Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
imu_mpu9250_i2c.h
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1 /*
2  * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
28 #ifndef IMU_MPU9250_I2C_H
29 #define IMU_MPU9250_I2C_H
30 
31 #include "std.h"
32 #include "generated/airframe.h"
33 #include "subsystems/imu.h"
34 
35 #include "peripherals/mpu9250_i2c.h"
36 
37 
38 #ifndef IMU_MPU9250_GYRO_RANGE
39 #define IMU_MPU9250_GYRO_RANGE MPU9250_GYRO_RANGE_1000
40 #endif
41 
42 #ifndef IMU_MPU9250_ACCEL_RANGE
43 #define IMU_MPU9250_ACCEL_RANGE MPU9250_ACCEL_RANGE_8G
44 #endif
45 
46 // Set default sensitivity based on range if needed
47 #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
48 #define IMU_GYRO_P_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
49 #define IMU_GYRO_P_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
50 #define IMU_GYRO_P_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
51 #define IMU_GYRO_Q_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
52 #define IMU_GYRO_Q_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
53 #define IMU_GYRO_Q_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
54 #define IMU_GYRO_R_SENS MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
55 #define IMU_GYRO_R_SENS_NUM MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
56 #define IMU_GYRO_R_SENS_DEN MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
57 #endif
58 
59 // Set default sensitivity based on range if needed
60 #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
61 #define IMU_ACCEL_X_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
62 #define IMU_ACCEL_X_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
63 #define IMU_ACCEL_X_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
64 #define IMU_ACCEL_Y_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
65 #define IMU_ACCEL_Y_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
66 #define IMU_ACCEL_Y_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
67 #define IMU_ACCEL_Z_SENS MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
68 #define IMU_ACCEL_Z_SENS_NUM MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
69 #define IMU_ACCEL_Z_SENS_DEN MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
70 #endif
71 
72 
73 struct ImuMpu9250 {
74  struct Mpu9250_I2c mpu;
75 };
76 
77 extern struct ImuMpu9250 imu_mpu9250;
78 
79 extern void imu_mpu9250_init(void);
80 extern void imu_mpu9250_periodic(void);
81 extern void imu_mpu9250_event(void);
82 
83 #endif /* IMU_MPU9250_I2C_H */
ImuMpu9250
Definition: imu_mpu9250_i2c.h:73
ImuMpu9250::mpu
struct Mpu9250_I2c mpu
Definition: imu_mpu9250_i2c.h:74
Mpu9250_I2c
Definition: mpu9250_i2c.h:59
imu_mpu9250
struct ImuMpu9250 imu_mpu9250
Definition: imu_mpu9250_i2c.c:100
imu.h
std.h
imu_mpu9250_init
void imu_mpu9250_init(void)
Definition: imu_mpu9250.c:37
imu_mpu9250_event
void imu_mpu9250_event(void)
Definition: imu_mpu9250.c:47
imu_mpu9250_periodic
void imu_mpu9250_periodic(void)
Definition: imu_mpu9250.c:42
mpu9250_i2c.h