imu_b2.h File Reference

Interface for the Booz2 IMUs. More...

#include "generated/airframe.h"
#include "peripherals/max1168.h"
#include "subsystems/imu.h"

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Data Structures
struct	ImuBooz2

Macros
#define	IMU_B2_MAG_NONE   0
#define	IMU_B2_MAG_MS2100   1
#define	IMU_B2_MAG_AMI601   2
#define	IMU_B2_MAG_HMC5843   3
#define	IMU_B2_MAG_HMC58XX   4

Functions
void	imu_b2_init (void)
void	imu_b2_periodic (void)
void	imu_b2_event (void)

Variables
struct ImuBooz2	imu_b2

Detailed Description

Interface for the Booz2 IMUs.

Definition in file imu_b2.h.

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Data Structure Documentation

struct ImuBooz2

Definition at line 168 of file imu_b2.h.

Macro Definition Documentation

#define IMU_B2_MAG_AMI601   2

Definition at line 40 of file imu_b2.h.

#define IMU_B2_MAG_HMC5843   3

Definition at line 41 of file imu_b2.h.

#define IMU_B2_MAG_HMC58XX   4

Definition at line 42 of file imu_b2.h.

#define IMU_B2_MAG_MS2100   1

Definition at line 39 of file imu_b2.h.

#define IMU_B2_MAG_NONE   0

Definition at line 38 of file imu_b2.h.

Function Documentation

void imu_b2_event

(

void

)

Definition at line 152 of file imu_b2.c.

References Imu::accel, Imu::accel_unscaled, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, IMU_ACCEL_X_CHAN, IMU_ACCEL_Y_CHAN, IMU_ACCEL_Z_CHAN, IMU_ASPIRIN2_ID, IMU_GYRO_P_CHAN, IMU_GYRO_Q_CHAN, IMU_GYRO_R_CHAN, imu_scale_accel(), imu_scale_gyro(), ImuMagEvent, MAX1168_DATA_AVAILABLE, max1168_event(), MAX1168_IDLE, max1168_status, max1168_values, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_b2_init

(

void

)

Definition at line 38 of file imu_b2.c.

References ami601_init(), hmc5843_init(), HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5843, imu_b2, max1168_init(), ms2100, and ms2100_init().

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void imu_b2_periodic

(

void

)

Definition at line 57 of file imu_b2.c.

References ami601_read(), hmc58xx_periodic(), imu_b2, Max1168Periodic, ms2100, and ms2100_periodic().

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Variable Documentation

struct ImuBooz2 imu_b2

Definition at line 34 of file imu_b2.c.

Referenced by imu_b2_init(), and imu_b2_periodic().