Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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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"
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 |
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 |
Driver for IMU with only MPU6000 via SPI.
Definition in file imu_mpu6000.h.
struct ImuMpu6000 |
Definition at line 45 of file imu_mpu6000.h.
Data Fields | ||
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struct Mpu60x0_Spi | mpu |
#define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G |
Definition at line 42 of file imu_mpu6000.h.
#define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000 |
Definition at line 38 of file imu_mpu6000.h.
void imu_mpu_spi_event | ( | void | ) |
Definition at line 142 of file imu_mpu6000.c.
References Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_rates, 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.
void imu_mpu_spi_init | ( | void | ) |
Definition at line 116 of file imu_mpu6000.c.
References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::dlpf_cfg_acc, 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_FRAC, MPU60X0_GYRO_SENS_FRAC, mpu60x0_spi_init(), and Mpu60x0Config::smplrt_div.
void imu_mpu_spi_periodic | ( | void | ) |
Definition at line 137 of file imu_mpu6000.c.
References imu_mpu_spi, ImuMpu6000::mpu, and mpu60x0_spi_periodic().
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extern |
Definition at line 1 of file imu_mpu6000.c.
Referenced by imu_mpu_spi_event(), imu_mpu_spi_init(), and imu_mpu_spi_periodic().