imu_umarim.h

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/*
 * Copyright (C) 2011 Gautier Hattenberger
 * Derived from Aspirin and ppzuavimu drivers
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

#ifndef IMU_UMARIM_H
#define IMU_UMARIM_H

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"

#include "peripherals/itg3200.h"
#include "peripherals/adxl345_i2c.h"

// Default configuration
#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
#define IMU_GYRO_P_SIGN   1
#define IMU_GYRO_Q_SIGN   1
#define IMU_GYRO_R_SIGN   1
#endif
#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
#define IMU_ACCEL_X_SIGN  1
#define IMU_ACCEL_Y_SIGN  1
#define IMU_ACCEL_Z_SIGN  1
#endif

#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
#define IMU_GYRO_P_SENS 4.973
#define IMU_GYRO_P_SENS_NUM 4973
#define IMU_GYRO_P_SENS_DEN 1000
#define IMU_GYRO_Q_SENS 4.973
#define IMU_GYRO_Q_SENS_NUM 4973
#define IMU_GYRO_Q_SENS_DEN 1000
#define IMU_GYRO_R_SENS 4.973
#define IMU_GYRO_R_SENS_NUM 4973
#define IMU_GYRO_R_SENS_DEN 1000
#endif
#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
#define IMU_GYRO_P_NEUTRAL 0
#define IMU_GYRO_Q_NEUTRAL 0
#define IMU_GYRO_R_NEUTRAL 0
#endif


#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
#define IMU_ACCEL_X_SENS 37.91
#define IMU_ACCEL_X_SENS_NUM 3791
#define IMU_ACCEL_X_SENS_DEN 100
#define IMU_ACCEL_Y_SENS 37.91
#define IMU_ACCEL_Y_SENS_NUM 3791
#define IMU_ACCEL_Y_SENS_DEN 100
#define IMU_ACCEL_Z_SENS 39.24
#define IMU_ACCEL_Z_SENS_NUM 39.24
#define IMU_ACCEL_Z_SENS_DEN 100
#endif
#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
#define IMU_ACCEL_X_NEUTRAL 0
#define IMU_ACCEL_Y_NEUTRAL 0
#define IMU_ACCEL_Z_NEUTRAL 0
#endif

extern volatile bool gyr_valid;
extern volatile bool acc_valid;

struct ImuUmarim {
  struct Itg3200 itg;
  struct Adxl345_I2c adxl;
};

extern struct ImuUmarim imu_umarim;

extern void imu_umarim_init(void);
extern void imu_umarim_periodic(void);
extern void imu_umarim_event(void);
extern void imu_umarim_downlink_raw(void);

#endif // PPZUAVIMU_H