Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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imu_aspirin_i2c.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_I2C_H
30 #define IMU_ASPIRIN_I2C_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 
43 struct ImuAspirinI2c {
44  volatile uint8_t accel_valid;
45  volatile uint8_t gyro_valid;
46  volatile uint8_t mag_valid;
48  struct Itg3200 gyro_itg;
49  struct Hmc58xx mag_hmc;
50 };
51 
52 extern struct ImuAspirinI2c imu_aspirin;
53 
54 extern void imu_aspirin_i2c_event(void);
55 
56 static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void)) {
58  if (imu_aspirin.gyro_valid) {
60  _gyro_handler();
61  }
64  _accel_handler();
65  }
66  if (imu_aspirin.mag_valid) {
68  _mag_handler();
69  }
70 }
71 
72 #endif /* IMU_ASPIRIN_I2C_H */
Default sensitivity definitions for IMU Aspirin 1x.
volatile uint8_t accel_valid
#define FALSE
Definition: imu_chimu.h:141
void imu_aspirin_i2c_event(void)
Driver for the gyro ITG3200 from InvenSense.
volatile uint8_t gyro_valid
Inertial Measurement Unit interface.
unsigned char uint8_t
Definition: types.h:14
struct Adxl345_I2c acc_adxl
struct ImuAspirinI2c imu_aspirin
Definition: imu_aspirin.c:66
static void ImuEvent(void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))
Driver for the accelerometer ADXL345 from Analog Devices using I2C.
struct Itg3200 gyro_itg
volatile uint8_t mag_valid
struct Hmc58xx mag_hmc