imu_mpu6000.c File Reference

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

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Macros
#define	IMU_MPU_LOWPASS_FILTER   MPU60X0_DLPF_42HZ
#define	IMU_MPU_SMPLRT_DIV   9
#define	IMU_MPU_ACCEL_LOWPASS_FILTER   MPU60X0_DLPF_ACC_44HZ
#define	IMU_MPU_CHAN_X   0
#define	IMU_MPU_CHAN_Y   1
#define	IMU_MPU_CHAN_Z   2
#define	IMU_MPU_X_SIGN   1
#define	IMU_MPU_Y_SIGN   1
#define	IMU_MPU_Z_SIGN   1

Functions
void	imu_mpu_spi_init (void)
void	imu_mpu_spi_periodic (void)
void	imu_mpu_spi_event (void)

Variables
struct ImuMpu6000	imu_mpu_spi

Detailed Description

Driver for IMU with only MPU6000 via SPI.

Definition in file imu_mpu6000.c.

Macro Definition Documentation

IMU_MPU_ACCEL_LOWPASS_FILTER

#define IMU_MPU_ACCEL_LOWPASS_FILTER   MPU60X0_DLPF_ACC_44HZ

Definition at line 65 of file imu_mpu6000.c.

IMU_MPU_CHAN_X

#define IMU_MPU_CHAN_X   0

Definition at line 79 of file imu_mpu6000.c.

IMU_MPU_CHAN_Y

#define IMU_MPU_CHAN_Y   1

Definition at line 83 of file imu_mpu6000.c.

IMU_MPU_CHAN_Z

#define IMU_MPU_CHAN_Z   2

Definition at line 87 of file imu_mpu6000.c.

IMU_MPU_LOWPASS_FILTER

#define IMU_MPU_LOWPASS_FILTER   MPU60X0_DLPF_42HZ

Definition at line 61 of file imu_mpu6000.c.

IMU_MPU_SMPLRT_DIV

#define IMU_MPU_SMPLRT_DIV   9

Definition at line 62 of file imu_mpu6000.c.

IMU_MPU_X_SIGN

#define IMU_MPU_X_SIGN   1

Definition at line 93 of file imu_mpu6000.c.

IMU_MPU_Y_SIGN

#define IMU_MPU_Y_SIGN   1

Definition at line 97 of file imu_mpu6000.c.

IMU_MPU_Z_SIGN

#define IMU_MPU_Z_SIGN   1

Definition at line 101 of file imu_mpu6000.c.

Function Documentation

imu_mpu_spi_event()

void imu_mpu_spi_event

(

void

)

Definition at line 125 of file imu_mpu6000.c.

References Imu::accel, Imu::accel_unscaled, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, IMU_MPU6000_ID, IMU_MPU_CHAN_X, IMU_MPU_CHAN_Y, IMU_MPU_CHAN_Z, imu_mpu_spi, IMU_MPU_X_SIGN, IMU_MPU_Y_SIGN, IMU_MPU_Z_SIGN, imu_scale_accel(), imu_scale_gyro(), ImuMpu6000::mpu, mpu60x0_spi_event(), RATES_COPY, and VECT3_COPY.

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imu_mpu_spi_init()

void imu_mpu_spi_init

(

void

)

Definition at line 108 of file imu_mpu6000.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::dlpf_cfg_acc, Mpu60x0Config::gyro_range, IMU_MPU_ACCEL_LOWPASS_FILTER, IMU_MPU_ACCEL_RANGE, IMU_MPU_GYRO_RANGE, IMU_MPU_LOWPASS_FILTER, IMU_MPU_SMPLRT_DIV, imu_mpu_spi, ImuMpu6000::mpu, mpu60x0_spi_init(), and Mpu60x0Config::smplrt_div.

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imu_mpu_spi_periodic()

void imu_mpu_spi_periodic

(

void

)

Definition at line 120 of file imu_mpu6000.c.

References imu_mpu_spi, ImuMpu6000::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

imu_mpu_spi

struct ImuMpu6000 imu_mpu_spi

Definition at line 106 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event(), imu_mpu_spi_init(), and imu_mpu_spi_periodic().