imu_bebop.c File Reference

Driver for the Bebop (2) magnetometer, accelerometer and gyroscope. More...

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/i2c.h"

Include dependency graph for imu_bebop.c:

Go to the source code of this file.

Macros
#define	BEBOP_MAG_I2C_DEV   i2c1
#define	BEBOP_MPU_I2C_DEV   i2c2

Functions
void	imu_bebop_init (void)
	Navstik IMU initializtion of the MPU-60x0 and HMC58xx. More...
void	imu_bebop_periodic (void)
	Handle all the periodic tasks of the Navstik IMU components. More...
void	imu_bebop_event (void)
	Handle all the events of the Navstik IMU components. More...

Variables
struct OrientationReps	imu_to_mag_bebop
	IMU to magneto rotation. More...
struct ImuBebop	imu_bebop
	Basic Navstik IMU data. More...

Detailed Description

Driver for the Bebop (2) magnetometer, accelerometer and gyroscope.

Definition in file imu_bebop.c.

Macro Definition Documentation

#define BEBOP_MAG_I2C_DEV   i2c1

Definition at line 34 of file imu_bebop.c.

Referenced by imu_bebop_init().

#define BEBOP_MPU_I2C_DEV   i2c2

Definition at line 39 of file imu_bebop.c.

Referenced by imu_bebop_init().

Function Documentation

void imu_bebop_event

(

void

)

Handle all the events of the Navstik IMU components.

When there is data available convert it to the correct axis and save it in the imu structure.

Definition at line 112 of file imu_bebop.c.

References Imu::accel, Imu::accel_unscaled, ImuBebop::ak, ak8963_event(), Ak8963::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Ak8963::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_bebop, IMU_BOARD_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), imu_to_mag_bebop, int32_rmat_vmult(), Imu::mag, Imu::mag_unscaled, ImuBebop::mpu, mpu60x0_i2c_event(), orientationGetRMat_i(), RATES_ASSIGN, and VECT3_ASSIGN.

Here is the call graph for this function:

void imu_bebop_init

(

void

)

Navstik IMU initializtion of the MPU-60x0 and HMC58xx.

Definition at line 74 of file imu_bebop.c.

References Mpu60x0Config::accel_range, ImuBebop::ak, AK8963_ADDR, ak8963_init(), BEBOP_ACCEL_RANGE, BEBOP_GYRO_RANGE, BEBOP_MAG_I2C_DEV, BEBOP_MPU_I2C_DEV, Mpu60x0_I2c::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, ImuBebop::mpu, MPU60X0_ADDR, mpu60x0_i2c_init(), orientationSetEulers_f(), and Mpu60x0Config::smplrt_div.

Here is the call graph for this function:

void imu_bebop_periodic

(

void

)

Handle all the periodic tasks of the Navstik IMU components.

Read the MPU60x0 every periodic call and the HMC58XX every 10th call.

Definition at line 99 of file imu_bebop.c.

References ImuBebop::ak, ak8963_periodic(), imu_bebop, ImuBebop::mpu, and mpu60x0_i2c_periodic().

Here is the call graph for this function:

Variable Documentation

struct ImuBebop imu_bebop

Basic Navstik IMU data.

Definition at line 69 of file imu_bebop.c.

Referenced by imu_bebop_event(), imu_bebop_periodic(), and imu_temp_ctrl_periodic().

struct OrientationReps imu_to_mag_bebop

IMU to magneto rotation.

Definition at line 66 of file imu_bebop.c.

Referenced by imu_bebop_event().