/**
* Handle all the events of the Navstik IMU components.
* When there is data available convert it to the correct axis and save it in the imu structure.
*/
void imu_bebop_event(void)
{
/* MPU-60x0 event taks */
mpu60x0_i2c_event(&imu_bebop.mpu);
if (imu_bebop.mpu.data_available) {
/* default orientation of the MPU is upside down sor corrigate this here */
RATES_ASSIGN(imu.gyro_unscaled, imu_bebop.mpu.data_rates.rates.p, -imu_bebop.mpu.data_rates.rates.q, -imu_bebop.mpu.data_rates.rates.r);
VECT3_ASSIGN(imu.accel_unscaled, imu_bebop.mpu.data_accel.vect.x, -imu_bebop.mpu.data_accel.vect.y, -imu_bebop.mpu.data_accel.vect.z);
imu_bebop.mpu.data_available = FALSE;
imu_bebop.gyro_valid = TRUE;
imu_bebop.accel_valid = TRUE;
}
/* AKM8963 event task */
ak8963_event(&imu_bebop.ak);
if (imu_bebop.ak.data_available) {
//32760 to -32760
VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);
imu_bebop.ak.data_available = FALSE;
imu_bebop.mag_valid = TRUE;
}
}
void imu_krooz_event(void)
{
if (imu_krooz.mpu_eoc) {
mpu60x0_i2c_read(&imu_krooz.mpu);
imu_krooz.mpu_eoc = false;
}
// If the MPU6050 I2C transaction has succeeded: convert the data
mpu60x0_i2c_event(&imu_krooz.mpu);
if (imu_krooz.mpu.data_available) {
RATES_ADD(imu_krooz.rates_sum, imu_krooz.mpu.data_rates.rates);
VECT3_ADD(imu_krooz.accel_sum, imu_krooz.mpu.data_accel.vect);
imu_krooz.meas_nb++;
imu_krooz.mpu.data_available = false;
}
if (imu_krooz.hmc_eoc) {
hmc58xx_read(&imu_krooz.hmc);
imu_krooz.hmc_eoc = false;
}
// If the HMC5883 I2C transaction has succeeded: convert the data
hmc58xx_event(&imu_krooz.hmc);
if (imu_krooz.hmc.data_available) {
VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.y, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z);
UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
imu_krooz.hmc.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, get_sys_time_usec(), &imu.mag);
}
}
/**
* Handle all the events of the Navstik IMU components.
* When there is data available convert it to the correct axis and save it in the imu structure.
*/
void imu_navstik_event(void)
{
uint32_t now_ts = get_sys_time_usec();
/* MPU-60x0 event taks */
mpu60x0_i2c_event(&imu_navstik.mpu);
if (imu_navstik.mpu.data_available) {
/* default orientation as should be printed on the pcb, z-down, ICs down */
RATES_COPY(imu.gyro_unscaled, imu_navstik.mpu.data_rates.rates);
VECT3_COPY(imu.accel_unscaled, imu_navstik.mpu.data_accel.vect);
imu_navstik.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
}
/* HMC58XX event task */
hmc58xx_event(&imu_navstik.hmc);
if (imu_navstik.hmc.data_available) {
imu.mag_unscaled.x = imu_navstik.hmc.data.vect.y;
imu.mag_unscaled.y = -imu_navstik.hmc.data.vect.x;
imu.mag_unscaled.z = imu_navstik.hmc.data.vect.z;
imu_navstik.hmc.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
}
}
void imu_krooz_event( void )
{
if (imu_krooz.mpu_eoc) {
mpu60x0_i2c_read(&imu_krooz.mpu);
imu_krooz.mpu_eoc = FALSE;
}
// If the MPU6050 I2C transaction has succeeded: convert the data
mpu60x0_i2c_event(&imu_krooz.mpu);
if (imu_krooz.mpu.data_available) {
RATES_ADD(imu_krooz.rates_sum, imu_krooz.mpu.data_rates.rates);
VECT3_ADD(imu_krooz.accel_sum, imu_krooz.mpu.data_accel.vect);
imu_krooz.meas_nb++;
imu_krooz.mpu.data_available = FALSE;
}
if (imu_krooz.hmc_eoc) {
hmc58xx_read(&imu_krooz.hmc);
imu_krooz.hmc_eoc = FALSE;
}
// If the HMC5883 I2C transaction has succeeded: convert the data
hmc58xx_event(&imu_krooz.hmc);
if (imu_krooz.hmc.data_available) {
VECT3_ASSIGN(imu.mag_unscaled, imu_krooz.hmc.data.vect.y, -imu_krooz.hmc.data.vect.x, imu_krooz.hmc.data.vect.z);
UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
imu_krooz.hmc.data_available = FALSE;
imu_krooz.mag_valid = TRUE;
}
}
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);
}
}
/**
* Handle all the events of the Navstik IMU components.
* When there is data available convert it to the correct axis and save it in the imu structure.
*/
void imu_bebop_event(void)
{
uint32_t now_ts = get_sys_time_usec();
/* MPU-60x0 event taks */
mpu60x0_i2c_event(&imu_bebop.mpu);
if (imu_bebop.mpu.data_available) {
/* default orientation of the MPU is upside down sor corrigate this here */
RATES_ASSIGN(imu.gyro_unscaled, imu_bebop.mpu.data_rates.rates.p, -imu_bebop.mpu.data_rates.rates.q,
-imu_bebop.mpu.data_rates.rates.r);
VECT3_ASSIGN(imu.accel_unscaled, imu_bebop.mpu.data_accel.vect.x, -imu_bebop.mpu.data_accel.vect.y,
-imu_bebop.mpu.data_accel.vect.z);
imu_bebop.mpu.data_available = false;
imu_scale_gyro(&imu);
imu_scale_accel(&imu);
AbiSendMsgIMU_GYRO_INT32(IMU_BOARD_ID, now_ts, &imu.gyro);
AbiSendMsgIMU_ACCEL_INT32(IMU_BOARD_ID, now_ts, &imu.accel);
}
/* AKM8963 event task */
ak8963_event(&imu_bebop.ak);
if (imu_bebop.ak.data_available) {
#if BEBOP_VERSION2
struct Int32Vect3 mag_temp;
// In the second bebop version the magneto is turned 90 degrees
VECT3_ASSIGN(mag_temp, -imu_bebop.ak.data.vect.x, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.z);
// Rotate the magneto
struct Int32RMat *imu_to_mag_rmat = orientationGetRMat_i(&imu_to_mag_bebop);
int32_rmat_vmult(&imu.mag_unscaled, imu_to_mag_rmat, &mag_temp);
#else //BEBOP regular first verion
VECT3_ASSIGN(imu.mag_unscaled, -imu_bebop.ak.data.vect.y, imu_bebop.ak.data.vect.x, imu_bebop.ak.data.vect.z);
#endif
imu_bebop.ak.data_available = false;
imu_scale_mag(&imu);
AbiSendMsgIMU_MAG_INT32(IMU_BOARD_ID, now_ts, &imu.mag);
}
}
void imu_krooz_event( void )
{
// If the MPU6050 I2C transaction has succeeded: convert the data
mpu60x0_i2c_event(&imu_krooz.mpu);
if (imu_krooz.mpu.data_available) {
RATES_ADD(imu_krooz.rates_sum, imu_krooz.mpu.data_rates.rates);
VECT3_ADD(imu_krooz.accel_sum, imu_krooz.mpu.data_accel.vect);
imu_krooz.meas_nb++;
imu_krooz.mpu.data_available = FALSE;
}
// If the HMC5883 I2C transaction has succeeded: convert the data
hmc58xx_event(&imu_krooz.hmc);
if (imu_krooz.hmc.data_available) {
VECT3_COPY(imu.mag_unscaled, imu_krooz.hmc.data.vect);
#if KROOZ_USE_MEDIAN_FILTER
UpdateMedianFilterVect3Int(median_mag, imu.mag_unscaled);
#endif
imu_krooz.hmc.data_available = FALSE;
imu_krooz.mag_valid = TRUE;
}
}