Paparazzi UAS  v5.15_devel-58-g208c37b
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imu_navstik.h
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1 /*
2  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@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  *
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14  * GNU General Public License for more details.
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20  */
21 
28 #ifndef IMU_NAVSTIK_H
29 #define IMU_NAVSTIK_H
30 
31 #include "generated/airframe.h"
32 #include "subsystems/imu.h"
33 
34 #include "peripherals/hmc58xx.h"
36 
37 #ifndef NAVSTIK_GYRO_RANGE
38 #define NAVSTIK_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
39 #endif
40 
41 #ifndef NAVSTIK_ACCEL_RANGE
42 #define NAVSTIK_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
43 #endif
44 
45 // Set default sensitivity based on range if needed
46 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
47 #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
48 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
49 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
50 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
51 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
52 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
53 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
54 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
55 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
56 #endif
57 
58 // Set default sensitivity based on range if needed
59 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
60 #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
61 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
62 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
63 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
64 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
65 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
66 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
67 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
68 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
69 #endif
70 
71 
72 struct ImuNavstik {
73  struct Mpu60x0_I2c mpu;
74  struct Hmc58xx hmc;
75 };
76 
77 extern struct ImuNavstik imu_navstik;
78 
79 extern void imu_navstik_init(void);
80 extern void imu_navstik_periodic(void);
81 extern void imu_navstik_event(void);
82 
83 #endif /* IMU_NAVSTIK_H */
void imu_navstik_periodic(void)
Handle all the periodic tasks of the Navstik IMU components.
Definition: imu_navstik.c:89
struct Hmc58xx hmc
Definition: imu_navstik.h:74
Inertial Measurement Unit interface.
Driver for the MPU-60X0 using I2C.
void imu_navstik_init(void)
Navstik IMU initializtion of the MPU-60x0 and HMC58xx.
Definition: imu_navstik.c:72
void imu_navstik_event(void)
Handle all the events of the Navstik IMU components.
Definition: imu_navstik.c:102
struct Mpu60x0_I2c mpu
Definition: imu_navstik.h:73
struct ImuNavstik imu_navstik
Basic Navstik IMU data.
Definition: imu_navstik.c:67