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imu_drotek_10dof_v2.c File Reference

Driver for the Drotek 10DOF V2 IMU. More...

#include "subsystems/imu.h"
#include "mcu_periph/i2c.h"
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Macros

#define DROTEK_2_LOWPASS_FILTER   MPU60X0_DLPF_42HZ
 
#define DROTEK_2_SMPLRT_DIV   9
 
#define DROTEK_2_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000
 
#define DROTEK_2_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G
 
#define DROTEK_2_MPU_I2C_ADDR   MPU60X0_ADDR_ALT
 
#define DROTEK_2_HMC_I2C_ADDR   HMC58XX_ADDR
 

Functions

void imu_impl_init (void)
 
void imu_periodic (void)
 
void imu_drotek2_event (void)
 
bool_t imu_drotek2_configure_mag_slave (Mpu60x0ConfigSet mpu_set, void *mpu)
 callback function to configure hmc5883 mag More...
 

Variables

struct ImuDrotek2 imu_drotek2
 

Detailed Description

Driver for the Drotek 10DOF V2 IMU.

MPU6050 + HMC5883 + MS5611 Reading the baro is not part of the IMU driver.

By default the axes orientation should be as printed on the pcb, meaning z-axis pointing down if ICs are facing down. The orientation can be switched so that the IMU can be mounted ICs facing up by defining IMU_DROTEK_2_ORIENTATION_IC_UP.

Definition in file imu_drotek_10dof_v2.c.

Macro Definition Documentation

#define DROTEK_2_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G

Definition at line 53 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

#define DROTEK_2_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000

Definition at line 48 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

#define DROTEK_2_HMC_I2C_ADDR   HMC58XX_ADDR

Definition at line 63 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

#define DROTEK_2_LOWPASS_FILTER   MPU60X0_DLPF_42HZ

Definition at line 40 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

#define DROTEK_2_MPU_I2C_ADDR   MPU60X0_ADDR_ALT

Definition at line 58 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

#define DROTEK_2_SMPLRT_DIV   9

Definition at line 41 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

Function Documentation

bool_t imu_drotek2_configure_mag_slave ( Mpu60x0ConfigSet  mpu_set,
void *  mpu 
)

callback function to configure hmc5883 mag

Returns
TRUE if mag configuration finished

Definition at line 152 of file imu_drotek_10dof_v2.c.

References FALSE, ImuDrotek2::hmc, hmc58xx_start_configure(), imu_drotek2, Hmc58xx::initialized, and TRUE.

Referenced by imu_impl_init().

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void imu_periodic ( void  )

Definition at line 98 of file imu_drotek_10dof_v2.c.

References Mpu60x0_I2c::config, ImuDrotek2::hmc, hmc58xx_read(), imu_drotek2, Mpu60x0Config::initialized, ImuDrotek2::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

struct ImuDrotek2 imu_drotek2