mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-14 21:23:52 +01:00
75 lines
3.2 KiB
C
75 lines
3.2 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_MPU9250 OpenPilot layer configuration utilities
|
|
* @brief provides mpu9250 configuration helpers function
|
|
* @{
|
|
*
|
|
* @file PIOS_MPU9250_CONFIG.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
|
|
* @brief MPU9250 UAVO-based configuration functions
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
******************************************************************************
|
|
*/
|
|
/*
|
|
* This program 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 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program 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 this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
#ifndef PIOS_MPU9250_CONFIG_H
|
|
#define PIOS_MPU9250_CONFIG_H
|
|
|
|
#include "mpugyroaccelsettings.h"
|
|
#include "pios_mpu9250.h"
|
|
|
|
#define PIOS_MPU9250_CONFIG_MAP_GYROSCALE(x) \
|
|
(x == MPUGYROACCELSETTINGS_GYROSCALE_SCALE_250 ? PIOS_MPU9250_SCALE_250_DEG : \
|
|
x == MPUGYROACCELSETTINGS_GYROSCALE_SCALE_500 ? PIOS_MPU9250_SCALE_500_DEG : \
|
|
x == MPUGYROACCELSETTINGS_GYROSCALE_SCALE_1000 ? PIOS_MPU9250_SCALE_1000_DEG : \
|
|
PIOS_MPU9250_SCALE_2000_DEG)
|
|
|
|
#define PIOS_MPU9250_CONFIG_MAP_ACCELSCALE(x) \
|
|
(x == MPUGYROACCELSETTINGS_ACCELSCALE_SCALE_2G ? PIOS_MPU9250_ACCEL_2G : \
|
|
x == MPUGYROACCELSETTINGS_ACCELSCALE_SCALE_4G ? PIOS_MPU9250_ACCEL_4G : \
|
|
x == MPUGYROACCELSETTINGS_ACCELSCALE_SCALE_16G ? PIOS_MPU9250_ACCEL_16G : \
|
|
PIOS_MPU9250_ACCEL_8G)
|
|
|
|
#define PIOS_MPU9250_CONFIG_MAP_FILTERSETTING(x) \
|
|
(x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_188_HZ ? PIOS_MPU9250_LOWPASS_188_HZ : \
|
|
x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_98_HZ ? PIOS_MPU9250_LOWPASS_98_HZ : \
|
|
x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_42_HZ ? PIOS_MPU9250_LOWPASS_42_HZ : \
|
|
x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_20_HZ ? PIOS_MPU9250_LOWPASS_20_HZ : \
|
|
x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_10_HZ ? PIOS_MPU9250_LOWPASS_10_HZ : \
|
|
x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_5_HZ ? PIOS_MPU9250_LOWPASS_5_HZ : \
|
|
PIOS_MPU9250_LOWPASS_256_HZ)
|
|
/**
|
|
* @brief Updates MPU9250 config based on MPUGyroAccelSettings UAVO
|
|
* @returns 0 if succeed or -1 otherwise
|
|
*/
|
|
int32_t PIOS_MPU9250_CONFIG_Configure()
|
|
{
|
|
MPUGyroAccelSettingsData mpuSettings;
|
|
|
|
MPUGyroAccelSettingsGet(&mpuSettings);
|
|
return PIOS_MPU9250_ConfigureRanges(
|
|
PIOS_MPU9250_CONFIG_MAP_GYROSCALE(mpuSettings.GyroScale),
|
|
PIOS_MPU9250_CONFIG_MAP_ACCELSCALE(mpuSettings.AccelScale),
|
|
PIOS_MPU9250_CONFIG_MAP_FILTERSETTING(mpuSettings.FilterSetting)
|
|
);
|
|
}
|
|
|
|
#endif /* PIOS_MPU9250_CONFIG_H */
|