imu_analog.h File Reference

#include "subsystems/imu.h"

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Macros
#define	NB_ANALOG_IMU_ADC   6
#define	IMU_ACCEL_X_SENS_NUM   1
#define	IMU_ACCEL_X_SENS_DEN   1
#define	IMU_ACCEL_Y_SENS_NUM   1
#define	IMU_ACCEL_Y_SENS_DEN   1
#define	IMU_ACCEL_Z_SENS_NUM   1
#define	IMU_ACCEL_Z_SENS_DEN   1

Functions
void	imu_analog_init (void)
void	imu_analog_periodic (void)

Variables
int	imu_overrun

Detailed Description

Inertial Measurement Unit using onboard ADCs.

Definition in file imu_analog.h.

Macro Definition Documentation

IMU_ACCEL_X_SENS_DEN

#define IMU_ACCEL_X_SENS_DEN   1

Definition at line 57 of file imu_analog.h.

IMU_ACCEL_X_SENS_NUM

#define IMU_ACCEL_X_SENS_NUM   1

Definition at line 56 of file imu_analog.h.

IMU_ACCEL_Y_SENS_DEN

#define IMU_ACCEL_Y_SENS_DEN   1

Definition at line 59 of file imu_analog.h.

IMU_ACCEL_Y_SENS_NUM

#define IMU_ACCEL_Y_SENS_NUM   1

Definition at line 58 of file imu_analog.h.

IMU_ACCEL_Z_SENS_DEN

#define IMU_ACCEL_Z_SENS_DEN   1

Definition at line 61 of file imu_analog.h.

IMU_ACCEL_Z_SENS_NUM

#define IMU_ACCEL_Z_SENS_NUM   1

Definition at line 60 of file imu_analog.h.

NB_ANALOG_IMU_ADC

#define NB_ANALOG_IMU_ADC   6

Definition at line 31 of file imu_analog.h.

Function Documentation

imu_analog_init()

void imu_analog_init

(

void

)

Definition at line 30 of file imu_analog.c.

References adc_buf_channel(), analog_imu_adc_buf, and imu_overrun.

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imu_analog_periodic()

void imu_analog_periodic

(

void

)

Definition at line 56 of file imu_analog.c.

References Imu::accel, Imu::accel_unscaled, analog_imu_adc_buf, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, adc_buf::head, imu, IMU_ANALOG_ID, imu_overrun, imu_scale_accel(), imu_scale_gyro(), Int32Rates::p, Int32Rates::q, Int32Rates::r, adc_buf::sum, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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Variable Documentation

imu_overrun

int imu_overrun

Definition at line 26 of file imu_analog.c.

Referenced by imu_analog_init(), and imu_analog_periodic().