imu_px4fmu.h File Reference

Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883. More...

#include "std.h"
#include "generated/airframe.h"
#include "modules/imu/imu.h"
#include "peripherals/mpu60x0_spi.h"
#include "peripherals/hmc58xx.h"

Include dependency graph for imu_px4fmu.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	ImuPx4fmu

Macros
#define	PX4FMU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
#define	PX4FMU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Functions
void	imu_px4fmu_init (void)
void	imu_px4fmu_periodic (void)
void	imu_px4fmu_event (void)

Variables
struct ImuPx4fmu	imu_px4fmu

Detailed Description

Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883.

Definition in file imu_px4fmu.h.

---

Data Structure Documentation

ImuPx4fmu

struct ImuPx4fmu

Definition at line 45 of file imu_px4fmu.h.

Collaboration diagram for ImuPx4fmu:

Data Fields
struct Hmc58xx	hmc
struct Mpu60x0_Spi	mpu

Macro Definition Documentation

PX4FMU_ACCEL_RANGE

#define PX4FMU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 42 of file imu_px4fmu.h.

PX4FMU_GYRO_RANGE

#define PX4FMU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 38 of file imu_px4fmu.h.

Function Documentation

imu_px4fmu_event()

void imu_px4fmu_event

(

void

)

Definition at line 90 of file imu_px4fmu.c.

References Hmc58xx::data, Mpu60x0_Spi::data_accel, Hmc58xx::data_available, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_rates, get_sys_time_usec(), ImuPx4fmu::hmc, hmc58xx_event(), IMU_BOARD_ID, imu_px4fmu, ImuPx4fmu::mpu, mpu60x0_spi_event(), and Mpu60x0_Spi::temp.

Here is the call graph for this function:

imu_px4fmu_init()

void imu_px4fmu_init

(

void

)

Definition at line 63 of file imu_px4fmu.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, ImuPx4fmu::hmc, HMC58XX_ADDR, hmc58xx_init(), IMU_BOARD_ID, imu_px4fmu, imu_set_defaults_accel(), imu_set_defaults_gyro(), ImuPx4fmu::mpu, MPU60X0_ACCEL_SENS_FRAC, MPU60X0_GYRO_SENS_FRAC, mpu60x0_spi_init(), PX4FMU_ACCEL_RANGE, PX4FMU_GYRO_RANGE, Mpu60x0Config::smplrt_div, spi1, and SPI_SLAVE2.

Here is the call graph for this function:

imu_px4fmu_periodic()

void imu_px4fmu_periodic

(

void

)

Definition at line 82 of file imu_px4fmu.c.

References ImuPx4fmu::hmc, hmc58xx_periodic(), imu_px4fmu, ImuPx4fmu::mpu, and mpu60x0_spi_periodic().

Here is the call graph for this function:

Variable Documentation

imu_px4fmu

struct ImuPx4fmu imu_px4fmu

extern

Definition at line 1 of file imu_px4fmu.c.

Referenced by imu_px4fmu_event(), imu_px4fmu_init(), and imu_px4fmu_periodic().