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imu_umarim.c File Reference

Driver for the IMU on the Umarim board. More...

#include <math.h>
#include "imu_umarim.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
+ Include dependency graph for imu_umarim.c:

Go to the source code of this file.

Macros

#define DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE
 
#define UMARIM_ACCEL_RATE   ADXL345_RATE_50HZ
 
#define UMARIM_GYRO_LOWPASS   ITG3200_DLPF_20HZ
 
#define UMARIM_GYRO_SMPLRT_DIV   19
 

Functions

void imu_impl_init (void)
 
void imu_periodic (void)
 
void imu_umarim_downlink_raw (void)
 
void imu_umarim_event (void)
 

Variables

struct ImuUmarim imu_umarim
 

Detailed Description

Driver for the IMU on the Umarim board.

  • Gyroscope: Invensense ITG-3200
  • Accelerometer: Analog Devices ADXL345

Definition in file imu_umarim.c.

Macro Definition Documentation

#define DOWNLINK_DEVICE   DOWNLINK_AP_DEVICE

Definition at line 43 of file imu_umarim.c.

#define UMARIM_ACCEL_RATE   ADXL345_RATE_50HZ

Definition at line 47 of file imu_umarim.c.

Referenced by imu_impl_init().

#define UMARIM_GYRO_LOWPASS   ITG3200_DLPF_20HZ

Definition at line 54 of file imu_umarim.c.

Referenced by imu_impl_init().

#define UMARIM_GYRO_SMPLRT_DIV   19

Definition at line 55 of file imu_umarim.c.

Referenced by imu_impl_init().

Function Documentation

void imu_periodic ( void  )

Definition at line 82 of file imu_umarim.c.

References ImuUmarim::adxl, adxl345_i2c_periodic(), imu_umarim, ImuUmarim::itg, and itg3200_periodic().

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void imu_umarim_downlink_raw ( void  )

Variable Documentation

struct ImuUmarim imu_umarim

Definition at line 61 of file imu_umarim.c.

Referenced by imu_periodic(), imu_umarim_event(), and ImuEvent().