imu_aspirin_i2c.c File Reference

Driver for the Aspirin v1.x IMU using I2C for the accelerometer. More...

#include "modules/imu/imu_aspirin_i2c.h"
#include "modules/imu/imu.h"
#include "modules/core/abi.h"
#include "mcu_periph/i2c.h"
#include "generated/modules.h"
#include "mcu_periph/gpio.h"

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Macros
#define	ASPIRIN_I2C_DEV   i2c2
#define	ASPIRIN_ACCEL_RATE   ADXL345_RATE_50HZ
	adxl345 accelerometer output rate, lowpass is set to half of rate More...
#define	ASPIRIN_GYRO_LOWPASS   ITG3200_DLPF_20HZ
	gyro internal lowpass frequency More...
#define	ASPIRIN_GYRO_SMPLRT_DIV   19
	gyro sample rate divider More...

Functions
void	imu_aspirin_i2c_init (void)
void	imu_aspirin_i2c_periodic (void)
void	imu_aspirin_i2c_event (void)

Variables
struct ImuAspirinI2c	imu_aspirin

Detailed Description

Driver for the Aspirin v1.x IMU using I2C for the accelerometer.

Definition in file imu_aspirin_i2c.c.

Macro Definition Documentation

ASPIRIN_ACCEL_RATE

#define ASPIRIN_ACCEL_RATE   ADXL345_RATE_50HZ

adxl345 accelerometer output rate, lowpass is set to half of rate

Definition at line 47 of file imu_aspirin_i2c.c.

ASPIRIN_GYRO_LOWPASS

#define ASPIRIN_GYRO_LOWPASS   ITG3200_DLPF_20HZ

gyro internal lowpass frequency

Definition at line 60 of file imu_aspirin_i2c.c.

ASPIRIN_GYRO_SMPLRT_DIV

#define ASPIRIN_GYRO_SMPLRT_DIV   19

gyro sample rate divider

Definition at line 73 of file imu_aspirin_i2c.c.

ASPIRIN_I2C_DEV

#define ASPIRIN_I2C_DEV   i2c2

Definition at line 40 of file imu_aspirin_i2c.c.

Function Documentation

imu_aspirin_i2c_event()

void imu_aspirin_i2c_event

(

void

)

Definition at line 152 of file imu_aspirin_i2c.c.

References ImuAspirinI2c::acc_adxl, adxl345_i2c_event(), Adxl345_I2c::data, Hmc58xx::data, Itg3200::data, Adxl345_I2c::data_available, Hmc58xx::data_available, Itg3200::data_available, get_sys_time_usec(), ImuAspirinI2c::gyro_itg, hmc58xx_event(), imu_aspirin, IMU_ASPIRIN_ID, itg3200_event(), ImuAspirinI2c::mag_hmc, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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imu_aspirin_i2c_init()

void imu_aspirin_i2c_init

(

void

)

Todo:

drdy int handling for adxl345

Todo:

eoc interrupt for itg3200, polling for now (including status reg)

Definition at line 85 of file imu_aspirin_i2c.c.

References ImuAspirinI2c::acc_adxl, accel_scale, ADXL345_ADDR, adxl345_i2c_init(), ASPIRIN_ACCEL_RATE, ASPIRIN_GYRO_LOWPASS, ASPIRIN_GYRO_SMPLRT_DIV, ASPIRIN_I2C_DEV, Adxl345_I2c::config, Itg3200::config, Itg3200Config::dlpf_cfg, gpio_set(), gpio_setup_output(), ImuAspirinI2c::gyro_itg, gyro_scale, HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5843, imu_aspirin, IMU_ASPIRIN_ID, imu_set_defaults_accel(), imu_set_defaults_gyro(), ITG3200_ADDR, itg3200_init(), ImuAspirinI2c::mag_hmc, Adxl345Config::rate, Itg3200Config::smplrt_div, and Hmc58xx::type.

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imu_aspirin_i2c_periodic()

void imu_aspirin_i2c_periodic

(

void

)

Definition at line 141 of file imu_aspirin_i2c.c.

References ImuAspirinI2c::acc_adxl, adxl345_i2c_periodic(), ImuAspirinI2c::gyro_itg, hmc58xx_periodic(), imu_aspirin, itg3200_periodic(), and ImuAspirinI2c::mag_hmc.

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Variable Documentation

imu_aspirin

struct ImuAspirinI2c imu_aspirin

Definition at line 1 of file imu_aspirin_i2c.c.

Referenced by imu_aspirin_i2c_event(), imu_aspirin_i2c_init(), and imu_aspirin_i2c_periodic().