mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 22:17:01 +08:00
[krooz] add imu driver for KroozSD board from Sergei
This commit is contained in:
Felix Ruess
@@ -201,6 +201,10 @@ ap.CFLAGS += -DUSE_SPI1
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ap.srcs += peripherals/mcp355x.c
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ap.srcs += $(SRC_BOARD)/baro_board.c
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# krooz baro
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else ifeq ($(BOARD), krooz)
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ap.srcs += $(SRC_BOARD)/baro_board.c
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# apogee baro
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else ifeq ($(BOARD), apogee)
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ap.CFLAGS += -DUSE_I2C1
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@@ -0,0 +1,29 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# KroozSD IMU
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#
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IMU_KROOZ_CFLAGS = -DUSE_IMU
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IMU_KROOZ_CFLAGS += -DIMU_TYPE_H=\"boards/krooz/imu_krooz.h\"
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IMU_KROOZ_SRCS = $(SRC_SUBSYSTEMS)/imu.c \
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$(SRC_BOARD)/imu_krooz.c \
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$(SRC_ARCH)/subsystems/imu/imu_krooz_sd_arch.c
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IMU_KROOZ_I2C_DEV=i2c2
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IMU_KROOZ_CFLAGS += -DUSE_I2C -DUSE_I2C2 -DI2C2_CLOCK_SPEED=400000
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IMU_KROOZ_CFLAGS += -DIMU_KROOZ_I2C_DEV=$(IMU_KROOZ_I2C_DEV)
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IMU_KROOZ_CFLAGS += -DMS5611_I2C_DEV=$(IMU_KROOZ_I2C_DEV) -DMS5611_SLAVE_ADDR=0xEC
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IMU_KROOZ_SRCS += peripherals/mpu60x0.c
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IMU_KROOZ_SRCS += peripherals/mpu60x0_i2c.c
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IMU_KROOZ_SRCS += peripherals/hmc58xx.c
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IMU_KROOZ_SRCS += modules/sensors/baro_ms5611_i2c.c
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AHRS_PROPAGATE_FREQUENCY ?= 512
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AHRS_CORRECT_FREQUENCY ?= 512
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ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
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ap.CFLAGS += -DAHRS_CORRECT_FREQUENCY=$(AHRS_CORRECT_FREQUENCY)
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ap.CFLAGS += $(IMU_KROOZ_CFLAGS)
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ap.srcs += $(IMU_KROOZ_SRCS)
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@@ -0,0 +1,37 @@
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#include "subsystems/imu.h"
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#include <libopencm3/stm32/f4/rcc.h>
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#include <libopencm3/stm32/f4/gpio.h>
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#include <libopencm3/stm32/f4/nvic.h>
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#include <libopencm3/stm32/exti.h>
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#include "subsystems/imu/imu_krooz_sd_arch.h"
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void imu_krooz_sd_arch_init(void) {
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rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_SYSCFGEN);
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rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPBEN);
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rcc_peripheral_enable_clock(&RCC_AHB1ENR, RCC_AHB1ENR_IOPCEN);
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gpio_mode_setup(GPIOB, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO5);
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gpio_mode_setup(GPIOC, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO6);
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nvic_enable_irq(NVIC_EXTI9_5_IRQ);
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exti_select_source(EXTI5, GPIOB);
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exti_select_source(EXTI6, GPIOC);
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exti_set_trigger(EXTI5, EXTI_TRIGGER_RISING);
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exti_set_trigger(EXTI6, EXTI_TRIGGER_FALLING);
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exti_enable_request(EXTI5);
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exti_enable_request(EXTI6);
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nvic_set_priority(NVIC_EXTI9_5_IRQ, 0x0F);
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}
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void exti9_5_isr(void) {
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/* clear EXTI */
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if(EXTI_PR & EXTI6) {
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exti_reset_request(EXTI6);
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hmc58xx_read(&imu_krooz.hmc);
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}
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if(EXTI_PR & EXTI5) {
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exti_reset_request(EXTI5);
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mpu60x0_i2c_read(&imu_krooz.mpu);
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}
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}
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@@ -0,0 +1,8 @@
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#ifndef IMU_KROOZ_SD_ARCH_H
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#define IMU_KROOZ_SD_ARCH_H
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#include "subsystems/imu.h"
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void imu_krooz_sd_arch_init(void);
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#endif /* IMU_KROOZ_SD_ARCH_H */
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@@ -0,0 +1,32 @@
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#include "subsystems/sensors/baro.h"
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#include "baro_board.h"
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/*
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#include "subsystems/datalink/downlink.h"
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#include "mcu_periph/uart.h"
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#include "mcu_periph/sys_time.h"
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*/
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struct Baro baro;
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void baro_init(void) {
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baro_ms5611_init();
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}
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void baro_periodic(void) {
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static uint8_t cnt;
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switch(cnt) {
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case 0:
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baro_ms5611_periodic();
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cnt++;
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break;
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case 1:
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baro_ms5611_d1();
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cnt++;
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break;
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case 2:
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baro_ms5611_d2();
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cnt = 0;
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break;
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}
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}
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@@ -0,0 +1,30 @@
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/*
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* board specific fonctions for the KroozSD board
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*
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*/
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#ifndef BOARDS_KROOZ_BARO_H
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#define BOARDS_KROOZ_BARO_H
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#include "std.h"
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#include "mcu_periph/i2c.h"
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#include "modules/sensors/baro_ms5611_i2c.h"
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#include "math/pprz_algebra_int.h"
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//#include "led.h"
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static inline void baro_event(void (*b_abs_handler)(void), void (*b_diff_handler)(void))
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{
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baro_ms5611_event();
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if(baro_ms5611_valid) {
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baro.status = BS_RUNNING;
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baro.absolute = (int32_t)baroms;
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b_abs_handler();
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baro_ms5611_valid = FALSE;
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}
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}
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#define BaroEvent(_b_abs_handler, _b_diff_handler) baro_event(_b_abs_handler,_b_diff_handler)
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#endif /* BOARDS_KROOZ_SD_BARO_H */
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@@ -0,0 +1,160 @@
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/*
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* Copyright (C) 2013 Sergey Krukowski <softsr@yahoo.de>
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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 boards/krooz/imu_krooz.c
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*
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* Driver for the IMU on the KroozSD board.
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*
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* Invensense MPU-6050
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* Honeywell HMC-5883
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*/
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#include <math.h>
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#include "boards/krooz/imu_krooz.h"
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#include "subsystems/imu/imu_krooz_sd_arch.h"
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#include "mcu_periph/i2c.h"
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#include "led.h"
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// Downlink
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#include "mcu_periph/uart.h"
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#include "messages.h"
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#include "subsystems/datalink/downlink.h"
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#ifndef DOWNLINK_DEVICE
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#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
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#endif
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#if !defined KROOZ_LOWPASS_FILTER && !defined KROOZ_SMPLRT_DIV
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#define KROOZ_LOWPASS_FILTER MPU60X0_DLPF_256HZ
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#define KROOZ_SMPLRT_DIV 1
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#endif
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PRINT_CONFIG_VAR(KROOZ_SMPLRT_DIV)
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PRINT_CONFIG_VAR(KROOZ_LOWPASS_FILTER)
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#ifndef KROOZ_GYRO_RANGE
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#define KROOZ_GYRO_RANGE MPU60X0_GYRO_RANGE_250
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#endif
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PRINT_CONFIG_VAR(KROOZ_GYRO_RANGE)
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#ifndef KROOZ_ACCEL_RANGE
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#define KROOZ_ACCEL_RANGE MPU60X0_ACCEL_RANGE_2G
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#endif
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PRINT_CONFIG_VAR(KROOZ_ACCEL_RANGE)
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struct ImuKrooz imu_krooz;
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#if KROOZ_USE_MEDIAN_FILTER
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#include "filters/median_filter.h"
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struct MedianFilter3Int median_gyro, median_accel, median_mag;
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#endif
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void imu_impl_init( void )
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{
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/////////////////////////////////////////////////////////////////////
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// MPU-60X0
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mpu60x0_i2c_init(&imu_krooz.mpu, &(IMU_KROOZ_I2C_DEV), MPU60X0_ADDR);
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// change the default configuration
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imu_krooz.mpu.config.smplrt_div = KROOZ_SMPLRT_DIV;
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imu_krooz.mpu.config.dlpf_cfg = KROOZ_LOWPASS_FILTER;
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imu_krooz.mpu.config.gyro_range = KROOZ_GYRO_RANGE;
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imu_krooz.mpu.config.accel_range = KROOZ_ACCEL_RANGE;
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imu_krooz.mpu.config.drdy_int_enable = TRUE;
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hmc58xx_init(&imu_krooz.hmc, &(IMU_KROOZ_I2C_DEV), HMC58XX_ADDR);
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#if KROOZ_USE_MEDIAN_FILTER
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// Init median filters
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InitMedianFilterRatesInt(median_gyro);
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InitMedianFilterVect3Int(median_accel);
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InitMedianFilterVect3Int(median_mag);
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#endif
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RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
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VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
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imu_krooz.meas_nb = 0;
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imu_krooz.gyr_valid = FALSE;
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imu_krooz.acc_valid = FALSE;
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imu_krooz.mag_valid = FALSE;
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imu_krooz_sd_arch_init();
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}
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void imu_periodic( void )
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{
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// Start reading the latest gyroscope data
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if (!imu_krooz.mpu.config.initialized)
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mpu60x0_i2c_start_configure(&imu_krooz.mpu);
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if (!imu_krooz.hmc.initialized)
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hmc58xx_start_configure(&imu_krooz.hmc);
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if (imu_krooz.meas_nb) {
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RATES_ASSIGN(imu.gyro_unscaled, imu_krooz.rates_sum.q / imu_krooz.meas_nb, imu_krooz.rates_sum.p / imu_krooz.meas_nb, imu_krooz.rates_sum.r / imu_krooz.meas_nb);
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#if KROOZ_USE_MEDIAN_FILTER
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UpdateMedianFilterRatesInt(median_gyro, imu.gyro_unscaled);
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#endif
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VECT3_ASSIGN(imu.accel_unscaled, imu_krooz.accel_sum.y / imu_krooz.meas_nb, imu_krooz.accel_sum.x / imu_krooz.meas_nb, imu_krooz.accel_sum.z / imu_krooz.meas_nb);
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#if KROOZ_USE_MEDIAN_FILTER
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UpdateMedianFilterVect3Int(median_accel, imu.accel_unscaled);
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#endif
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RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
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VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
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imu_krooz.meas_nb = 0;
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imu_krooz.gyr_valid = TRUE;
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imu_krooz.acc_valid = TRUE;
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}
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//RunOnceEvery(10,imu_krooz_downlink_raw());
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}
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void imu_krooz_downlink_raw( void )
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{
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DOWNLINK_SEND_IMU_GYRO_RAW(DefaultChannel, DefaultDevice,&imu.gyro_unscaled.p,&imu.gyro_unscaled.q,&imu.gyro_unscaled.r);
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DOWNLINK_SEND_IMU_ACCEL_RAW(DefaultChannel, DefaultDevice,&imu.accel_unscaled.x,&imu.accel_unscaled.y,&imu.accel_unscaled.z);
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}
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void imu_krooz_event( void )
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{
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// If the MPU6050 I2C transaction has succeeded: convert the data
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mpu60x0_i2c_event(&imu_krooz.mpu);
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if (imu_krooz.mpu.data_available) {
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RATES_ADD(imu_krooz.rates_sum, imu_krooz.mpu.data_rates.rates);
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VECT3_ADD(imu_krooz.accel_sum, imu_krooz.mpu.data_accel.vect);
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imu_krooz.meas_nb++;
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imu_krooz.mpu.data_available = FALSE;
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}
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// If the HMC5883 I2C transaction has succeeded: convert the data
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hmc58xx_event(&imu_krooz.hmc);
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if (imu_krooz.hmc.data_available) {
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VECT3_COPY(imu.mag_unscaled, imu_krooz.hmc.data.vect);
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#if KROOZ_USE_MEDIAN_FILTER
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UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
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#endif
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imu_krooz.hmc.data_available = FALSE;
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imu_krooz.mag_valid = TRUE;
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}
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}
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@@ -0,0 +1,142 @@
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/*
|
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* Copyright (C) 2013 Sergey Krukowski <softsr@yahoo.de>
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
/**
|
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* @file boards/krooz/imu_krooz.h
|
||||
*
|
||||
* Driver for the IMU on the KroozSD board.
|
||||
*
|
||||
* Invensense MPU-6050
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*/
|
||||
|
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#ifndef IMU_KROOZ_H
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#define IMU_KROOZ_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 "peripherals/mpu60x0_i2c.h"
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#include "peripherals/hmc58xx.h"
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|
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// Default configuration
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#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
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#define IMU_GYRO_P_SIGN -1
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#define IMU_GYRO_Q_SIGN 1
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#define IMU_GYRO_R_SIGN 1
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#endif
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#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
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#define IMU_ACCEL_X_SIGN -1
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#define IMU_ACCEL_Y_SIGN 1
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#define IMU_ACCEL_Z_SIGN 1
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#endif
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#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
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#define IMU_MAG_X_SIGN 1
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#define IMU_MAG_Y_SIGN 1
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#define IMU_MAG_Z_SIGN 1
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#endif
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/** default gyro sensitivy and neutral from the datasheet
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||||
* MPU with 250 deg/s has 131.072 LSB/(deg/s)
|
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* sens = 1/131.072 * pi/180 * 2^INT32_RATE_FRAC
|
||||
* sens = 1/131.072 * pi/180 * 4096 = 0.5454
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I*/
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#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
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||||
// FIXME
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||||
#define IMU_GYRO_P_SENS 0.5454
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#define IMU_GYRO_P_SENS_NUM 2727
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#define IMU_GYRO_P_SENS_DEN 5000
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||||
#define IMU_GYRO_Q_SENS 0.5454
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||||
#define IMU_GYRO_Q_SENS_NUM 2727
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#define IMU_GYRO_Q_SENS_DEN 5000
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||||
#define IMU_GYRO_R_SENS 0.5454
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#define IMU_GYRO_R_SENS_NUM 2727
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#define IMU_GYRO_R_SENS_DEN 5000
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#endif
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||||
#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
|
||||
#define IMU_GYRO_P_NEUTRAL 0
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||||
#define IMU_GYRO_Q_NEUTRAL 0
|
||||
#define IMU_GYRO_R_NEUTRAL 0
|
||||
#endif
|
||||
|
||||
|
||||
/** default accel sensitivy from the datasheet
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||||
* MPU with 2g has 16384 LSB/g
|
||||
* sens = 9.81 [m/s^2] / 16384 [LSB/g] * 2^INT32_ACCEL_FRAC = 0.6131
|
||||
*/
|
||||
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
|
||||
// FIXME
|
||||
#define IMU_ACCEL_X_SENS 0.6131
|
||||
#define IMU_ACCEL_X_SENS_NUM 6131
|
||||
#define IMU_ACCEL_X_SENS_DEN 10000
|
||||
#define IMU_ACCEL_Y_SENS 0.6131
|
||||
#define IMU_ACCEL_Y_SENS_NUM 6131
|
||||
#define IMU_ACCEL_Y_SENS_DEN 10000
|
||||
#define IMU_ACCEL_Z_SENS 0.6131
|
||||
#define IMU_ACCEL_Z_SENS_NUM 6131
|
||||
#define IMU_ACCEL_Z_SENS_DEN 10000
|
||||
#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
|
||||
|
||||
struct ImuKrooz {
|
||||
volatile bool_t gyr_valid;
|
||||
volatile bool_t acc_valid;
|
||||
volatile bool_t mag_valid;
|
||||
struct Mpu60x0_I2c mpu;
|
||||
struct Hmc58xx hmc;
|
||||
struct Int32Rates rates_sum;
|
||||
struct Int32Vect3 accel_sum;
|
||||
volatile uint8_t meas_nb;
|
||||
};
|
||||
|
||||
extern struct ImuKrooz imu_krooz;
|
||||
|
||||
|
||||
/* must be defined in order to be IMU code: declared in imu.h
|
||||
extern void imu_impl_init(void);
|
||||
extern void imu_periodic(void);
|
||||
*/
|
||||
|
||||
/* Own Extra Functions */
|
||||
extern void imu_krooz_event( void );
|
||||
extern void imu_krooz_downlink_raw( void );
|
||||
|
||||
static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void) __attribute__((unused))) {
|
||||
imu_krooz_event();
|
||||
if (imu_krooz.gyr_valid) {
|
||||
imu_krooz.gyr_valid = FALSE;
|
||||
_gyro_handler();
|
||||
}
|
||||
if (imu_krooz.acc_valid) {
|
||||
imu_krooz.acc_valid = FALSE;
|
||||
_accel_handler();
|
||||
}
|
||||
if (imu_krooz.mag_valid) {
|
||||
imu_krooz.mag_valid = FALSE;
|
||||
_mag_handler();
|
||||
}
|
||||
}
|
||||
|
||||
#endif // IMU_KROOZ_H
|
||||
@@ -210,7 +210,6 @@
|
||||
#define BOARD_HAS_BARO 1
|
||||
|
||||
/* PWM */
|
||||
//#define PWM_USE_TIM2 1
|
||||
#define PWM_USE_TIM3 1
|
||||
#define PWM_USE_TIM4 1
|
||||
#define PWM_USE_TIM5 1
|
||||
@@ -227,7 +226,12 @@
|
||||
#define USE_PWM9 1
|
||||
//#define USE_PWM10 1
|
||||
|
||||
#if USE_PWM10
|
||||
#define ACTUATORS_PWM_NB 11
|
||||
#define PWM_USE_TIM2 1
|
||||
#else
|
||||
#define ACTUATORS_PWM_NB 10
|
||||
#endif
|
||||
|
||||
// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
|
||||
#if USE_PWM0
|
||||
@@ -397,7 +401,7 @@
|
||||
* Spektrum
|
||||
*/
|
||||
/* The line that is pulled low at power up to initiate the bind process */
|
||||
#define SPEKTRUM_BIND_PIN GPIO8
|
||||
#define SPEKTRUM_BIND_PIN GPIO9
|
||||
#define SPEKTRUM_BIND_PIN_PORT GPIOA
|
||||
|
||||
#endif /* CONFIG_KROOZ_1_0_H */
|
||||
|
||||
@@ -55,6 +55,7 @@ uint8_t ms5611_status;
|
||||
uint16_t ms5611_c[PROM_NB];
|
||||
uint32_t ms5611_d1, ms5611_d2;
|
||||
int32_t prom_cnt;
|
||||
int64_t baroms;
|
||||
float fbaroms, ftempms;
|
||||
float baro_ms5611_alt;
|
||||
bool_t baro_ms5611_enabled;
|
||||
@@ -193,7 +194,7 @@ void baro_ms5611_event( void ) {
|
||||
break;
|
||||
|
||||
case MS5611_ADC_D2: {
|
||||
int64_t dt, baroms, tempms, off, sens, t2, off2, sens2;
|
||||
int64_t dt, tempms, off, sens, t2, off2, sens2;
|
||||
/* read D2 (temperature) */
|
||||
ms5611_d2 = (ms5611_trans.buf[0] << 16) |
|
||||
(ms5611_trans.buf[1] << 8) |
|
||||
|
||||
@@ -20,6 +20,7 @@ extern bool_t baro_ms5611_valid;
|
||||
extern bool_t baro_ms5611_enabled;
|
||||
extern float baro_ms5611_r;
|
||||
extern float baro_ms5611_sigma2;
|
||||
extern int64_t baroms;
|
||||
|
||||
enum ms5611_stat{
|
||||
MS5611_UNINIT,
|
||||
@@ -35,11 +36,11 @@ enum ms5611_stat{
|
||||
MS5611_ADC_D2
|
||||
};
|
||||
|
||||
void baro_ms5611_init(void);
|
||||
void baro_ms5611_periodic(void);
|
||||
void baro_ms5611_d1(void);
|
||||
void baro_ms5611_d2(void);
|
||||
void baro_ms5611_event(void);
|
||||
extern void baro_ms5611_init(void);
|
||||
extern void baro_ms5611_periodic(void);
|
||||
extern void baro_ms5611_d1(void);
|
||||
extern void baro_ms5611_d2(void);
|
||||
extern void baro_ms5611_event(void);
|
||||
|
||||
#define BaroMs5611Update(_b) { if (baro_ms5611_valid) { _b = baro_ms5611_alt; baro_ms5611_valid = FALSE; } }
|
||||
|
||||
|
||||
Reference in New Issue
Block a user