imu_umarim.c File Reference

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

#include <math.h>
#include "imu_umarim.h"
#include "mcu_periph/i2c.h"
#include "generated/airframe.h"
#include "subsystems/abi.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	UMARIM_ACCEL_RANGE   ADXL345_RANGE_16G
#define	UMARIM_ACCEL_RATE   ADXL345_RATE_50HZ
#define	UMARIM_GYRO_LOWPASS   ITG3200_DLPF_20HZ
#define	UMARIM_GYRO_SMPLRT_DIV   19

Functions
void	imu_umarim_init (void)
void	imu_umarim_periodic (void)
void	imu_umarim_downlink_raw (void)
void	imu_umarim_event (void)

Variables
struct ImuUmarim	imu_umarim

Detailed Description

Driver for the IMU on the Umarim board.

• Gyroscope: Invensense ITG-3200
• Accelerometer: Analog Devices ADXL345

Definition in file imu_umarim.c.

Macro Definition Documentation

#define UMARIM_ACCEL_RANGE   ADXL345_RANGE_16G

Definition at line 45 of file imu_umarim.c.

Referenced by imu_umarim_init().

#define UMARIM_ACCEL_RATE   ADXL345_RATE_50HZ

Definition at line 50 of file imu_umarim.c.

Referenced by imu_umarim_init().

#define UMARIM_GYRO_LOWPASS   ITG3200_DLPF_20HZ

Definition at line 57 of file imu_umarim.c.

Referenced by imu_umarim_init().

#define UMARIM_GYRO_SMPLRT_DIV   19

Definition at line 58 of file imu_umarim.c.

Referenced by imu_umarim_init().

Function Documentation

void imu_umarim_downlink_raw

(

void

)

Definition at line 94 of file imu_umarim.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_umarim_event

(

void

)

Definition at line 103 of file imu_umarim.c.

References Imu::accel, Imu::accel_unscaled, ImuUmarim::adxl, adxl345_i2c_event(), Adxl345_I2c::data, Itg3200::data, Adxl345_I2c::data_available, Itg3200::data_available, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, IMU_BOARD_ID, imu_scale_accel(), imu_scale_gyro(), imu_umarim, ImuUmarim::itg, itg3200_event(), RATES_COPY, and VECT3_ASSIGN.

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void imu_umarim_init

(

void

)

Definition at line 66 of file imu_umarim.c.

References ImuUmarim::adxl, ADXL345_ADDR_ALT, adxl345_i2c_init(), Adxl345_I2c::config, Itg3200::config, Itg3200Config::dlpf_cfg, ImuUmarim::itg, ITG3200_ADDR_ALT, itg3200_init(), Adxl345Config::range, Adxl345Config::rate, Itg3200Config::smplrt_div, UMARIM_ACCEL_RANGE, UMARIM_ACCEL_RATE, UMARIM_GYRO_LOWPASS, and UMARIM_GYRO_SMPLRT_DIV.

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void imu_umarim_periodic

(

void

)

Definition at line 83 of file imu_umarim.c.

References ImuUmarim::adxl, adxl345_i2c_periodic(), imu_umarim, ImuUmarim::itg, and itg3200_periodic().

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Variable Documentation

struct ImuUmarim imu_umarim

Definition at line 64 of file imu_umarim.c.

Referenced by imu_umarim_event(), and imu_umarim_periodic().