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imu_mpu9250_i2c.h
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1 /*
2  * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
28 #ifndef IMU_MPU9250_I2C_H
29 #define IMU_MPU9250_I2C_H
30 
31 #include "std.h"
32 #include "generated/airframe.h"
33 #include "subsystems/imu.h"
34 
36 
37 
43 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
44 // FIXME
45 #define IMU_GYRO_P_SENS 2.17953
46 #define IMU_GYRO_P_SENS_NUM 18271
47 #define IMU_GYRO_P_SENS_DEN 8383
48 #define IMU_GYRO_Q_SENS 2.17953
49 #define IMU_GYRO_Q_SENS_NUM 18271
50 #define IMU_GYRO_Q_SENS_DEN 8383
51 #define IMU_GYRO_R_SENS 2.17953
52 #define IMU_GYRO_R_SENS_NUM 18271
53 #define IMU_GYRO_R_SENS_DEN 8383
54 #endif
55 
60 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
61 // FIXME
62 #define IMU_ACCEL_X_SENS 2.4525
63 #define IMU_ACCEL_X_SENS_NUM 981
64 #define IMU_ACCEL_X_SENS_DEN 400
65 #define IMU_ACCEL_Y_SENS 2.4525
66 #define IMU_ACCEL_Y_SENS_NUM 981
67 #define IMU_ACCEL_Y_SENS_DEN 400
68 #define IMU_ACCEL_Z_SENS 2.4525
69 #define IMU_ACCEL_Z_SENS_NUM 981
70 #define IMU_ACCEL_Z_SENS_DEN 400
71 #endif
72 
73 
74 struct ImuMpu9250 {
75  struct Mpu9250_I2c mpu;
76 };
77 
78 extern struct ImuMpu9250 imu_mpu9250;
79 
80 extern void imu_mpu9250_event(void);
81 
82 #define ImuEvent imu_mpu9250_event
83 
84 #endif /* IMU_MPU9250_I2C_H */
void imu_mpu9250_event(void)
Definition: imu_mpu9250.c:47
struct Mpu9250_I2c mpu
Inertial Measurement Unit interface.
struct ImuMpu9250 imu_mpu9250
Driver for the MPU-9250 using I2C.