imu_disco.c File Reference

Driver for the Disco magnetometer, accelerometer and gyroscope. More...

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

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Macros
#define	DISCO_MAG_I2C_DEV   i2c1
#define	DISCO_MPU_I2C_DEV   i2c2
#define	AK8963_HZ   50

Functions
void	imu_disco_init (void)
	Disco IMU initializtion of the MPU-60x0 and HMC58xx. More...
void	imu_disco_periodic (void)
	Handle all the periodic tasks of the Disco IMU components. More...
void	imu_disco_event (void)
	Handle all the events of the Disco IMU components. More...

Variables
struct ImuDisco	imu_disco
	Disco IMU data. More...

Detailed Description

Driver for the Disco magnetometer, accelerometer and gyroscope.

Definition in file imu_disco.c.

Macro Definition Documentation

#define AK8963_HZ   50

Definition at line 39 of file imu_disco.c.

Referenced by imu_disco_periodic().

#define DISCO_MAG_I2C_DEV   i2c1

Definition at line 33 of file imu_disco.c.

Referenced by imu_disco_init().

#define DISCO_MPU_I2C_DEV   i2c2

Definition at line 35 of file imu_disco.c.

Referenced by imu_disco_init().

Function Documentation

void imu_disco_event

(

void

)

Handle all the events of the Disco IMU components.

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

Definition at line 108 of file imu_disco.c.

References Imu::accel, Imu::accel_unscaled, ImuDisco::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_BOARD_ID, imu_disco, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuDisco::mpu, mpu60x0_i2c_event(), RATES_ASSIGN, and VECT3_ASSIGN.

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void imu_disco_init

(

void

)

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

Definition at line 72 of file imu_disco.c.

References Mpu60x0Config::accel_range, ImuDisco::ak, AK8963_ADDR, ak8963_init(), Mpu60x0_I2c::config, DISCO_ACCEL_RANGE, DISCO_GYRO_RANGE, DISCO_MAG_I2C_DEV, DISCO_MPU_I2C_DEV, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, ImuDisco::mpu, MPU60X0_ADDR, mpu60x0_i2c_init(), and Mpu60x0Config::smplrt_div.

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void imu_disco_periodic

(

void

)

Handle all the periodic tasks of the Disco IMU components.

Read the MPU60x0 every periodic call and the AKM8963 every 10th call.

Definition at line 89 of file imu_disco.c.

References ImuDisco::ak, AK8963_HZ, ak8963_periodic(), imu_disco, ImuDisco::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

struct ImuDisco imu_disco

Disco IMU data.

Definition at line 67 of file imu_disco.c.

Referenced by imu_disco_event(), and imu_disco_periodic().