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Paparazzi UAS
v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
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Paparazzi UAS
v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
|
Driver for IMU with MPU6000 via SPI and HMC5883 via I2c. More...
#include "std.h"#include "generated/airframe.h"#include "subsystems/imu.h"#include "peripherals/mpu60x0_spi.h"#include "peripherals/hmc58xx.h"
Include dependency graph for imu_mpu6000_hmc5883.h:Go to the source code of this file.
Data Structures | |
| struct | ImuMpu6000Hmc5883 |
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 |
Driver for IMU with MPU6000 via SPI and HMC5883 via I2c.
E.g. for Aspirin 2.1
Definition in file imu_mpu6000_hmc5883.h.
| struct ImuMpu6000Hmc5883 |
Definition at line 73 of file imu_mpu6000_hmc5883.h.
Collaboration diagram for ImuMpu6000Hmc5883:| Data Fields | ||
|---|---|---|
| struct Hmc58xx | hmc | |
| struct Mpu60x0_Spi | mpu | |
| #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE] |
Definition at line 61 of file imu_mpu6000_hmc5883.h.
| #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1] |
Definition at line 63 of file imu_mpu6000_hmc5883.h.
| #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0] |
Definition at line 62 of file imu_mpu6000_hmc5883.h.
| #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE] |
Definition at line 64 of file imu_mpu6000_hmc5883.h.
| #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1] |
Definition at line 66 of file imu_mpu6000_hmc5883.h.
| #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0] |
Definition at line 65 of file imu_mpu6000_hmc5883.h.
| #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[IMU_MPU_ACCEL_RANGE] |
Definition at line 67 of file imu_mpu6000_hmc5883.h.
| #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][1] |
Definition at line 69 of file imu_mpu6000_hmc5883.h.
| #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[IMU_MPU_ACCEL_RANGE][0] |
Definition at line 68 of file imu_mpu6000_hmc5883.h.
| #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE] |
Definition at line 48 of file imu_mpu6000_hmc5883.h.
| #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1] |
Definition at line 50 of file imu_mpu6000_hmc5883.h.
| #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0] |
Definition at line 49 of file imu_mpu6000_hmc5883.h.
| #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE] |
Definition at line 51 of file imu_mpu6000_hmc5883.h.
| #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1] |
Definition at line 53 of file imu_mpu6000_hmc5883.h.
| #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0] |
Definition at line 52 of file imu_mpu6000_hmc5883.h.
| #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[IMU_MPU_GYRO_RANGE] |
Definition at line 54 of file imu_mpu6000_hmc5883.h.
| #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][1] |
Definition at line 56 of file imu_mpu6000_hmc5883.h.
| #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[IMU_MPU_GYRO_RANGE][0] |
Definition at line 55 of file imu_mpu6000_hmc5883.h.
| #define IMU_MPU_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G |
Definition at line 43 of file imu_mpu6000_hmc5883.h.
| #define IMU_MPU_GYRO_RANGE MPU60X0_GYRO_RANGE_2000 |
Definition at line 39 of file imu_mpu6000_hmc5883.h.
| void imu_mpu_hmc_event | ( | void | ) |
Definition at line 146 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.
Here is the call graph for this function:| void imu_mpu_hmc_init | ( | void | ) |
Definition at line 122 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.
Here is the call graph for this function:| void imu_mpu_hmc_periodic | ( | void | ) |
Definition at line 136 of file imu_mpu6000_hmc5883.c.
References ImuMpu6000Hmc5883::hmc, hmc58xx_periodic(), imu_mpu_hmc, ImuMpu6000Hmc5883::mpu, and mpu60x0_spi_periodic().
Here is the call graph for this function:| struct ImuMpu6000Hmc5883 imu_mpu_hmc |
Definition at line 120 of file imu_mpu6000_hmc5883.c.
Referenced by imu_mpu_hmc_event(), and imu_mpu_hmc_periodic().
1.8.8 
