Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
imu_navstik.h
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@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  *
11  * paparazzi is distributed in the hope that it will be useful,
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.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
21 
28 #ifndef IMU_NAVSTIK_H
29 #define IMU_NAVSTIK_H
30 
31 #include "generated/airframe.h"
32 #include "subsystems/imu.h"
33 
34 #include "peripherals/hmc58xx.h"
36 
42 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
43 // FIXME
44 #define IMU_GYRO_P_SENS 2.17953
45 #define IMU_GYRO_P_SENS_NUM 18271
46 #define IMU_GYRO_P_SENS_DEN 8383
47 #define IMU_GYRO_Q_SENS 2.17953
48 #define IMU_GYRO_Q_SENS_NUM 18271
49 #define IMU_GYRO_Q_SENS_DEN 8383
50 #define IMU_GYRO_R_SENS 2.17953
51 #define IMU_GYRO_R_SENS_NUM 18271
52 #define IMU_GYRO_R_SENS_DEN 8383
53 #endif
54 
59 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
60 // FIXME
61 #define IMU_ACCEL_X_SENS 2.4525
62 #define IMU_ACCEL_X_SENS_NUM 981
63 #define IMU_ACCEL_X_SENS_DEN 400
64 #define IMU_ACCEL_Y_SENS 2.4525
65 #define IMU_ACCEL_Y_SENS_NUM 981
66 #define IMU_ACCEL_Y_SENS_DEN 400
67 #define IMU_ACCEL_Z_SENS 2.4525
68 #define IMU_ACCEL_Z_SENS_NUM 981
69 #define IMU_ACCEL_Z_SENS_DEN 400
70 #endif
71 
72 
73 struct ImuNavstik {
74  struct Mpu60x0_I2c mpu;
75  struct Hmc58xx hmc;
76 };
77 
78 extern struct ImuNavstik imu_navstik;
79 
80 extern void imu_navstik_init(void);
81 extern void imu_navstik_periodic(void);
82 extern void imu_navstik_event(void);
83 
84 #endif /* IMU_NAVSTIK_H */
void imu_navstik_periodic(void)
Handle all the periodic tasks of the Navstik IMU components.
Definition: imu_navstik.c:96
struct Hmc58xx hmc
Definition: imu_navstik.h:75
Inertial Measurement Unit interface.
Driver for the MPU-60X0 using I2C.
void imu_navstik_init(void)
Navstik IMU initializtion of the MPU-60x0 and HMC58xx.
Definition: imu_navstik.c:79
void imu_navstik_event(void)
Handle all the events of the Navstik IMU components.
Definition: imu_navstik.c:109
struct Mpu60x0_I2c mpu
Definition: imu_navstik.h:74
struct ImuNavstik imu_navstik
Basic Navstik IMU data.
Definition: imu_navstik.c:74