analog">
       <configure name="GYRO_P" value="ADC_3"/>
     </subsystem>
     <subsystem name="gps"           type="ublox"/>

conf/autopilot/subsystems/fixedwing/gyro_pitch.makefile

@@ -1,8 +1,9 @@
 $(info Error: Please replace <subsystem name="gyro" type="pitch"/> with)
-$(info   <subsystem name="imu" type="analog_gyro">)
+$(info   <subsystem name="imu" type="analog">)
 $(info     <configure name="GYRO_P" value="ADC_3"/>)
 $(info     <configure name="GYRO_Q" value="ADC_4"/>)
 $(info   </subsystem>)
+$(info and replace the GYRO section with the appropriate IMU section
 $(info in your airframe file.)
 
 $(error The gyro_pitch subsystem has been removed)

conf/autopilot/subsystems/fixedwing/gyro_roll.makefile

@@ -1,7 +1,8 @@
 $(info Error: Please replace <subsystem name="gyro" type="roll"/> with)
-$(info   <subsystem name="imu" type="analog_gyro">)
+$(info   <subsystem name="imu" type="analog">)
 $(info     <configure name="GYRO_P" value="ADC_3"/>)
 $(info   </subsystem>)
+$(info and replace the GYRO section with the appropriate IMU section
 $(info in your airframe file.)
 
 $(error The gyro_pitch subsystem has been removed)

conf/autopilot/subsystems/fixedwing/imu_analog.makefile

@@ -3,6 +3,9 @@
 #
 # Analog IMU connected to MCU ADC ports
 #
+# Only add the configure and define lines for the sensors you actually use.
+# E.g. to replace the old gyro_pitch subsystem only add GYRO_P and GYRO_Q
+#
 #
 # <subsystem name="imu" type="analog">
 #   <configure name="GYRO_P" value="ADC_0"/>
@@ -49,11 +52,36 @@ ifeq ($(ARCH), lpc21)
 imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_analog.h\"  -DUSE_IMU
 
 imu_CFLAGS += -DADC
-imu_CFLAGS += -DUSE_$(GYRO_P) -DUSE_$(GYRO_Q) -DUSE_$(GYRO_R)
+imu_CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)
-imu_CFLAGS += -DUSE_$(ACCEL_X) -DUSE_$(ACCEL_Y) -DUSE_$(ACCEL_Z)
 
-imu_CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DADC_CHANNEL_GYRO_R=$(GYRO_R)
+ifeq ($(ADC_ACCEL_NB_SAMPLES),)
-imu_CFLAGS += -DADC_CHANNEL_ACCEL_X=$(ACCEL_X) -DADC_CHANNEL_ACCEL_Y=$(ACCEL_Y) -DADC_CHANNEL_ACCEL_Z=$(ACCEL_Z)
+ADC_ACCEL_NB_SAMPLES = $(ADC_GYRO_NB_SAMPLES)
+endif
+imu_CFLAGS += -DADC_CHANNEL_ACCEL_NB_SAMPLES=$(ADC_ACCEL_NB_SAMPLES)
+
+ifneq ($(GYRO_P),)
+imu_CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DUSE_$(GYRO_P)
+endif
+
+ifneq ($(GYRO_Q),)
+imu_CFLAGS += -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DUSE_$(GYRO_Q)
+endif
+
+ifneq ($(GYRO_R),)
+imu_CFLAGS += -DADC_CHANNEL_GYRO_R=$(GYRO_R) -DUSE_$(GYRO_R)
+endif
+
+ifneq ($(ACCEL_X),)
+imu_CFLAGS += -DADC_CHANNEL_ACCEL_X=$(ACCEL_X) -DUSE_$(ACCEL_X)
+endif
+
+ifneq ($(ACCEL_Y),)
+imu_CFLAGS += -DADC_CHANNEL_ACCEL_Y=$(ACCEL_Y) -DUSE_$(ACCEL_Y)
+endif
+
+ifneq ($(ACCEL_Z),)
+imu_CFLAGS += -DADC_CHANNEL_ACCEL_Z=$(ACCEL_Z) -DUSE_$(ACCEL_Z)
+endif
 
 imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
 imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_analog.c

conf/autopilot/subsystems/fixedwing/imu_analog_gyro.makefile

@@ -1,61 +0,0 @@
-# Hey Emacs, this is a -*- makefile -*-
-
-#
-# Analog roll (and optionally pitch) gyros connected to MCU ADC ports
-#
-# To use a roll gyro only:
-# <subsystem name="imu" type="analog_gyro">
-#   <configure name="GYRO_P" value="ADC_3"/>
-# </subsystem>
-#
-# To use roll and pitch gyros:
-# <subsystem name="imu" type="analog_gyro">
-#   <configure name="GYRO_P" value="ADC_3"/>
-#   <configure name="GYRO_Q" value="ADC_4"/>
-# </subsystem>
-#
-#
-# required xml:
-# <section name="IMU" prefix="IMU_">
-#
-#    <define name="GYRO_P_NEUTRAL" value="512"/>
-#    <define name="GYRO_Q_NEUTRAL" value="512"/>
-#
-#    <define name="GYRO_P_SENS" value="0.017" integer="16"/>
-#    <define name="GYRO_Q_SENS" value="0.017" integer="16"/>
-#
-#    <define name="GYRO_P_SIGN" value="1" />
-#    <define name="GYRO_Q_SIGN" value="1" />
-#
-#  </section>
-#
-
-
-ifeq ($(ARCH), lpc21)
-
-imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_analog_gyro.h\"  -DUSE_IMU
-
-imu_CFLAGS += -DADC -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)
-
-ifneq ($(GYRO_P),)
-imu_CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DUSE_$(GYRO_P)
-endif
-
-ifneq ($(GYRO_Q),)
-imu_CFLAGS += -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DUSE_$(GYRO_Q)
-endif
-
-#ifneq ($(GYRO_P_TEMP),)
-#imu_CFLAGS += -DADC_CHANNEL_GYRO_P_TEMP=$(GYRO_P_TEMP) -DUSE_$(GYRO_P_TEMP)
-#endif
-
-
-imu_srcs += $(SRC_SUBSYSTEMS)/imu.c
-imu_srcs += $(SRC_SUBSYSTEMS)/imu/imu_analog_gyro.c
-
-endif
-
-# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
-ap.CFLAGS += $(imu_CFLAGS)
-ap.srcs += $(imu_srcs)

sw/airborne/subsystems/imu/imu_analog.c

@@ -21,7 +21,6 @@
 
 #include "imu_analog.h"
 #include "mcu_periph/adc.h"
-#include "mcu_periph/uart.h"
 
 volatile bool_t analog_imu_available;
 int imu_overrun;
@@ -33,12 +32,24 @@ void imu_impl_init(void) {
   analog_imu_available = FALSE;
   imu_overrun = 0;
 
+#ifdef ADC_CHANNEL_GYRO_P
   adc_buf_channel(ADC_CHANNEL_GYRO_P, &analog_imu_adc_buf[0], ADC_CHANNEL_GYRO_NB_SAMPLES);
+#endif
+#ifdef ADC_CHANNEL_GYRO_Q
   adc_buf_channel(ADC_CHANNEL_GYRO_Q, &analog_imu_adc_buf[1], ADC_CHANNEL_GYRO_NB_SAMPLES);
+#endif
+#ifdef ADC_CHANNEL_GYRO_R
   adc_buf_channel(ADC_CHANNEL_GYRO_R, &analog_imu_adc_buf[2], ADC_CHANNEL_GYRO_NB_SAMPLES);
+#endif
+#ifdef ADC_CHANNEL_ACCEL_X
   adc_buf_channel(ADC_CHANNEL_ACCEL_X, &analog_imu_adc_buf[3], ADC_CHANNEL_ACCEL_NB_SAMPLES);
+#endif
+#ifdef ADC_CHANNEL_ACCEL_Y
   adc_buf_channel(ADC_CHANNEL_ACCEL_Y, &analog_imu_adc_buf[4], ADC_CHANNEL_ACCEL_NB_SAMPLES);
+#endif
+#ifdef ADC_CHANNEL_ACCEL_Z
   adc_buf_channel(ADC_CHANNEL_ACCEL_Z, &analog_imu_adc_buf[5], ADC_CHANNEL_ACCEL_NB_SAMPLES);
+#endif
 
 }
 
@@ -52,12 +63,24 @@ void imu_periodic(void) {
   last_head = analog_imu_adc_buf[0].head;
 
   // Read All Measurements
+#ifdef ADC_CHANNEL_GYRO_P
   imu.gyro_unscaled.p = analog_imu_adc_buf[0].sum / ADC_CHANNEL_GYRO_NB_SAMPLES;
+#endif
+#ifdef ADC_CHANNEL_GYRO_Q
   imu.gyro_unscaled.q = analog_imu_adc_buf[1].sum / ADC_CHANNEL_GYRO_NB_SAMPLES;
+#endif
+#ifdef ADC_CHANNEL_GYRO_R
   imu.gyro_unscaled.r = analog_imu_adc_buf[2].sum / ADC_CHANNEL_GYRO_NB_SAMPLES;
+#endif
+#ifdef ADC_CHANNEL_ACCEL_X
   imu.accel_unscaled.x = analog_imu_adc_buf[3].sum / ADC_CHANNEL_ACCEL_NB_SAMPLES;
+#endif
+#ifdef ADC_CHANNEL_ACCEL_Y
   imu.accel_unscaled.y = analog_imu_adc_buf[4].sum / ADC_CHANNEL_ACCEL_NB_SAMPLES;
+#endif
+#ifdef ADC_CHANNEL_ACCEL_Z
   imu.accel_unscaled.z = analog_imu_adc_buf[5].sum / ADC_CHANNEL_ACCEL_NB_SAMPLES;
+#endif
 
   analog_imu_available = TRUE;
 }

sw/airborne/subsystems/imu/imu_analog.h

@@ -22,10 +22,39 @@
 #ifndef IMU_ANALOG_H
 #define IMU_ANALOG_H
 
-#include "subsystems/imu.h"
 
 #define NB_ANALOG_IMU_ADC 6
 
+// if not all gyros are used, override the ImuScaleGyro handler
+#if defined ADC_CHANNEL_GYRO_P && defined ADC_CHANNEL_GYRO_Q && ! defined ADC_CHANNEL_GYRO_R
+
+#define IMU_GYRO_R_NEUTRAL 0
+#define ImuScaleGyro(_imu) {                                            \
+    _imu.gyro.p = ((_imu.gyro_unscaled.p - _imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \
+    _imu.gyro.q = ((_imu.gyro_unscaled.q - _imu.gyro_neutral.q)*IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN; \
+  }
+
+#elif defined ADC_CHANNEL_GYRO_P && ! defined ADC_CHANNEL_GYRO_Q && ! defined ADC_CHANNEL_GYRO_R
+
+#define IMU_GYRO_Q_NEUTRAL 0
+#define IMU_GYRO_R_NEUTRAL 0
+#define ImuScaleGyro(_imu) {                                            \
+    _imu.gyro.p = ((_imu.gyro_unscaled.p - _imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \
+  }
+
+#endif
+
+// if we don't have any accelerometers, set an empty ImuScaleAccel handler
+#if ! defined ADC_CHANNEL_ACCEL_X && ! defined ADC_CHANNEL_ACCEL_Z && ! defined ADC_CHANNEL_ACCEL_Z
+#define ImuScaleAccel(_imu) {}
+#endif
+
+/*
+ * we include imh.h after the definitions of ImuScale so we can override the default handlers
+ */
+#include "subsystems/imu.h"
+
+
 extern volatile bool_t analog_imu_available;
 extern int imu_overrun;
 

sw/airborne/subsystems/imu/imu_analog_gyro.c

@@ -1,72 +0,0 @@
-/*
- * Copyright (C) 2011 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#include BOARD_CONFIG
-#include "imu_analog_gyro.h"
-#include "mcu_periph/adc.h"
-
-
-volatile bool_t imu_analog_gyro_available;
-int imu_overrun;
-
-static struct adc_buf imu_gyro_adc_buf[NB_IMU_GYRO_ADC];
-
-//#if defined ADC_CHANNEL_GYRO_TEMP
-//static struct adc_buf buf_temp;
-//#endif
-
-void imu_impl_init(void) {
-
-  imu_analog_gyro_available = FALSE;
-  imu_overrun = 0;
-
-#ifdef ADC_CHANNEL_GYRO_P
-  adc_buf_channel(ADC_CHANNEL_GYRO_P, &imu_gyro_adc_buf[0], ADC_CHANNEL_GYRO_NB_SAMPLES);
-#endif
-#ifdef ADC_CHANNEL_GYRO_Q
-  adc_buf_channel(ADC_CHANNEL_GYRO_Q, &imu_gyro_adc_buf[1], ADC_CHANNEL_GYRO_NB_SAMPLES);
-#endif
-
-//#ifdef ADC_CHANNEL_GYRO_P_TEMP
-//  adc_buf_channel(ADC_CHANNEL_GYRO_P_TEMP, &buf_temp, ADC_CHANNEL_GYRO_NB_SAMPLES);
-//#endif
-
-}
-
-void imu_periodic(void) {
-  // Actual Nr of ADC measurements per channel per periodic loop
-  static int last_head = 0;
-
-  imu_overrun = imu_gyro_adc_buf[0].head - last_head;
-  if (imu_overrun < 0)
-    imu_overrun += ADC_CHANNEL_GYRO_NB_SAMPLES;
-  last_head = imu_gyro_adc_buf[0].head;
-
-  // Read All Measurements
-#ifdef ADC_CHANNEL_GYRO_P
-  imu.gyro_unscaled.p = imu_gyro_adc_buf[0].sum / ADC_CHANNEL_GYRO_NB_SAMPLES;
-#endif
-#ifdef ADC_CHANNEL_GYRO_Q
-  imu.gyro_unscaled.q = imu_gyro_adc_buf[1].sum / ADC_CHANNEL_GYRO_NB_SAMPLES;
-#endif
-
-  imu_analog_gyro_available = TRUE;
-}

sw/airborne/subsystems/imu/imu_analog_gyro.h

@@ -1,74 +0,0 @@
-/*
- * Copyright (C) 2011 The Paparazzi Team
- *
- * This file is part of paparazzi.
- *
- * paparazzi is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2, or (at your option)
- * any later version.
- *
- * paparazzi is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with paparazzi; see the file COPYING.  If not, write to
- * the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
- */
-
-#ifndef IMU_ANALOG_GYRO_H
-#define IMU_ANALOG_GYRO_H
-
-
-
-#ifdef ADC_CHANNEL_GYRO_P
-#ifdef ADC_CHANNEL_GYRO_Q
-
-#define NB_IMU_GYRO_ADC 2
-#define IMU_GYRO_R_NEUTRAL 0
-#define ImuScaleGyro(_imu) {                                            \
-    _imu.gyro.p = ((_imu.gyro_unscaled.p - _imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \
-    _imu.gyro.q = ((_imu.gyro_unscaled.q - _imu.gyro_neutral.q)*IMU_GYRO_Q_SIGN*IMU_GYRO_Q_SENS_NUM)/IMU_GYRO_Q_SENS_DEN; \
-  }
-
-#else  //only roll gyro
-
-#define NB_IMU_GYRO_ADC 1
-#define IMU_GYRO_Q_NEUTRAL 0
-#define IMU_GYRO_R_NEUTRAL 0
-#define ImuScaleGyro(_imu) {                                            \
-    _imu.gyro.p = ((_imu.gyro_unscaled.p - _imu.gyro_neutral.p)*IMU_GYRO_P_SIGN*IMU_GYRO_P_SENS_NUM)/IMU_GYRO_P_SENS_DEN; \
-  }
-
-#endif //ADC_CHANNEL_GYRO_Q
-#else //ADC_CHANNEL_GYRO_P
-#error You need to define at least the roll gyro ADC (GYRO_P) to use this subsystem.
-#endif //ADC_CHANNEL_GYRO_P
-
-// no accelerometers
-#define ImuScaleAccel(_imu) {}
-
-
-/*
- * we include imh.h after the definitions of ImuScale so we can override the default handlers
- */
-#include "subsystems/imu.h"
-
-
-extern volatile bool_t imu_analog_gyro_available;
-extern int imu_overrun;
-
-
-#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) {   \
-    if (imu_analog_gyro_available) {                         \
-      imu_analog_gyro_available = FALSE;                     \
-      _gyro_handler();                            \
-    }                                                   \
-  }
-
-
-
-#endif /* IMU_ANALOG_GYRO_H */