Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
imu_mpu6000.h File Reference

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

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_spi.h"
+ Include dependency graph for imu_mpu6000.h:

Go to the source code of this file.

Data Structures

struct  ImuMpu6000
 

Macros

#define IMU_MPU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
 
#define IMU_MPU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G
 
#define IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
 
#define IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
 
#define IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
 
#define IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
 
#define IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
 
#define IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
 
#define IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]
 
#define IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]
 
#define IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]
 
#define IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
 
#define IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
 
#define IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
 
#define IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
 
#define IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
 
#define IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]
 
#define IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]
 
#define IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]
 
#define IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][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.h.


Data Structure Documentation

struct ImuMpu6000

Definition at line 71 of file imu_mpu6000.h.

+ Collaboration diagram for ImuMpu6000:
Data Fields
struct Mpu60x0_Spi mpu

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]

Definition at line 59 of file imu_mpu6000.h.

#define IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]

Definition at line 61 of file imu_mpu6000.h.

#define IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]

Definition at line 60 of file imu_mpu6000.h.

#define IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]

Definition at line 62 of file imu_mpu6000.h.

#define IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]

Definition at line 64 of file imu_mpu6000.h.

#define IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]

Definition at line 63 of file imu_mpu6000.h.

#define IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]

Definition at line 65 of file imu_mpu6000.h.

#define IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]

Definition at line 67 of file imu_mpu6000.h.

#define IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]

Definition at line 66 of file imu_mpu6000.h.

#define IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]

Definition at line 46 of file imu_mpu6000.h.

#define IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]

Definition at line 48 of file imu_mpu6000.h.

#define IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]

Definition at line 47 of file imu_mpu6000.h.

#define IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]

Definition at line 49 of file imu_mpu6000.h.

#define IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]

Definition at line 51 of file imu_mpu6000.h.

#define IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]

Definition at line 50 of file imu_mpu6000.h.

#define IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]

Definition at line 52 of file imu_mpu6000.h.

#define IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]

Definition at line 54 of file imu_mpu6000.h.

#define IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]

Definition at line 53 of file imu_mpu6000.h.

#define IMU_MPU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 41 of file imu_mpu6000.h.

Referenced by imu_mpu_hmc_init(), and imu_mpu_spi_init().

#define IMU_MPU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 37 of file imu_mpu6000.h.

Referenced by imu_mpu_hmc_init(), and imu_mpu_spi_init().

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().

+ Here is the call graph for this function:

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().