Paparazzi UAS  v5.15_devel-88-gb3ad7fe
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imu_mpu6000.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
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8  * the Free Software Foundation; either version 2, or (at your option)
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14  * GNU General Public License for more details.
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20  */
21 
27 #ifndef IMU_MPU6000_H
28 #define IMU_MPU6000_H
29 
30 #include "std.h"
31 #include "generated/airframe.h"
32 #include "subsystems/imu.h"
33 
35 
36 #ifndef IMU_MPU_GYRO_RANGE
37 #define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
38 #endif
39 
40 #ifndef IMU_MPU_ACCEL_RANGE
41 #define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
42 #endif
43 
44 // Set default sensitivity based on range if needed
45 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
46 #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
47 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
48 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
49 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
50 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
51 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
52 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
53 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
54 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
55 #endif
56 
57 // Set default sensitivity based on range if needed
58 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
59 #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
60 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
61 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
62 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
63 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
64 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
65 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
66 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
67 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
68 #endif
69 
70 
71 struct ImuMpu6000 {
72  struct Mpu60x0_Spi mpu;
73 };
74 
75 extern struct ImuMpu6000 imu_mpu_spi;
76 
77 extern void imu_mpu_spi_init(void);
78 extern void imu_mpu_spi_periodic(void);
79 extern void imu_mpu_spi_event(void);
80 
81 #endif /* IMU_MPU6000_H */
void imu_mpu_spi_periodic(void)
Definition: imu_mpu6000.c:120
struct ImuMpu6000 imu_mpu_spi
Definition: imu_mpu6000.c:106
void imu_mpu_spi_event(void)
Definition: imu_mpu6000.c:125
void imu_mpu_spi_init(void)
Definition: imu_mpu6000.c:108
Inertial Measurement Unit interface.
struct Mpu60x0_Spi mpu
Definition: imu_mpu6000.h:72
Driver for the MPU-60X0 using SPI.