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[imu] Remove drotek_10dof_v2

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Freek van Tienen
2022-05-18 13:29:27 +02:00
parent dfd7599500
commit ddbc6fba12
3 changed files with 0 additions and 305 deletions
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conf/modules/imu_drotek_10dof_v2.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_drotek_10dof_v2" dir="imu" task="sensors">
<doc>
<description>
Drotek 10DOF V2 IMU via I2C.
MPU60x0 via I2C.
HMC58xx via I2C.
</description>
<configure name="DROTEK_2_I2C_DEV" value="i2c2" description="I2C device to use"/>
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="2358"/>
<define name="MAG_Y_NEUTRAL" value="2362"/>
<define name="MAG_Z_NEUTRAL" value="2119"/>
<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
</section>
</doc>
<dep>
<depends>i2c,imu_common</depends>
<provides>imu,mag</provides>
</dep>
<autoload name="imu_sim"/>
<autoload name="imu_nps"/>
<header>
<file name="imu_drotek_10dof_v2.h"/>
</header>
<init fun="imu_drotek2_init()"/>
<periodic fun="imu_drotek2_periodic()"/>
<event fun="imu_drotek2_event()"/>
<makefile target="!sim|nps|fbw">
<configure name="DROTEK_2_I2C_DEV" default="i2c2" case="lower|upper"/>
<define name="DROTEK_2_I2C_DEV" value="$(DROTEK_2_I2C_DEV_LOWER)"/>
<define name="USE_$(DROTEK_2_I2C_DEV_UPPER)"/>
<define name="IMU_TYPE_H" value="imu/imu_drotek_10dof_v2.h" type="string"/>
<file name="mpu60x0.c" dir="peripherals"/>
<file name="mpu60x0_i2c.c" dir="peripherals"/>
<file name="hmc58xx.c" dir="peripherals"/>
<file name="imu_drotek_10dof_v2.c"/>
<test>
<define name="IMU_TYPE_H" value="imu/imu_drotek_10dof_v2.h" type="string"/>
<define name="USE_I2C1"/>
<define name="DROTEK_2_I2C_DEV" value="i2c1"/>
<define name="PERIODIC_FREQUENCY" value="512"/>
</test>
</makefile>
</module>
sw/airborne/modules/imu/imu_drotek_10dof_v2.c
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/*
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* 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.
*/
/**
* @file modules/imu/imu_drotek_10dof_v2.c
*
* Driver for the Drotek 10DOF V2 IMU.
* MPU6050 + HMC5883 + MS5611
* Reading the baro is not part of the IMU driver.
*
* By default the axes orientation should be as printed on the pcb,
* meaning z-axis pointing down if ICs are facing down.
* The orientation can be switched so that the IMU can be mounted ICs facing up
* by defining IMU_DROTEK_2_ORIENTATION_IC_UP.
*/
#include "modules/imu/imu.h"
#include "modules/core/abi.h"
#include "mcu_periph/i2c.h"
#if !defined DROTEK_2_LOWPASS_FILTER && !defined DROTEK_2_SMPLRT_DIV
#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
/* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
* Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
*/
#define DROTEK_2_LOWPASS_FILTER MPU60X0_DLPF_42HZ
#define DROTEK_2_SMPLRT_DIV 9
PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
#elif PERIODIC_FREQUENCY == 512
/* Accelerometer: Bandwidth 260Hz, Delay 0ms
* Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
*/
#define DROTEK_2_LOWPASS_FILTER MPU60X0_DLPF_256HZ
#define DROTEK_2_SMPLRT_DIV 3
PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
#endif
#endif
PRINT_CONFIG_VAR(DROTEK_2_SMPLRT_DIV)
PRINT_CONFIG_VAR(DROTEK_2_LOWPASS_FILTER)
PRINT_CONFIG_VAR(DROTEK_2_GYRO_RANGE)
PRINT_CONFIG_VAR(DROTEK_2_ACCEL_RANGE)
#ifndef DROTEK_2_MPU_I2C_ADDR
#define DROTEK_2_MPU_I2C_ADDR MPU60X0_ADDR_ALT
#endif
PRINT_CONFIG_VAR(DROTEK_2_MPU_I2C_ADDR)
#ifndef DROTEK_2_HMC_I2C_ADDR
#define DROTEK_2_HMC_I2C_ADDR HMC58XX_ADDR
#endif
PRINT_CONFIG_VAR(DROTEK_2_HMC_I2C_ADDR)
struct ImuDrotek2 imu_drotek2;
void imu_drotek2_init(void)
{
/* MPU-60X0 */
mpu60x0_i2c_init(&imu_drotek2.mpu, &(DROTEK_2_I2C_DEV), DROTEK_2_MPU_I2C_ADDR);
// change the default configuration
imu_drotek2.mpu.config.smplrt_div = DROTEK_2_SMPLRT_DIV;
imu_drotek2.mpu.config.dlpf_cfg = DROTEK_2_LOWPASS_FILTER;
imu_drotek2.mpu.config.gyro_range = DROTEK_2_GYRO_RANGE;
imu_drotek2.mpu.config.accel_range = DROTEK_2_ACCEL_RANGE;
/* HMC5883 magnetometer */
hmc58xx_init(&imu_drotek2.hmc, &(DROTEK_2_I2C_DEV), DROTEK_2_HMC_I2C_ADDR);
/* mag is declared as slave to call the configure function,
* regardless if it is an actual MPU slave or passthrough
*/
imu_drotek2.mpu.config.nb_slaves = 1;
/* set callback function to configure mag */
imu_drotek2.mpu.config.slaves[0].configure = &imu_drotek2_configure_mag_slave;
// use hmc mag via passthrough
imu_drotek2.mpu.config.i2c_bypass = true;
}
void imu_drotek2_periodic(void)
{
// Start reading the latest gyroscope data
mpu60x0_i2c_periodic(&imu_drotek2.mpu);
// Read HMC58XX at ~50Hz (main loop for rotorcraft: 512Hz)
if (imu_drotek2.mpu.config.initialized) {
RunOnceEvery(10, hmc58xx_read(&imu_drotek2.hmc));
}
}
void imu_drotek2_event(void)
{
uint32_t now_ts = get_sys_time_usec();
// If the MPU6050 I2C transaction has succeeded: convert the data
mpu60x0_i2c_event(&imu_drotek2.mpu);
if (imu_drotek2.mpu.data_available) {
#if IMU_DROTEK_2_ORIENTATION_IC_UP
/* change orientation, so if ICs face up, z-axis is down */
imu.gyro_unscaled.p = imu_drotek2.mpu.data_rates.rates.p;
imu.gyro_unscaled.q = -imu_drotek2.mpu.data_rates.rates.q;
imu.gyro_unscaled.r = -imu_drotek2.mpu.data_rates.rates.r;
imu.accel_unscaled.x = imu_drotek2.mpu.data_accel.vect.x;
imu.accel_unscaled.y = -imu_drotek2.mpu.data_accel.vect.y;
imu.accel_unscaled.z = -imu_drotek2.mpu.data_accel.vect.z;
#else
/* default orientation as should be printed on the pcb, z-down, ICs down */
RATES_COPY(imu.gyro_unscaled, imu_drotek2.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_drotek2.mpu.data_accel.vect);
#endif
imu_drotek2.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_DROTEK_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_DROTEK_ID, now_ts, &imu.accel);
}
/* HMC58XX event task */
hmc58xx_event(&imu_drotek2.hmc);
if (imu_drotek2.hmc.data_available) {
#if IMU_DROTEK_2_ORIENTATION_IC_UP
imu.mag_unscaled.x = imu_drotek2.hmc.data.vect.x;
imu.mag_unscaled.y = -imu_drotek2.hmc.data.vect.y;
imu.mag_unscaled.z = -imu_drotek2.hmc.data.vect.z;
#else
VECT3_COPY(imu.mag_unscaled, imu_drotek2.hmc.data.vect);
#endif
imu_drotek2.hmc.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_DROTEK_ID, now_ts, &imu.mag);
}
}
/** callback function to configure hmc5883 mag
* @return TRUE if mag configuration finished
*/
bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set __attribute__((unused)),
void *mpu __attribute__((unused)))
{
hmc58xx_start_configure(&imu_drotek2.hmc);
if (imu_drotek2.hmc.initialized) {
return true;
} else {
return false;
}
}
sw/airborne/modules/imu/imu_drotek_10dof_v2.h
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/*
* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
*
* 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.
*/
/**
* @file modules/imu/imu_drotek_10dof_v2.h
*
* Driver for the Drotek 10DOF V2 IMU.
* MPU6050 + HMC5883 + MS5611
*/
#ifndef IMU_DROTEK_10DOF_V2_H
#define IMU_DROTEK_10DOF_V2_H
#include "std.h"
#include "generated/airframe.h"
#include "modules/imu/imu.h"
#include "peripherals/mpu60x0_i2c.h"
#include "peripherals/hmc58xx.h"
#ifndef DROTEK_2_GYRO_RANGE
#define DROTEK_2_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
#endif
#ifndef DROTEK_2_ACCEL_RANGE
#define DROTEK_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
#endif
// Set default sensitivity based on range if needed
#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
#endif
// Set default sensitivity based on range if needed
#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
#endif
struct ImuDrotek2 {
struct Mpu60x0_I2c mpu;
struct Hmc58xx hmc;
};
extern struct ImuDrotek2 imu_drotek2;
extern void imu_drotek2_init(void);
extern void imu_drotek2_periodic(void);
extern void imu_drotek2_event(void);
extern bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu);
#endif /* IMU_DROTEK_10DOF_V2_H */