Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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imu_bebop.c File Reference

Driver for the Bebop (2) magnetometer, accelerometer and gyroscope. More...

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/i2c.h"
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Go to the source code of this file.

Macros

#define BEBOP_MAG_I2C_DEV   i2c1
 
#define BEBOP_MPU_I2C_DEV   i2c2
 

Functions

void imu_bebop_init (void)
 Navstik IMU initializtion of the MPU-60x0 and HMC58xx. More...
 
void imu_bebop_periodic (void)
 Handle all the periodic tasks of the Navstik IMU components. More...
 
void imu_bebop_event (void)
 Handle all the events of the Navstik IMU components. More...
 

Variables

struct OrientationReps imu_to_mag_bebop
 IMU to magneto rotation. More...
 
struct ImuBebop imu_bebop
 Basic Navstik IMU data. More...
 

Detailed Description

Driver for the Bebop (2) magnetometer, accelerometer and gyroscope.

Definition in file imu_bebop.c.

Macro Definition Documentation

#define BEBOP_MAG_I2C_DEV   i2c1

Definition at line 34 of file imu_bebop.c.

Referenced by imu_bebop_init().

#define BEBOP_MPU_I2C_DEV   i2c2

Definition at line 39 of file imu_bebop.c.

Referenced by imu_bebop_init().

Function Documentation

void imu_bebop_event ( void  )

Handle all the events of the Navstik IMU components.

When there is data available convert it to the correct axis and save it in the imu structure.

Definition at line 112 of file imu_bebop.c.

References Imu::accel, Imu::accel_unscaled, ImuBebop::ak, ak8963_event(), Ak8963::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Ak8963::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_bebop, IMU_BOARD_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), imu_to_mag_bebop, int32_rmat_vmult(), Imu::mag, Imu::mag_unscaled, ImuBebop::mpu, mpu60x0_i2c_event(), orientationGetRMat_i(), RATES_ASSIGN, and VECT3_ASSIGN.

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void imu_bebop_init ( void  )
void imu_bebop_periodic ( void  )

Handle all the periodic tasks of the Navstik IMU components.

Read the MPU60x0 every periodic call and the HMC58XX every 10th call.

Definition at line 99 of file imu_bebop.c.

References ImuBebop::ak, ak8963_periodic(), imu_bebop, ImuBebop::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

struct ImuBebop imu_bebop

Basic Navstik IMU data.

Definition at line 69 of file imu_bebop.c.

Referenced by imu_bebop_event(), imu_bebop_periodic(), and imu_temp_ctrl_periodic().

struct OrientationReps imu_to_mag_bebop

IMU to magneto rotation.

Definition at line 66 of file imu_bebop.c.

Referenced by imu_bebop_event().