Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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imu_mpu6000.h
Go to the documentation of this file.
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
27#ifndef IMU_MPU6000_H
28#define IMU_MPU6000_H
29
30#include "std.h"
31#include "generated/airframe.h"
32#include "modules/imu/imu.h"
33
35
36/* Default range configurations */
37#ifndef IMU_MPU_GYRO_RANGE
38#define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
39#endif
40
41#ifndef IMU_MPU_ACCEL_RANGE
42#define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
43#endif
44
45struct ImuMpu6000 {
47};
48
49extern struct ImuMpu6000 imu_mpu_spi;
50
51extern void imu_mpu_spi_init(void);
52extern void imu_mpu_spi_periodic(void);
53extern void imu_mpu_spi_event(void);
54
55#endif /* IMU_MPU6000_H */
Inertial Measurement Unit interface.
struct ImuMpu6000 imu_mpu_spi
struct Mpu60x0_Spi mpu
Definition imu_mpu6000.h:46
void imu_mpu_spi_periodic(void)
void imu_mpu_spi_init(void)
void imu_mpu_spi_event(void)
Driver for the MPU-60X0 using SPI.