imu_disco.c File Reference

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

Include dependency graph for imu_disco.c:

Go to the source code of this file.

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

AK8963_HZ

#define AK8963_HZ   50

Definition at line 39 of file imu_disco.c.

DISCO_MAG_I2C_DEV

#define DISCO_MAG_I2C_DEV   i2c1

Definition at line 33 of file imu_disco.c.

DISCO_MPU_I2C_DEV

#define DISCO_MPU_I2C_DEV   i2c2

Definition at line 35 of file imu_disco.c.

Function Documentation

imu_disco_event()

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.

Here is the call graph for this function:

imu_disco_init()

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, imu_disco, ImuDisco::mpu, MPU60X0_ADDR, mpu60x0_i2c_init(), and Mpu60x0Config::smplrt_div.

Here is the call graph for this function:

imu_disco_periodic()

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().

Here is the call graph for this function:

Variable Documentation

imu_disco

struct ImuDisco imu_disco

Disco IMU data.

Definition at line 67 of file imu_disco.c.

Referenced by imu_disco_event(), imu_disco_init(), and imu_disco_periodic().