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

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu60x0_i2c.h"
#include "peripherals/hmc58xx.h"

Include dependency graph for imu_krooz.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Data Structures
struct	ImuKrooz

Macros
#define	KROOZ_GYRO_RANGE MPU60X0_GYRO_RANGE_250

#define	KROOZ_ACCEL_RANGE MPU60X0_ACCEL_RANGE_2G

#define	IMU_GYRO_P_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]

#define	IMU_GYRO_P_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]

#define	IMU_GYRO_P_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]

#define	IMU_GYRO_Q_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]

#define	IMU_GYRO_Q_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]

#define	IMU_GYRO_Q_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]

#define	IMU_GYRO_R_SENS MPU60X0_GYRO_SENS[KROOZ_GYRO_RANGE]

#define	IMU_GYRO_R_SENS_NUM MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][0]

#define	IMU_GYRO_R_SENS_DEN MPU60X0_GYRO_SENS_FRAC[KROOZ_GYRO_RANGE][1]

#define	IMU_ACCEL_X_SENS MPU60X0_ACCEL_SENS[KROOZ_ACCEL_RANGE]

#define	IMU_ACCEL_X_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][0]

#define	IMU_ACCEL_X_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][1]

#define	IMU_ACCEL_Y_SENS MPU60X0_ACCEL_SENS[KROOZ_ACCEL_RANGE]

#define	IMU_ACCEL_Y_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][0]

#define	IMU_ACCEL_Y_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][1]

#define	IMU_ACCEL_Z_SENS MPU60X0_ACCEL_SENS[KROOZ_ACCEL_RANGE]

#define	IMU_ACCEL_Z_SENS_NUM MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][0]

#define	IMU_ACCEL_Z_SENS_DEN MPU60X0_ACCEL_SENS_FRAC[KROOZ_ACCEL_RANGE][1]

#define	IMU_KROOZ_ACCEL_AVG_FILTER 15

Functions
void	imu_krooz_init (void)

void	imu_krooz_periodic (void)

void	imu_krooz_event (void)

void	imu_krooz_downlink_raw (void)

Variables
struct ImuKrooz	imu_krooz

Detailed Description

Driver for the IMU on the KroozSD board.

Invensense MPU-6050

Definition in file imu_krooz.h.

Data Structure Documentation

struct ImuKrooz

Definition at line 80 of file imu_krooz.h.

Collaboration diagram for ImuKrooz:

Data Fields
struct Int32Vect3	accel_filtered
struct Int32Vect3	accel_sum
volatile uint8_t	ad7689_spi_rx_buffer[2]
volatile uint8_t	ad7689_spi_tx_buffer[2]
struct spi_transaction	ad7689_trans
struct Hmc58xx	hmc
volatile bool	hmc_eoc
volatile uint8_t	meas_nb
struct Uint8Vect3	meas_nb_acc
struct Mpu60x0_I2c	mpu
volatile bool	mpu_eoc
struct Int32Rates	rates_sum
int32_t	temperature