C++ (Cpp) InitMedianFilterVect3Intの例

コード例 #1

ファイル: imu_krooz.c プロジェクト: josibarns/paparazzi

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_GYRO_MEDIAN_FILTER
  InitMedianFilterRatesInt(median_gyro);
#endif
#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.gyr_valid = FALSE;
  imu_krooz.acc_valid = FALSE;
  imu_krooz.mag_valid = FALSE;

  imu_krooz_sd_arch_init();
}

コード例 #2

ファイル: imu_navgo.c プロジェクト: 1bitsquared/paparazzi

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;
}

コード例 #3

ファイル: imu_krooz_memsic.c プロジェクト: 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();
}