Paparazzi UAS  v5.12_stable-4-g9b43e9b
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imu_aspirin_2_spi.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)
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10  *
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14  * GNU General Public License for more details.
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
27 #ifndef IMU_ASPIRIN_2_SPI_H
28 #define IMU_ASPIRIN_2_SPI_H
29 
30 #include "std.h"
31 #include "generated/airframe.h"
32 #include "subsystems/imu.h"
33 
35 
36 #ifndef ASPIRIN_2_GYRO_RANGE
37 #define ASPIRIN_2_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
38 #endif
39 
40 #ifndef ASPIRIN_2_ACCEL_RANGE
41 #define ASPIRIN_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
42 #endif
43 
44 // Set default sensitivity based on range if needed
45 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
46 #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
47 #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
48 #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
49 #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
50 #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
51 #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
52 #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
53 #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
54 #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
55 #endif
56 
57 // Set default sensitivity based on range if needed
58 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
59 #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
60 #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
61 #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
62 #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
63 #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
64 #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
65 #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
66 #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
67 #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
68 #endif
69 
71  struct Mpu60x0_Spi mpu;
72 
76  volatile bool slave4_ready;
77 };
78 
79 extern struct ImuAspirin2Spi imu_aspirin2;
80 
81 extern void imu_aspirin2_init(void);
82 extern void imu_aspirin2_event(void);
83 extern void imu_aspirin2_periodic(void);
84 
85 #endif /* IMU_ASPIRIN_2_H */
void imu_aspirin2_periodic(void)
volatile bool slave4_ready
volatile uint8_t wait_slave4_tx_buf[1]
SPI transaction structure.
Definition: spi.h:142
void imu_aspirin2_init(void)
void imu_aspirin2_event(void)
struct Mpu60x0_Spi mpu
Inertial Measurement Unit interface.
volatile uint8_t wait_slave4_rx_buf[2]
struct ImuAspirin2Spi imu_aspirin2
struct spi_transaction wait_slave4_trans
unsigned char uint8_t
Definition: types.h:14
Driver for the MPU-60X0 using SPI.