imu.c File Reference

#include "subsystems/imu.h"
#include "state.h"
#include "subsystems/abi.h"
#include "subsystems/datalink/telemetry.h"

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Functions
static void	send_accel_raw (struct transport_tx *trans, struct link_device *dev)
static void	send_accel_scaled (struct transport_tx *trans, struct link_device *dev)
static void	send_accel (struct transport_tx *trans, struct link_device *dev)
static void	send_gyro_raw (struct transport_tx *trans, struct link_device *dev)
static void	send_gyro_scaled (struct transport_tx *trans, struct link_device *dev)
static void	send_gyro (struct transport_tx *trans, struct link_device *dev)
static void	send_mag_raw (struct transport_tx *trans, struct link_device *dev)
static void	send_mag_scaled (struct transport_tx *trans, struct link_device *dev)
static void	send_mag (struct transport_tx *trans, struct link_device *dev)
void	imu_init (void)
void	imu_SetBodyToImuPhi (float phi)
void	imu_SetBodyToImuTheta (float theta)
void	imu_SetBodyToImuPsi (float psi)
void	imu_SetBodyToImuCurrent (float set)
void WEAK	imu_scale_gyro (struct Imu *_imu)
void WEAK	imu_scale_accel (struct Imu *_imu)
void WEAK	imu_scale_mag (struct Imu *_imu)

Variables
struct Imu	imu
	global IMU state More...

Detailed Description

Inertial Measurement Unit interface.

Definition in file imu.c.

Function Documentation

imu_init()

void imu_init

(

void

)

Definition at line 110 of file imu.c.

References Imu::accel_neutral, Imu::body_to_imu, DefaultPeriodic, gpio_setup_output(), Imu::gyro_neutral, imu, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL, IMU_MAG_X_NEUTRAL, IMU_MAG_Y_NEUTRAL, IMU_MAG_Z_NEUTRAL, IMU_POWER_GPIO, INT_VECT3_ZERO, Imu::mag_neutral, orientationSetEulers_f(), RATES_ASSIGN, register_periodic_telemetry(), send_accel(), send_accel_raw(), send_accel_scaled(), send_gyro(), send_gyro_raw(), send_gyro_scaled(), send_mag(), send_mag_raw(), send_mag_scaled(), and VECT3_ASSIGN.

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imu_scale_accel()

void WEAK imu_scale_accel

(

struct Imu *

_imu

)

Definition at line 219 of file imu.c.

References Imu::accel, Imu::accel_neutral, Imu::accel_prev, Imu::accel_unscaled, IMU_ACCEL_X_SENS_DEN, IMU_ACCEL_X_SENS_NUM, IMU_ACCEL_X_SIGN, IMU_ACCEL_Y_SENS_DEN, IMU_ACCEL_Y_SENS_NUM, IMU_ACCEL_Y_SIGN, IMU_ACCEL_Z_SENS_DEN, IMU_ACCEL_Z_SENS_NUM, IMU_ACCEL_Z_SIGN, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

imu_scale_gyro()

void WEAK imu_scale_gyro

(

struct Imu *

_imu

)

Definition at line 208 of file imu.c.

References Imu::gyro, Imu::gyro_neutral, Imu::gyro_prev, Imu::gyro_unscaled, IMU_GYRO_P_SENS_DEN, IMU_GYRO_P_SENS_NUM, IMU_GYRO_P_SIGN, IMU_GYRO_Q_SENS_DEN, IMU_GYRO_Q_SENS_NUM, IMU_GYRO_Q_SIGN, IMU_GYRO_R_SENS_DEN, IMU_GYRO_R_SENS_NUM, IMU_GYRO_R_SIGN, Int32Rates::p, Int32Rates::q, Int32Rates::r, and RATES_COPY.

imu_scale_mag()

void WEAK imu_scale_mag

(

struct Imu *

_imu

)

Definition at line 246 of file imu.c.

References IMU_MAG_X_SENS_DEN, IMU_MAG_X_SENS_NUM, IMU_MAG_X_SIGN, IMU_MAG_Y_SENS_DEN, IMU_MAG_Y_SENS_NUM, IMU_MAG_Y_SIGN, IMU_MAG_Z_SENS_DEN, IMU_MAG_Z_SENS_NUM, IMU_MAG_Z_SIGN, Imu::mag, Imu::mag_neutral, Imu::mag_unscaled, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

imu_SetBodyToImuCurrent()

void imu_SetBodyToImuCurrent

(

float

set

)

Definition at line 178 of file imu.c.

References Imu::b2i_set_current, Imu::body_to_imu, imu, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), FloatEulers::phi, stateGetNedToBodyEulers_f(), stateIsAttitudeValid(), and FloatEulers::theta.

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imu_SetBodyToImuPhi()

void imu_SetBodyToImuPhi

(

float

phi

)

Definition at line 151 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::phi.

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imu_SetBodyToImuPsi()

void imu_SetBodyToImuPsi

(

float

psi

)

Definition at line 169 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::psi.

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imu_SetBodyToImuTheta()

void imu_SetBodyToImuTheta

(

float

theta

)

Definition at line 160 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::theta.

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send_accel()

static void send_accel ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 58 of file imu.c.

References Imu::accel, accel_float, ACCELS_FLOAT_OF_BFP, dev, imu, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by imu_init().

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send_accel_raw()

static void send_accel_raw ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 46 of file imu.c.

References Imu::accel_unscaled, dev, imu, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by imu_init().

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send_accel_scaled()

static void send_accel_scaled ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 52 of file imu.c.

References Imu::accel, dev, imu, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by imu_init().

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send_gyro()

static void send_gyro ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 78 of file imu.c.

References dev, Imu::gyro, imu, FloatRates::p, FloatRates::q, FloatRates::r, and RATES_FLOAT_OF_BFP.

Referenced by imu_init().

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send_gyro_raw()

static void send_gyro_raw ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 66 of file imu.c.

References dev, Imu::gyro_unscaled, imu, Int32Rates::p, Int32Rates::q, and Int32Rates::r.

Referenced by imu_init().

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send_gyro_scaled()

static void send_gyro_scaled ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 72 of file imu.c.

References dev, Imu::gyro, imu, Int32Rates::p, Int32Rates::q, and Int32Rates::r.

Referenced by imu_init().

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send_mag()

static void send_mag ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 98 of file imu.c.

References dev, imu, Imu::mag, mag_float, MAGS_FLOAT_OF_BFP, FloatVect3::x, FloatVect3::y, and FloatVect3::z.

Referenced by imu_init().

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send_mag_raw()

static void send_mag_raw ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 86 of file imu.c.

References dev, imu, Imu::mag_unscaled, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by imu_init().

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send_mag_scaled()

static void send_mag_scaled ( struct transport_tx *  trans, struct link_device *  dev  )

static

Definition at line 92 of file imu.c.

References dev, imu, Imu::mag, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Referenced by imu_init().

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Variable Documentation

imu

struct Imu imu

global IMU state

Definition at line 108 of file imu.c.

Referenced by ahrs_aligner_run(), ahrs_gx3_init(), ahrs_gx3_publish_imu(), direct_memory_logger_periodic(), gx3_packet_read_message(), handle_ins_msg(), high_speed_logger_spi_link_periodic(), imu_analog_periodic(), imu_apogee_downlink_raw(), imu_apogee_event(), imu_aspirin2_event(), imu_aspirin_event(), imu_aspirin_i2c_event(), imu_b2_event(), imu_bebop_event(), imu_bmi088_event(), imu_disco_event(), imu_drotek2_event(), imu_feed_gyro_accel(), imu_feed_mag(), imu_gl1_event(), imu_hbmini_downlink_raw(), imu_hbmini_event(), imu_init(), imu_krooz_downlink_raw(), imu_krooz_event(), imu_krooz_periodic(), imu_mpu9250_event(), imu_mpu_hmc_event(), imu_mpu_i2c_event(), imu_mpu_spi_event(), imu_navgo_downlink_raw(), imu_navgo_event(), imu_navstik_event(), imu_nps_event(), imu_ppzuav_event(), imu_px4_event(), imu_px4fmu_event(), imu_quality_assessment_periodic(), imu_SetBodyToImuCurrent(), imu_SetBodyToImuPhi(), imu_SetBodyToImuPsi(), imu_SetBodyToImuTheta(), imu_swing_event(), imu_um6_publish(), imu_umarim_downlink_raw(), imu_umarim_event(), imu_vectornav_propagate(), init_ap(), ins_int_propagate(), jevois_mavlink_filter_init(), jevois_mavlink_filter_periodic(), logger_uart_periodic(), mag_calib_ukf_run(), mag_hmc58xx_module_event(), mag_ist8310_module_event(), mag_lis3mdl_module_event(), mag_pitot_parse_msg(), mag_pitot_raw_downlink(), main_init(), navdata_publish_imu(), send_accel(), send_accel_raw(), send_accel_scaled(), send_aligner(), send_gyro(), send_gyro_raw(), send_gyro_scaled(), send_imu_mag_current(), send_mag(), send_mag_raw(), send_mag_scaled(), UM6_packet_read_message(), and wind_estimator_periodic().