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imu_aspirin_2_spi.h File Reference

Driver for the Aspirin v2.x IMU using SPI for the MPU6000. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_spi.h"
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Go to the source code of this file.

Data Structures

struct  ImuAspirin2Spi
 

Macros

#define ASPIRIN_2_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
 
#define ASPIRIN_2_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G
 
#define IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
 
#define IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
 
#define IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
 
#define IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
 
#define IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
 
#define IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
 
#define IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]
 
#define IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]
 
#define IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]
 
#define IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
 
#define IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
 
#define IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
 
#define IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
 
#define IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
 
#define IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
 
#define IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]
 
#define IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]
 
#define IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]
 

Functions

void imu_aspirin2_init (void)
 
void imu_aspirin2_event (void)
 
void imu_aspirin2_periodic (void)
 

Variables

struct ImuAspirin2Spi imu_aspirin2
 

Detailed Description

Driver for the Aspirin v2.x IMU using SPI for the MPU6000.

Definition in file imu_aspirin_2_spi.h.


Data Structure Documentation

struct ImuAspirin2Spi

Definition at line 70 of file imu_aspirin_2_spi.h.

+ Collaboration diagram for ImuAspirin2Spi:
Data Fields
struct Mpu60x0_Spi mpu
volatile bool slave4_ready
volatile uint8_t wait_slave4_rx_buf[2]
struct spi_transaction wait_slave4_trans
volatile uint8_t wait_slave4_tx_buf[1]

Macro Definition Documentation

#define ASPIRIN_2_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 41 of file imu_aspirin_2_spi.h.

Referenced by imu_aspirin2_init().

#define ASPIRIN_2_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 37 of file imu_aspirin_2_spi.h.

Referenced by imu_aspirin2_init().

#define IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]

Definition at line 59 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]

Definition at line 61 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]

Definition at line 60 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]

Definition at line 62 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]

Definition at line 64 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]

Definition at line 63 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[ASPIRIN_2_ACCEL_RANGE]

Definition at line 65 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][1]

Definition at line 67 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[ASPIRIN_2_ACCEL_RANGE][0]

Definition at line 66 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]

Definition at line 46 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]

Definition at line 48 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]

Definition at line 47 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]

Definition at line 49 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]

Definition at line 51 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]

Definition at line 50 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[ASPIRIN_2_GYRO_RANGE]

Definition at line 52 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][1]

Definition at line 54 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[ASPIRIN_2_GYRO_RANGE][0]

Definition at line 53 of file imu_aspirin_2_spi.h.

Function Documentation

void imu_aspirin2_periodic ( void  )

Definition at line 147 of file imu_aspirin_2_spi.c.

References imu_aspirin2, ImuAspirin2Spi::mpu, and mpu60x0_spi_periodic().

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Variable Documentation