Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
imu_mpu9250_spi.h
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1 /*
2  * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
28 #ifndef IMU_MPU9250_SPI_H
29 #define IMU_MPU9250_SPI_H
30 
31 #include "std.h"
32 #include "generated/airframe.h"
33 #include "modules/imu/imu.h"
34 
36 
37 
38 #ifndef IMU_MPU9250_GYRO_RANGE
39 #define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
40 #endif
41 
42 #ifndef IMU_MPU9250_ACCEL_RANGE
43 #define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
44 #endif
45 
46 struct ImuMpu9250 {
47  struct Mpu9250_Spi mpu;
48 
52  volatile bool slave4_ready;
53 };
54 
55 extern struct ImuMpu9250 imu_mpu9250;
56 
57 extern void imu_mpu9250_init(void);
58 extern void imu_mpu9250_periodic(void);
59 extern void imu_mpu9250_event(void);
60 
61 #endif /* IMU_MPU9250_SPI_H */
SPI transaction structure.
Definition: spi.h:148
Inertial Measurement Unit interface.
struct spi_transaction wait_slave4_trans
void imu_mpu9250_periodic(void)
Definition: imu_mpu9250.c:42
volatile uint8_t wait_slave4_rx_buf[2]
struct Mpu9250_I2c mpu
volatile uint8_t wait_slave4_tx_buf[1]
void imu_mpu9250_init(void)
Definition: imu_mpu9250.c:37
volatile bool slave4_ready
struct ImuMpu9250 imu_mpu9250
void imu_mpu9250_event(void)
Definition: imu_mpu9250.c:47
Driver for the MPU-9250 using SPI.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98