imu_aspirin.h File Reference

Interface for the Aspirin v1.x IMU using SPI for the accelerometer. More...

#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/itg3200.h"
#include "peripherals/hmc58xx.h"
#include "peripherals/adxl345_spi.h"
#include "subsystems/imu/imu_aspirin_defaults.h"
#include "subsystems/imu/imu_aspirin_arch.h"

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Data Structures
struct	ImuAspirin

Functions
void	imu_aspirin_init (void)
void	imu_aspirin_periodic (void)
void	imu_aspirin_event (void)
void	imu_aspirin_arch_init (void)

Variables
struct ImuAspirin	imu_aspirin

Detailed Description

Interface for the Aspirin v1.x IMU using SPI for the accelerometer.

Interface for the Aspirin v1.x IMU using I2C for the accelerometer.

Definition in file imu_aspirin.h.

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Data Structure Documentation

struct ImuAspirin

Definition at line 42 of file imu_aspirin.h.

Collaboration diagram for ImuAspirin:

Data Fields
struct Adxl345_Spi	acc_adxl
volatile uint8_t	accel_valid
struct Itg3200	gyro_itg
volatile uint8_t	gyro_valid
struct Hmc58xx	mag_hmc
volatile uint8_t	mag_valid

Function Documentation

void imu_aspirin_arch_init

(

void

)

Definition at line 19 of file imu_aspirin_arch.c.

References ASPIRIN_GYRO_EOC_IODIR, ASPIRIN_GYRO_EOC_PIN, GPIO12, GPIO13, GPIO14, GPIO2, GPIOB, and GPIOC.

Referenced by imu_aspirin_init().

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void imu_aspirin_event

(

void

)

Definition at line 118 of file imu_aspirin.c.

References ImuAspirin::acc_adxl, Imu::accel, Imu::accel_unscaled, ImuAspirin::accel_valid, adxl345_spi_event(), Adxl345_Spi::data, Hmc58xx::data, Itg3200::data, Adxl345_Spi::data_available, Hmc58xx::data_available, Itg3200::data_available, get_sys_time_usec(), Imu::gyro, ImuAspirin::gyro_itg, Imu::gyro_unscaled, ImuAspirin::gyro_valid, hmc58xx_event(), imu, imu_aspirin, IMU_ASPIRIN_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), itg3200_event(), Imu::mag, ImuAspirin::mag_hmc, Imu::mag_unscaled, ImuAspirin::mag_valid, RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_aspirin_init

(

void

)

Todo:

drdy int handling for adxl345

Todo:

eoc interrupt for itg3200, polling for now (including status reg)

Definition at line 68 of file imu_aspirin.c.

References ImuAspirin::acc_adxl, ImuAspirin::accel_valid, adxl345_spi_init(), ASPIRIN_ACCEL_RATE, ASPIRIN_GYRO_LOWPASS, ASPIRIN_GYRO_SMPLRT_DIV, ASPIRIN_I2C_DEV, ASPIRIN_SPI_DEV, ASPIRIN_SPI_SLAVE_IDX, Adxl345_Spi::config, Itg3200::config, Itg3200Config::dlpf_cfg, ImuAspirin::gyro_itg, ImuAspirin::gyro_valid, HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5843, imu_aspirin_arch_init(), ITG3200_ADDR, itg3200_init(), ImuAspirin::mag_hmc, ImuAspirin::mag_valid, Adxl345Config::rate, Itg3200Config::smplrt_div, and Hmc58xx::type.

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void imu_aspirin_periodic

(

void

)

Definition at line 107 of file imu_aspirin.c.

References ImuAspirin::acc_adxl, adxl345_spi_periodic(), ImuAspirin::gyro_itg, hmc58xx_periodic(), imu_aspirin, itg3200_periodic(), and ImuAspirin::mag_hmc.

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Variable Documentation

struct ImuAspirin imu_aspirin

Definition at line 66 of file imu_aspirin.c.