Esempi in C++ (Cpp) per mpu60x0_i2c_init

Esempio n. 1

File: imu_krooz.c Progetto: OpenUAS/backup-files-quad

void imu_impl_init( void )
{
  /////////////////////////////////////////////////////////////////////
  // MPU-60X0
  mpu60x0_i2c_init(&imu_krooz.mpu, &(IMU_KROOZ_I2C_DEV), MPU60X0_ADDR);
  // change the default configuration
  imu_krooz.mpu.config.smplrt_div = KROOZ_SMPLRT_DIV;
  imu_krooz.mpu.config.dlpf_cfg = KROOZ_LOWPASS_FILTER;
  imu_krooz.mpu.config.gyro_range = KROOZ_GYRO_RANGE;
  imu_krooz.mpu.config.accel_range = KROOZ_ACCEL_RANGE;
  imu_krooz.mpu.config.drdy_int_enable = TRUE;

  hmc58xx_init(&imu_krooz.hmc, &(IMU_KROOZ_I2C_DEV), HMC58XX_ADDR);

#if KROOZ_USE_MEDIAN_FILTER
  // Init median filters
  InitMedianFilterRatesInt(median_gyro);
  InitMedianFilterVect3Int(median_accel);
  InitMedianFilterVect3Int(median_mag);
#endif

  RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
  VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
  imu_krooz.meas_nb = 0;

  imu_krooz.gyr_valid = FALSE;
  imu_krooz.acc_valid = FALSE;
  imu_krooz.mag_valid = FALSE;

  imu_krooz_sd_arch_init();
}

Esempio n. 2

File: imu_navstik.c Progetto: enacuavlab/paparazzi

/**
 * Navstik IMU initializtion of the MPU-60x0 and HMC58xx
 */
void imu_navstik_init(void)
{
  /* MPU-60X0 */
  mpu60x0_i2c_init(&imu_navstik.mpu, &(NAVSTIK_MPU_I2C_DEV), MPU60X0_ADDR_ALT);
  imu_navstik.mpu.config.smplrt_div = NAVSTIK_SMPLRT_DIV;
  imu_navstik.mpu.config.dlpf_cfg = NAVSTIK_LOWPASS_FILTER;
  imu_navstik.mpu.config.gyro_range = NAVSTIK_GYRO_RANGE;
  imu_navstik.mpu.config.accel_range = NAVSTIK_ACCEL_RANGE;

  /* HMC58XX */
  hmc58xx_init(&imu_navstik.hmc, &(NAVSTIK_MAG_I2C_DEV), HMC58XX_ADDR);
}

Esempio n. 3

File: imu_bebop.c Progetto: CodeMining/paparazzi

/**
 * Navstik IMU initializtion of the MPU-60x0 and HMC58xx
 */
void imu_impl_init(void)
{
  /* MPU-60X0 */
  mpu60x0_i2c_init(&imu_bebop.mpu, &(BEBOP_MPU_I2C_DEV), MPU60X0_ADDR);
  imu_bebop.mpu.config.smplrt_div = BEBOP_SMPLRT_DIV;
  imu_bebop.mpu.config.dlpf_cfg = BEBOP_LOWPASS_FILTER;
  imu_bebop.mpu.config.gyro_range = BEBOP_GYRO_RANGE;
  imu_bebop.mpu.config.accel_range = BEBOP_ACCEL_RANGE;

  /* AKM8963 */
  ak8963_init(&imu_bebop.ak, &(BEBOP_MAG_I2C_DEV), AK8963_ADDR);
}

Esempio n. 4

File: imu_krooz_memsic.c Progetto: 2seasuav/paparuzzi

void imu_impl_init(void)
{
  /////////////////////////////////////////////////////////////////////
  // MPU-60X0
  mpu60x0_i2c_init(&imu_krooz.mpu, &(IMU_KROOZ_I2C_DEV), MPU60X0_ADDR);
  // change the default configuration
  imu_krooz.mpu.config.smplrt_div = KROOZ_SMPLRT_DIV;
  imu_krooz.mpu.config.dlpf_cfg = KROOZ_LOWPASS_FILTER;
  imu_krooz.mpu.config.gyro_range = KROOZ_GYRO_RANGE;
  imu_krooz.mpu.config.accel_range = KROOZ_ACCEL_RANGE;
  imu_krooz.mpu.config.drdy_int_enable = true;

  hmc58xx_init(&imu_krooz.hmc, &(IMU_KROOZ_I2C_DEV), HMC58XX_ADDR);

  // Init median filters
#if IMU_KROOZ_USE_ACCEL_MEDIAN_FILTER
  InitMedianFilterVect3Int(median_accel);
#endif
  InitMedianFilterVect3Int(median_mag);

  RATES_ASSIGN(imu_krooz.rates_sum, 0, 0, 0);
  VECT3_ASSIGN(imu_krooz.accel_sum, 0, 0, 0);
  imu_krooz.meas_nb = 0;

  imu_krooz.hmc_eoc = false;
  imu_krooz.mpu_eoc = false;

  imu_krooz.ad7689_trans.slave_idx     = IMU_KROOZ_SPI_SLAVE_IDX;
  imu_krooz.ad7689_trans.select        = SPISelectUnselect;
  imu_krooz.ad7689_trans.cpol          = SPICpolIdleLow;
  imu_krooz.ad7689_trans.cpha          = SPICphaEdge1;
  imu_krooz.ad7689_trans.dss           = SPIDss8bit;
  imu_krooz.ad7689_trans.bitorder      = SPIMSBFirst;
  imu_krooz.ad7689_trans.cdiv          = SPIDiv16;
  imu_krooz.ad7689_trans.output_length = sizeof(imu_krooz.ad7689_spi_tx_buffer);
  imu_krooz.ad7689_trans.output_buf    = (uint8_t *) imu_krooz.ad7689_spi_tx_buffer;
  imu_krooz.ad7689_trans.input_length  = sizeof(imu_krooz.ad7689_spi_rx_buffer);
  imu_krooz.ad7689_trans.input_buf     = (uint8_t *) imu_krooz.ad7689_spi_rx_buffer;
  imu_krooz.ad7689_trans.before_cb     = NULL;
  imu_krooz.ad7689_trans.after_cb      = NULL;
  axis_cnt = 0;
  axis_nb = 2;

  imu_krooz_sd_arch_init();
}

Esempio n. 5

File: imu_bebop.c Progetto: enacuavlab/paparazzi

/**
 * Navstik IMU initializtion of the MPU-60x0 and HMC58xx
 */
void imu_bebop_init(void)
{
  /* MPU-60X0 */
  mpu60x0_i2c_init(&imu_bebop.mpu, &(BEBOP_MPU_I2C_DEV), MPU60X0_ADDR);
  imu_bebop.mpu.config.smplrt_div = BEBOP_SMPLRT_DIV;
  imu_bebop.mpu.config.dlpf_cfg = BEBOP_LOWPASS_FILTER;
  imu_bebop.mpu.config.gyro_range = BEBOP_GYRO_RANGE;
  imu_bebop.mpu.config.accel_range = BEBOP_ACCEL_RANGE;

  /* AKM8963 */
  ak8963_init(&imu_bebop.ak, &(BEBOP_MAG_I2C_DEV), AK8963_ADDR);

#if BEBOP_VERSION2
  //the magnetometer of the bebop2 is located on the gps board,
  //which is under a slight angle
  struct FloatEulers imu_to_mag_eulers =
          {0.0, RadOfDeg(8.5), 0.0};
  orientationSetEulers_f(&imu_to_mag_bebop, &imu_to_mag_eulers);
#endif

}

Esempio n. 6

File: imu_drotek_10dof_v2.c Progetto: 2seasuav/paparuzzi

void imu_impl_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;
}