Paparazzi UAS
v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
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Pages
imu_aspirin_2_spi.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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#ifndef IMU_ASPIRIN_2_SPI_H
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#define IMU_ASPIRIN_2_SPI_H
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#include "
std.h
"
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#include "generated/airframe.h"
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#include "
subsystems/imu.h
"
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#include "
peripherals/mpu60x0_spi.h
"
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#ifndef ASPIRIN_2_GYRO_RANGE
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#define ASPIRIN_2_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
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#endif
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#ifndef ASPIRIN_2_ACCEL_RANGE
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#define ASPIRIN_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
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#endif
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// Set default sensitivity based on range if needed
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#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
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#define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
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#define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
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#define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
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#define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
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#define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
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#define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
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#define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
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#define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
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#define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
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#endif
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// Set default sensitivity based on range if needed
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#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
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#define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
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#define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
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#define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
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#define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
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#define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
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#define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
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#define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
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#define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
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#define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
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#endif
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struct
ImuAspirin2Spi
{
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struct
Mpu60x0_Spi
mpu
;
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struct
spi_transaction
wait_slave4_trans
;
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volatile
uint8_t
wait_slave4_tx_buf
[1];
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volatile
uint8_t
wait_slave4_rx_buf
[2];
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volatile
bool
slave4_ready
;
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};
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extern
struct
ImuAspirin2Spi
imu_aspirin2
;
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extern
void
imu_aspirin2_init
(
void
);
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extern
void
imu_aspirin2_event
(
void
);
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extern
void
imu_aspirin2_periodic
(
void
);
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#endif
/* IMU_ASPIRIN_2_H */
ImuAspirin2Spi::mpu
struct Mpu60x0_Spi mpu
Definition:
imu_aspirin_2_spi.h:71
spi_transaction
SPI transaction structure.
Definition:
spi.h:148
imu_aspirin2
struct ImuAspirin2Spi imu_aspirin2
Definition:
imu_aspirin_2_spi.c:93
mpu60x0_spi.h
imu.h
std.h
ImuAspirin2Spi
Definition:
imu_aspirin_2_spi.h:70
uint8_t
unsigned char uint8_t
Definition:
types.h:14
Mpu60x0_Spi
Definition:
mpu60x0_spi.h:51
imu_aspirin2_periodic
void imu_aspirin2_periodic(void)
Definition:
imu_aspirin_2_spi.c:147
ImuAspirin2Spi::slave4_ready
volatile bool slave4_ready
Definition:
imu_aspirin_2_spi.h:76
ImuAspirin2Spi::wait_slave4_trans
struct spi_transaction wait_slave4_trans
Definition:
imu_aspirin_2_spi.h:73
imu_aspirin2_event
void imu_aspirin2_event(void)
Definition:
imu_aspirin_2_spi.c:154
ImuAspirin2Spi::wait_slave4_tx_buf
volatile uint8_t wait_slave4_tx_buf[1]
Definition:
imu_aspirin_2_spi.h:74
imu_aspirin2_init
void imu_aspirin2_init(void)
Definition:
imu_aspirin_2_spi.c:99
ImuAspirin2Spi::wait_slave4_rx_buf
volatile uint8_t wait_slave4_rx_buf[2]
Definition:
imu_aspirin_2_spi.h:75
sw
airborne
subsystems
imu
imu_aspirin_2_spi.h
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