imu_px4fmu.h File Reference

Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883. 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_px4fmu.h:

Go to the source code of this file.

Data Structures
struct	ImuPx4fmu

Macros
#define	PX4FMU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
#define	PX4FMU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G
#define	IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]
#define	IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]
#define	IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]
#define	IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]
#define	IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]
#define	IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]
#define	IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]
#define	IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]
#define	IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]
#define	IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]
#define	IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]
#define	IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]
#define	IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]
#define	IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]
#define	IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]
#define	IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]
#define	IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]
#define	IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]

Functions
void	imu_px4fmu_init (void)
void	imu_px4fmu_periodic (void)
void	imu_px4fmu_event (void)

Variables
struct ImuPx4fmu	imu_px4fmu

Detailed Description

Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883.

Definition in file imu_px4fmu.h.

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Data Structure Documentation

struct ImuPx4fmu

Definition at line 72 of file imu_px4fmu.h.

Collaboration diagram for ImuPx4fmu:

Data Fields
struct Hmc58xx	hmc
struct Mpu60x0_Spi	mpu

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]

Definition at line 61 of file imu_px4fmu.h.

#define IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]

Definition at line 63 of file imu_px4fmu.h.

#define IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]

Definition at line 62 of file imu_px4fmu.h.

#define IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]

Definition at line 64 of file imu_px4fmu.h.

#define IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]

Definition at line 66 of file imu_px4fmu.h.

#define IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]

Definition at line 65 of file imu_px4fmu.h.

#define IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[PX4FMU_ACCEL_RANGE]

Definition at line 67 of file imu_px4fmu.h.

#define IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][1]

Definition at line 69 of file imu_px4fmu.h.

#define IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[PX4FMU_ACCEL_RANGE][0]

Definition at line 68 of file imu_px4fmu.h.

#define IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]

Definition at line 48 of file imu_px4fmu.h.

#define IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]

Definition at line 50 of file imu_px4fmu.h.

#define IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]

Definition at line 49 of file imu_px4fmu.h.

#define IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]

Definition at line 51 of file imu_px4fmu.h.

#define IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]

Definition at line 53 of file imu_px4fmu.h.

#define IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]

Definition at line 52 of file imu_px4fmu.h.

#define IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[PX4FMU_GYRO_RANGE]

Definition at line 54 of file imu_px4fmu.h.

#define IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][1]

Definition at line 56 of file imu_px4fmu.h.

#define IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[PX4FMU_GYRO_RANGE][0]

Definition at line 55 of file imu_px4fmu.h.

#define PX4FMU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 43 of file imu_px4fmu.h.

Referenced by imu_px4fmu_init().

#define PX4FMU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 38 of file imu_px4fmu.h.

Referenced by imu_px4fmu_init().

Function Documentation

void imu_px4fmu_event

(

void

)

Definition at line 84 of file imu_px4fmu.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, ImuPx4fmu::hmc, hmc58xx_event(), imu, IMU_BOARD_ID, imu_px4fmu, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuPx4fmu::mpu, mpu60x0_spi_event(), RATES_ASSIGN, VECT3_ASSIGN, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_px4fmu_init

(

void

)

Definition at line 61 of file imu_px4fmu.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, ImuPx4fmu::hmc, HMC58XX_ADDR, hmc58xx_init(), ImuPx4fmu::mpu, mpu60x0_spi_init(), PX4FMU_ACCEL_RANGE, PX4FMU_GYRO_RANGE, Mpu60x0Config::smplrt_div, spi1, and SPI_SLAVE2.

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void imu_px4fmu_periodic

(

void

)

Definition at line 76 of file imu_px4fmu.c.

References ImuPx4fmu::hmc, hmc58xx_periodic(), imu_px4fmu, ImuPx4fmu::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

struct ImuPx4fmu imu_px4fmu

Definition at line 59 of file imu_px4fmu.c.

Referenced by imu_px4fmu_event(), and imu_px4fmu_periodic().