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imu_krooz_memsic.c File Reference

Driver for the IMU on the KroozSD Big Rotorcraft Edition board. More...

#include <math.h>
#include "boards/krooz/imu_krooz_memsic.h"
#include "subsystems/imu/imu_krooz_sd_arch.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "filters/median_filter.h"
#include "mcu_periph/sys_time.h"
+ Include dependency graph for imu_krooz_memsic.c:

Go to the source code of this file.

Macros

#define KROOZ_LOWPASS_FILTER   MPU60X0_DLPF_256HZ
 
#define KROOZ_SMPLRT_DIV   1
 
#define KROOZ_GYRO_RANGE   MPU60X0_GYRO_RANGE_250
 
#define KROOZ_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_2G
 

Functions

void imu_impl_init (void)
 
void imu_periodic (void)
 
void imu_krooz_event (void)
 

Variables

struct ImuKrooz imu_krooz
 
struct MedianFilter3Int median_mag
 
static uint32_t ad7689_event_timer
 
static uint8_t axis_cnt
 
static uint8_t axis_nb
 

Detailed Description

Driver for the IMU on the KroozSD Big Rotorcraft Edition board.

Invensense MPU-6050 Memsic MXR9500 with AD7689 Honeywell HMC-5883

Definition in file imu_krooz_memsic.c.

Macro Definition Documentation

#define KROOZ_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_2G

Definition at line 53 of file imu_krooz_memsic.c.

Referenced by imu_impl_init().

#define KROOZ_GYRO_RANGE   MPU60X0_GYRO_RANGE_250

Definition at line 48 of file imu_krooz_memsic.c.

Referenced by imu_impl_init().

#define KROOZ_LOWPASS_FILTER   MPU60X0_DLPF_256HZ

Definition at line 41 of file imu_krooz_memsic.c.

Referenced by imu_impl_init().

#define KROOZ_SMPLRT_DIV   1

Definition at line 42 of file imu_krooz_memsic.c.

Referenced by imu_impl_init().

Function Documentation

Variable Documentation

uint32_t ad7689_event_timer
static

Definition at line 64 of file imu_krooz_memsic.c.

uint8_t axis_cnt
static

Definition at line 65 of file imu_krooz_memsic.c.

uint8_t axis_nb
static

Definition at line 66 of file imu_krooz_memsic.c.

struct ImuKrooz imu_krooz

Definition at line 57 of file imu_krooz_memsic.c.

Referenced by ImuEvent().

struct MedianFilter3Int median_mag

Definition at line 62 of file imu_krooz_memsic.c.

Referenced by imu_impl_init(), and imu_krooz_event().