Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
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 "modules/imu/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 
41 #ifndef PX4FMU_ACCEL_RANGE
42 #define PX4FMU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
43 #endif
44 
45 struct ImuPx4fmu {
46  struct Mpu60x0_Spi mpu;
47  struct Hmc58xx hmc;
48 };
49 
50 extern struct ImuPx4fmu imu_px4fmu;
51 
52 extern void imu_px4fmu_init(void);
53 extern void imu_px4fmu_periodic(void);
54 extern void imu_px4fmu_event(void);
55 
56 #endif /* IMU_PX4FMU_H */
Inertial Measurement Unit interface.
void imu_px4fmu_periodic(void)
Definition: imu_px4fmu.c:82
struct Hmc58xx hmc
Definition: imu_px4fmu.h:47
void imu_px4fmu_init(void)
Definition: imu_px4fmu.c:63
struct ImuPx4fmu imu_px4fmu
Definition: imu_px4fmu.c:61
struct Mpu60x0_Spi mpu
Definition: imu_px4fmu.h:46
void imu_px4fmu_event(void)
Definition: imu_px4fmu.c:90
Driver for the MPU-60X0 using SPI.