Paparazzi UAS  v5.15_devel-50-g4d7045d
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
imu_bebop.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@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 
28 #ifndef IMU_BEBOP_H
29 #define IMU_BEBOP_H
30 
31 #include "generated/airframe.h"
32 #include "subsystems/imu.h"
33 
34 #include "peripherals/ak8963.h"
36 
37 #ifndef BEBOP_GYRO_RANGE
38 #define BEBOP_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
39 #endif
40 
41 #ifndef BEBOP_ACCEL_RANGE
42 #define BEBOP_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
43 #endif
44 
45 // Set default sensitivity based on range if needed
46 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
47 #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[BEBOP_GYRO_RANGE]
48 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][0]
49 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][1]
50 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[BEBOP_GYRO_RANGE]
51 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][0]
52 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][1]
53 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[BEBOP_GYRO_RANGE]
54 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][0]
55 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][1]
56 #endif
57 
58 // Set default sensitivity based on range if needed
59 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
60 #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[BEBOP_ACCEL_RANGE]
61 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][0]
62 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][1]
63 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[BEBOP_ACCEL_RANGE]
64 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][0]
65 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][1]
66 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[BEBOP_ACCEL_RANGE]
67 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][0]
68 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][1]
69 #endif
70 
71 
73 struct ImuBebop {
74  struct Mpu60x0_I2c mpu;
75  struct Ak8963 ak;
76 };
77 
78 extern struct ImuBebop imu_bebop;
79 
80 extern void imu_bebop_init(void);
81 extern void imu_bebop_periodic(void);
82 extern void imu_bebop_event(void);
83 
84 #endif /* IMU_BEBOP_H */
Register and address definitions for AK8963 magnetometer.
void imu_bebop_init(void)
Navstik IMU initializtion of the MPU-60x0 and HMC58xx.
Definition: imu_bebop.c:74
struct Mpu60x0_I2c mpu
The MPU gyro/accel device.
Definition: imu_bebop.h:74
void imu_bebop_event(void)
Handle all the events of the Navstik IMU components.
Definition: imu_bebop.c:112
Default Ak8963 structure.
Definition: ak8963.h:53
Inertial Measurement Unit interface.
void imu_bebop_periodic(void)
Handle all the periodic tasks of the Navstik IMU components.
Definition: imu_bebop.c:99
Driver for the MPU-60X0 using I2C.
Everything that is in the bebop IMU.
Definition: imu_bebop.h:73
struct Ak8963 ak
The AK8963 mag.
Definition: imu_bebop.h:75
struct ImuBebop imu_bebop
Basic Navstik IMU data.
Definition: imu_bebop.c:69