imu_hbmini.c File Reference

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

#include <math.h>
#include "imu_hbmini.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "subsystems/abi.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	IMU_GYRO_P_CHAN   3
#define	IMU_GYRO_Q_CHAN   4
#define	IMU_GYRO_R_CHAN   5
#define	IMU_ACCEL_X_CHAN   0
#define	IMU_ACCEL_Y_CHAN   1
#define	IMU_ACCEL_Z_CHAN   2
#define	IMU_MAG_X_CHAN   2
#define	IMU_MAG_Y_CHAN   0
#define	IMU_MAG_Z_CHAN   1

Functions
void	imu_hbmini_init (void)
void	imu_hbmini_periodic (void)
void	imu_hbmini_downlink_raw (void)
void	imu_hbmini_event (void)

Variables
struct ImuHbmini	imu_hbmini

Detailed Description

Driver for the IMU on the Hbmini board.

• Gyroscope: IDG 500 and ISZ 500, MAX1168
• Accelerometer: Analog Devices ADXL320
• Magnetometer: Honeywell HMC5883L

Definition in file imu_hbmini.c.

Macro Definition Documentation

#define IMU_ACCEL_X_CHAN   0

Definition at line 51 of file imu_hbmini.c.

Referenced by imu_b2_event(), and imu_hbmini_event().

#define IMU_ACCEL_Y_CHAN   1

Definition at line 52 of file imu_hbmini.c.

Referenced by imu_b2_event(), and imu_hbmini_event().

#define IMU_ACCEL_Z_CHAN   2

Definition at line 53 of file imu_hbmini.c.

Referenced by imu_b2_event(), and imu_hbmini_event().

#define IMU_GYRO_P_CHAN   3

Definition at line 46 of file imu_hbmini.c.

Referenced by imu_b2_event(), and imu_hbmini_event().

#define IMU_GYRO_Q_CHAN   4

Definition at line 47 of file imu_hbmini.c.

Referenced by imu_b2_event(), and imu_hbmini_event().

#define IMU_GYRO_R_CHAN   5

Definition at line 48 of file imu_hbmini.c.

Referenced by imu_b2_event(), and imu_hbmini_event().

#define IMU_MAG_X_CHAN   2

Definition at line 56 of file imu_hbmini.c.

Referenced by imu_hbmini_event().

#define IMU_MAG_Y_CHAN   0

Definition at line 57 of file imu_hbmini.c.

Referenced by imu_hbmini_event().

#define IMU_MAG_Z_CHAN   1

Definition at line 58 of file imu_hbmini.c.

Referenced by imu_hbmini_event().

Function Documentation

void imu_hbmini_downlink_raw

(

void

)

Definition at line 84 of file imu_hbmini.c.

References Imu::accel_unscaled, DefaultChannel, DefaultDevice, Imu::gyro_unscaled, imu, Imu::mag_unscaled, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

void imu_hbmini_event

(

void

)

Definition at line 93 of file imu_hbmini.c.

References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Hmc58xx::data_available, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuHbmini::hmc, hmc58xx_event(), imu, IMU_ACCEL_X_CHAN, IMU_ACCEL_Y_CHAN, IMU_ACCEL_Z_CHAN, IMU_BOARD_ID, IMU_GYRO_P_CHAN, IMU_GYRO_Q_CHAN, IMU_GYRO_R_CHAN, imu_hbmini, IMU_MAG_X_CHAN, IMU_MAG_Y_CHAN, IMU_MAG_Z_CHAN, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, MAX1168_DATA_AVAILABLE, max1168_event(), MAX1168_IDLE, max1168_status, max1168_values, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_hbmini_init

(

void

)

Definition at line 63 of file imu_hbmini.c.

References ImuHbmini::hmc, HMC58XX_ADDR, hmc58xx_init(), imu_hbmini, and max1168_init().

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void imu_hbmini_periodic

(

void

)

Definition at line 72 of file imu_hbmini.c.

References ImuHbmini::hmc, hmc58xx_periodic(), imu_hbmini, and Max1168Periodic.

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Variable Documentation

struct ImuHbmini imu_hbmini

Definition at line 61 of file imu_hbmini.c.

Referenced by imu_hbmini_event(), imu_hbmini_init(), and imu_hbmini_periodic().