imu_aspirin_2_spi.h File Reference

Driver for the Aspirin v2.x IMU using SPI for the MPU6000. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "subsystems/imu/imu_mpu60x0_defaults.h"
#include "peripherals/mpu60x0_spi.h"

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Data Structures
struct	ImuAspirin2Spi

Functions
void	imu_aspirin2_init (void)
void	imu_aspirin2_event (void)
void	imu_aspirin2_periodic (void)

Variables
struct ImuAspirin2Spi	imu_aspirin2

Detailed Description

Driver for the Aspirin v2.x IMU using SPI for the MPU6000.

Definition in file imu_aspirin_2_spi.h.

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Data Structure Documentation

struct ImuAspirin2Spi

Definition at line 38 of file imu_aspirin_2_spi.h.

Collaboration diagram for ImuAspirin2Spi:

Data Fields
struct Mpu60x0_Spi	mpu
volatile bool	slave4_ready
volatile uint8_t	wait_slave4_rx_buf[2]
struct spi_transaction	wait_slave4_trans
volatile uint8_t	wait_slave4_tx_buf[1]

Function Documentation

void imu_aspirin2_event

(

void

)

Definition at line 161 of file imu_aspirin_2_spi.c.

References Imu::accel, Imu::accel_unscaled, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_ext, Mpu60x0_Spi::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_aspirin2, IMU_ASPIRIN2_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Int16FromBuf, Imu::mag, Imu::mag_unscaled, ImuAspirin2Spi::mpu, mpu60x0_spi_event(), RATES_ASSIGN, RATES_COPY, VECT3_ASSIGN, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_aspirin2_init

(

void

)

Definition at line 106 of file imu_aspirin_2_spi.c.

References Mpu60x0Config::accel_range, spi_transaction::after_cb, ASPIRIN_2_ACCEL_RANGE, ASPIRIN_2_GYRO_RANGE, ASPIRIN_2_SPI_DEV, ASPIRIN_2_SPI_SLAVE_IDX, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, Mpu60x0_Spi::config, Mpu60x0I2cSlave::configure, spi_transaction::cpha, spi_transaction::cpol, Mpu60x0Config::dlpf_cfg, spi_transaction::dss, Mpu60x0Config::gyro_range, Mpu60x0Config::i2c_mst_clk, Mpu60x0Config::i2c_mst_delay, imu_aspirin2, imu_aspirin2_configure_mag_slave(), spi_transaction::input_buf, spi_transaction::input_length, ImuAspirin2Spi::mpu, MPU60X0_MST_CLK_400KHZ, mpu60x0_spi_init(), mpu_wait_slave4_ready_cb(), Mpu60x0Config::nb_bytes, Mpu60x0Config::nb_slaves, spi_transaction::output_buf, spi_transaction::output_length, spi_transaction::select, ImuAspirin2Spi::slave4_ready, spi_transaction::slave_idx, Mpu60x0Config::slaves, Mpu60x0Config::smplrt_div, SPICphaEdge2, SPICpolIdleHigh, SPIDiv64, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, spi_transaction::status, ImuAspirin2Spi::wait_slave4_rx_buf, ImuAspirin2Spi::wait_slave4_trans, and ImuAspirin2Spi::wait_slave4_tx_buf.

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void imu_aspirin2_periodic

(

void

)

Definition at line 154 of file imu_aspirin_2_spi.c.

References imu_aspirin2, ImuAspirin2Spi::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

struct ImuAspirin2Spi imu_aspirin2

Definition at line 100 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_event(), imu_aspirin2_init(), imu_aspirin2_periodic(), mpu_set_and_wait(), mpu_wait_slave4_ready(), and mpu_wait_slave4_ready_cb().