Paparazzi UAS  v4.2.2_stable-4-gcc32f65
Paparazzi is a free software Unmanned Aircraft System.
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imu_b2.h File Reference
#include "subsystems/imu.h"
#include "generated/airframe.h"
#include "peripherals/max1168.h"
#include "subsystems/imu/imu_b2_arch.h"
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Go to the source code of this file.


#define IMU_B2_MAG_NONE   0
#define IMU_B2_MAG_MS2100   1
#define IMU_B2_MAG_AMI601   2
#define IMU_B2_MAG_HMC5843   3
#define IMU_B2_MAG_HMC58XX   4
#define ImuMagEvent(_mag_handler)   {}
#define ImuScaleMag(_imu)   {}
#define ImuEvent(_gyro_handler, _accel_handler, _mag_handler)


void imu_b2_arch_init (void)

Macro Definition Documentation

#define IMU_B2_MAG_AMI601   2

Definition at line 35 of file imu_b2.h.

#define IMU_B2_MAG_HMC5843   3

Definition at line 36 of file imu_b2.h.

#define IMU_B2_MAG_HMC58XX   4

Definition at line 37 of file imu_b2.h.

#define IMU_B2_MAG_MS2100   1

Definition at line 34 of file imu_b2.h.

#define IMU_B2_MAG_NONE   0

Definition at line 33 of file imu_b2.h.

#define ImuEvent (   _gyro_handler,
{ \
imu.gyro_unscaled.p = max1168_values[IMU_GYRO_P_CHAN]; \
imu.gyro_unscaled.q = max1168_values[IMU_GYRO_Q_CHAN]; \
imu.gyro_unscaled.r = max1168_values[IMU_GYRO_R_CHAN]; \
imu.accel_unscaled.x = max1168_values[IMU_ACCEL_X_CHAN]; \
imu.accel_unscaled.y = max1168_values[IMU_ACCEL_Y_CHAN]; \
imu.accel_unscaled.z = max1168_values[IMU_ACCEL_Z_CHAN]; \
_gyro_handler(); \
_accel_handler(); \
} \
ImuMagEvent(_mag_handler); \
uint16_t max1168_values[MAX1168_NB_CHAN]
Definition: max1168.c:29
int32_t p
in rad/s^2 with INT32_RATE_FRAC
struct Int32Rates gyro_unscaled
unscaled gyroscope measurements
Definition: imu.h:48
#define STA_MAX1168_IDLE
Definition: max1168.h:33
struct Int32Vect3 accel_unscaled
unscaled accelerometer measurements
Definition: imu.h:49
#define ImuMagEvent(_mag_handler)
Definition: imu_b2.h:198
volatile uint8_t max1168_status
Definition: max1168.c:28
Definition: max1168.h:36
int32_t q
in rad/s^2 with INT32_RATE_FRAC
struct Imu imu
global IMU state
Definition: imu_aspirin2.c:50
int32_t r
in rad/s^2 with INT32_RATE_FRAC

Definition at line 203 of file imu_b2.h.

#define ImuMagEvent (   _mag_handler)    {}

Definition at line 198 of file imu_b2.h.

#define ImuScaleMag (   _imu)    {}

Definition at line 199 of file imu_b2.h.

Referenced by on_mag_event().

Function Documentation

void imu_b2_arch_init ( void  )

Definition at line 42 of file imu_b2_arch.c.

References IMU_SSP_STA_IDLE, and imu_ssp_status.

Referenced by imu_impl_init().

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