Paparazzi UAS  v5.15_devel-113-g1b57ff1
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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,
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13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
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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 "subsystems/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 // 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 MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
49 #define IMU_GYRO_P_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
50 #define IMU_GYRO_P_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
51 #define IMU_GYRO_Q_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
52 #define IMU_GYRO_Q_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
53 #define IMU_GYRO_Q_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
54 #define IMU_GYRO_R_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
55 #define IMU_GYRO_R_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
56 #define IMU_GYRO_R_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_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 MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
62 #define IMU_ACCEL_X_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
63 #define IMU_ACCEL_X_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
64 #define IMU_ACCEL_Y_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
65 #define IMU_ACCEL_Y_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
66 #define IMU_ACCEL_Y_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
67 #define IMU_ACCEL_Z_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
68 #define IMU_ACCEL_Z_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
69 #define IMU_ACCEL_Z_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
70 #endif
71 
72 
73 struct ImuMpu9250 {
74  struct Mpu9250_Spi mpu;
75 
79  volatile bool slave4_ready;
80 };
81 
82 extern struct ImuMpu9250 imu_mpu9250;
83 
84 extern void imu_mpu9250_init(void);
85 extern void imu_mpu9250_periodic(void);
86 extern void imu_mpu9250_event(void);
87 
88 #endif /* IMU_MPU9250_SPI_H */
volatile uint8_t wait_slave4_rx_buf[2]
SPI transaction structure.
Definition: spi.h:142
volatile bool slave4_ready
void imu_mpu9250_init(void)
Definition: imu_mpu9250.c:37
Driver for the MPU-9250 using SPI.
volatile uint8_t wait_slave4_tx_buf[1]
struct Mpu9250_I2c mpu
Inertial Measurement Unit interface.
unsigned char uint8_t
Definition: types.h:14
void imu_mpu9250_periodic(void)
Definition: imu_mpu9250.c:42
void imu_mpu9250_event(void)
Definition: imu_mpu9250.c:47
struct spi_transaction wait_slave4_trans
struct ImuMpu9250 imu_mpu9250