imu_mpu6000.h File Reference

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

#include "std.h"
#include "generated/airframe.h"
#include "modules/imu/imu.h"
#include "peripherals/mpu60x0_spi.h"

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Data Structures
struct	ImuMpu6000

Macros
#define	IMU_MPU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
#define	IMU_MPU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

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.h.

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Data Structure Documentation

ImuMpu6000

struct ImuMpu6000

Definition at line 45 of file imu_mpu6000.h.

Collaboration diagram for ImuMpu6000:

Data Fields
struct Mpu60x0_Spi	mpu

Macro Definition Documentation

IMU_MPU_ACCEL_RANGE

#define IMU_MPU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 42 of file imu_mpu6000.h.

IMU_MPU_GYRO_RANGE

#define IMU_MPU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 38 of file imu_mpu6000.h.

Function Documentation

imu_mpu_spi_event()

void imu_mpu_spi_event ( void  )

extern

Definition at line 142 of file imu_mpu6000.c.

References Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_rates, foo, get_sys_time_usec(), IMU_MPU6000_ID, IMU_MPU_CHAN_X, IMU_MPU_CHAN_Y, IMU_MPU_CHAN_Z, imu_mpu_spi, IMU_MPU_X_SIGN, IMU_MPU_Y_SIGN, IMU_MPU_Z_SIGN, ImuMpu6000::mpu, mpu60x0_spi_event(), Mpu60x0_Spi::temp, UpdateMedianFilterRatesInt, and UpdateMedianFilterVect3Int.

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imu_mpu_spi_init()

void imu_mpu_spi_init ( void  )

extern

Definition at line 116 of file imu_mpu6000.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::dlpf_cfg_acc, foo, Mpu60x0Config::gyro_range, IMU_MPU6000_ID, IMU_MPU_ACCEL_LOWPASS_FILTER, IMU_MPU_ACCEL_RANGE, IMU_MPU_GYRO_RANGE, IMU_MPU_LOWPASS_FILTER, IMU_MPU_SMPLRT_DIV, imu_mpu_spi, imu_set_defaults_accel(), imu_set_defaults_gyro(), InitMedianFilterRatesInt, InitMedianFilterVect3Int, ImuMpu6000::mpu, MPU60X0_ACCEL_SENS_F, MPU60X0_GYRO_SENS_F, mpu60x0_spi_init(), and Mpu60x0Config::smplrt_div.

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imu_mpu_spi_periodic()

void imu_mpu_spi_periodic ( void  )

extern

Definition at line 137 of file imu_mpu6000.c.

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

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Variable Documentation

imu_mpu_spi

struct ImuMpu6000 imu_mpu_spi

extern

Definition at line 109 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event(), imu_mpu_spi_init(), and imu_mpu_spi_periodic().