imu_bebop.h File Reference

Interface for the Bebop magnetometer, accelerometer and gyroscope. More...

#include "generated/airframe.h"
#include "modules/imu/imu.h"
#include "peripherals/ak8963.h"
#include "peripherals/mpu60x0_i2c.h"

Include dependency graph for imu_bebop.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	ImuBebop
	Everything that is in the bebop IMU. More...

Macros
#define	BEBOP_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000
#define	BEBOP_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G

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 ImuBebop	imu_bebop
	Basic Navstik IMU data. More...

Detailed Description

Interface for the Bebop magnetometer, accelerometer and gyroscope.

Definition in file imu_bebop.h.

---

Data Structure Documentation

ImuBebop

struct ImuBebop

Everything that is in the bebop IMU.

Definition at line 46 of file imu_bebop.h.

Collaboration diagram for ImuBebop:

Data Fields
struct Ak8963	ak	The AK8963 mag.
struct Mpu60x0_I2c	mpu	The MPU gyro/accel device.

Macro Definition Documentation

BEBOP_ACCEL_RANGE

#define BEBOP_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G

Definition at line 42 of file imu_bebop.h.

BEBOP_GYRO_RANGE

#define BEBOP_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000

Definition at line 38 of file imu_bebop.h.

Function Documentation

imu_bebop_event()

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 118 of file imu_bebop.c.

References ImuBebop::ak, ak8963_event(), Ak8963::data, Mpu60x0_I2c::data_accel, Ak8963::data_available, Mpu60x0_I2c::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), imu_bebop, IMU_BOARD_ID, imu_to_mag_bebop, int32_rmat_vmult(), ImuBebop::mpu, mpu60x0_i2c_event(), orientationGetRMat_i(), RATES_ASSIGN, Mpu60x0_I2c::temp, and VECT3_ASSIGN.

Here is the call graph for this function:

imu_bebop_init()

void imu_bebop_init

(

void

)

Navstik IMU initializtion of the MPU-60x0 and HMC58xx.

Definition at line 76 of file imu_bebop.c.

References Mpu60x0Config::accel_range, ImuBebop::ak, AK8963_ADDR, ak8963_init(), BEBOP_ACCEL_RANGE, BEBOP_GYRO_RANGE, BEBOP_MAG_I2C_DEV, BEBOP_MPU_I2C_DEV, Mpu60x0_I2c::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, imu_bebop, IMU_BOARD_ID, imu_set_defaults_accel(), imu_set_defaults_gyro(), imu_to_mag_bebop, ImuBebop::mpu, MPU60X0_ACCEL_SENS_FRAC, MPU60X0_ADDR, MPU60X0_GYRO_SENS_FRAC, mpu60x0_i2c_init(), orientationSetEulers_f(), and Mpu60x0Config::smplrt_div.

Here is the call graph for this function:

imu_bebop_periodic()

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 105 of file imu_bebop.c.

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

Here is the call graph for this function:

Variable Documentation

imu_bebop

struct ImuBebop imu_bebop

extern

Basic Navstik IMU data.

Definition at line 1 of file imu_bebop.c.

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