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https://github.com/paparazzi/paparazzi.git
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[imu] remove old aspirin2 driver
This commit is contained in:
Felix Ruess
@@ -1,73 +0,0 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Aspirin IMU v2.1
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#
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#
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# required xml:
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# <section name="IMU" prefix="IMU_">
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#
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# <!-- these gyro and accel calib values are the defaults for aspirin2.1 -->
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# <define name="GYRO_X_NEUTRAL" value="0"/>
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# <define name="GYRO_Y_NEUTRAL" value="0"/>
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# <define name="GYRO_Z_NEUTRAL" value="0"/>
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#
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# <define name="GYRO_X_SENS" value="4.359" integer="16"/>
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# <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
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# <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
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#
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# <define name="ACCEL_X_NEUTRAL" value="0"/>
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# <define name="ACCEL_Y_NEUTRAL" value="0"/>
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# <define name="ACCEL_Z_NEUTRAL" value="0"/>
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#
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# <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
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# <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
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# <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
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#
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# <!-- replace the mag calibration with your own-->
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# <define name="MAG_X_NEUTRAL" value="-45"/>
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# <define name="MAG_Y_NEUTRAL" value="334"/>
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# <define name="MAG_Z_NEUTRAL" value="7"/>
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#
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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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#
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# </section>
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#
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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_ASPIRIN_CFLAGS = -DUSE_IMU
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endif
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IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\"
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IMU_ASPIRIN_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
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$(SRC_SUBSYSTEMS)/imu/imu_aspirin2.c
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include $(CFG_SHARED)/spi_master.makefile
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ifeq ($(ARCH), lpc21)
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IMU_ASPIRIN_CFLAGS += -DUSE_SPI1
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IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE0
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else ifeq ($(ARCH), stm32)
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IMU_ASPIRIN_CFLAGS += -DUSE_SPI2
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# Slave select configuration
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# SLAVE2 is on PB12 (NSS) (MPU600 CS)
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IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE2
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endif
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IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_1
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# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
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# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
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ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
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ap.srcs += $(IMU_ASPIRIN_SRCS)
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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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@@ -1,346 +0,0 @@
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/*
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* Copyright (C) 2012 Christophe DeWagter
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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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#include "subsystems/imu.h"
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#include "led.h"
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#include "mcu_periph/spi.h"
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// Peripherials
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#include "peripherals/mpu60x0_regs.h"
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#include "peripherals/hmc58xx_regs.h"
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#include "peripherals/ms5611.h"
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#ifndef MPU6000_SLAVE_IDX
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#define MPU6000_SLAVE_IDX SPI_SLAVE2
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#endif
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#ifndef MPU6000_SPI_DEV
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#define MPU6000_SPI_DEV spi2
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#endif
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/* HMC58XX default conf */
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#ifndef HMC58XX_DO
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#define HMC58XX_DO 0x6 // Data Output Rate (6 -> 50Hz with HMC5843, 75Hz with HMC5883)
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#endif
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#ifndef HMC58XX_MS
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#define HMC58XX_MS 0x0 // Measurement configuration
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#endif
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#ifndef HMC58XX_GN
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#define HMC58XX_GN 0x1 // Gain configuration (1 -> +- 1 Gauss)
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#endif
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#ifndef HMC58XX_MD
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#define HMC58XX_MD 0x0 // Continious measurement mode
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#endif
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#define HMC58XX_CRA ((HMC58XX_DO<<2)|(HMC58XX_MS))
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#define HMC58XX_CRB (HMC58XX_GN<<5)
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struct ImuAspirin2 imu_aspirin2;
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struct spi_transaction aspirin2_mpu60x0;
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// initialize peripherals
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static void mpu_configure(void);
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static void trans_cb( struct spi_transaction *trans );
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void imu_impl_init(void) {
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aspirin2_mpu60x0.select = SPISelectUnselect;
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aspirin2_mpu60x0.cpol = SPICpolIdleHigh;
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aspirin2_mpu60x0.cpha = SPICphaEdge2;
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aspirin2_mpu60x0.dss = SPIDss8bit;
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aspirin2_mpu60x0.bitorder = SPIMSBFirst;
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aspirin2_mpu60x0.cdiv = SPIDiv64;
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aspirin2_mpu60x0.slave_idx = MPU6000_SLAVE_IDX;
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aspirin2_mpu60x0.output_length = IMU_ASPIRIN_BUFFER_LEN;
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aspirin2_mpu60x0.input_length = IMU_ASPIRIN_BUFFER_LEN;
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aspirin2_mpu60x0.after_cb = trans_cb;
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imu_aspirin2.status = Aspirin2StatusUninit;
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imu_aspirin2.imu_available = FALSE;
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aspirin2_mpu60x0.input_buf = &imu_aspirin2.input_buf_p[0];
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aspirin2_mpu60x0.output_buf = &imu_aspirin2.output_buf_p[0];
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}
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void imu_periodic(void)
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{
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if (imu_aspirin2.status == Aspirin2StatusUninit) {
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mpu_configure();
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imu_aspirin2.status = Aspirin2StatusIdle;
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aspirin2_mpu60x0.output_length = 22;
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aspirin2_mpu60x0.input_length = 22;
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aspirin2_mpu60x0.output_buf[0] = MPU60X0_REG_INT_STATUS + MPU60X0_SPI_READ;
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for (int i=1; i<aspirin2_mpu60x0.output_length; i++) {
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aspirin2_mpu60x0.output_buf[i] = 0;
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}
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}
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else {
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spi_submit(&(MPU6000_SPI_DEV), &aspirin2_mpu60x0);
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}
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}
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static void trans_cb(struct spi_transaction *trans __attribute__ ((unused))) {
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if ( imu_aspirin2.status != Aspirin2StatusUninit ) {
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imu_aspirin2.imu_available = TRUE;
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}
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}
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static inline void mpu_set(uint8_t _reg, uint8_t _val)
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{
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aspirin2_mpu60x0.output_buf[0] = _reg;
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aspirin2_mpu60x0.output_buf[1] = _val;
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spi_submit(&(MPU6000_SPI_DEV), &aspirin2_mpu60x0);
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// FIXME: no busy waiting! if really needed add a timeout!!!!
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while(aspirin2_mpu60x0.status != SPITransSuccess);
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}
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static inline void mpu_wait_slave4_ready(void)
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{
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uint8_t ret = 0x80;
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while (ret & 0x80)
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{
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aspirin2_mpu60x0.output_buf[0] = MPU60X0_REG_I2C_SLV4_CTRL | MPU60X0_SPI_READ ;
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aspirin2_mpu60x0.output_buf[1] = 0;
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spi_submit(&(MPU6000_SPI_DEV), &aspirin2_mpu60x0);
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// FIXME: no busy waiting! if really needed add a timeout!!!!
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while(aspirin2_mpu60x0.status != SPITransSuccess);
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ret = aspirin2_mpu60x0.input_buf[1];
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}
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}
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static void mpu_configure(void)
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{
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aspirin2_mpu60x0.output_length = 2;
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aspirin2_mpu60x0.input_length = 2;
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///////////////////
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// Reset the MPU
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mpu_set( MPU60X0_REG_PWR_MGMT_1,
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0x01 << 7); // -device reset
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mpu_set( MPU60X0_REG_USER_CTRL,
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(1 << 2) | // Trigger a FIFO_RESET
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(1 << 1) | // Trigger a I2C_MST_RESET
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(1 << 0) ); // Trigger a SIG_COND_RESET
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///////////////////
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// Configure power:
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// MPU60X0_REG_PWR_MGMT_1
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mpu_set( MPU60X0_REG_PWR_MGMT_1,
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0x01); // -switch to gyroX clock
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// Wait for the new clock to stabilize.
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// FIXME: This must not be a delay!
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// It should be done using the MPU-6000 interrupt!
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{for (int i = 0; i < 1000000; i++) { asm("nop"); }}
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// MPU60X0_REG_PWR_MGMT_2: Nothing should be in standby: default OK
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// -No standby and no wake timer
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/////////////////////////
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// Measurement Settings
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#if PERIODIC_FREQUENCY == 60
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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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# define MPU_DIG_FILTER 3
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// -100Hz output = 1kHz / (9 + 1)
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# define MPU_SMPLRT_DIV 9
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#else
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# if 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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# define MPU_DIG_FILTER 3
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// -100Hz output = 1kHz / (9 + 1)
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# define MPU_SMPLRT_DIV 9
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# else
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# if PERIODIC_FREQUENCY == 512
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// Accelerometer: Bandwidth 260Hz, Delay 0ms
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// Gyroscope: Bandwidth 256Hz, Delay 0.89ms sampling 8Khz
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# define MPU_DIG_FILTER 0
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// -500Hz output = 1kHz / (1 + 1)
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# define MPU_SMPLRT_DIV 1
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# else
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# error PERIODIC_FREQUENCY should be either 60Hz, 120Hz or 512Hz. Otherwise manually fix the sensor rates
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# endif
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# endif
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#endif
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aspirin2_mpu60x0.output_buf[1] = (2 << 3) | (MPU_DIG_FILTER << 0);
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spi_submit(&(MPU6000_SPI_DEV), &aspirin2_mpu60x0);
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mpu_set( MPU60X0_REG_CONFIG,
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(2 << 3) | // Fsync / ext sync on gyro X (bit 3->6)
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(MPU_DIG_FILTER << 0) ); // Low-Pass Filter
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// MPU60X0_REG_SMPLRT_DIV
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mpu_set( MPU60X0_REG_SMPLRT_DIV, MPU_SMPLRT_DIV);
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// MPU60X0_REG_GYRO_CONFIG
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mpu_set( MPU60X0_REG_GYRO_CONFIG,
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(3 << 3) ); // -2000deg/sec
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// MPU60X0_REG_ACCEL_CONFIG
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mpu_set( MPU60X0_REG_ACCEL_CONFIG,
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(0 << 0) | // No HPFL
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(3 << 3) ); // Full Scale = 16g
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#ifndef MPU6000_NO_SLAVES
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PRINT_CONFIG_MSG("Reading MPU slaves")
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/////////////////////////////////////
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// SPI Slave Configuration Section
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// Power the Aux I2C Circuit:
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// MPU60X0_REG_AUX_VDDIO = 0 (good on startup): (0 << 7); // MPU6000: 0=Vdd. MPU6050 : 0=VLogic 1=Vdd
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// MPU60X0_REG_USER_CTRL:
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mpu_set( MPU60X0_REG_USER_CTRL,
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(1 << 5) | // I2C_MST_EN: Enable Aux I2C Master Mode
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(1 << 4) | // I2C_IF_DIS: Disable I2C on primary interface
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(0 << 1) ); // Trigger a I2C_MST_RESET
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// Enable the aux i2c
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mpu_set( MPU60X0_REG_I2C_MST_CTRL,
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(0 << 7) | // no multimaster
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(0 << 6) | // do not delay IRQ waiting for all external slaves
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(0 << 5) | // no slave 3 FIFO
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(0 << 4) | // restart or stop/start from one slave to another: read -> write is always stop/start
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(8 << 0) ); // 0=348kHz 8=256kHz, 9=500kHz
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mpu_set( MPU60X0_REG_I2C_MST_DELAY,
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(0 << 2) | // No Delay Slave 2
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(1 << 3) ); // Delay Slave 3
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#if defined IMU_ASPIRIN_VERSION_2_1 && USE_IMU_ASPIRIN2_BARO_SLAVE
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// MS5611 Send Reset
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mpu_set( MPU60X0_REG_I2C_SLV4_ADDR, (MS5611_ADDR0));
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mpu_set( MPU60X0_REG_I2C_SLV4_DO, MS5611_REG_RESET);
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mpu_set( MPU60X0_REG_I2C_SLV4_CTRL,
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(1 << 7) | // Slave 4 enable
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(0 << 6) | // Byte Swap
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(1 << 5) | // Reg_Dis: do not write the register, just the data
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(0 << 0) ); // Full Speed
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mpu_wait_slave4_ready();
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// Wait at least 2.8ms
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#endif // read MS5611 as MPU slave
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// HMC5883 Magnetometer Configuration
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mpu_set( MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1));
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mpu_set( MPU60X0_REG_I2C_SLV4_REG, HMC58XX_REG_CFGA);
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mpu_set( MPU60X0_REG_I2C_SLV4_DO, HMC58XX_CRA);
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mpu_set( MPU60X0_REG_I2C_SLV4_CTRL,
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(1 << 7) | // Slave 4 enable
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(0 << 6) | // Byte Swap
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(0 << 0) ); // Full Speed
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|
|
||||||
mpu_wait_slave4_ready();
|
|
||||||
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1));
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV4_REG, HMC58XX_REG_CFGB);
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV4_DO, HMC58XX_CRB);
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV4_CTRL,
|
|
||||||
(1 << 7) | // Slave 4 enable
|
|
||||||
(0 << 6) | // Byte Swap
|
|
||||||
(0 << 0) ); // Full Speed
|
|
||||||
|
|
||||||
mpu_wait_slave4_ready();
|
|
||||||
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1));
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV4_REG, HMC58XX_REG_MODE);
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV4_DO, HMC58XX_MD);
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV4_CTRL,
|
|
||||||
(1 << 7) | // Slave 4 enable
|
|
||||||
(0 << 6) | // Byte Swap
|
|
||||||
(3 << 0) ); // From now on a delayed rate of 1/4 is defined...
|
|
||||||
|
|
||||||
// HMC5883 Reading:
|
|
||||||
// a) write hmc-register to HMC
|
|
||||||
// b) read 6 bytes from HMC
|
|
||||||
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV0_ADDR, (HMC58XX_ADDR >> 1) | MPU60X0_SPI_READ);
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV0_REG, HMC58XX_REG_DATXM);
|
|
||||||
// Put the enable command as last.
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV0_CTRL,
|
|
||||||
(1 << 7) | // Slave 0 enable
|
|
||||||
(0 << 6) | // Byte Swap
|
|
||||||
(6 << 0) ); // Read 6 bytes
|
|
||||||
|
|
||||||
// Slave 0 Control:
|
|
||||||
|
|
||||||
#if defined IMU_ASPIRIN_VERSION_2_1 && USE_IMU_ASPIRIN2_BARO_SLAVE
|
|
||||||
PRINT_CONFIG_MSG("Reading the MS5611 as MPU slave")
|
|
||||||
/*
|
|
||||||
|
|
||||||
|
|
||||||
// Read MS5611 Calibration
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV1_ADDR, (MS5611_ADDR0) | MPU60X0_SPI_READ);
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV1_REG, MS5611_REG_ADCREAD);
|
|
||||||
// Put the enable command as last.
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV1_CTRL,
|
|
||||||
(1 << 7) | // Slave 1 enable
|
|
||||||
(0 << 6) | // Byte Swap
|
|
||||||
(3 << 0) ); // Read 6 bytes
|
|
||||||
|
|
||||||
*/
|
|
||||||
|
|
||||||
// Full Rate Request For Pressure
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV2_ADDR, (MS5611_ADDR0));
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV2_DO, 0x48);
|
|
||||||
// Put the enable command as last.
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV2_CTRL,
|
|
||||||
(1 << 7) | // Slave 2 enable
|
|
||||||
(0 << 6) | // Byte Swap
|
|
||||||
(1 << 5) | // Rig Dis: Write Only
|
|
||||||
(1 << 0) ); // Write 1 byte
|
|
||||||
|
|
||||||
// Reduced rate request For Temperature: Overwrites the Pressure Request
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV3_ADDR, (MS5611_ADDR0));
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV3_DO, 0x58);
|
|
||||||
// Put the enable command as last.
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV3_CTRL,
|
|
||||||
(1 << 7) | // Slave 2 enable
|
|
||||||
(0 << 6) | // Byte Swap
|
|
||||||
(1 << 5) | // Rig Dis: Write Only
|
|
||||||
(1 << 0) ); // Write 1 byte
|
|
||||||
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV1_ADDR, (MS5611_ADDR0) | MPU60X0_SPI_READ);
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV1_REG, MS5611_REG_ADCREAD);
|
|
||||||
// Put the enable command as last.
|
|
||||||
mpu_set( MPU60X0_REG_I2C_SLV1_CTRL,
|
|
||||||
(1 << 7) | // Slave 1 enable
|
|
||||||
(0 << 6) | // Byte Swap
|
|
||||||
(3 << 0) ); // Read 6 bytes
|
|
||||||
|
|
||||||
#endif // read MS5611 as MPU slave
|
|
||||||
|
|
||||||
#endif
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
@@ -1,167 +0,0 @@
|
|||||||
/*
|
|
||||||
* Copyright (C) 2012 Christophe DeWagter
|
|
||||||
*
|
|
||||||
* 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_ASPIRIN_2_H
|
|
||||||
#define IMU_ASPIRIN_2_H
|
|
||||||
|
|
||||||
#include "generated/airframe.h"
|
|
||||||
#include "subsystems/imu.h"
|
|
||||||
|
|
||||||
|
|
||||||
#if defined IMU_ASPIRIN_VERSION_2_1 || defined IMU_ASPIRIN_VERSION_2_2
|
|
||||||
#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
|
|
||||||
#define IMU_MAG_X_SIGN 1
|
|
||||||
#define IMU_MAG_Y_SIGN 1
|
|
||||||
#define IMU_MAG_Z_SIGN 1
|
|
||||||
#endif
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
|
|
||||||
#define IMU_GYRO_P_SIGN 1
|
|
||||||
#define IMU_GYRO_Q_SIGN 1
|
|
||||||
#define IMU_GYRO_R_SIGN 1
|
|
||||||
#endif
|
|
||||||
#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
|
|
||||||
#define IMU_ACCEL_X_SIGN 1
|
|
||||||
#define IMU_ACCEL_Y_SIGN 1
|
|
||||||
#define IMU_ACCEL_Z_SIGN 1
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/** default gyro sensitivy and neutral from the datasheet
|
|
||||||
* MPU60X0 has 16.4 LSB/(deg/s) at 2000deg/s range
|
|
||||||
* sens = 1/16.4 * pi/180 * 2^INT32_RATE_FRAC
|
|
||||||
* sens = 1/16.4 * pi/180 * 4096 = 4.359066229
|
|
||||||
*/
|
|
||||||
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
|
|
||||||
#define IMU_GYRO_P_SENS 4.359
|
|
||||||
#define IMU_GYRO_P_SENS_NUM 4359
|
|
||||||
#define IMU_GYRO_P_SENS_DEN 1000
|
|
||||||
#define IMU_GYRO_Q_SENS 4.359
|
|
||||||
#define IMU_GYRO_Q_SENS_NUM 4359
|
|
||||||
#define IMU_GYRO_Q_SENS_DEN 1000
|
|
||||||
#define IMU_GYRO_R_SENS 4.359
|
|
||||||
#define IMU_GYRO_R_SENS_NUM 4359
|
|
||||||
#define IMU_GYRO_R_SENS_DEN 1000
|
|
||||||
#endif
|
|
||||||
#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
|
|
||||||
#define IMU_GYRO_P_NEUTRAL 0
|
|
||||||
#define IMU_GYRO_Q_NEUTRAL 0
|
|
||||||
#define IMU_GYRO_R_NEUTRAL 0
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/** default accel sensitivy from the datasheet
|
|
||||||
* MPU60X0 has 2048 LSB/g
|
|
||||||
* fixed point sens: 9.81 [m/s^2] / 2048 [LSB/g] * 2^INT32_ACCEL_FRAC
|
|
||||||
* sens = 9.81 / 2048 * 1024 = 4.905
|
|
||||||
*/
|
|
||||||
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
|
|
||||||
#define IMU_ACCEL_X_SENS 4.905
|
|
||||||
#define IMU_ACCEL_X_SENS_NUM 4905
|
|
||||||
#define IMU_ACCEL_X_SENS_DEN 1000
|
|
||||||
#define IMU_ACCEL_Y_SENS 4.905
|
|
||||||
#define IMU_ACCEL_Y_SENS_NUM 4905
|
|
||||||
#define IMU_ACCEL_Y_SENS_DEN 1000
|
|
||||||
#define IMU_ACCEL_Z_SENS 4.905
|
|
||||||
#define IMU_ACCEL_Z_SENS_NUM 4905
|
|
||||||
#define IMU_ACCEL_Z_SENS_DEN 1000
|
|
||||||
#endif
|
|
||||||
#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
|
|
||||||
#define IMU_ACCEL_X_NEUTRAL 0
|
|
||||||
#define IMU_ACCEL_Y_NEUTRAL 0
|
|
||||||
#define IMU_ACCEL_Z_NEUTRAL 0
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
enum Aspirin2Status
|
|
||||||
{ Aspirin2StatusUninit,
|
|
||||||
Aspirin2StatusIdle,
|
|
||||||
Aspirin2StatusReading
|
|
||||||
};
|
|
||||||
|
|
||||||
#define IMU_ASPIRIN_BUFFER_LEN 32
|
|
||||||
|
|
||||||
struct ImuAspirin2 {
|
|
||||||
volatile enum Aspirin2Status status;
|
|
||||||
volatile uint8_t imu_available;
|
|
||||||
volatile uint8_t input_buf_p[IMU_ASPIRIN_BUFFER_LEN];
|
|
||||||
volatile uint8_t output_buf_p[IMU_ASPIRIN_BUFFER_LEN];
|
|
||||||
};
|
|
||||||
|
|
||||||
extern struct ImuAspirin2 imu_aspirin2;
|
|
||||||
|
|
||||||
|
|
||||||
static inline int imu_from_buff(volatile uint8_t *buf)
|
|
||||||
{
|
|
||||||
int32_t x, y, z, p, q, r, Mx, My, Mz;
|
|
||||||
|
|
||||||
#define MPU_OFFSET_STATUS 1
|
|
||||||
if (!(buf[MPU_OFFSET_STATUS] & 0x01)) {
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
#define MPU_OFFSET_GYRO 10
|
|
||||||
p = (int16_t) ((buf[0+MPU_OFFSET_GYRO] << 8) | buf[1+MPU_OFFSET_GYRO]);
|
|
||||||
q = (int16_t) ((buf[2+MPU_OFFSET_GYRO] << 8) | buf[3+MPU_OFFSET_GYRO]);
|
|
||||||
r = (int16_t) ((buf[4+MPU_OFFSET_GYRO] << 8) | buf[5+MPU_OFFSET_GYRO]);
|
|
||||||
|
|
||||||
#define MPU_OFFSET_ACC 2
|
|
||||||
x = (int16_t) ((buf[0+MPU_OFFSET_ACC] << 8) | buf[1+MPU_OFFSET_ACC]);
|
|
||||||
y = (int16_t) ((buf[2+MPU_OFFSET_ACC] << 8) | buf[3+MPU_OFFSET_ACC]);
|
|
||||||
z = (int16_t) ((buf[4+MPU_OFFSET_ACC] << 8) | buf[5+MPU_OFFSET_ACC]);
|
|
||||||
|
|
||||||
#define MPU_OFFSET_MAG 16
|
|
||||||
Mx = (int16_t) ((buf[0+MPU_OFFSET_MAG] << 8) | buf[1+MPU_OFFSET_MAG]);
|
|
||||||
My = (int16_t) ((buf[2+MPU_OFFSET_MAG] << 8) | buf[3+MPU_OFFSET_MAG]);
|
|
||||||
Mz = (int16_t) ((buf[4+MPU_OFFSET_MAG] << 8) | buf[5+MPU_OFFSET_MAG]);
|
|
||||||
|
|
||||||
#ifdef LISA_M_LONGITUDINAL_X
|
|
||||||
RATES_ASSIGN(imu.gyro_unscaled, q, -p, r);
|
|
||||||
VECT3_ASSIGN(imu.accel_unscaled, y, -x, z);
|
|
||||||
VECT3_ASSIGN(imu.mag_unscaled, -Mx, -Mz, My);
|
|
||||||
#else
|
|
||||||
RATES_ASSIGN(imu.gyro_unscaled, p, q, r);
|
|
||||||
VECT3_ASSIGN(imu.accel_unscaled, x, y, z);
|
|
||||||
VECT3_ASSIGN(imu.mag_unscaled, Mz, -Mx, My);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
return 1;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
static inline void imu_aspirin2_event(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void))
|
|
||||||
{
|
|
||||||
if (imu_aspirin2.status == Aspirin2StatusUninit) return;
|
|
||||||
|
|
||||||
if (imu_aspirin2.imu_available) {
|
|
||||||
imu_aspirin2.imu_available = FALSE;
|
|
||||||
if (imu_from_buff(imu_aspirin2.input_buf_p)) {
|
|
||||||
_gyro_handler();
|
|
||||||
_accel_handler();
|
|
||||||
_mag_handler();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler) { \
|
|
||||||
imu_aspirin2_event(_gyro_handler, _accel_handler, _mag_handler); \
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif /* IMU_ASPIRIN_2_H */
|
|
||||||
Reference in New Issue
Block a user