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imu_mpu6000_hmc5883.h File Reference

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

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_spi.h"
#include "peripherals/hmc58xx.h"
+ Include dependency graph for imu_mpu6000_hmc5883.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
 
#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_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.

E.g. for Aspirin 2.1

Definition in file imu_mpu6000_hmc5883.h.


Data Structure Documentation

struct ImuMpu6000Hmc5883

Definition at line 73 of file imu_mpu6000_hmc5883.h.

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Data Fields
struct Hmc58xx hmc
struct Mpu60x0_Spi mpu

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]

Definition at line 61 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]

Definition at line 63 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]

Definition at line 62 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]

Definition at line 64 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]

Definition at line 66 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]

Definition at line 65 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE]

Definition at line 67 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1]

Definition at line 69 of file imu_mpu6000_hmc5883.h.

#define IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0]

Definition at line 68 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]

Definition at line 48 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]

Definition at line 50 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]

Definition at line 49 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]

Definition at line 51 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]

Definition at line 53 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]

Definition at line 52 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE]

Definition at line 54 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1]

Definition at line 56 of file imu_mpu6000_hmc5883.h.

#define IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0]

Definition at line 55 of file imu_mpu6000_hmc5883.h.

#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.

Function Documentation

void imu_mpu_hmc_periodic ( void  )

Definition at line 136 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

struct ImuMpu6000Hmc5883 imu_mpu_hmc

Definition at line 120 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event(), and imu_mpu_hmc_periodic().