imu_mpu6000_hmc5883.c File Reference

Driver for IMU with MPU6000 via SPI and HMC5883 via I2c. More...

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/spi.h"
#include "peripherals/hmc58xx_regs.h"

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Macros
#define	IMU_MPU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
#define	IMU_MPU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G
#define	IMU_MPU_CHAN_X   0
#define	IMU_MPU_CHAN_Y   1
#define	IMU_MPU_CHAN_Z   2
#define	IMU_MPU_X_SIGN   1
#define	IMU_MPU_Y_SIGN   1
#define	IMU_MPU_Z_SIGN   1
#define	IMU_HMC_CHAN_X   1
#define	IMU_HMC_CHAN_Y   0
#define	IMU_HMC_CHAN_Z   2
#define	IMU_HMC_X_SIGN   1
#define	IMU_HMC_Y_SIGN   -1
#define	IMU_HMC_Z_SIGN   1

Functions
void	imu_mpu_hmc_init (void)
void	imu_mpu_hmc_periodic (void)
void	imu_mpu_hmc_event (void)

Variables
struct ImuMpu6000Hmc5883	imu_mpu_hmc

Detailed Description

Driver for IMU with MPU6000 via SPI and HMC5883 via I2c.

Definition in file imu_mpu6000_hmc5883.c.

Macro Definition Documentation

#define IMU_HMC_CHAN_X   1

Definition at line 101 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_HMC_CHAN_Y   0

Definition at line 105 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_HMC_CHAN_Z   2

Definition at line 109 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_HMC_X_SIGN   1

Definition at line 114 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_HMC_Y_SIGN   -1

Definition at line 118 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_HMC_Z_SIGN   1

Definition at line 122 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_MPU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 68 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_init().

#define IMU_MPU_CHAN_X   0

Definition at line 74 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_MPU_CHAN_Y   1

Definition at line 78 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_MPU_CHAN_Z   2

Definition at line 82 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_MPU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 63 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_init().

#define IMU_MPU_X_SIGN   1

Definition at line 87 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_MPU_Y_SIGN   1

Definition at line 91 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

#define IMU_MPU_Z_SIGN   1

Definition at line 95 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event().

Function Documentation

void imu_mpu_hmc_event

(

void

)

Definition at line 153 of file imu_mpu6000_hmc5883.c.

References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Hmc58xx::data_available, Mpu60x0_Spi::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuMpu6000Hmc5883::hmc, hmc58xx_event(), imu, IMU_HMC_CHAN_X, IMU_HMC_CHAN_Y, IMU_HMC_CHAN_Z, IMU_HMC_X_SIGN, IMU_HMC_Y_SIGN, IMU_HMC_Z_SIGN, IMU_MPU6000_HMC_ID, IMU_MPU_CHAN_X, IMU_MPU_CHAN_Y, IMU_MPU_CHAN_Z, imu_mpu_hmc, IMU_MPU_X_SIGN, IMU_MPU_Y_SIGN, IMU_MPU_Z_SIGN, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuMpu6000Hmc5883::mpu, mpu60x0_spi_event(), RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_mpu_hmc_init

(

void

)

Definition at line 129 of file imu_mpu6000_hmc5883.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, ImuMpu6000Hmc5883::hmc, HMC58XX_ADDR, hmc58xx_init(), IMU_MPU_ACCEL_RANGE, IMU_MPU_GYRO_RANGE, ImuMpu6000Hmc5883::mpu, mpu60x0_spi_init(), and Mpu60x0Config::smplrt_div.

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void imu_mpu_hmc_periodic

(

void

)

Definition at line 143 of file imu_mpu6000_hmc5883.c.

References ImuMpu6000Hmc5883::hmc, hmc58xx_periodic(), imu_mpu_hmc, ImuMpu6000Hmc5883::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

struct ImuMpu6000Hmc5883 imu_mpu_hmc

Definition at line 127 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event(), and imu_mpu_hmc_periodic().