mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
[krooz] add imu driver for KroozSD board from Sergei
This commit is contained in:
Felix Ruess
@@ -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>
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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.h
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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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*/
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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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// 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
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* 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
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#define IMU_GYRO_P_NEUTRAL 0
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#define IMU_GYRO_Q_NEUTRAL 0
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#define IMU_GYRO_R_NEUTRAL 0
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#endif
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/** default accel sensitivy from the datasheet
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* MPU with 2g has 16384 LSB/g
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* sens = 9.81 [m/s^2] / 16384 [LSB/g] * 2^INT32_ACCEL_FRAC = 0.6131
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*/
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#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
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// FIXME
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#define IMU_ACCEL_X_SENS 0.6131
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#define IMU_ACCEL_X_SENS_NUM 6131
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#define IMU_ACCEL_X_SENS_DEN 10000
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#define IMU_ACCEL_Y_SENS 0.6131
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#define IMU_ACCEL_Y_SENS_NUM 6131
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#define IMU_ACCEL_Y_SENS_DEN 10000
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#define IMU_ACCEL_Z_SENS 0.6131
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#define IMU_ACCEL_Z_SENS_NUM 6131
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#define IMU_ACCEL_Z_SENS_DEN 10000
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#endif
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#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
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#define IMU_ACCEL_X_NEUTRAL 0
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#define IMU_ACCEL_Y_NEUTRAL 0
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#define IMU_ACCEL_Z_NEUTRAL 0
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#endif
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struct ImuKrooz {
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volatile bool_t gyr_valid;
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volatile bool_t acc_valid;
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volatile bool_t mag_valid;
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struct Mpu60x0_I2c mpu;
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struct Hmc58xx hmc;
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struct Int32Rates rates_sum;
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struct Int32Vect3 accel_sum;
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volatile uint8_t meas_nb;
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};
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extern struct ImuKrooz imu_krooz;
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/* must be defined in order to be IMU code: declared in imu.h
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extern void imu_impl_init(void);
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extern void imu_periodic(void);
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*/
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/* Own Extra Functions */
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extern void imu_krooz_event( void );
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extern void imu_krooz_downlink_raw( void );
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static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void) __attribute__((unused))) {
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imu_krooz_event();
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if (imu_krooz.gyr_valid) {
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imu_krooz.gyr_valid = FALSE;
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_gyro_handler();
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}
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if (imu_krooz.acc_valid) {
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imu_krooz.acc_valid = FALSE;
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_accel_handler();
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}
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if (imu_krooz.mag_valid) {
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imu_krooz.mag_valid = FALSE;
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_mag_handler();
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}
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}
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#endif // IMU_KROOZ_H
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