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 "subsystems/abi.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/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
#define	APOGEE_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000
#define	APOGEE_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G

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

#define APOGEE_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G

Definition at line 65 of file imu_apogee.c.

Referenced by imu_apogee_init().

#define APOGEE_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000

Definition at line 60 of file imu_apogee.c.

Referenced by imu_apogee_init().

#define APOGEE_LOWPASS_FILTER   MPU60X0_DLPF_42HZ

Definition at line 52 of file imu_apogee.c.

Referenced by imu_apogee_init().

#define APOGEE_SMPLRT_DIV   9

Definition at line 53 of file imu_apogee.c.

Referenced by imu_apogee_init().

#define IMU_APOGEE_CHAN_X   0

Definition at line 42 of file imu_apogee.c.

Referenced by imu_apogee_event().

#define IMU_APOGEE_CHAN_Y   1

Definition at line 45 of file imu_apogee.c.

Referenced by imu_apogee_event().

#define IMU_APOGEE_CHAN_Z   2

Definition at line 48 of file imu_apogee.c.

Referenced by imu_apogee_event().

Function Documentation

bool configure_baro_slave	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu
	)

Definition at line 96 of file imu_apogee.c.

Referenced by imu_apogee_init().

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void imu_apogee_downlink_raw

(

void

)

Definition at line 136 of file imu_apogee.c.

References Imu::accel_unscaled, DefaultChannel, DefaultDevice, Imu::gyro_unscaled, imu, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

void imu_apogee_event

(

void

)

Definition at line 145 of file imu_apogee.c.

References Imu::accel, Imu::accel_unscaled, ak8975_event(), Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_apogee, IMU_APOGEE_CHAN_X, IMU_APOGEE_CHAN_Y, IMU_APOGEE_CHAN_Z, IMU_BOARD_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuApogee::mpu, mpu60x0_i2c_event(), RATES_COPY, and VECT3_COPY.

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void imu_apogee_init

(

void

)

Definition at line 101 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, ImuApogee::mpu, MPU60X0_ADDR_ALT, mpu60x0_i2c_init(), Mpu60x0Config::nb_slaves, Mpu60x0Config::slaves, and Mpu60x0Config::smplrt_div.

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void imu_apogee_periodic

(

void

)

Definition at line 123 of file imu_apogee.c.

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

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Variable Documentation

struct ImuApogee imu_apogee

Definition at line 92 of file imu_apogee.c.

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