imu_gl1.c File Reference

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

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Macros
#define	GL1_ACCEL_RATE   ADXL345_RATE_50HZ
	adxl345 accelerometer output rate, lowpass is set to half of rate More...
#define	GL1_GYRO_LOWPASS   L3G4200_DLPF_1
	gyro internal lowpass frequency More...
#define	GL1_GYRO_SMPLRT   L3G4200_DR_100Hz
	gyro sample rate divider More...
#define	L3G4200_SCALE   L3G4200_SCALE_2000

Functions
void	imu_gl1_init (void)
void	imu_gl1_periodic (void)
void	imu_gl1_event (void)

Variables
struct ImuGL1I2c	imu_gl1

Detailed Description

Driver for I2C IMU using L3G4200, ADXL345, HMC5883 and BMP085.

Definition in file imu_gl1.c.

Macro Definition Documentation

GL1_ACCEL_RATE

#define GL1_ACCEL_RATE   ADXL345_RATE_50HZ

adxl345 accelerometer output rate, lowpass is set to half of rate

Definition at line 38 of file imu_gl1.c.

GL1_GYRO_LOWPASS

#define GL1_GYRO_LOWPASS   L3G4200_DLPF_1

gyro internal lowpass frequency

Definition at line 50 of file imu_gl1.c.

GL1_GYRO_SMPLRT

#define GL1_GYRO_SMPLRT   L3G4200_DR_100Hz

gyro sample rate divider

Definition at line 62 of file imu_gl1.c.

L3G4200_SCALE

#define L3G4200_SCALE   L3G4200_SCALE_2000

Definition at line 74 of file imu_gl1.c.

Function Documentation

imu_gl1_event()

void imu_gl1_event

(

void

)

Definition at line 118 of file imu_gl1.c.

References ImuGL1I2c::acc_adxl, Imu::accel, Imu::accel_unscaled, adxl345_i2c_event(), Adxl345_I2c::data, Hmc58xx::data, L3g4200::data, Adxl345_I2c::data_available, Hmc58xx::data_available, L3g4200::data_available, get_sys_time_usec(), Imu::gyro, ImuGL1I2c::gyro_l3g, Imu::gyro_unscaled, hmc58xx_event(), imu, imu_gl1, IMU_GL1_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), l3g4200_event(), Imu::mag, ImuGL1I2c::mag_hmc, Imu::mag_unscaled, Int32Rates::p, Int32Rates::q, Int32Rates::r, RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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imu_gl1_init()

void imu_gl1_init

(

void

)

Todo:

drdy int handling for adxl345

Definition at line 80 of file imu_gl1.c.

References ImuGL1I2c::acc_adxl, ADXL345_ADDR, adxl345_i2c_init(), Adxl345_I2c::config, L3g4200::config, L3g4200Config::ctrl_reg1, L3g4200Config::ctrl_reg4, L3g4200Config::ctrl_reg5, GL1_ACCEL_RATE, GL1_GYRO_LOWPASS, GL1_GYRO_SMPLRT, ImuGL1I2c::gyro_l3g, HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5883, imu_gl1, L3G4200_ADDR_ALT, l3g4200_init(), L3G4200_SCALE, ImuGL1I2c::mag_hmc, Adxl345Config::rate, and Hmc58xx::type.

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imu_gl1_periodic()

void imu_gl1_periodic

(

void

)

Definition at line 107 of file imu_gl1.c.

References ImuGL1I2c::acc_adxl, adxl345_i2c_periodic(), ImuGL1I2c::gyro_l3g, hmc58xx_periodic(), imu_gl1, l3g4200_periodic(), and ImuGL1I2c::mag_hmc.

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Variable Documentation

imu_gl1

struct ImuGL1I2c imu_gl1

Definition at line 78 of file imu_gl1.c.

Referenced by imu_gl1_event(), imu_gl1_init(), and imu_gl1_periodic().