imu_drotek_10dof_v2.h File Reference

Driver for the Drotek 10DOF V2 IMU. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_i2c.h"
#include "peripherals/hmc58xx.h"

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Data Structures
struct	ImuDrotek2

Macros
#define	IMU_GYRO_P_SENS   2.17953
	default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I More...
#define	IMU_GYRO_P_SENS_NUM   18271
#define	IMU_GYRO_P_SENS_DEN   8383
#define	IMU_GYRO_Q_SENS   2.17953
#define	IMU_GYRO_Q_SENS_NUM   18271
#define	IMU_GYRO_Q_SENS_DEN   8383
#define	IMU_GYRO_R_SENS   2.17953
#define	IMU_GYRO_R_SENS_NUM   18271
#define	IMU_GYRO_R_SENS_DEN   8383
#define	IMU_ACCEL_X_SENS   2.4525
	default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525 More...
#define	IMU_ACCEL_X_SENS_NUM   981
#define	IMU_ACCEL_X_SENS_DEN   400
#define	IMU_ACCEL_Y_SENS   2.4525
#define	IMU_ACCEL_Y_SENS_NUM   981
#define	IMU_ACCEL_Y_SENS_DEN   400
#define	IMU_ACCEL_Z_SENS   2.4525
#define	IMU_ACCEL_Z_SENS_NUM   981
#define	IMU_ACCEL_Z_SENS_DEN   400

Functions
void	imu_drotek2_init (void)
void	imu_drotek2_periodic (void)
void	imu_drotek2_event (void)
bool	imu_drotek2_configure_mag_slave (Mpu60x0ConfigSet mpu_set, void *mpu)
	callback function to configure hmc5883 mag More...

Variables
struct ImuDrotek2	imu_drotek2

Detailed Description

Driver for the Drotek 10DOF V2 IMU.

MPU6050 + HMC5883 + MS5611

Definition in file imu_drotek_10dof_v2.h.

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Data Structure Documentation

struct ImuDrotek2

Definition at line 76 of file imu_drotek_10dof_v2.h.

Collaboration diagram for ImuDrotek2:

Data Fields
struct Hmc58xx	hmc
struct Mpu60x0_I2c	mpu

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   2.4525

default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525

Definition at line 64 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_X_SENS_DEN   400

Definition at line 66 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_X_SENS_NUM   981

Definition at line 65 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Y_SENS   2.4525

Definition at line 67 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Y_SENS_DEN   400

Definition at line 69 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Y_SENS_NUM   981

Definition at line 68 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Z_SENS   2.4525

Definition at line 70 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Z_SENS_DEN   400

Definition at line 72 of file imu_drotek_10dof_v2.h.

#define IMU_ACCEL_Z_SENS_NUM   981

Definition at line 71 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_P_SENS   2.17953

default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I

Definition at line 47 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_P_SENS_DEN   8383

Definition at line 49 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_P_SENS_NUM   18271

Definition at line 48 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_Q_SENS   2.17953

Definition at line 50 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_Q_SENS_DEN   8383

Definition at line 52 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_Q_SENS_NUM   18271

Definition at line 51 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_R_SENS   2.17953

Definition at line 53 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_R_SENS_DEN   8383

Definition at line 55 of file imu_drotek_10dof_v2.h.

#define IMU_GYRO_R_SENS_NUM   18271

Definition at line 54 of file imu_drotek_10dof_v2.h.

Function Documentation

bool imu_drotek2_configure_mag_slave	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu
	)

callback function to configure hmc5883 mag

Returns

TRUE if mag configuration finished

Definition at line 165 of file imu_drotek_10dof_v2.c.

References ImuDrotek2::hmc, hmc58xx_start_configure(), imu_drotek2, and Hmc58xx::initialized.

Referenced by imu_drotek2_init().

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void imu_drotek2_event

(

void

)

Definition at line 117 of file imu_drotek_10dof_v2.c.

References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Hmc58xx::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuDrotek2::hmc, hmc58xx_event(), imu, imu_drotek2, IMU_DROTEK_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuDrotek2::mpu, mpu60x0_i2c_event(), Int32Rates::p, Int32Rates::q, Int32Rates::r, RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_drotek2_init

(

void

)

Definition at line 82 of file imu_drotek_10dof_v2.c.

References Mpu60x0Config::accel_range, Mpu60x0_I2c::config, Mpu60x0I2cSlave::configure, Mpu60x0Config::dlpf_cfg, DROTEK_2_ACCEL_RANGE, DROTEK_2_GYRO_RANGE, DROTEK_2_HMC_I2C_ADDR, DROTEK_2_MPU_I2C_ADDR, Mpu60x0Config::gyro_range, ImuDrotek2::hmc, hmc58xx_init(), Mpu60x0Config::i2c_bypass, imu_drotek2_configure_mag_slave(), ImuDrotek2::mpu, mpu60x0_i2c_init(), Mpu60x0Config::nb_slaves, Mpu60x0Config::slaves, and Mpu60x0Config::smplrt_div.

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void imu_drotek2_periodic

(

void

)

Definition at line 106 of file imu_drotek_10dof_v2.c.

References Mpu60x0_I2c::config, ImuDrotek2::hmc, hmc58xx_read(), imu_drotek2, Mpu60x0Config::initialized, ImuDrotek2::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

struct ImuDrotek2 imu_drotek2

Definition at line 80 of file imu_drotek_10dof_v2.c.

Referenced by imu_drotek2_configure_mag_slave(), imu_drotek2_event(), and imu_drotek2_periodic().