Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
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imu_drotek_10dof_v2.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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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.
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
29 #ifndef IMU_DROTEK_10DOF_V2_H
30 #define IMU_DROTEK_10DOF_V2_H
31 
32 #include "std.h"
33 #include "generated/airframe.h"
34 #include "subsystems/imu.h"
35 
37 #include "peripherals/hmc58xx.h"
38 
39 
45 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
46 // FIXME
47 #define IMU_GYRO_P_SENS 2.17953
48 #define IMU_GYRO_P_SENS_NUM 18271
49 #define IMU_GYRO_P_SENS_DEN 8383
50 #define IMU_GYRO_Q_SENS 2.17953
51 #define IMU_GYRO_Q_SENS_NUM 18271
52 #define IMU_GYRO_Q_SENS_DEN 8383
53 #define IMU_GYRO_R_SENS 2.17953
54 #define IMU_GYRO_R_SENS_NUM 18271
55 #define IMU_GYRO_R_SENS_DEN 8383
56 #endif
57 
62 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
63 // FIXME
64 #define IMU_ACCEL_X_SENS 2.4525
65 #define IMU_ACCEL_X_SENS_NUM 981
66 #define IMU_ACCEL_X_SENS_DEN 400
67 #define IMU_ACCEL_Y_SENS 2.4525
68 #define IMU_ACCEL_Y_SENS_NUM 981
69 #define IMU_ACCEL_Y_SENS_DEN 400
70 #define IMU_ACCEL_Z_SENS 2.4525
71 #define IMU_ACCEL_Z_SENS_NUM 981
72 #define IMU_ACCEL_Z_SENS_DEN 400
73 #endif
74 
75 
76 struct ImuDrotek2 {
77  struct Mpu60x0_I2c mpu;
78  struct Hmc58xx hmc;
79 };
80 
81 extern struct ImuDrotek2 imu_drotek2;
82 
83 extern void imu_drotek2_init(void);
84 extern void imu_drotek2_periodic(void);
85 extern void imu_drotek2_event(void);
86 extern bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu);
87 
88 #endif /* IMU_DROTEK_10DOF_V2_H */
void imu_drotek2_init(void)
void imu_drotek2_periodic(void)
void imu_drotek2_event(void)
struct ImuDrotek2 imu_drotek2
Inertial Measurement Unit interface.
Driver for the MPU-60X0 using I2C.
struct Hmc58xx hmc
struct Mpu60x0_I2c mpu
void(* Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu60x0.h:69
bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu)
callback function to configure hmc5883 mag