Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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imu_disco.h
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1/*
2 * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
3 * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
4 *
5 * This file is part of paparazzi.
6 *
7 * paparazzi is free software; you can redistribute it and/or modify
8 * it under the terms of the GNU General Public License as published by
9 * the Free Software Foundation; either version 2, or (at your option)
10 * any later version.
11 *
12 * paparazzi is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 * GNU General Public License for more details.
16 *
17 * You should have received a copy of the GNU General Public License
18 * along with paparazzi; see the file COPYING. If not, see
19 * <http://www.gnu.org/licenses/>.
20 */
21
28#ifndef IMU_DISCO_H
29#define IMU_DISCO_H
30
31#include "generated/airframe.h"
32#include "modules/imu/imu.h"
33
34#include "peripherals/ak8963.h"
36
37#ifndef DISCO_GYRO_RANGE
38#define DISCO_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
39#endif
40
41#ifndef DISCO_ACCEL_RANGE
42#define DISCO_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
43#endif
44
46struct ImuDisco {
48 struct Ak8963 ak;
49};
50
51extern struct ImuDisco imu_disco;
52
53extern void imu_disco_init(void);
54extern void imu_disco_periodic(void);
55extern void imu_disco_event(void);
56
57#endif /* IMU_DISCO_H */
58
Register and address definitions for AK8963 magnetometer.
Default Ak8963 structure.
Definition ak8963.h:53
Inertial Measurement Unit interface.
struct Ak8963 ak
The AK8963 mag.
Definition imu_disco.h:48
void imu_disco_periodic(void)
Handle all the periodic tasks of the Disco IMU components.
Definition imu_disco.c:95
struct ImuDisco imu_disco
Disco IMU data.
Definition imu_disco.c:69
void imu_disco_init(void)
Disco IMU initializtion of the MPU-60x0 and HMC58xx.
Definition imu_disco.c:74
void imu_disco_event(void)
Handle all the events of the Disco IMU components.
Definition imu_disco.c:114
struct Mpu60x0_I2c mpu
The MPU gyro/accel device.
Definition imu_disco.h:47
Everything that is in the disco IMU.
Definition imu_disco.h:46
Driver for the MPU-60X0 using I2C.