Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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imu_aspirin_2_spi.h File Reference

Driver for the Aspirin v2.x IMU using SPI for the MPU6000. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "subsystems/imu/imu_mpu60x0_defaults.h"
#include "peripherals/mpu60x0_spi.h"
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Go to the source code of this file.

Data Structures

struct  ImuAspirin2Spi


#define IMU_GYRO_P_SIGN   1
#define IMU_GYRO_Q_SIGN   1
#define IMU_GYRO_R_SIGN   1
#define IMU_ACCEL_X_SIGN   1
#define IMU_ACCEL_Y_SIGN   1
#define IMU_ACCEL_Z_SIGN   1
#define IMU_MAG_X_SIGN   1
#define IMU_MAG_Y_SIGN   1
#define IMU_MAG_Z_SIGN   1


void imu_aspirin2_event (void)
static void ImuEvent (void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))


struct ImuAspirin2Spi imu_aspirin2

Detailed Description

Driver for the Aspirin v2.x IMU using SPI for the MPU6000.

Definition in file imu_aspirin_2_spi.h.

Macro Definition Documentation

#define IMU_ACCEL_X_SIGN   1

Definition at line 43 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_Y_SIGN   1

Definition at line 44 of file imu_aspirin_2_spi.h.

#define IMU_ACCEL_Z_SIGN   1

Definition at line 45 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_P_SIGN   1

Definition at line 38 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_Q_SIGN   1

Definition at line 39 of file imu_aspirin_2_spi.h.

#define IMU_GYRO_R_SIGN   1

Definition at line 40 of file imu_aspirin_2_spi.h.

#define IMU_MAG_X_SIGN   1

Definition at line 48 of file imu_aspirin_2_spi.h.

#define IMU_MAG_Y_SIGN   1

Definition at line 49 of file imu_aspirin_2_spi.h.

#define IMU_MAG_Z_SIGN   1

Definition at line 50 of file imu_aspirin_2_spi.h.

Function Documentation

static void ImuEvent ( void(*)(void)  _gyro_handler,
void(*)(void)  _accel_handler,
void(*)(void)  _mag_handler 

Definition at line 70 of file imu_aspirin_2_spi.h.

References ImuAspirin2Spi::accel_valid, FALSE, ImuAspirin2Spi::gyro_valid, imu_aspirin2, imu_aspirin2_event(), and ImuAspirin2Spi::mag_valid.

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Variable Documentation