Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
imu_aspirin_2_spi.h
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1 /*
2  * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
27 #ifndef IMU_ASPIRIN_2_SPI_H
28 #define IMU_ASPIRIN_2_SPI_H
29 
30 #include "std.h"
31 #include "generated/airframe.h"
32 #include "modules/imu/imu.h"
33 
35 
36 #ifndef ASPIRIN_2_GYRO_RANGE
37 #define ASPIRIN_2_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
38 #endif
39 
40 #ifndef ASPIRIN_2_ACCEL_RANGE
41 #define ASPIRIN_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
42 #endif
43 
45  struct Mpu60x0_Spi mpu;
46 
50  volatile bool slave4_ready;
51 };
52 
53 extern struct ImuAspirin2Spi imu_aspirin2;
54 
55 extern void imu_aspirin2_init(void);
56 extern void imu_aspirin2_event(void);
57 extern void imu_aspirin2_periodic(void);
58 
59 #endif /* IMU_ASPIRIN_2_H */
SPI transaction structure.
Definition: spi.h:148
Inertial Measurement Unit interface.
volatile bool slave4_ready
void imu_aspirin2_event(void)
volatile uint8_t wait_slave4_rx_buf[2]
struct Mpu60x0_Spi mpu
struct ImuAspirin2Spi imu_aspirin2
void imu_aspirin2_periodic(void)
volatile uint8_t wait_slave4_tx_buf[1]
void imu_aspirin2_init(void)
struct spi_transaction wait_slave4_trans
Driver for the MPU-60X0 using SPI.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98