imu_krooz.c File Reference

Driver for the IMU on the KroozSD board. More...

#include <math.h>
#include "boards/krooz/imu_krooz.h"
#include "subsystems/imu/imu_krooz_sd_arch.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "filters/median_filter.h"
#include "subsystems/abi.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

Include dependency graph for imu_krooz.c:

Go to the source code of this file.

Macros
#define	KROOZ_LOWPASS_FILTER   MPU60X0_DLPF_256HZ
#define	KROOZ_SMPLRT_DIV   1
#define	KROOZ_GYRO_RANGE   MPU60X0_GYRO_RANGE_250
#define	KROOZ_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_2G

Functions
void	imu_krooz_init (void)
void	imu_krooz_periodic (void)
void	imu_krooz_downlink_raw (void)
void	imu_krooz_event (void)

Variables
struct ImuKrooz	imu_krooz
struct MedianFilter3Int	median_mag

Detailed Description

Driver for the IMU on the KroozSD board.

Invensense MPU-6050 Honeywell HMC-5883

Definition in file imu_krooz.c.

Macro Definition Documentation

#define KROOZ_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_2G

Definition at line 57 of file imu_krooz.c.

Referenced by imu_krooz_init().

#define KROOZ_GYRO_RANGE   MPU60X0_GYRO_RANGE_250

Definition at line 52 of file imu_krooz.c.

Referenced by imu_krooz_init().

#define KROOZ_LOWPASS_FILTER   MPU60X0_DLPF_256HZ

Definition at line 45 of file imu_krooz.c.

Referenced by imu_krooz_init().

#define KROOZ_SMPLRT_DIV   1

Definition at line 46 of file imu_krooz.c.

Referenced by imu_krooz_init().

Function Documentation

void imu_krooz_downlink_raw

(

void

)

Definition at line 137 of file imu_krooz.c.

References Imu::accel_unscaled, DefaultChannel, DefaultDevice, Imu::gyro_unscaled, imu, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

void imu_krooz_event

(

void

)

Definition at line 146 of file imu_krooz.c.

void imu_krooz_init

(

void

)

Definition at line 68 of file imu_krooz.c.

void imu_krooz_periodic

(

void

)

Definition at line 98 of file imu_krooz.c.

Variable Documentation

struct ImuKrooz imu_krooz

Definition at line 61 of file imu_krooz.c.

Referenced by exti9_5_isr().

struct MedianFilter3Int median_mag

Definition at line 66 of file imu_krooz.c.

Referenced by imu_krooz_event(), imu_krooz_init(), imu_navgo_event(), and imu_navgo_init().