imu_krooz_memsic.c File Reference

Driver for the IMU on the KroozSD Big Rotorcraft Edition board. More...

#include <math.h>
#include "boards/krooz/imu_krooz_memsic.h"
#include "subsystems/imu/imu_krooz_sd_arch.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "filters/median_filter.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"

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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_event (void)

Variables
struct ImuKrooz	imu_krooz
struct MedianFilter3Int	median_mag
static uint32_t	ad7689_event_timer
static uint8_t	axis_cnt
static uint8_t	axis_nb

Detailed Description

Driver for the IMU on the KroozSD Big Rotorcraft Edition board.

Invensense MPU-6050 Memsic MXR9500 with AD7689 Honeywell HMC-5883

Definition in file imu_krooz_memsic.c.

Macro Definition Documentation

#define KROOZ_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_2G

Definition at line 54 of file imu_krooz_memsic.c.

Referenced by imu_krooz_init().

#define KROOZ_GYRO_RANGE   MPU60X0_GYRO_RANGE_250

Definition at line 49 of file imu_krooz_memsic.c.

Referenced by imu_krooz_init().

#define KROOZ_LOWPASS_FILTER   MPU60X0_DLPF_256HZ

Definition at line 42 of file imu_krooz_memsic.c.

Referenced by imu_krooz_init().

#define KROOZ_SMPLRT_DIV   1

Definition at line 43 of file imu_krooz_memsic.c.

Referenced by imu_krooz_init().

Function Documentation

void imu_krooz_event

(

void

)

Definition at line 161 of file imu_krooz_memsic.c.

References ImuKrooz::accel_sum, ImuKrooz::ad7689_trans, Hmc58xx::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Hmc58xx::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), ImuKrooz::hmc, hmc58xx_event(), hmc58xx_read(), ImuKrooz::hmc_eoc, imu, IMU_BOARD_ID, imu_scale_mag(), spi_transaction::input_buf, Imu::mag, Imu::mag_unscaled, ImuKrooz::meas_nb, ImuKrooz::meas_nb_acc, median_mag, ImuKrooz::mpu, mpu60x0_i2c_event(), mpu60x0_i2c_read(), ImuKrooz::mpu_eoc, spi_transaction::output_buf, RATES_ADD, ImuKrooz::rates_sum, spi_submit(), SPITransDone, SPITransSuccess, spi_transaction::status, SysTimeTimer, SysTimeTimerStart, ImuKrooz::temperature, UpdateMedianFilterVect3Int, VECT3_ADD, VECT3_ASSIGN, Uint8Vect3::x, Int32Vect3::x, Uint8Vect3::y, Int32Vect3::y, Uint8Vect3::z, and Int32Vect3::z.

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void imu_krooz_init

(

void

)

Definition at line 69 of file imu_krooz_memsic.c.

References Mpu60x0Config::accel_range, ImuKrooz::accel_sum, ImuKrooz::ad7689_spi_rx_buffer, ImuKrooz::ad7689_spi_tx_buffer, ImuKrooz::ad7689_trans, spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, Mpu60x0_I2c::config, spi_transaction::cpha, spi_transaction::cpol, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::drdy_int_enable, spi_transaction::dss, Mpu60x0Config::gyro_range, ImuKrooz::hmc, HMC58XX_ADDR, hmc58xx_init(), ImuKrooz::hmc_eoc, imu_krooz_sd_arch_init(), InitMedianFilterVect3Int, spi_transaction::input_buf, spi_transaction::input_length, KROOZ_ACCEL_RANGE, KROOZ_GYRO_RANGE, KROOZ_LOWPASS_FILTER, KROOZ_SMPLRT_DIV, ImuKrooz::meas_nb, median_mag, ImuKrooz::mpu, MPU60X0_ADDR, mpu60x0_i2c_init(), ImuKrooz::mpu_eoc, spi_transaction::output_buf, spi_transaction::output_length, RATES_ASSIGN, ImuKrooz::rates_sum, spi_transaction::select, spi_transaction::slave_idx, Mpu60x0Config::smplrt_div, SPICphaEdge1, SPICpolIdleLow, SPIDiv16, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, and VECT3_ASSIGN.

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void imu_krooz_periodic

(

void

)

Definition at line 115 of file imu_krooz_memsic.c.

References Imu::accel, ImuKrooz::accel_filtered, ImuKrooz::accel_sum, Imu::accel_unscaled, Mpu60x0_I2c::config, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuKrooz::hmc, hmc58xx_start_configure(), imu, IMU_BOARD_ID, IMU_KROOZ_ACCEL_AVG_FILTER, imu_scale_accel(), imu_scale_gyro(), Hmc58xx::initialized, Mpu60x0Config::initialized, INT_VECT3_ZERO, ImuKrooz::meas_nb, ImuKrooz::meas_nb_acc, ImuKrooz::mpu, mpu60x0_i2c_start_configure(), Int32Rates::p, Int32Rates::q, Int32Rates::r, RATES_ASSIGN, ImuKrooz::rates_sum, UpdateMedianFilterVect3Int, VECT3_ADD, VECT3_ASSIGN, VECT3_COPY, VECT3_SDIV, VECT3_SMUL, Uint8Vect3::x, Int32Vect3::x, Uint8Vect3::y, Int32Vect3::y, Uint8Vect3::z, and Int32Vect3::z.

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Variable Documentation

uint32_t ad7689_event_timer

static

Definition at line 65 of file imu_krooz_memsic.c.

uint8_t axis_cnt

static

Definition at line 66 of file imu_krooz_memsic.c.

uint8_t axis_nb

static

Definition at line 67 of file imu_krooz_memsic.c.

struct ImuKrooz imu_krooz

Definition at line 58 of file imu_krooz_memsic.c.

struct MedianFilter3Int median_mag

Definition at line 63 of file imu_krooz_memsic.c.

Referenced by imu_krooz_event(), and imu_krooz_init().