#include <math.h>
#include "boards/krooz/imu_krooz.h"
#include "subsystems/imu/imu_krooz_sd_arch.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "filters/median_filter.h"
#include "subsystems/abi.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"

Include dependency graph for imu_krooz.c:

Macros
#define	KROOZ_LOWPASS_FILTER MPU60X0_DLPF_256HZ

#define	KROOZ_SMPLRT_DIV 1

Functions
void	imu_krooz_init (void)

void	imu_krooz_periodic (void)

void	imu_krooz_downlink_raw (void)

void	imu_krooz_event (void)

Variables
struct ImuKrooz	imu_krooz

struct MedianFilter3Int	median_mag

Detailed Description

Driver for the IMU on the KroozSD board.

Invensense MPU-6050 Honeywell HMC-5883

Definition in file imu_krooz.c.

Macro Definition Documentation

◆ KROOZ_LOWPASS_FILTER

#define KROOZ_LOWPASS_FILTER MPU60X0_DLPF_256HZ

Definition at line 45 of file imu_krooz.c.

◆ KROOZ_SMPLRT_DIV

#define KROOZ_SMPLRT_DIV 1

Definition at line 46 of file imu_krooz.c.

Function Documentation

◆ imu_krooz_downlink_raw()

void imu_krooz_downlink_raw ( void )

Definition at line 130 of file imu_krooz.c.

References Imu::accel_unscaled, DefaultChannel, DefaultDevice, Imu::gyro_unscaled, imu, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

◆ imu_krooz_event()

void imu_krooz_event ( void )

Definition at line 139 of file imu_krooz.c.

◆ imu_krooz_init()

void imu_krooz_init ( void )

Definition at line 61 of file imu_krooz.c.

◆ imu_krooz_periodic()

void imu_krooz_periodic ( void )

Definition at line 91 of file imu_krooz.c.

Variable Documentation

◆ imu_krooz

struct ImuKrooz imu_krooz

Definition at line 54 of file imu_krooz.c.

Referenced by exti9_5_isr(), imu_krooz_event(), imu_krooz_init(), and imu_krooz_periodic().

◆ median_mag

struct MedianFilter3Int median_mag

Definition at line 59 of file imu_krooz.c.

Referenced by imu_krooz_event(), imu_krooz_init(), imu_navgo_event(), and imu_navgo_init().

Macros

Functions

Variables