imu_aspirin_i2c.h File Reference

#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/itg3200.h"
#include "peripherals/hmc58xx.h"
#include "peripherals/adxl345_i2c.h"
#include "subsystems/imu/imu_aspirin_defaults.h"

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Data Structures
struct	ImuAspirinI2c

Functions
void	imu_aspirin_i2c_init (void)
void	imu_aspirin_i2c_periodic (void)
void	imu_aspirin_i2c_event (void)

Variables
struct ImuAspirinI2c	imu_aspirin

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Data Structure Documentation

struct ImuAspirinI2c

Definition at line 43 of file imu_aspirin_i2c.h.

Collaboration diagram for ImuAspirinI2c:

Data Fields
struct Adxl345_I2c	acc_adxl
struct Itg3200	gyro_itg
struct Hmc58xx	mag_hmc

Function Documentation

void imu_aspirin_i2c_event

(

void

)

Definition at line 129 of file imu_aspirin_i2c.c.

References ImuAspirinI2c::acc_adxl, Imu::accel, Imu::accel_unscaled, adxl345_i2c_event(), Adxl345_I2c::data, Hmc58xx::data, Itg3200::data, Adxl345_I2c::data_available, Hmc58xx::data_available, Itg3200::data_available, get_sys_time_usec(), Imu::gyro, ImuAspirinI2c::gyro_itg, Imu::gyro_unscaled, hmc58xx_event(), imu, imu_aspirin, IMU_ASPIRIN_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), itg3200_event(), Imu::mag, ImuAspirinI2c::mag_hmc, Imu::mag_unscaled, RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_aspirin_i2c_init

(

void

)

Todo:

drdy int handling for adxl345

Todo:

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

Definition at line 83 of file imu_aspirin_i2c.c.

References ImuAspirinI2c::acc_adxl, ADXL345_ADDR, adxl345_i2c_init(), ASPIRIN_ACCEL_RATE, ASPIRIN_GYRO_LOWPASS, ASPIRIN_GYRO_SMPLRT_DIV, ASPIRIN_I2C_DEV, Adxl345_I2c::config, Itg3200::config, Itg3200Config::dlpf_cfg, gpio_set(), gpio_setup_output(), ImuAspirinI2c::gyro_itg, HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5843, ITG3200_ADDR, itg3200_init(), ImuAspirinI2c::mag_hmc, Adxl345Config::rate, Itg3200Config::smplrt_div, and Hmc58xx::type.

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void imu_aspirin_i2c_periodic

(

void

)

Definition at line 118 of file imu_aspirin_i2c.c.

References ImuAspirinI2c::acc_adxl, adxl345_i2c_periodic(), ImuAspirinI2c::gyro_itg, hmc58xx_periodic(), imu_aspirin, itg3200_periodic(), and ImuAspirinI2c::mag_hmc.

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Variable Documentation

struct ImuAspirinI2c imu_aspirin

Definition at line 66 of file imu_aspirin.c.

Referenced by exti15_10_isr(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_aspirin_i2c_periodic(), and imu_aspirin_periodic().