text: /*
   * Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
   *
   * This file is part of paparazzi.
   *
   * paparazzi 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 2, or (at your option)
   * any later version.
   *
   * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
   * the Free Software Foundation, 59 Temple Place - Suite 330,
   * Boston, MA 02111-1307, USA.
   */
  
  /**
   * @file subsystems/imu/imu_navstik.h
   * Interface for the Navstik magnetometer, accelerometer and gyroscope
   */
  
  
  #ifndef IMU_NAVSTIK_H
  #define IMU_NAVSTIK_H
  
  #include "generated/airframe.h"
  #include "subsystems/imu.h"
  
  #include "peripherals/hmc58xx.h"
  #include "peripherals/mpu60x0_i2c.h"
  
  #ifndef NAVSTIK_GYRO_RANGE
  #define NAVSTIK_GYRO_RANGE MPU60X0_GYRO_RANGE_1000
  #endif
  
  #ifndef NAVSTIK_ACCEL_RANGE
  #define NAVSTIK_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G
  #endif
  
  // Set default sensitivity based on range if needed
  #if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
  #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
  #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
  #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
  #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
  #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
  #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
  #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
  #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
  #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
  #endif
  
  // Set default sensitivity based on range if needed
  #if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
  #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
  #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
  #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
  #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
  #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
  #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
  #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
  #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
  #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
  #endif
  
  
  struct ImuNavstik {
    struct Mpu60x0_I2c mpu;
    struct Hmc58xx hmc;
  };
  
  extern struct ImuNavstik imu_navstik;
  
  extern void imu_navstik_init(void);
  extern void imu_navstik_periodic(void);
  extern void imu_navstik_event(void);
  
  #endif /* IMU_NAVSTIK_H */
  