imu_mpu6000_hmc5883.c File Reference

Driver for IMU with MPU6000 via SPI and HMC5883 via I2c. More...

#include "modules/imu/imu_mpu6000_hmc5883.h"
#include "modules/imu/imu.h"
#include "modules/core/abi.h"
#include "mcu_periph/spi.h"
#include "peripherals/hmc58xx_regs.h"
#include "generated/modules.h"

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Macros
#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
#define	IMU_HMC_CHAN_X   1
#define	IMU_HMC_CHAN_Y   0
#define	IMU_HMC_CHAN_Z   2
#define	IMU_HMC_X_SIGN   1
#define	IMU_HMC_Y_SIGN   -1
#define	IMU_HMC_Z_SIGN   1

Functions
void	imu_mpu_hmc_init (void)
void	imu_mpu_hmc_periodic (void)
void	imu_mpu_hmc_event (void)

Variables
struct ImuMpu6000Hmc5883	imu_mpu_hmc

Detailed Description

Driver for IMU with MPU6000 via SPI and HMC5883 via I2c.

Definition in file imu_mpu6000_hmc5883.c.

Macro Definition Documentation

IMU_HMC_CHAN_X

#define IMU_HMC_CHAN_X   1

Definition at line 96 of file imu_mpu6000_hmc5883.c.

IMU_HMC_CHAN_Y

#define IMU_HMC_CHAN_Y   0

Definition at line 100 of file imu_mpu6000_hmc5883.c.

IMU_HMC_CHAN_Z

#define IMU_HMC_CHAN_Z   2

Definition at line 104 of file imu_mpu6000_hmc5883.c.

IMU_HMC_X_SIGN

#define IMU_HMC_X_SIGN   1

Definition at line 109 of file imu_mpu6000_hmc5883.c.

IMU_HMC_Y_SIGN

#define IMU_HMC_Y_SIGN   -1

Definition at line 113 of file imu_mpu6000_hmc5883.c.

IMU_HMC_Z_SIGN

#define IMU_HMC_Z_SIGN   1

Definition at line 117 of file imu_mpu6000_hmc5883.c.

IMU_MPU_CHAN_X

#define IMU_MPU_CHAN_X   0

Definition at line 69 of file imu_mpu6000_hmc5883.c.

IMU_MPU_CHAN_Y

#define IMU_MPU_CHAN_Y   1

Definition at line 73 of file imu_mpu6000_hmc5883.c.

IMU_MPU_CHAN_Z

#define IMU_MPU_CHAN_Z   2

Definition at line 77 of file imu_mpu6000_hmc5883.c.

IMU_MPU_X_SIGN

#define IMU_MPU_X_SIGN   1

Definition at line 82 of file imu_mpu6000_hmc5883.c.

IMU_MPU_Y_SIGN

#define IMU_MPU_Y_SIGN   1

Definition at line 86 of file imu_mpu6000_hmc5883.c.

IMU_MPU_Z_SIGN

#define IMU_MPU_Z_SIGN   1

Definition at line 90 of file imu_mpu6000_hmc5883.c.

Function Documentation

imu_mpu_hmc_event()

void imu_mpu_hmc_event

(

void

)

Definition at line 152 of file imu_mpu6000_hmc5883.c.

References Hmc58xx::data, Mpu60x0_Spi::data_accel, Hmc58xx::data_available, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_rates, get_sys_time_usec(), ImuMpu6000Hmc5883::hmc, hmc58xx_event(), IMU_HMC_CHAN_X, IMU_HMC_CHAN_Y, IMU_HMC_CHAN_Z, IMU_HMC_X_SIGN, IMU_HMC_Y_SIGN, IMU_HMC_Z_SIGN, IMU_MPU6000_HMC_ID, IMU_MPU_CHAN_X, IMU_MPU_CHAN_Y, IMU_MPU_CHAN_Z, imu_mpu_hmc, IMU_MPU_X_SIGN, IMU_MPU_Y_SIGN, IMU_MPU_Z_SIGN, ImuMpu6000Hmc5883::mpu, mpu60x0_spi_event(), and Mpu60x0_Spi::temp.

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imu_mpu_hmc_init()

void imu_mpu_hmc_init

(

void

)

Definition at line 124 of file imu_mpu6000_hmc5883.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, ImuMpu6000Hmc5883::hmc, HMC58XX_ADDR, hmc58xx_init(), IMU_MPU6000_HMC_ID, IMU_MPU_ACCEL_RANGE, IMU_MPU_GYRO_RANGE, imu_mpu_hmc, IMU_MPU_LOWPASS_FILTER, IMU_MPU_SMPLRT_DIV, imu_set_defaults_accel(), imu_set_defaults_gyro(), ImuMpu6000Hmc5883::mpu, MPU60X0_ACCEL_SENS_FRAC, MPU60X0_GYRO_SENS_FRAC, mpu60x0_spi_init(), and Mpu60x0Config::smplrt_div.

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imu_mpu_hmc_periodic()

void imu_mpu_hmc_periodic

(

void

)

Definition at line 142 of file imu_mpu6000_hmc5883.c.

References ImuMpu6000Hmc5883::hmc, hmc58xx_periodic(), imu_mpu_hmc, ImuMpu6000Hmc5883::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

imu_mpu_hmc

struct ImuMpu6000Hmc5883 imu_mpu_hmc

Definition at line 1 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event(), imu_mpu_hmc_init(), and imu_mpu_hmc_periodic().