Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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imu_aspirin.h
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1 /*
2  * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
3  * 2013 Felix Ruess <felix.ruess@gmail.com>
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_ASPIRIN_H
30 #define IMU_ASPIRIN_H
31 
32 #include "generated/airframe.h"
33 #include "subsystems/imu.h"
34 
35 #include "peripherals/itg3200.h"
36 #include "peripherals/hmc58xx.h"
38 
39 /* include default aspirin sensitivity/channel definitions */
41 
42 struct ImuAspirin {
43  volatile uint8_t accel_valid;
44  volatile uint8_t gyro_valid;
45  volatile uint8_t mag_valid;
47  struct Itg3200 gyro_itg;
48  struct Hmc58xx mag_hmc;
49 };
50 
51 extern struct ImuAspirin imu_aspirin;
52 
53 extern void imu_aspirin_event(void);
54 
55 #if !ASPIRIN_ARCH_INDEP
56 /* underlying architecture */
57 #include "subsystems/imu/imu_aspirin_arch.h"
58 /* must be implemented by underlying architecture */
59 extern void imu_aspirin_arch_init(void);
60 #endif
61 
62 
63 static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void)) {
65  if (imu_aspirin.gyro_valid) {
67  _gyro_handler();
68  }
71  _accel_handler();
72  }
73  if (imu_aspirin.mag_valid) {
75  _mag_handler();
76  }
77 }
78 
79 #endif /* IMU_ASPIRIN_H */
volatile uint8_t mag_valid
Definition: imu_aspirin.h:45
volatile uint8_t gyro_valid
Definition: imu_aspirin.h:44
Default sensitivity definitions for IMU Aspirin 1x.
#define FALSE
Definition: imu_chimu.h:141
static void ImuEvent(void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))
Definition: imu_aspirin.h:63
Driver for the accelerometer ADXL345 from Analog Devices using SPI.
Driver for the gyro ITG3200 from InvenSense.
Inertial Measurement Unit interface.
struct ImuAspirin imu_aspirin
Definition: imu_aspirin.c:66
struct Adxl345_Spi acc_adxl
Definition: imu_aspirin.h:46
volatile uint8_t accel_valid
Definition: imu_aspirin.h:43
void imu_aspirin_arch_init(void)
unsigned char uint8_t
Definition: types.h:14
struct Itg3200 gyro_itg
Definition: imu_aspirin.h:47
struct Hmc58xx mag_hmc
Definition: imu_aspirin.h:48
void imu_aspirin_event(void)
Definition: imu_aspirin.c:118