imu_mpu6000.h File Reference

Driver for IMU with only MPU6000 via SPI. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "subsystems/imu/imu_mpu60x0_defaults.h"
#include "peripherals/mpu60x0_spi.h"

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Data Structures
struct	ImuMpu6000

Functions
void	imu_mpu_spi_init (void)
void	imu_mpu_spi_periodic (void)
void	imu_mpu_spi_event (void)

Variables
struct ImuMpu6000	imu_mpu_spi

Detailed Description

Driver for IMU with only MPU6000 via SPI.

Definition in file imu_mpu6000.h.

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Data Structure Documentation

struct ImuMpu6000

Definition at line 38 of file imu_mpu6000.h.

Collaboration diagram for ImuMpu6000:

Data Fields
struct Mpu60x0_Spi	mpu

Function Documentation

void imu_mpu_spi_event

(

void

)

Definition at line 88 of file imu_mpu6000.c.

References Imu::accel, Imu::accel_unscaled, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, IMU_MPU6000_ID, imu_mpu_spi, imu_scale_accel(), imu_scale_gyro(), ImuMpu6000::mpu, mpu60x0_spi_event(), RATES_COPY, and VECT3_COPY.

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void imu_mpu_spi_init

(

void

)

Definition at line 72 of file imu_mpu6000.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, IMU_MPU_ACCEL_RANGE, IMU_MPU_GYRO_RANGE, ImuMpu6000::mpu, mpu60x0_spi_init(), and Mpu60x0Config::smplrt_div.

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void imu_mpu_spi_periodic

(

void

)

Definition at line 83 of file imu_mpu6000.c.

References imu_mpu_spi, ImuMpu6000::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

struct ImuMpu6000 imu_mpu_spi

Definition at line 70 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event(), and imu_mpu_spi_periodic().