flight/pios/inc/pios_mpu6000_config.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_MPU6000 OpenPilot layer configuration utilities
   6  * @brief provides mpu6000 configuration helpers function
   7  * @{
   8  *
   9  * @file       PIOS_MPU6000_CONFIG.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
  11  * @brief      MPU6000 UAVO-based configuration functions
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  ******************************************************************************
  15  */
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #ifndef PIOS_MPU6000_CONFIG_H
  33 #define PIOS_MPU6000_CONFIG_H
  34
  35 #include "mpugyroaccelsettings.h"
  36 #include "pios_mpu6000.h"
  37
  38 #define PIOS_MPU6000_CONFIG_MAP_GYROSCALE(x) \
  39     (x == MPUGYROACCELSETTINGS_GYROSCALE_SCALE_250 ? PIOS_MPU6000_SCALE_250_DEG : \
  40      x == MPUGYROACCELSETTINGS_GYROSCALE_SCALE_500 ? PIOS_MPU6000_SCALE_500_DEG : \
  41      x == MPUGYROACCELSETTINGS_GYROSCALE_SCALE_1000 ? PIOS_MPU6000_SCALE_1000_DEG : \
  42      PIOS_MPU6000_SCALE_2000_DEG)
  43
  44 #define PIOS_MPU6000_CONFIG_MAP_ACCELSCALE(x) \
  45     (x == MPUGYROACCELSETTINGS_ACCELSCALE_SCALE_2G ? PIOS_MPU6000_ACCEL_2G : \
  46      x == MPUGYROACCELSETTINGS_ACCELSCALE_SCALE_4G ? PIOS_MPU6000_ACCEL_4G : \
  47      x == MPUGYROACCELSETTINGS_ACCELSCALE_SCALE_16G ? PIOS_MPU6000_ACCEL_16G : \
  48      PIOS_MPU6000_ACCEL_8G)
  49
  50 #define PIOS_MPU6000_CONFIG_MAP_FILTERSETTING(x) \
  51     (x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_188_HZ ? PIOS_MPU6000_LOWPASS_188_HZ : \
  52      x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_98_HZ ? PIOS_MPU6000_LOWPASS_98_HZ : \
  53      x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_42_HZ ? PIOS_MPU6000_LOWPASS_42_HZ : \
  54      x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_20_HZ ? PIOS_MPU6000_LOWPASS_20_HZ : \
  55      x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_10_HZ ? PIOS_MPU6000_LOWPASS_10_HZ : \
  56      x == MPUGYROACCELSETTINGS_FILTERSETTING_LOWPASS_5_HZ ? PIOS_MPU6000_LOWPASS_5_HZ : \
  57      PIOS_MPU6000_LOWPASS_256_HZ)
  58 /**
  59  * @brief Updates MPU6000 config based on Mpu6000Settings UAVO
  60  * @returns 0 if succeed or -1 otherwise
  61  */
  62 int32_t PIOS_MPU6000_CONFIG_Configure()
  63 {
  64     MPUGyroAccelSettingsData mpuSettings;
  65
  66     MPUGyroAccelSettingsGet(&mpuSettings);
  67     return PIOS_MPU6000_ConfigureRanges(
  68         PIOS_MPU6000_CONFIG_MAP_GYROSCALE(mpuSettings.GyroScale),
  69         PIOS_MPU6000_CONFIG_MAP_ACCELSCALE(mpuSettings.AccelScale),
  70         PIOS_MPU6000_CONFIG_MAP_FILTERSETTING(mpuSettings.FilterSetting)
  71         );
  72 }
  73
  74 #endif /* PIOS_MPU6000_CONFIG_H */