Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
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imu_aspirin_2_spi.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  *
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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_ASPIRIN_2_SPI_H
28 #define IMU_ASPIRIN_2_SPI_H
29 
30 #include "std.h"
31 #include "generated/airframe.h"
32 #include "subsystems/imu.h"
33 
36 
37 #if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
38 #define IMU_GYRO_P_SIGN 1
39 #define IMU_GYRO_Q_SIGN 1
40 #define IMU_GYRO_R_SIGN 1
41 #endif
42 #if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
43 #define IMU_ACCEL_X_SIGN 1
44 #define IMU_ACCEL_Y_SIGN 1
45 #define IMU_ACCEL_Z_SIGN 1
46 #endif
47 #if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
48 #define IMU_MAG_X_SIGN 1
49 #define IMU_MAG_Y_SIGN 1
50 #define IMU_MAG_Z_SIGN 1
51 #endif
52 
54  volatile bool_t gyro_valid;
55  volatile bool_t accel_valid;
56  volatile bool_t mag_valid;
57  struct Mpu60x0_Spi mpu;
58 
62  volatile bool_t slave4_ready;
63 };
64 
65 extern struct ImuAspirin2Spi imu_aspirin2;
66 
67 extern void imu_aspirin2_event(void);
68 
69 
70 static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void)) {
74  _gyro_handler();
75  }
78  _accel_handler();
79  }
80  if (imu_aspirin2.mag_valid) {
82  _mag_handler();
83  }
84 }
85 
86 #endif /* IMU_ASPIRIN_2_H */
Default sensitivity definitions for an IMU using the MPU60x0.
volatile bool_t accel_valid
volatile uint8_t wait_slave4_tx_buf[1]
volatile bool_t slave4_ready
void imu_aspirin2_event(void)
#define FALSE
Definition: imu_chimu.h:141
volatile bool_t gyro_valid
volatile uint8_t wait_slave4_rx_buf[2]
Inertial Measurement Unit interface.
static void ImuEvent(void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))
struct ImuAspirin2Spi imu_aspirin2
unsigned char uint8_t
Definition: types.h:14
struct spi_transaction wait_slave4_trans
struct Mpu60x0_Spi mpu
volatile bool_t mag_valid
SPI transaction structure.
Definition: spi.h:142
Driver for the MPU-60X0 using SPI.