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

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This commit is contained in:
Felix Ruess
2011-11-17 18:09:22 +01:00
parent f466899519
commit 2d6b4532f6
11 changed files with 93 additions and 218 deletions
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conf/airframes/jsbsim.xml
+1 -1
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@@ -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
+1 -1
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@@ -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
+1 -1
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@@ -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
+2 -1
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@@ -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
+2 -1
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@@ -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.)
$(error The gyro_pitch subsystem has been removed)
conf/autopilot/subsystems/fixedwing/imu_analog.makefile
+32 -4
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@@ -3,6 +3,9 @@
#
# Analog IMU connected to MCU ADC ports
#
# Only add the configure and define lines for the sensors you actually use.
# E.g. to replace the old gyro_pitch subsystem only add GYRO_P and GYRO_Q
#
#
# <subsystem name="imu" type="analog">
# <configure name="GYRO_P" value="ADC_0"/>
@@ -49,11 +52,36 @@ ifeq ($(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_$(GYRO_R)
imu_CFLAGS += -DUSE_$(ACCEL_X) -DUSE_$(ACCEL_Y) -DUSE_$(ACCEL_Z)
imu_CFLAGS += -DADC_CHANNEL_GYRO_NB_SAMPLES=$(ADC_GYRO_NB_SAMPLES)
imu_CFLAGS += -DADC_CHANNEL_GYRO_P=$(GYRO_P) -DADC_CHANNEL_GYRO_Q=$(GYRO_Q) -DADC_CHANNEL_GYRO_R=$(GYRO_R)
imu_CFLAGS += -DADC_CHANNEL_ACCEL_X=$(ACCEL_X) -DADC_CHANNEL_ACCEL_Y=$(ACCEL_Y) -DADC_CHANNEL_ACCEL_Z=$(ACCEL_Z)
ifeq ($(ADC_ACCEL_NB_SAMPLES),)
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 += $(SRC_SUBSYSTEMS)/imu/imu_analog.c
conf/autopilot/subsystems/fixedwing/imu_analog_gyro.makefile
-61
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@@ -1,61 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# Analog roll (and optionally pitch) gyros connected to MCU ADC ports
#
# To use a roll gyro only:
# <subsystem name="imu" type="analog_gyro">
# <configure name="GYRO_P" value="ADC_3"/>
# </subsystem>
#
# To use roll and pitch gyros:
# <subsystem name="imu" type="analog_gyro">
# <configure name="GYRO_P" value="ADC_3"/>
# <configure name="GYRO_Q" value="ADC_4"/>
# </subsystem>
#
#
# required xml:
# <section name="IMU" prefix="IMU_">
#
# <define name="GYRO_P_NEUTRAL" value="512"/>
# <define name="GYRO_Q_NEUTRAL" value="512"/>
#
# <define name="GYRO_P_SENS" value="0.017" integer="16"/>
# <define name="GYRO_Q_SENS" value="0.017" integer="16"/>
#
# <define name="GYRO_P_SIGN" value="1" />
# <define name="GYRO_Q_SIGN" value="1" />
#
# </section>
#
ifeq ($(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
+24 -1
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@@ -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
+30 -1
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@@ -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
-72
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@@ -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
-74
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@@ -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 */