Paparazzi UAS  v5.15_devel-81-gd13dafb
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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.
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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 "subsystems/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 
46 // Set default sensitivity based on range if needed
47 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
48 #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
49 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
50 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
51 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
52 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
53 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
54 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
55 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
56 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
57 #endif
58 
59 // Set default sensitivity based on range if needed
60 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
61 #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
62 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
63 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
64 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
65 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
66 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
67 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
68 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
69 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
70 #endif
71 
72 
74  struct Mpu60x0_Spi mpu;
75  struct Hmc58xx hmc;
76 };
77 
78 extern struct ImuMpu6000Hmc5883 imu_mpu_hmc;
79 
80 extern void imu_mpu_hmc_init(void);
81 extern void imu_mpu_hmc_periodic(void);
82 extern void imu_mpu_hmc_event(void);
83 
84 #endif /* IMU_MPU6000_HMC5883_H */
void imu_mpu_hmc_periodic(void)
struct Mpu60x0_Spi mpu
struct ImuMpu6000Hmc5883 imu_mpu_hmc
void imu_mpu_hmc_event(void)
Inertial Measurement Unit interface.
void imu_mpu_hmc_init(void)
Driver for the MPU-60X0 using SPI.