Paparazzi UAS  v5.2.2_stable-0-gd6b9f29
Paparazzi is a free software Unmanned Aircraft System.
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imu_px4fmu.c File Reference

Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883. More...

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Macros

#define PX4FMU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
 
#define PX4FMU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G
 

Functions

void imu_impl_init (void)
 Navstik IMU initializtion of the MPU-60x0 and HMC58xx. More...
 
void imu_periodic (void)
 Handle all the periodic tasks of the Navstik IMU components. More...
 
void imu_px4fmu_event (void)
 

Variables

struct ImuPx4fmu imu_px4fmu
 

Detailed Description

Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883.

Definition in file imu_px4fmu.c.

Macro Definition Documentation

#define PX4FMU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 62 of file imu_px4fmu.c.

Referenced by imu_impl_init().

#define PX4FMU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 57 of file imu_px4fmu.c.

Referenced by imu_impl_init().

Function Documentation

void imu_impl_init ( void  )

Navstik IMU initializtion of the MPU-60x0 and HMC58xx.

Todo:
drdy int handling for adxl345
Todo:
eoc interrupt for itg3200, polling for now (including status reg)
Todo:
drdy int handling for adxl345
Todo:
eoc interrupt for itg3200, polling for now (including status reg)
Todo:
drdy int handling for adxl345

Definition at line 68 of file imu_px4fmu.c.

References Mpu60x0Config::accel_range, ImuPx4fmu::accel_valid, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, FALSE, Mpu60x0Config::gyro_range, ImuPx4fmu::gyro_valid, ImuPx4fmu::hmc, HMC58XX_ADDR, hmc58xx_init(), ImuPx4fmu::mag_valid, ImuPx4fmu::mpu, mpu60x0_spi_init(), PX4FMU_ACCEL_RANGE, PX4FMU_GYRO_RANGE, Mpu60x0Config::smplrt_div, spi1, and SPI_SLAVE2.

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void imu_periodic ( void  )

Handle all the periodic tasks of the Navstik IMU components.

Read the MPU60x0 every periodic call and the HMC58XX every 10th call.

Definition at line 87 of file imu_px4fmu.c.

References ImuPx4fmu::hmc, hmc58xx_periodic(), imu_px4fmu, ImuPx4fmu::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

struct ImuPx4fmu imu_px4fmu

Definition at line 66 of file imu_px4fmu.c.

Referenced by imu_periodic(), imu_px4fmu_event(), and ImuEvent().