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Paparazzi UAS
v5.15_devel-230-gc96ce27
Paparazzi is a free software Unmanned Aircraft System.
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Paparazzi UAS
v5.15_devel-230-gc96ce27
Paparazzi is a free software Unmanned Aircraft System.
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Driver for the IMU on the Apogee board. More...
#include "std.h"#include "generated/airframe.h"#include "subsystems/imu.h"#include "peripherals/mpu60x0_i2c.h"
Include dependency graph for imu_apogee.h: This graph shows which files directly or indirectly include this file:Go to the source code of this file.
Data Structures | |
| struct | ImuApogee |
Functions | |
| void | imu_apogee_init (void) |
| void | imu_apogee_periodic (void) |
| void | imu_apogee_event (void) |
| void | imu_apogee_downlink_raw (void) |
Variables | |
| struct ImuApogee | imu_apogee |
| struct ImuApogee |
Definition at line 98 of file imu_apogee.h.
Collaboration diagram for ImuApogee:| Data Fields | ||
|---|---|---|
| struct Mpu60x0_I2c | mpu | |
| #define APOGEE_ACCEL_RANGE MPU60X0_ACCEL_RANGE_8G |
Definition at line 58 of file imu_apogee.h.
Referenced by imu_apogee_init().
| #define APOGEE_GYRO_RANGE MPU60X0_GYRO_RANGE_1000 |
Definition at line 55 of file imu_apogee.h.
Referenced by imu_apogee_init().
| #define IMU_ACCEL_X_NEUTRAL 0 |
Definition at line 93 of file imu_apogee.h.
Referenced by imu_init().
| #define IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[APOGEE_ACCEL_RANGE] |
Definition at line 82 of file imu_apogee.h.
| #define IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][1] |
Definition at line 84 of file imu_apogee.h.
Referenced by imu_quality_assessment_periodic(), and imu_scale_accel().
| #define IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][0] |
Definition at line 83 of file imu_apogee.h.
Referenced by imu_quality_assessment_periodic(), and imu_scale_accel().
| #define IMU_ACCEL_X_SIGN 1 |
Definition at line 49 of file imu_apogee.h.
Referenced by imu_scale_accel().
| #define IMU_ACCEL_Y_NEUTRAL 0 |
Definition at line 94 of file imu_apogee.h.
Referenced by imu_init().
| #define IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[APOGEE_ACCEL_RANGE] |
Definition at line 85 of file imu_apogee.h.
| #define IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][1] |
Definition at line 87 of file imu_apogee.h.
Referenced by imu_scale_accel().
| #define IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][0] |
Definition at line 86 of file imu_apogee.h.
Referenced by imu_scale_accel().
| #define IMU_ACCEL_Y_SIGN 1 |
Definition at line 50 of file imu_apogee.h.
Referenced by imu_scale_accel().
| #define IMU_ACCEL_Z_NEUTRAL 0 |
Definition at line 95 of file imu_apogee.h.
Referenced by imu_init().
| #define IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[APOGEE_ACCEL_RANGE] |
Definition at line 88 of file imu_apogee.h.
| #define IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][1] |
Definition at line 90 of file imu_apogee.h.
Referenced by imu_scale_accel().
| #define IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[APOGEE_ACCEL_RANGE][0] |
Definition at line 89 of file imu_apogee.h.
Referenced by imu_scale_accel().
| #define IMU_ACCEL_Z_SIGN 1 |
Definition at line 51 of file imu_apogee.h.
Referenced by imu_scale_accel().
| #define IMU_GYRO_P_NEUTRAL 0 |
Definition at line 74 of file imu_apogee.h.
Referenced by imu_init().
| #define IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[APOGEE_GYRO_RANGE] |
Definition at line 63 of file imu_apogee.h.
| #define IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][1] |
Definition at line 65 of file imu_apogee.h.
Referenced by imu_scale_gyro().
| #define IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][0] |
Definition at line 64 of file imu_apogee.h.
Referenced by imu_scale_gyro().
| #define IMU_GYRO_P_SIGN 1 |
Definition at line 44 of file imu_apogee.h.
Referenced by imu_scale_gyro().
| #define IMU_GYRO_Q_NEUTRAL 0 |
Definition at line 75 of file imu_apogee.h.
Referenced by imu_init().
| #define IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[APOGEE_GYRO_RANGE] |
Definition at line 66 of file imu_apogee.h.
| #define IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][1] |
Definition at line 68 of file imu_apogee.h.
Referenced by imu_scale_gyro().
| #define IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][0] |
Definition at line 67 of file imu_apogee.h.
Referenced by imu_scale_gyro().
| #define IMU_GYRO_Q_SIGN 1 |
Definition at line 45 of file imu_apogee.h.
Referenced by imu_scale_gyro().
| #define IMU_GYRO_R_NEUTRAL 0 |
Definition at line 76 of file imu_apogee.h.
Referenced by imu_init().
| #define IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[APOGEE_GYRO_RANGE] |
Definition at line 69 of file imu_apogee.h.
| #define IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][1] |
Definition at line 71 of file imu_apogee.h.
Referenced by imu_scale_gyro().
| #define IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[APOGEE_GYRO_RANGE][0] |
Definition at line 70 of file imu_apogee.h.
Referenced by imu_scale_gyro().
| #define IMU_GYRO_R_SIGN 1 |
Definition at line 46 of file imu_apogee.h.
Referenced by imu_scale_gyro().
| void imu_apogee_downlink_raw | ( | void | ) |
Definition at line 129 of file imu_apogee.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_apogee_event | ( | void | ) |
Definition at line 138 of file imu_apogee.c.
References Imu::accel, Imu::accel_unscaled, ak8975_event(), Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_apogee, IMU_APOGEE_CHAN_X, IMU_APOGEE_CHAN_Y, IMU_APOGEE_CHAN_Z, IMU_BOARD_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuApogee::mpu, mpu60x0_i2c_event(), RATES_COPY, and VECT3_COPY.
Here is the call graph for this function:| void imu_apogee_init | ( | void | ) |
Definition at line 94 of file imu_apogee.c.
References Mpu60x0Config::accel_range, AK8975_I2C_SLV_ADDR, ak8975_init(), APOGEE_ACCEL_RANGE, APOGEE_GYRO_RANGE, APOGEE_LOWPASS_FILTER, APOGEE_SMPLRT_DIV, Mpu60x0_I2c::config, Mpu60x0I2cSlave::configure, configure_baro_slave(), Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, Mpu60x0Config::i2c_bypass, imu_apogee, ImuApogee::mpu, MPU60X0_ADDR_ALT, mpu60x0_i2c_init(), Mpu60x0Config::nb_slaves, Mpu60x0Config::slaves, and Mpu60x0Config::smplrt_div.
Here is the call graph for this function:| void imu_apogee_periodic | ( | void | ) |
Definition at line 116 of file imu_apogee.c.
References ak8975_periodic(), imu_apogee, ImuApogee::mpu, and mpu60x0_i2c_periodic().
Here is the call graph for this function:| struct ImuApogee imu_apogee |
Definition at line 85 of file imu_apogee.c.
Referenced by baro_periodic(), imu_apogee_event(), imu_apogee_init(), and imu_apogee_periodic().
1.8.8 
