Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
imu_mpu6000_hmc5883.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 
28 #ifndef IMU_MPU6000_HMC5883_H
29 #define IMU_MPU6000_HMC5883_H
30 
31 #include "std.h"
32 #include "generated/airframe.h"
33 #include "modules/imu/imu.h"
34 
36 #include "peripherals/hmc58xx.h"
37 
38 #ifndef IMU_MPU_GYRO_RANGE
39 #define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
40 #endif
41 
42 #ifndef IMU_MPU_ACCEL_RANGE
43 #define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
44 #endif
45 
47  struct Mpu60x0_Spi mpu;
48  struct Hmc58xx hmc;
49 };
50 
51 extern struct ImuMpu6000Hmc5883 imu_mpu_hmc;
52 
53 extern void imu_mpu_hmc_init(void);
54 extern void imu_mpu_hmc_periodic(void);
55 extern void imu_mpu_hmc_event(void);
56 
57 #endif /* IMU_MPU6000_HMC5883_H */
Inertial Measurement Unit interface.
struct Mpu60x0_Spi mpu
struct ImuMpu6000Hmc5883 imu_mpu_hmc
void imu_mpu_hmc_periodic(void)
void imu_mpu_hmc_event(void)
void imu_mpu_hmc_init(void)
Driver for the MPU-60X0 using SPI.