Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Interface for the Disco magnetometer, accelerometer and gyroscope. More...
#include "generated/airframe.h"
#include "modules/imu/imu.h"
#include "peripherals/ak8963.h"
#include "peripherals/mpu60x0_i2c.h"
Go to the source code of this file.
Data Structures | |
struct | ImuDisco |
Everything that is in the disco IMU. More... | |
Macros | |
#define | DISCO_GYRO_RANGE MPU60X0_GYRO_RANGE_1000 |
#define | DISCO_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G |
Functions | |
void | imu_disco_init (void) |
Disco IMU initializtion of the MPU-60x0 and HMC58xx. More... | |
void | imu_disco_periodic (void) |
Handle all the periodic tasks of the Disco IMU components. More... | |
void | imu_disco_event (void) |
Handle all the events of the Disco IMU components. More... | |
Variables | |
struct ImuDisco | imu_disco |
Disco IMU data. More... | |
Interface for the Disco magnetometer, accelerometer and gyroscope.
Definition in file imu_disco.h.
struct ImuDisco |
Everything that is in the disco IMU.
Definition at line 46 of file imu_disco.h.
Data Fields | ||
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struct Ak8963 | ak | The AK8963 mag. |
struct Mpu60x0_I2c | mpu | The MPU gyro/accel device. |
#define DISCO_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G |
Definition at line 42 of file imu_disco.h.
#define DISCO_GYRO_RANGE MPU60X0_GYRO_RANGE_1000 |
Definition at line 38 of file imu_disco.h.
void imu_disco_event | ( | void | ) |
Handle all the events of the Disco IMU components.
When there is data available convert it to the correct axis and save it in the imu structure.
Definition at line 114 of file imu_disco.c.
References ImuDisco::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_BOARD_ID, imu_disco, ImuDisco::mpu, mpu60x0_i2c_event(), RATES_ASSIGN, Mpu60x0_I2c::temp, and VECT3_ASSIGN.
void imu_disco_init | ( | void | ) |
Disco IMU initializtion of the MPU-60x0 and HMC58xx.
Definition at line 74 of file imu_disco.c.
References Mpu60x0Config::accel_range, ImuDisco::ak, AK8963_ADDR, ak8963_init(), Mpu60x0_I2c::config, DISCO_ACCEL_RANGE, DISCO_GYRO_RANGE, DISCO_MAG_I2C_DEV, DISCO_MPU_I2C_DEV, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, IMU_BOARD_ID, imu_disco, imu_set_defaults_accel(), imu_set_defaults_gyro(), ImuDisco::mpu, MPU60X0_ACCEL_SENS_FRAC, MPU60X0_ADDR, MPU60X0_GYRO_SENS_FRAC, mpu60x0_i2c_init(), and Mpu60x0Config::smplrt_div.
void imu_disco_periodic | ( | void | ) |
Handle all the periodic tasks of the Disco IMU components.
Read the MPU60x0 every periodic call and the AKM8963 every 10th call.
Definition at line 95 of file imu_disco.c.
References ImuDisco::ak, AK8963_HZ, ak8963_periodic(), imu_disco, ImuDisco::mpu, and mpu60x0_i2c_periodic().
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extern |
Disco IMU data.
Definition at line 1 of file imu_disco.c.
Referenced by imu_disco_event(), imu_disco_init(), and imu_disco_periodic().