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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 "generated/airframe.h"
#include "subsystems/abi.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
+ Include dependency graph for imu_umarim.c:

Go to the source code of this file.

Macros

#define UMARIM_ACCEL_RANGE   ADXL345_RANGE_16G
 
#define UMARIM_ACCEL_RATE   ADXL345_RATE_50HZ
 
#define UMARIM_GYRO_LOWPASS   ITG3200_DLPF_20HZ
 
#define UMARIM_GYRO_SMPLRT_DIV   19
 

Functions

void imu_umarim_init (void)
 
void imu_umarim_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 UMARIM_ACCEL_RANGE   ADXL345_RANGE_16G

Definition at line 45 of file imu_umarim.c.

Referenced by imu_umarim_init().

#define UMARIM_ACCEL_RATE   ADXL345_RATE_50HZ

Definition at line 50 of file imu_umarim.c.

Referenced by imu_umarim_init().

#define UMARIM_GYRO_LOWPASS   ITG3200_DLPF_20HZ

Definition at line 57 of file imu_umarim.c.

Referenced by imu_umarim_init().

#define UMARIM_GYRO_SMPLRT_DIV   19

Definition at line 58 of file imu_umarim.c.

Referenced by imu_umarim_init().

Function Documentation

void imu_umarim_downlink_raw ( void  )
void imu_umarim_periodic ( void  )

Definition at line 83 of file imu_umarim.c.

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

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Variable Documentation

struct ImuUmarim imu_umarim

Definition at line 64 of file imu_umarim.c.

Referenced by imu_umarim_event(), and imu_umarim_periodic().