Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
imu_disco.h
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1 /*
2  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
3  * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, see
19  * <http://www.gnu.org/licenses/>.
20  */
21 
28 #ifndef IMU_DISCO_H
29 #define IMU_DISCO_H
30 
31 #include "generated/airframe.h"
32 #include "modules/imu/imu.h"
33 
34 #include "peripherals/ak8963.h"
36 
37 #ifndef DISCO_GYRO_RANGE
38 #define DISCO_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
39 #endif
40 
41 #ifndef DISCO_ACCEL_RANGE
42 #define DISCO_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
43 #endif
44 
46 struct ImuDisco {
47  struct Mpu60x0_I2c mpu;
48  struct Ak8963 ak;
49 };
50 
51 extern struct ImuDisco imu_disco;
52 
53 extern void imu_disco_init(void);
54 extern void imu_disco_periodic(void);
55 extern void imu_disco_event(void);
56 
57 #endif /* IMU_DISCO_H */
58 
Register and address definitions for AK8963 magnetometer.
Default Ak8963 structure.
Definition: ak8963.h:53
Inertial Measurement Unit interface.
struct Ak8963 ak
The AK8963 mag.
Definition: imu_disco.h:48
void imu_disco_periodic(void)
Handle all the periodic tasks of the Disco IMU components.
Definition: imu_disco.c:95
struct ImuDisco imu_disco
Disco IMU data.
Definition: imu_disco.c:69
void imu_disco_init(void)
Disco IMU initializtion of the MPU-60x0 and HMC58xx.
Definition: imu_disco.c:74
void imu_disco_event(void)
Handle all the events of the Disco IMU components.
Definition: imu_disco.c:114
struct Mpu60x0_I2c mpu
The MPU gyro/accel device.
Definition: imu_disco.h:47
Everything that is in the disco IMU.
Definition: imu_disco.h:46
Driver for the MPU-60X0 using I2C.