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imu_px4fmu.h
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1 /*
2  * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
3  *
4  * This file is part of paparazzi.
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21 
27 #ifndef IMU_PX4FMU_SPI_H
28 #define IMU_PX4FMU_SPI_H
29 
30 #include "std.h"
31 #include "generated/airframe.h"
32 #include "subsystems/imu.h"
33 
36 #include "peripherals/hmc58xx.h"
37 
38 #if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
39 #define IMU_GYRO_P_SIGN 1
40 #define IMU_GYRO_Q_SIGN 1
41 #define IMU_GYRO_R_SIGN 1
42 #endif
43 #if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
44 #define IMU_ACCEL_X_SIGN 1
45 #define IMU_ACCEL_Y_SIGN 1
46 #define IMU_ACCEL_Z_SIGN 1
47 #endif
48 #if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
49 #define IMU_MAG_X_SIGN 1
50 #define IMU_MAG_Y_SIGN 1
51 #define IMU_MAG_Z_SIGN 1
52 #endif
53 
54 struct ImuPx4fmu {
55  volatile bool_t gyro_valid;
56  volatile bool_t accel_valid;
57  volatile bool_t mag_valid;
58  struct Mpu60x0_Spi mpu;
59  struct Hmc58xx hmc;
60 };
61 
62 extern struct ImuPx4fmu imu_px4fmu;
63 
64 extern void imu_px4fmu_event(void);
65 
66 
67 static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void)) {
69  if (imu_px4fmu.gyro_valid) {
71  _gyro_handler();
72  }
73  if (imu_px4fmu.accel_valid) {
75  _accel_handler();
76  }
77  if (imu_px4fmu.mag_valid) {
79  _mag_handler();
80  }
81 }
82 
83 #endif /* IMU_PX4FMU_H */
Default sensitivity definitions for an IMU using the MPU60x0.
volatile bool_t mag_valid
Definition: imu_px4fmu.h:57
struct Mpu60x0_Spi mpu
Definition: imu_px4fmu.h:58
#define FALSE
Definition: imu_chimu.h:141
struct ImuPx4fmu imu_px4fmu
Definition: imu_px4fmu.c:66
volatile bool_t accel_valid
Definition: imu_px4fmu.h:56
void imu_px4fmu_event(void)
Definition: imu_px4fmu.c:95
volatile bool_t gyro_valid
Definition: imu_px4fmu.h:55
struct Hmc58xx hmc
Definition: imu_px4fmu.h:59
Inertial Measurement Unit interface.
static void ImuEvent(void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))
Definition: imu_px4fmu.h:67
Driver for the MPU-60X0 using SPI.