void imu_impl_init(void)
{
/////////////////////////////////////////////////////////////////////
// ITG3200
itg3200_init(&imu_navgo.itg, &(IMU_NAVGO_I2C_DEV), ITG3200_ADDR_ALT);
// change the default configuration
imu_navgo.itg.config.smplrt_div = NAVGO_GYRO_SMPLRT_DIV; // 500Hz sample rate since internal is 1kHz
imu_navgo.itg.config.dlpf_cfg = NAVGO_GYRO_LOWPASS;
/////////////////////////////////////////////////////////////////////
// ADXL345
adxl345_i2c_init(&imu_navgo.adxl, &(IMU_NAVGO_I2C_DEV), ADXL345_ADDR_ALT);
// change the default data rate
imu_navgo.adxl.config.rate = NAVGO_ACCEL_RATE;
/////////////////////////////////////////////////////////////////////
// HMC58XX
hmc58xx_init(&imu_navgo.hmc, &(IMU_NAVGO_I2C_DEV), HMC58XX_ADDR);
#if NAVGO_USE_MEDIAN_FILTER
// Init median filters
InitMedianFilterRatesInt(median_gyro);
InitMedianFilterVect3Int(median_accel);
InitMedianFilterVect3Int(median_mag);
#endif
imu_navgo.gyr_valid = FALSE;
imu_navgo.acc_valid = FALSE;
imu_navgo.mag_valid = FALSE;
}
void imu_impl_init(void)
{
imu_aspirin.accel_valid = FALSE;
imu_aspirin.gyro_valid = FALSE;
imu_aspirin.mag_valid = FALSE;
/* Set accel configuration */
adxl345_i2c_init(&imu_aspirin.acc_adxl, &(ASPIRIN_I2C_DEV), ADXL345_ADDR);
// set the data rate
imu_aspirin.acc_adxl.config.rate = ASPIRIN_ACCEL_RATE;
/// @todo drdy int handling for adxl345
//imu_aspirin.acc_adxl.config.drdy_int_enable = TRUE;
// With CS tied high to VDD I/O, the ADXL345 is in I2C mode
GPIO_ARCH_SET_SPI_CS_HIGH();
/* Gyro configuration and initalization */
itg3200_init(&imu_aspirin.gyro_itg, &(ASPIRIN_I2C_DEV), ITG3200_ADDR);
/* change the default config */
// Aspirin sample rate divider
imu_aspirin.gyro_itg.config.smplrt_div = ASPIRIN_GYRO_SMPLRT_DIV;
// digital low pass filter
imu_aspirin.gyro_itg.config.dlpf_cfg = ASPIRIN_GYRO_LOWPASS;
/// @todo eoc interrupt for itg3200, polling for now (including status reg)
/* interrupt on data ready, idle high, latch until read any register */
//itg_conf.int_cfg = (0x01 | (0x1<<4) | (0x1<<5) | 0x01<<7);
/* initialize mag and set default options */
hmc58xx_init(&imu_aspirin.mag_hmc, &(ASPIRIN_I2C_DEV), HMC58XX_ADDR);
#ifdef IMU_ASPIRIN_VERSION_1_0
imu_aspirin.mag_hmc.type = HMC_TYPE_5843;
#endif
}
void imu_impl_init(void)
{
/////////////////////////////////////////////////////////////////////
// ITG3200
itg3200_init(&imu_umarim.itg, &(IMU_UMARIM_I2C_DEV), ITG3200_ADDR_ALT);
// change the default configuration
imu_umarim.itg.config.smplrt_div = UMARIM_GYRO_SMPLRT_DIV;
imu_umarim.itg.config.dlpf_cfg = UMARIM_GYRO_LOWPASS;
/////////////////////////////////////////////////////////////////////
// ADXL345
adxl345_i2c_init(&imu_umarim.adxl, &(IMU_UMARIM_I2C_DEV), ADXL345_ADDR_ALT);
// change the default data rate
imu_umarim.adxl.config.rate = UMARIM_ACCEL_RATE;
imu_umarim.adxl.config.range = UMARIM_ACCEL_RANGE;
}
void imu_impl_init(void)
{
/* Set accel configuration */
adxl345_i2c_init(&imu_ppzuav.acc_adxl, &(IMU_PPZUAV_I2C_DEV), ADXL345_ADDR);
/* set the data rate */
imu_ppzuav.acc_adxl.config.rate = IMU_PPZUAV_ACCEL_RATE;
/* Gyro configuration and initalization */
itg3200_init(&imu_ppzuav.gyro_itg, &(IMU_PPZUAV_I2C_DEV), ITG3200_ADDR);
/* change the default config */
imu_ppzuav.gyro_itg.config.smplrt_div = IMU_PPZUAV_GYRO_SMPLRT_DIV;
imu_ppzuav.gyro_itg.config.dlpf_cfg = IMU_PPZUAV_GYRO_LOWPASS;
/* initialize mag and set default options */
hmc58xx_init(&imu_ppzuav.mag_hmc, &(IMU_PPZUAV_I2C_DEV), HMC58XX_ADDR);
/* set the type to the old HMC5843 */
imu_ppzuav.mag_hmc.type = HMC_TYPE_5843;
}