Paparazzi UAS  v5.15_devel-112-g521f3cf
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imu_drotek_10dof_v2.h
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1 /*
2  * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
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21 
29 #ifndef IMU_DROTEK_10DOF_V2_H
30 #define IMU_DROTEK_10DOF_V2_H
31 
32 #include "std.h"
33 #include "generated/airframe.h"
34 #include "subsystems/imu.h"
35 
37 #include "peripherals/hmc58xx.h"
38 
39 #ifndef DROTEK_2_GYRO_RANGE
40 #define DROTEK_2_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
41 #endif
42 
43 #ifndef DROTEK_2_ACCEL_RANGE
44 #define DROTEK_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
45 #endif
46 
47 // Set default sensitivity based on range if needed
48 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
49 #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
50 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
51 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
52 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
53 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
54 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
55 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
56 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
57 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
58 #endif
59 
60 // Set default sensitivity based on range if needed
61 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
62 #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
63 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
64 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
65 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
66 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
67 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
68 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
69 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
70 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
71 #endif
72 
73 
74 
75 struct ImuDrotek2 {
76  struct Mpu60x0_I2c mpu;
77  struct Hmc58xx hmc;
78 };
79 
80 extern struct ImuDrotek2 imu_drotek2;
81 
82 extern void imu_drotek2_init(void);
83 extern void imu_drotek2_periodic(void);
84 extern void imu_drotek2_event(void);
85 extern bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu);
86 
87 #endif /* IMU_DROTEK_10DOF_V2_H */
void imu_drotek2_init(void)
void imu_drotek2_periodic(void)
void imu_drotek2_event(void)
struct ImuDrotek2 imu_drotek2
Inertial Measurement Unit interface.
Driver for the MPU-60X0 using I2C.
struct Hmc58xx hmc
struct Mpu60x0_I2c mpu
void(* Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu60x0.h:129
bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu)
callback function to configure hmc5883 mag