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75 lines
3.2 KiB
C
75 lines
3.2 KiB
C
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_MPU9250 OpenPilot layer configuration utilities
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* @brief provides mpu9250 configuration helpers function
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* @{
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*
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* @file PIOS_MPU9250_CONFIG.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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* @brief MPU9250 UAVO-based configuration functions
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************
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*/
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/*
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* This program 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 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_MPU9250_CONFIG_H
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#define PIOS_MPU9250_CONFIG_H
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#include "mpu9250settings.h"
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#include "pios_mpu9250.h"
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#define PIOS_MPU9250_CONFIG_MAP_GYROSCALE(x) \
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(x == MPU9250SETTINGS_GYROSCALE_SCALE_250 ? PIOS_MPU9250_SCALE_250_DEG : \
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x == MPU9250SETTINGS_GYROSCALE_SCALE_500 ? PIOS_MPU9250_SCALE_500_DEG : \
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x == MPU9250SETTINGS_GYROSCALE_SCALE_1000 ? PIOS_MPU9250_SCALE_1000_DEG : \
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PIOS_MPU9250_SCALE_2000_DEG)
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#define PIOS_MPU9250_CONFIG_MAP_ACCELSCALE(x) \
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(x == MPU9250SETTINGS_ACCELSCALE_SCALE_2G ? PIOS_MPU9250_ACCEL_2G : \
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x == MPU9250SETTINGS_ACCELSCALE_SCALE_4G ? PIOS_MPU9250_ACCEL_4G : \
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x == MPU9250SETTINGS_ACCELSCALE_SCALE_16G ? PIOS_MPU9250_ACCEL_16G : \
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PIOS_MPU9250_ACCEL_8G)
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#define PIOS_MPU9250_CONFIG_MAP_FILTERSETTING(x) \
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(x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_188_HZ ? PIOS_MPU9250_LOWPASS_188_HZ : \
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x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_98_HZ ? PIOS_MPU9250_LOWPASS_98_HZ : \
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x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_42_HZ ? PIOS_MPU9250_LOWPASS_42_HZ : \
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x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_20_HZ ? PIOS_MPU9250_LOWPASS_20_HZ : \
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x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_10_HZ ? PIOS_MPU9250_LOWPASS_10_HZ : \
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x == MPU9250SETTINGS_FILTERSETTING_LOWPASS_5_HZ ? PIOS_MPU9250_LOWPASS_5_HZ : \
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PIOS_MPU9250_LOWPASS_256_HZ)
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/**
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* @brief Updates MPU9250 config based on Mpu9250Settings UAVO
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* @returns 0 if succeed or -1 otherwise
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*/
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int32_t PIOS_MPU9250_CONFIG_Configure()
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{
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Mpu9250SettingsInitialize();
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Mpu9250SettingsData mpu9250settings;
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Mpu9250SettingsGet(&mpu9250settings);
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return PIOS_MPU9250_ConfigureRanges(
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PIOS_MPU9250_CONFIG_MAP_GYROSCALE(mpu9250settings.GyroScale),
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PIOS_MPU9250_CONFIG_MAP_ACCELSCALE(mpu9250settings.AccelScale),
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PIOS_MPU9250_CONFIG_MAP_FILTERSETTING(mpu9250settings.FilterSetting)
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);
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}
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#endif /* PIOS_MPU9250_CONFIG_H */
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