Paparazzi UAS  v5.17_devel-3-g5993d39
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imu_swing.h
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1 /*
2  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
3  * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
4  *
5  * This file is part of paparazzi.
6  *
7  * paparazzi is free software; you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation; either version 2, or (at your option)
10  * any later version.
11  *
12  * paparazzi is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with paparazzi; see the file COPYING. If not, write to
19  * the Free Software Foundation, 59 Temple Place - Suite 330,
20  * Boston, MA 02111-1307, USA.
21  */
22 
29 #ifndef IMU_SWING_H
30 #define IMU_SWING_H
31 
32 #include "generated/airframe.h"
33 #include "subsystems/imu.h"
34 
36 
37 #ifndef SWING_GYRO_RANGE
38 #define SWING_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
39 #endif
40 
41 #ifndef SWING_ACCEL_RANGE
42 #define SWING_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[SWING_GYRO_RANGE]
48 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][0]
49 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][1]
50 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[SWING_GYRO_RANGE]
51 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][0]
52 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][1]
53 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[SWING_GYRO_RANGE]
54 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[SWING_GYRO_RANGE][0]
55 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[SWING_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[SWING_ACCEL_RANGE]
61 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][0]
62 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][1]
63 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[SWING_ACCEL_RANGE]
64 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][0]
65 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][1]
66 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[SWING_ACCEL_RANGE]
67 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][0]
68 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[SWING_ACCEL_RANGE][1]
69 #endif
70 
71 
73 struct ImuSwing {
74  struct Mpu60x0_I2c mpu;
75 };
76 
77 extern struct ImuSwing imu_swing;
78 
79 extern void imu_swing_init(void);
80 extern void imu_swing_periodic(void);
81 extern void imu_swing_event(void);
82 
83 #endif /* IMU_SWING_H */
void imu_swing_event(void)
Handle all the events of the Navstik IMU components.
Definition: imu_swing.c:92
void imu_swing_init(void)
Navstik IMU initializtion of the MPU-60x0 and HMC58xx.
Definition: imu_swing.c:68
Everything that is in the swing IMU.
Definition: imu_swing.h:73
void imu_swing_periodic(void)
Handle all the periodic tasks of the Navstik IMU components.
Definition: imu_swing.c:82
Inertial Measurement Unit interface.
struct Mpu60x0_I2c mpu
The MPU gyro/accel device.
Definition: imu_swing.h:74
Driver for the MPU-60X0 using I2C.
struct ImuSwing imu_swing
Basic Navstik IMU data.
Definition: imu_swing.c:63