Paparazzi UAS  v5.17_devel-14-g4575375
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imu_px4fmu.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.
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
27 #ifndef IMU_PX4FMU_SPI_H
28 #define IMU_PX4FMU_SPI_H
29 
30 #include "std.h"
31 #include "generated/airframe.h"
32 #include "subsystems/imu.h"
33 
35 #include "peripherals/hmc58xx.h"
36 
37 #ifndef PX4FMU_GYRO_RANGE
38 #define PX4FMU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
39 #endif
40 PRINT_CONFIG_VAR(PX4FMU_GYRO_RANGE)
41 
42 #ifndef PX4FMU_ACCEL_RANGE
43 #define PX4FMU_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[PX4FMU_GYRO_RANGE]
49 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]
50 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]
51 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]
52 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]
53 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]
54 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]
55 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]
56 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[PX4FMU_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[PX4FMU_ACCEL_RANGE]
62 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]
63 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]
64 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]
65 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]
66 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]
67 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]
68 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]
69 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]
70 #endif
71 
72 struct ImuPx4fmu {
73  struct Mpu60x0_Spi mpu;
74  struct Hmc58xx hmc;
75 };
76 
77 extern struct ImuPx4fmu imu_px4fmu;
78 
79 extern void imu_px4fmu_init(void);
80 extern void imu_px4fmu_periodic(void);
81 extern void imu_px4fmu_event(void);
82 
83 #endif /* IMU_PX4FMU_H */
void imu_px4fmu_periodic(void)
Definition: imu_px4fmu.c:76
#define PX4FMU_GYRO_RANGE
Definition: imu_px4fmu.h:38
struct Mpu60x0_Spi mpu
Definition: imu_px4fmu.h:73
struct ImuPx4fmu imu_px4fmu
Definition: imu_px4fmu.c:59
struct Hmc58xx hmc
Definition: imu_px4fmu.h:74
void imu_px4fmu_event(void)
Definition: imu_px4fmu.c:84
Inertial Measurement Unit interface.
Driver for the MPU-60X0 using SPI.
void imu_px4fmu_init(void)
Definition: imu_px4fmu.c:61