imu_drotek_10dof_v2.h File Reference

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_i2c.h"
#include "peripherals/hmc58xx.h"

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Data Structures
struct	ImuDrotek2

Macros
#define	DROTEK_2_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000
#define	DROTEK_2_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G
#define	IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
#define	IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
#define	IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
#define	IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
#define	IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
#define	IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
#define	IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]
#define	IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]
#define	IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]
#define	IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
#define	IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
#define	IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
#define	IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
#define	IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
#define	IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]
#define	IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]
#define	IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]
#define	IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]

Functions
void	imu_drotek2_init (void)
void	imu_drotek2_periodic (void)
void	imu_drotek2_event (void)
bool	imu_drotek2_configure_mag_slave (Mpu60x0ConfigSet mpu_set, void *mpu)
	callback function to configure hmc5883 mag More...

Variables
struct ImuDrotek2	imu_drotek2

Detailed Description

Driver for the Drotek 10DOF V2 IMU. MPU6050 + HMC5883 + MS5611

Definition in file imu_drotek_10dof_v2.h.

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Data Structure Documentation

ImuDrotek2

struct ImuDrotek2

Definition at line 75 of file imu_drotek_10dof_v2.h.

Collaboration diagram for ImuDrotek2:

Data Fields
struct Hmc58xx	hmc
struct Mpu60x0_I2c	mpu

Macro Definition Documentation

DROTEK_2_ACCEL_RANGE

#define DROTEK_2_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G

Definition at line 44 of file imu_drotek_10dof_v2.h.

DROTEK_2_GYRO_RANGE

#define DROTEK_2_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000

Definition at line 40 of file imu_drotek_10dof_v2.h.

IMU_ACCEL_X_SENS

#define IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]

Definition at line 62 of file imu_drotek_10dof_v2.h.

IMU_ACCEL_X_SENS_DEN

#define IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]

Definition at line 64 of file imu_drotek_10dof_v2.h.

IMU_ACCEL_X_SENS_NUM

#define IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]

Definition at line 63 of file imu_drotek_10dof_v2.h.

IMU_ACCEL_Y_SENS

#define IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]

Definition at line 65 of file imu_drotek_10dof_v2.h.

IMU_ACCEL_Y_SENS_DEN

#define IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]

Definition at line 67 of file imu_drotek_10dof_v2.h.

IMU_ACCEL_Y_SENS_NUM

#define IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]

Definition at line 66 of file imu_drotek_10dof_v2.h.

IMU_ACCEL_Z_SENS

#define IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[DROTEK_2_ACCEL_RANGE]

Definition at line 68 of file imu_drotek_10dof_v2.h.

IMU_ACCEL_Z_SENS_DEN

#define IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][1]

Definition at line 70 of file imu_drotek_10dof_v2.h.

IMU_ACCEL_Z_SENS_NUM

#define IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[DROTEK_2_ACCEL_RANGE][0]

Definition at line 69 of file imu_drotek_10dof_v2.h.

IMU_GYRO_P_SENS

#define IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]

Definition at line 49 of file imu_drotek_10dof_v2.h.

IMU_GYRO_P_SENS_DEN

#define IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]

Definition at line 51 of file imu_drotek_10dof_v2.h.

IMU_GYRO_P_SENS_NUM

#define IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]

Definition at line 50 of file imu_drotek_10dof_v2.h.

IMU_GYRO_Q_SENS

#define IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]

Definition at line 52 of file imu_drotek_10dof_v2.h.

IMU_GYRO_Q_SENS_DEN

#define IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]

Definition at line 54 of file imu_drotek_10dof_v2.h.

IMU_GYRO_Q_SENS_NUM

#define IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]

Definition at line 53 of file imu_drotek_10dof_v2.h.

IMU_GYRO_R_SENS

#define IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[DROTEK_2_GYRO_RANGE]

Definition at line 55 of file imu_drotek_10dof_v2.h.

IMU_GYRO_R_SENS_DEN

#define IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][1]

Definition at line 57 of file imu_drotek_10dof_v2.h.

IMU_GYRO_R_SENS_NUM

#define IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[DROTEK_2_GYRO_RANGE][0]

Definition at line 56 of file imu_drotek_10dof_v2.h.

Function Documentation

imu_drotek2_configure_mag_slave()

bool imu_drotek2_configure_mag_slave	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu
	)

callback function to configure hmc5883 mag

Returns

TRUE if mag configuration finished

Definition at line 158 of file imu_drotek_10dof_v2.c.

References ImuDrotek2::hmc, hmc58xx_start_configure(), imu_drotek2, and Hmc58xx::initialized.

Referenced by imu_drotek2_init().

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imu_drotek2_event()

void imu_drotek2_event

(

void

)

Definition at line 110 of file imu_drotek_10dof_v2.c.

References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Hmc58xx::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuDrotek2::hmc, hmc58xx_event(), imu, imu_drotek2, IMU_DROTEK_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuDrotek2::mpu, mpu60x0_i2c_event(), Int32Rates::p, Int32Rates::q, Int32Rates::r, RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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imu_drotek2_init()

void imu_drotek2_init

(

void

)

Definition at line 75 of file imu_drotek_10dof_v2.c.

References Mpu60x0Config::accel_range, Mpu60x0_I2c::config, Mpu60x0I2cSlave::configure, Mpu60x0Config::dlpf_cfg, DROTEK_2_ACCEL_RANGE, DROTEK_2_GYRO_RANGE, DROTEK_2_HMC_I2C_ADDR, DROTEK_2_MPU_I2C_ADDR, Mpu60x0Config::gyro_range, ImuDrotek2::hmc, hmc58xx_init(), Mpu60x0Config::i2c_bypass, imu_drotek2, imu_drotek2_configure_mag_slave(), ImuDrotek2::mpu, mpu60x0_i2c_init(), Mpu60x0Config::nb_slaves, Mpu60x0Config::slaves, and Mpu60x0Config::smplrt_div.

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imu_drotek2_periodic()

void imu_drotek2_periodic

(

void

)

Definition at line 99 of file imu_drotek_10dof_v2.c.

References Mpu60x0_I2c::config, ImuDrotek2::hmc, hmc58xx_read(), imu_drotek2, Mpu60x0Config::initialized, ImuDrotek2::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

imu_drotek2

struct ImuDrotek2 imu_drotek2

Definition at line 73 of file imu_drotek_10dof_v2.c.

Referenced by imu_drotek2_configure_mag_slave(), imu_drotek2_event(), imu_drotek2_init(), and imu_drotek2_periodic().