mirror of
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[imu] add imu_mpu60x0_i2c
This commit is contained in:
Felix Ruess
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# Hey Emacs, this is a -*- makefile -*-
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#
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# MPU60X0 IMU via I2C
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#
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# for fixedwing firmware and ap only
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ifeq ($(TARGET), ap)
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IMU_MPU60X0_CFLAGS = -DUSE_IMU
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endif
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IMU_MPU60X0_CFLAGS += -DIMU_TYPE_H=\"imu/imu_mpu60x0_i2c.h\"
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IMU_MPU60X0_SRCS = $(SRC_SUBSYSTEMS)/imu.c
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IMU_MPU60X0_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu60x0_i2c.c
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IMU_MPU60X0_SRCS += peripherals/mpu60x0.c
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IMU_MPU60X0_SRCS += peripherals/mpu60x0_i2c.c
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# set default i2c bus
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ifeq ($(ARCH), lpc21)
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IMU_MPU60X0_I2C_DEV ?= i2c0
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else ifeq ($(ARCH), stm32)
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IMU_MPU60X0_I2C_DEV ?= i2c2
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endif
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ifeq ($(TARGET), ap)
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ifndef MPU60X0_I2C_DEV
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$(error Error: MPU60X0_I2C_DEV not configured!)
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endif
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endif
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# convert i2cx to upper/lower case
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IMU_MPU60X0_I2C_DEV_UPPER=$(shell echo $(IMU_MPU60X0_I2C_DEV) | tr a-z A-Z)
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IMU_MPU60X0_I2C_DEV_LOWER=$(shell echo $(IMU_MPU60X0_I2C_DEV) | tr A-Z a-z)
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IMU_MPU60X0_CFLAGS += -DIMU_MPU60X0_I2C_DEV=$(IMU_MPU60X0_I2C_DEV_LOWER)
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IMU_MPU60X0_CFLAGS += -DUSE_$(IMU_MPU60X0_I2C_DEV_UPPER)
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# add it for all targets except sim, fbw and nps
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ifeq (,$(findstring $(TARGET),sim fbw nps))
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$(TARGET).CFLAGS += $(IMU_MPU60X0_CFLAGS)
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$(TARGET).srcs += $(IMU_MPU60X0_SRCS)
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endif
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#
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# NPS simulator
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#
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include $(CFG_SHARED)/imu_nps.makefile
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@@ -222,4 +222,8 @@
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#define IMU_XSENS_ID 15
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#endif
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#ifndef IMU_MPU60X0_ID
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#define IMU_MPU60X0_ID 16
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#endif
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#endif /* ABI_SENDER_IDS_H */
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@@ -0,0 +1,102 @@
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/*
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* Copyright (C) 2013-2015 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 subsystems/imu/imu_mpu60x0_i2c.c
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* Driver for IMU with only MPU60X0 via I2C.
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*/
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#include <math.h>
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#include "subsystems/imu.h"
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#include "subsystems/abi.h"
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#include "mcu_periph/i2c.h"
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#include "led.h"
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/* MPU60x0 gyro/accel internal lowpass frequency */
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#if !defined IMU_MPU60X0_LOWPASS_FILTER && !defined IMU_MPU60X0_SMPLRT_DIV
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#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
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/* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
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* Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
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*/
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#define IMU_MPU60X0_LOWPASS_FILTER MPU60X0_DLPF_42HZ
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#define IMU_MPU60X0_SMPLRT_DIV 9
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PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
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#elif PERIODIC_FREQUENCY == 512
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/* Accelerometer: Bandwidth 260Hz, Delay 0ms
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* Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
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*/
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#define IMU_MPU60X0_LOWPASS_FILTER MPU60X0_DLPF_256HZ
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#define IMU_MPU60X0_SMPLRT_DIV 3
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PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
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#else
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#error Non-default PERIODIC_FREQUENCY: please define MPU60X0_HMC_LOWPASS_FILTER and MPU60X0_HMC_SMPLRT_DIV.
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#endif
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#endif
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PRINT_CONFIG_VAR(IMU_MPU60X0_LOWPASS_FILTER)
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PRINT_CONFIG_VAR(IMU_MPU60X0_SMPLRT_DIV)
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#ifndef IMU_MPU60X0_GYRO_RANGE
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#define IMU_MPU60X0_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
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#endif
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PRINT_CONFIG_VAR(IMU_MPU60X0_GYRO_RANGE)
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#ifndef IMU_MPU60X0_ACCEL_RANGE
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#define IMU_MPU60X0_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
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#endif
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PRINT_CONFIG_VAR(IMU_MPU60X0_ACCEL_RANGE)
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#ifndef IMU_MPU60X0_I2C_ADDR
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#define IMU_MPU60X0_I2C_ADDR MPU60X0_ADDR
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#endif
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struct ImuMpu60x0 imu_mpu_i2c;
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void imu_impl_init(void)
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{
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mpu60x0_i2c_init(&imu_mpu_i2c.mpu, &(IMU_MPU60X0_I2C_DEV), IMU_MPU60X0_I2C_ADDR >> 1);
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// change the default configuration
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imu_mpu_i2c.mpu.config.smplrt_div = IMU_MPU60X0_SMPLRT_DIV;
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imu_mpu_i2c.mpu.config.dlpf_cfg = IMU_MPU60X0_LOWPASS_FILTER;
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imu_mpu_i2c.mpu.config.gyro_range = IMU_MPU60X0_GYRO_RANGE;
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imu_mpu_i2c.mpu.config.accel_range = IMU_MPU60X0_ACCEL_RANGE;
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}
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void imu_periodic(void)
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{
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mpu60x0_i2c_periodic(&imu_mpu_i2c.mpu);
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}
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void imu_mpu_i2c_event(void)
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{
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uint32_t now_ts = get_sys_time_usec();
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// If the MPU60X0 I2C transaction has succeeded: convert the data
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mpu60x0_i2c_event(&imu_mpu_i2c.mpu);
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if (imu_mpu_i2c.mpu.data_available) {
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RATES_COPY(imu.gyro_unscaled, imu_mpu_i2c.mpu.data_rates.rates);
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VECT3_COPY(imu.accel_unscaled, imu_mpu_i2c.mpu.data_accel.vect);
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imu_mpu_i2c.mpu.data_available = FALSE;
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imu_scale_gyro(&imu);
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imu_scale_accel(&imu);
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AbiSendMsgIMU_GYRO_INT32(IMU_MPU60X0_ID, now_ts, &imu.gyro);
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AbiSendMsgIMU_ACCEL_INT32(IMU_MPU60X0_ID, now_ts, &imu.accel);
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}
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}
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@@ -0,0 +1,49 @@
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/*
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* Copyright (C) 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 subsystems/imu/imu_mpu60x0_i2c.h
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* Driver for IMU with only MPU60x0 via I2C.
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*/
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#ifndef IMU_MPU60X0_I2C_H
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#define IMU_MPU60X0_I2C_H
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#include "std.h"
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#include "generated/airframe.h"
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#include "subsystems/imu.h"
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#include "subsystems/imu/imu_mpu60x0_defaults.h"
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#include "peripherals/mpu60x0_i2c.h"
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struct ImuMpu60x0 {
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struct Mpu60x0_I2c mpu;
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};
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extern struct ImuMpu60x0 imu_mpu_i2c;
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extern void imu_mpu_i2c_event(void);
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#define ImuEvent imu_mpu_i2c_event
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#endif /* IMU_MPU60X0_I2C_H */
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