Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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  *
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 
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 #ifndef DROTEK_2_GYRO_RANGE
40 #define DROTEK_2_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
41 #endif
42 
43 #ifndef DROTEK_2_ACCEL_RANGE
44 #define DROTEK_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
45 #endif
46 
47 // Set default sensitivity based on range if needed
48 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
49 #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
50 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
51 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
52 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
53 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
54 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
55 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
56 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
57 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
58 #endif
59 
60 // Set default sensitivity based on range if needed
61 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
62 #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
63 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
64 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
65 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
66 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
67 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
68 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
69 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
70 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
71 #endif
72 
73 
74 
75 struct ImuDrotek2 {
76  struct Mpu60x0_I2c mpu;
77  struct Hmc58xx hmc;
78 };
79 
80 extern struct ImuDrotek2 imu_drotek2;
81 
82 extern void imu_drotek2_init(void);
83 extern void imu_drotek2_periodic(void);
84 extern void imu_drotek2_event(void);
85 extern bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu);
86 
87 #endif /* IMU_DROTEK_10DOF_V2_H */
imu_drotek2_event
void imu_drotek2_event(void)
Definition: imu_drotek_10dof_v2.c:110
ImuDrotek2
Definition: imu_drotek_10dof_v2.h:75
Mpu60x0ConfigSet
void(* Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu60x0.h:129
imu.h
std.h
imu_drotek2
struct ImuDrotek2 imu_drotek2
Definition: imu_drotek_10dof_v2.c:73
ImuDrotek2::mpu
struct Mpu60x0_I2c mpu
Definition: imu_drotek_10dof_v2.h:76
imu_drotek2_configure_mag_slave
bool imu_drotek2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu)
callback function to configure hmc5883 mag
Definition: imu_drotek_10dof_v2.c:158
imu_drotek2_init
void imu_drotek2_init(void)
Definition: imu_drotek_10dof_v2.c:75
ImuDrotek2::hmc
struct Hmc58xx hmc
Definition: imu_drotek_10dof_v2.h:77
hmc58xx.h
Hmc58xx
Definition: hmc58xx.h:60
imu_drotek2_periodic
void imu_drotek2_periodic(void)
Definition: imu_drotek_10dof_v2.c:99
mpu60x0_i2c.h
Mpu60x0_I2c
Definition: mpu60x0_i2c.h:54