imu_cube.c File Reference

Driver for the IMU's in the Cube autopilots. More...

#include "generated/modules.h"
#include "modules/imu/imu.h"
#include "modules/core/abi.h"
#include "mcu_periph/spi.h"
#include "peripherals/invensense2.h"
#include "peripherals/invensense3.h"
#include "peripherals/mpu60x0_spi.h"

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Functions
void	imu_cube_init (void)
void	imu_cube_periodic (void)
void	imu_cube_event (void)

Variables
static struct invensense2_t	imu1
static struct Mpu60x0_Spi	imu2
static struct invensense2_t	imu3

Detailed Description

Driver for the IMU's in the Cube autopilots.

Definition in file imu_cube.c.

Function Documentation

imu_cube_event()

void imu_cube_event

(

void

)

Definition at line 142 of file imu_cube.c.

References Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_rates, get_sys_time_usec(), imu1, imu2, imu3, IMU_CUBE2_ID, invensense2_event(), invensense3_event(), mpu60x0_spi_event(), and Mpu60x0_Spi::temp.

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imu_cube_init()

void imu_cube_init

(

void

)

Definition at line 44 of file imu_cube.c.

References invensense2_t::abi_id, invensense2_t::accel_dlpf, invensense2_t::accel_range, Mpu60x0Config::accel_range, ANGLE_BFP_OF_REAL, invensense2_t::bus, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::dlpf_cfg_acc, invensense2_t::gyro_dlpf, invensense2_t::gyro_range, Mpu60x0Config::gyro_range, imu1, imu2, imu3, IMU_CUBE1_ID, IMU_CUBE2_ID, IMU_CUBE3_ID, imu_set_defaults_accel(), imu_set_defaults_gyro(), int32_rmat_of_eulers, INVENSENSE2_ACCEL_DLPF_265HZ, INVENSENSE2_ACCEL_RANGE_30G, INVENSENSE2_GYRO_DLPF_229HZ, INVENSENSE2_GYRO_RANGE_4000DPS, invensense2_init(), INVENSENSE2_SPI, INVENSENSE3_ACCEL_ODR_4KHZ, INVENSENSE3_ACCEL_RANGE_32G, INVENSENSE3_GYRO_ODR_4KHZ, INVENSENSE3_GYRO_RANGE_2000DPS, invensense3_init(), INVENSENSE3_PARSER_FIFO, INVENSENSE3_SPI, MPU60X0_ACCEL_RANGE_16G, MPU60X0_ACCEL_SENS_FRAC, MPU60X0_DLPF_256HZ, MPU60X0_DLPF_ACC_218HZ, MPU60X0_GYRO_RANGE_2000, MPU60X0_GYRO_SENS_FRAC, mpu60x0_spi_init(), Int32Eulers::phi, Int32Eulers::psi, Mpu60x0Config::smplrt_div, and Int32Eulers::theta.

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imu_cube_periodic()

void imu_cube_periodic

(

void

)

Definition at line 131 of file imu_cube.c.

References imu1, imu2, imu3, invensense2_periodic(), invensense3_periodic(), and mpu60x0_spi_periodic().

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Variable Documentation

imu1

struct invensense2_t imu1

static

Definition at line 1 of file imu_cube.c.

Referenced by imu_cube_event(), imu_cube_init(), and imu_cube_periodic().

imu2

struct Mpu60x0_Spi imu2

static

Definition at line 1 of file imu_cube.c.

Referenced by imu_cube_event(), imu_cube_init(), and imu_cube_periodic().

imu3

struct invensense2_t imu3

static

Definition at line 1 of file imu_cube.c.

Referenced by imu_cube_event(), imu_cube_init(), and imu_cube_periodic().