imu_apogee.c File Reference

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

#include <math.h>
#include "boards/apogee/imu_apogee.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "modules/core/abi.h"
#include "generated/modules.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"

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Macros
#define	IMU_APOGEE_CHAN_X   0
#define	IMU_APOGEE_CHAN_Y   1
#define	IMU_APOGEE_CHAN_Z   2
#define	APOGEE_LOWPASS_FILTER   MPU60X0_DLPF_42HZ
#define	APOGEE_SMPLRT_DIV   9

Functions
bool	configure_baro_slave (Mpu60x0ConfigSet mpu_set, void *mpu)
void	imu_apogee_init (void)
void	imu_apogee_periodic (void)
void	imu_apogee_event (void)

Variables
struct ImuApogee	imu_apogee

Detailed Description

Driver for the IMU on the Apogee board.

Invensense MPU-6050

Definition in file imu_apogee.c.

Macro Definition Documentation

APOGEE_LOWPASS_FILTER

#define APOGEE_LOWPASS_FILTER   MPU60X0_DLPF_42HZ

Definition at line 53 of file imu_apogee.c.

APOGEE_SMPLRT_DIV

#define APOGEE_SMPLRT_DIV   9

Definition at line 54 of file imu_apogee.c.

IMU_APOGEE_CHAN_X

#define IMU_APOGEE_CHAN_X   0

Definition at line 43 of file imu_apogee.c.

IMU_APOGEE_CHAN_Y

#define IMU_APOGEE_CHAN_Y   1

Definition at line 46 of file imu_apogee.c.

IMU_APOGEE_CHAN_Z

#define IMU_APOGEE_CHAN_Z   2

Definition at line 49 of file imu_apogee.c.

Function Documentation

configure_baro_slave()

bool configure_baro_slave	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu
	)

Definition at line 90 of file imu_apogee.c.

Referenced by imu_apogee_init().

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imu_apogee_event()

void imu_apogee_event

(

void

)

Definition at line 132 of file imu_apogee.c.

References ak8975_event(), Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), imu_apogee, IMU_APOGEE_CHAN_X, IMU_APOGEE_CHAN_Y, IMU_APOGEE_CHAN_Z, IMU_BOARD_ID, ImuApogee::mpu, mpu60x0_i2c_event(), and Mpu60x0_I2c::temp.

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imu_apogee_init()

void imu_apogee_init

(

void

)

Definition at line 95 of file imu_apogee.c.

References Mpu60x0Config::accel_range, AK8975_I2C_SLV_ADDR, ak8975_init(), APOGEE_ACCEL_RANGE, APOGEE_GYRO_RANGE, APOGEE_LOWPASS_FILTER, APOGEE_SMPLRT_DIV, Mpu60x0_I2c::config, Mpu60x0I2cSlave::configure, configure_baro_slave(), Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, Mpu60x0Config::i2c_bypass, imu_apogee, IMU_BOARD_ID, imu_set_defaults_accel(), imu_set_defaults_gyro(), ImuApogee::mpu, MPU60X0_ACCEL_SENS_FRAC, MPU60X0_ADDR_ALT, MPU60X0_GYRO_SENS_FRAC, mpu60x0_i2c_init(), Mpu60x0Config::nb_slaves, Mpu60x0Config::slaves, and Mpu60x0Config::smplrt_div.

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imu_apogee_periodic()

void imu_apogee_periodic

(

void

)

Definition at line 121 of file imu_apogee.c.

References ak8975_periodic(), imu_apogee, ImuApogee::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

imu_apogee

struct ImuApogee imu_apogee

Definition at line 1 of file imu_apogee.c.

Referenced by baro_periodic(), imu_apogee_event(), imu_apogee_init(), and imu_apogee_periodic().