Paparazzi UAS  v5.15_devel-113-g1b57ff1
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imu_mpu6000.c File Reference

Driver for IMU with only MPU6000 via SPI. More...

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/spi.h"
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Go to the source code of this file.

Macros

#define IMU_MPU_LOWPASS_FILTER   MPU60X0_DLPF_42HZ
 
#define IMU_MPU_SMPLRT_DIV   9
 
#define IMU_MPU_ACCEL_LOWPASS_FILTER   MPU60X0_DLPF_ACC_44HZ
 
#define IMU_MPU_CHAN_X   0
 
#define IMU_MPU_CHAN_Y   1
 
#define IMU_MPU_CHAN_Z   2
 
#define IMU_MPU_X_SIGN   1
 
#define IMU_MPU_Y_SIGN   1
 
#define IMU_MPU_Z_SIGN   1
 

Functions

void imu_mpu_spi_init (void)
 
void imu_mpu_spi_periodic (void)
 
void imu_mpu_spi_event (void)
 

Variables

struct ImuMpu6000 imu_mpu_spi
 

Detailed Description

Driver for IMU with only MPU6000 via SPI.

Definition in file imu_mpu6000.c.

Macro Definition Documentation

#define IMU_MPU_ACCEL_LOWPASS_FILTER   MPU60X0_DLPF_ACC_44HZ

Definition at line 65 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_init().

#define IMU_MPU_CHAN_X   0

Definition at line 79 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event().

#define IMU_MPU_CHAN_Y   1

Definition at line 83 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event().

#define IMU_MPU_CHAN_Z   2

Definition at line 87 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event().

#define IMU_MPU_LOWPASS_FILTER   MPU60X0_DLPF_42HZ

Definition at line 61 of file imu_mpu6000.c.

Referenced by imu_mpu_hmc_init(), and imu_mpu_spi_init().

#define IMU_MPU_SMPLRT_DIV   9

Definition at line 62 of file imu_mpu6000.c.

Referenced by imu_mpu_hmc_init(), and imu_mpu_spi_init().

#define IMU_MPU_X_SIGN   1

Definition at line 93 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event().

#define IMU_MPU_Y_SIGN   1

Definition at line 97 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event().

#define IMU_MPU_Z_SIGN   1

Definition at line 101 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event().

Function Documentation

void imu_mpu_spi_periodic ( void  )

Definition at line 120 of file imu_mpu6000.c.

References imu_mpu_spi, ImuMpu6000::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

struct ImuMpu6000 imu_mpu_spi

Definition at line 106 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event(), and imu_mpu_spi_periodic().