Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
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imu_navgo.c File Reference

Driver for the IMU on the NavGo board. More...

#include <math.h>
#include "imu_navgo.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"
+ Include dependency graph for imu_navgo.c:

Go to the source code of this file.

Macros

#define NAVGO_ACCEL_RATE   ADXL345_RATE_25HZ
 
#define NAVGO_GYRO_LOWPASS   ITG3200_DLPF_10HZ
 
#define NAVGO_GYRO_SMPLRT_DIV   1
 

Functions

void imu_impl_init (void)
 
void imu_periodic (void)
 
void imu_navgo_downlink_raw (void)
 
void imu_navgo_event (void)
 

Variables

struct ImuNavgo imu_navgo
 

Detailed Description

Driver for the IMU on the NavGo board.

  • Gyroscope: Invensense ITG-3200
  • Accelerometer: Analog Devices ADXL345
  • Magnetometer: Honeywell HMC5883L

Definition in file imu_navgo.c.

Macro Definition Documentation

#define NAVGO_ACCEL_RATE   ADXL345_RATE_25HZ

Definition at line 45 of file imu_navgo.c.

Referenced by imu_impl_init(), and imu_periodic().

#define NAVGO_GYRO_LOWPASS   ITG3200_DLPF_10HZ

Definition at line 51 of file imu_navgo.c.

Referenced by imu_impl_init().

#define NAVGO_GYRO_SMPLRT_DIV   1

Definition at line 52 of file imu_navgo.c.

Referenced by imu_impl_init().

Function Documentation

void imu_periodic ( void  )

Definition at line 96 of file imu_navgo.c.

References ImuNavgo::adxl, adxl345_i2c_periodic(), ImuNavgo::hmc, hmc58xx_periodic(), imu_navgo, ImuNavgo::itg, itg3200_periodic(), NAVGO_ACCEL_RATE, and PERIODIC_FREQUENCY.

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Variable Documentation

struct ImuNavgo imu_navgo

Definition at line 63 of file imu_navgo.c.

Referenced by imu_impl_init(), imu_navgo_event(), imu_periodic(), and ImuEvent().