Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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Driver for IMU with MPU6000 via SPI and HMC5883 via I2c. More...
#include "std.h"
#include "generated/airframe.h"
#include "modules/imu/imu.h"
#include "peripherals/mpu60x0_spi.h"
#include "peripherals/hmc58xx.h"
Go to the source code of this file.
Data Structures | |
struct | ImuMpu6000Hmc5883 |
Macros | |
#define | IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000 |
#define | IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G |
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 |
Driver for IMU with MPU6000 via SPI and HMC5883 via I2c.
E.g. for Aspirin 2.1
Definition in file imu_mpu6000_hmc5883.h.
struct ImuMpu6000Hmc5883 |
Definition at line 46 of file imu_mpu6000_hmc5883.h.
Data Fields | ||
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struct Hmc58xx | hmc | |
struct Mpu60x0_Spi | mpu |
#define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G |
Definition at line 43 of file imu_mpu6000_hmc5883.h.
#define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000 |
Definition at line 39 of file imu_mpu6000_hmc5883.h.
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.
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.
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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extern |
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().