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();
}
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)
{
max1168_init();
/////////////////////////////////////////////////////////////////////
// HMC58XX
hmc58xx_init(&imu_hbmini.hmc, &(IMU_HBMINI_I2C_DEV), HMC58XX_ADDR);
}
void imu_impl_init(void)
{
mpu60x0_spi_init(&imu_mpu_hmc.mpu, &IMU_MPU_SPI_DEV, IMU_MPU_SPI_SLAVE_IDX);
// change the default configuration
imu_mpu_hmc.mpu.config.smplrt_div = IMU_MPU_SMPLRT_DIV;
imu_mpu_hmc.mpu.config.dlpf_cfg = IMU_MPU_LOWPASS_FILTER;
imu_mpu_hmc.mpu.config.gyro_range = IMU_MPU_GYRO_RANGE;
imu_mpu_hmc.mpu.config.accel_range = IMU_MPU_ACCEL_RANGE;
/* initialize mag and set default options */
hmc58xx_init(&imu_mpu_hmc.hmc, &IMU_HMC_I2C_DEV, HMC58XX_ADDR);
}
/**
* 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);
}
void imu_impl_init(void)
{
/* MPU is on spi1 and CS is SLAVE2 */
mpu60x0_spi_init(&imu_px4fmu.mpu, &spi1, SPI_SLAVE2);
// change the default configuration
imu_px4fmu.mpu.config.smplrt_div = PX4FMU_SMPLRT_DIV;
imu_px4fmu.mpu.config.dlpf_cfg = PX4FMU_LOWPASS_FILTER;
imu_px4fmu.mpu.config.gyro_range = PX4FMU_GYRO_RANGE;
imu_px4fmu.mpu.config.accel_range = PX4FMU_ACCEL_RANGE;
/* initialize mag on i2c2 and set default options */
hmc58xx_init(&imu_px4fmu.hmc, &i2c2, HMC58XX_ADDR);
}
void imu_impl_init(void)
{
/////////////////////////////////////////////////////////////////////
// ITG3200
itg3200_init();
/////////////////////////////////////////////////////////////////////
// ADXL345
adxl345_init();
/////////////////////////////////////////////////////////////////////
// HMC58XX
hmc58xx_init();
}
void imu_impl_init(void)
{
max1168_init();
/////////////////////////////////////////////////////////////////////
// HMC58XX
hmc58xx_init(&imu_hbmini.hmc, &(IMU_HBMINI_I2C_DEV), HMC58XX_ADDR);
imu_hbmini.gyr_valid = FALSE;
imu_hbmini.acc_valid = FALSE;
imu_hbmini.mag_valid = FALSE;
}
void imu_impl_init(void) {
max1168_init();
#if defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_MS2100
ms2100_init(&ms2100, &(MS2100_SPI_DEV), MS2100_SLAVE_IDX);
#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_AMI601
ami601_init();
#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC5843
hmc5843_init();
#elif defined IMU_B2_MAG_TYPE && IMU_B2_MAG_TYPE == IMU_B2_MAG_HMC58XX
hmc58xx_init(&imu_b2.mag_hmc, &(IMU_B2_I2C_DEV), HMC58XX_ADDR);
#endif
}
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();
}
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;
}
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;
}
void imu_impl_init(void)
{
imu_aspirin.accel_valid = FALSE;
imu_aspirin.gyro_valid = FALSE;
imu_aspirin.mag_valid = FALSE;
/* Set accel configuration */
adxl345_spi_init(&imu_aspirin.acc_adxl, &(ASPIRIN_SPI_DEV), ASPIRIN_SPI_SLAVE_IDX);
// 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;
/* Gyro configuration and initalization */
itg3200_init(&imu_aspirin.gyro_itg, &(ASPIRIN_I2C_DEV), ITG3200_ADDR);
/* change the default config */
// Aspirin sample rate divider defaults to 533Hz
imu_aspirin.gyro_itg.config.smplrt_div = ASPIRIN_GYRO_SMPLRT_DIV;
// aspirin defaults to 8kHz internal with 256Hz low pass
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
#if ASPIRIN_ARCH_INDEP
TODO("Arch dependent functions (accel and gyro eoc interrupt) not used for aspirin!")
#else
imu_aspirin_arch_init();
#endif
}
void mag_hmc58xx_module_init(void) {
hmc58xx_init(&mag_hmc58xx, &(MAG_HMC58XX_I2C_DEV), HMC58XX_ADDR);
}
