Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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"
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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.

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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.

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◆ imu_bebop_init()

◆ 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().

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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().