Paparazzi UAS  v5.15_devel-61-g9c6bcf9
Paparazzi is a free software Unmanned Aircraft System.
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imu_navstik.c File Reference

Driver for the Navstik magnetometer, accelerometer and gyroscope. More...

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/i2c.h"
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Go to the source code of this file.

Macros

#define NAVSTIK_MAG_I2C_DEV   i2c3
 
#define NAVSTIK_MPU_I2C_DEV   i2c1
 

Functions

void imu_navstik_init (void)
 Navstik IMU initializtion of the MPU-60x0 and HMC58xx. More...
 
void imu_navstik_periodic (void)
 Handle all the periodic tasks of the Navstik IMU components. More...
 
void imu_navstik_event (void)
 Handle all the events of the Navstik IMU components. More...
 

Variables

struct ImuNavstik imu_navstik
 Basic Navstik IMU data. More...
 

Detailed Description

Driver for the Navstik magnetometer, accelerometer and gyroscope.

Definition in file imu_navstik.c.

Macro Definition Documentation

#define NAVSTIK_MAG_I2C_DEV   i2c3

Definition at line 34 of file imu_navstik.c.

Referenced by imu_navstik_init().

#define NAVSTIK_MPU_I2C_DEV   i2c1

Definition at line 39 of file imu_navstik.c.

Referenced by imu_navstik_init().

Function Documentation

void imu_navstik_event ( void  )

Handle all the events of the Navstik IMU components.

When there is data available convert it to the correct axis and save it in the imu structure.

Definition at line 102 of file imu_navstik.c.

References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Hmc58xx::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuNavstik::hmc, hmc58xx_event(), imu, IMU_BOARD_ID, imu_navstik, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuNavstik::mpu, mpu60x0_i2c_event(), RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_navstik_init ( void  )
void imu_navstik_periodic ( void  )

Handle all the periodic tasks of the Navstik IMU components.

Read the MPU60x0 every periodic call and the HMC58XX every 10th call.

Definition at line 89 of file imu_navstik.c.

References ImuNavstik::hmc, hmc58xx_periodic(), imu_navstik, ImuNavstik::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

struct ImuNavstik imu_navstik

Basic Navstik IMU data.

Definition at line 67 of file imu_navstik.c.

Referenced by imu_navstik_event(), and imu_navstik_periodic().