Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
imu_drotek_10dof_v2.h File Reference

Driver for the Drotek 10DOF V2 IMU. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_i2c.h"
#include "peripherals/hmc58xx.h"
+ Include dependency graph for imu_drotek_10dof_v2.h:

Go to the source code of this file.

Data Structures

struct  ImuDrotek2
 

Macros

#define IMU_MAG_X_SIGN   1
 
#define IMU_MAG_Y_SIGN   1
 
#define IMU_MAG_Z_SIGN   1
 
#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_GYRO_P_SENS   2.17953
 default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I More...
 
#define IMU_GYRO_P_SENS_NUM   18271
 
#define IMU_GYRO_P_SENS_DEN   8383
 
#define IMU_GYRO_Q_SENS   2.17953
 
#define IMU_GYRO_Q_SENS_NUM   18271
 
#define IMU_GYRO_Q_SENS_DEN   8383
 
#define IMU_GYRO_R_SENS   2.17953
 
#define IMU_GYRO_R_SENS_NUM   18271
 
#define IMU_GYRO_R_SENS_DEN   8383
 
#define IMU_GYRO_P_NEUTRAL   0
 
#define IMU_GYRO_Q_NEUTRAL   0
 
#define IMU_GYRO_R_NEUTRAL   0
 
#define IMU_ACCEL_X_SENS   2.4525
 default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525 More...
 
#define IMU_ACCEL_X_SENS_NUM   981
 
#define IMU_ACCEL_X_SENS_DEN   400
 
#define IMU_ACCEL_Y_SENS   2.4525
 
#define IMU_ACCEL_Y_SENS_NUM   981
 
#define IMU_ACCEL_Y_SENS_DEN   400
 
#define IMU_ACCEL_Z_SENS   2.4525
 
#define IMU_ACCEL_Z_SENS_NUM   981
 
#define IMU_ACCEL_Z_SENS_DEN   400
 
#define IMU_ACCEL_X_NEUTRAL   0
 
#define IMU_ACCEL_Y_NEUTRAL   0
 
#define IMU_ACCEL_Z_NEUTRAL   0
 

Functions

void imu_drotek2_event (void)
 
bool_t imu_drotek2_configure_mag_slave (Mpu60x0ConfigSet mpu_set, void *mpu)
 callback function to configure hmc5883 mag More...
 
static void ImuEvent (void(*_gyro_handler)(void), void(*_accel_handler)(void), void(*_mag_handler)(void))
 

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.

Macro Definition Documentation

#define IMU_ACCEL_X_NEUTRAL   0

Definition at line 97 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_X_SENS   2.4525

default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525

Definition at line 86 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_X_SENS_DEN   400

Definition at line 88 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_X_SENS_NUM   981

Definition at line 87 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_X_SIGN   1

Definition at line 51 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Y_NEUTRAL   0

Definition at line 98 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Y_SENS   2.4525

Definition at line 89 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Y_SENS_DEN   400

Definition at line 91 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Y_SENS_NUM   981

Definition at line 90 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Y_SIGN   1

Definition at line 52 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Z_NEUTRAL   0

Definition at line 99 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Z_SENS   2.4525

Definition at line 92 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Z_SENS_DEN   400

Definition at line 94 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Z_SENS_NUM   981

Definition at line 93 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Z_SIGN   1

Definition at line 53 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_P_NEUTRAL   0

Definition at line 75 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_P_SENS   2.17953

default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I

Definition at line 64 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_P_SENS_DEN   8383

Definition at line 66 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_P_SENS_NUM   18271

Definition at line 65 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_P_SIGN   1

Definition at line 46 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_Q_NEUTRAL   0

Definition at line 76 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_Q_SENS   2.17953

Definition at line 67 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_Q_SENS_DEN   8383

Definition at line 69 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_Q_SENS_NUM   18271

Definition at line 68 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_Q_SIGN   1

Definition at line 47 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_R_NEUTRAL   0

Definition at line 77 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_R_SENS   2.17953

Definition at line 70 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_R_SENS_DEN   8383

Definition at line 72 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_R_SENS_NUM   18271

Definition at line 71 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_R_SIGN   1

Definition at line 48 of file imu_drotek_10dof_v2.h.

#define IMU_MAG_X_SIGN   1

Definition at line 41 of file imu_drotek_10dof_v2.h.

#define IMU_MAG_Y_SIGN   1

Definition at line 42 of file imu_drotek_10dof_v2.h.

#define IMU_MAG_Z_SIGN   1

Definition at line 43 of file imu_drotek_10dof_v2.h.

Function Documentation

bool_t 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 164 of file imu_drotek_10dof_v2.c.

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

Referenced by imu_impl_init().

+ Here is the call graph for this function:

+ Here is the caller graph for this function:

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

Definition at line 117 of file imu_drotek_10dof_v2.h.

References ImuDrotek2::accel_valid, FALSE, ImuDrotek2::gyro_valid, imu_drotek2, imu_drotek2_event(), and ImuDrotek2::mag_valid.

+ Here is the call graph for this function:

Variable Documentation

struct ImuDrotek2 imu_drotek2