Paparazzi UAS  v5.15_devel-50-g4d7045d
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imu_bebop.h File Reference

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

#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/ak8963.h"
#include "peripherals/mpu60x0_i2c.h"
+ Include dependency graph for imu_bebop.h:

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

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

struct ImuBebop

Everything that is in the bebop IMU.

Definition at line 73 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

#define BEBOP_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G

Definition at line 42 of file imu_bebop.h.

Referenced by imu_bebop_init().

#define BEBOP_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000

Definition at line 38 of file imu_bebop.h.

Referenced by imu_bebop_init().

#define IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[BEBOP_ACCEL_RANGE]

Definition at line 60 of file imu_bebop.h.

#define IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][1]

Definition at line 62 of file imu_bebop.h.

#define IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][0]

Definition at line 61 of file imu_bebop.h.

#define IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[BEBOP_ACCEL_RANGE]

Definition at line 63 of file imu_bebop.h.

#define IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][1]

Definition at line 65 of file imu_bebop.h.

#define IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][0]

Definition at line 64 of file imu_bebop.h.

#define IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[BEBOP_ACCEL_RANGE]

Definition at line 66 of file imu_bebop.h.

#define IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][1]

Definition at line 68 of file imu_bebop.h.

#define IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[BEBOP_ACCEL_RANGE][0]

Definition at line 67 of file imu_bebop.h.

#define IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[BEBOP_GYRO_RANGE]

Definition at line 47 of file imu_bebop.h.

#define IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][1]

Definition at line 49 of file imu_bebop.h.

#define IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][0]

Definition at line 48 of file imu_bebop.h.

#define IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[BEBOP_GYRO_RANGE]

Definition at line 50 of file imu_bebop.h.

#define IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][1]

Definition at line 52 of file imu_bebop.h.

#define IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][0]

Definition at line 51 of file imu_bebop.h.

#define IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[BEBOP_GYRO_RANGE]

Definition at line 53 of file imu_bebop.h.

#define IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][1]

Definition at line 55 of file imu_bebop.h.

#define IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[BEBOP_GYRO_RANGE][0]

Definition at line 54 of file imu_bebop.h.

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().