imu_mpu9250_i2c.h File Reference

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu9250_i2c.h"

Include dependency graph for imu_mpu9250_i2c.h:

Go to the source code of this file.

Data Structures
struct	ImuMpu9250

Macros
#define	IMU_MPU9250_GYRO_RANGE   MPU9250_GYRO_RANGE_1000
#define	IMU_MPU9250_ACCEL_RANGE   MPU9250_ACCEL_RANGE_8G
#define	IMU_GYRO_P_SENS   MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
#define	IMU_GYRO_P_SENS_NUM   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
#define	IMU_GYRO_P_SENS_DEN   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
#define	IMU_GYRO_Q_SENS   MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
#define	IMU_GYRO_Q_SENS_NUM   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
#define	IMU_GYRO_Q_SENS_DEN   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
#define	IMU_GYRO_R_SENS   MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]
#define	IMU_GYRO_R_SENS_NUM   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]
#define	IMU_GYRO_R_SENS_DEN   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]
#define	IMU_ACCEL_X_SENS   MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
#define	IMU_ACCEL_X_SENS_NUM   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
#define	IMU_ACCEL_X_SENS_DEN   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
#define	IMU_ACCEL_Y_SENS   MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
#define	IMU_ACCEL_Y_SENS_NUM   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
#define	IMU_ACCEL_Y_SENS_DEN   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]
#define	IMU_ACCEL_Z_SENS   MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]
#define	IMU_ACCEL_Z_SENS_NUM   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]
#define	IMU_ACCEL_Z_SENS_DEN   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]

Functions
void	imu_mpu9250_init (void)
void	imu_mpu9250_periodic (void)
void	imu_mpu9250_event (void)

Variables
struct ImuMpu9250	imu_mpu9250

Detailed Description

IMU driver for the MPU9250 using I2C

Definition in file imu_mpu9250_i2c.h.

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Data Structure Documentation

ImuMpu9250

struct ImuMpu9250

Definition at line 73 of file imu_mpu9250_i2c.h.

Collaboration diagram for ImuMpu9250:

Data Fields
struct Mpu9250_I2c	mpu
struct Mpu9250_Spi	mpu
volatile bool	slave4_ready
volatile uint8_t	wait_slave4_rx_buf[2]
struct spi_transaction	wait_slave4_trans
volatile uint8_t	wait_slave4_tx_buf[1]

Macro Definition Documentation

IMU_ACCEL_X_SENS

#define IMU_ACCEL_X_SENS   MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]

Definition at line 61 of file imu_mpu9250_i2c.h.

IMU_ACCEL_X_SENS_DEN

#define IMU_ACCEL_X_SENS_DEN   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]

Definition at line 63 of file imu_mpu9250_i2c.h.

IMU_ACCEL_X_SENS_NUM

#define IMU_ACCEL_X_SENS_NUM   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]

Definition at line 62 of file imu_mpu9250_i2c.h.

IMU_ACCEL_Y_SENS

#define IMU_ACCEL_Y_SENS   MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]

Definition at line 64 of file imu_mpu9250_i2c.h.

IMU_ACCEL_Y_SENS_DEN

#define IMU_ACCEL_Y_SENS_DEN   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]

Definition at line 66 of file imu_mpu9250_i2c.h.

IMU_ACCEL_Y_SENS_NUM

#define IMU_ACCEL_Y_SENS_NUM   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]

Definition at line 65 of file imu_mpu9250_i2c.h.

IMU_ACCEL_Z_SENS

#define IMU_ACCEL_Z_SENS   MPU9250_ACCEL_SENS[IMU_MPU9250_ACCEL_RANGE]

Definition at line 67 of file imu_mpu9250_i2c.h.

IMU_ACCEL_Z_SENS_DEN

#define IMU_ACCEL_Z_SENS_DEN   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][1]

Definition at line 69 of file imu_mpu9250_i2c.h.

IMU_ACCEL_Z_SENS_NUM

#define IMU_ACCEL_Z_SENS_NUM   MPU9250_ACCEL_SENS_FRAC[IMU_MPU9250_ACCEL_RANGE][0]

Definition at line 68 of file imu_mpu9250_i2c.h.

IMU_GYRO_P_SENS

#define IMU_GYRO_P_SENS   MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]

Definition at line 48 of file imu_mpu9250_i2c.h.

IMU_GYRO_P_SENS_DEN

#define IMU_GYRO_P_SENS_DEN   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]

Definition at line 50 of file imu_mpu9250_i2c.h.

IMU_GYRO_P_SENS_NUM

#define IMU_GYRO_P_SENS_NUM   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]

Definition at line 49 of file imu_mpu9250_i2c.h.

IMU_GYRO_Q_SENS

#define IMU_GYRO_Q_SENS   MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]

Definition at line 51 of file imu_mpu9250_i2c.h.

IMU_GYRO_Q_SENS_DEN

#define IMU_GYRO_Q_SENS_DEN   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]

Definition at line 53 of file imu_mpu9250_i2c.h.

IMU_GYRO_Q_SENS_NUM

#define IMU_GYRO_Q_SENS_NUM   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]

Definition at line 52 of file imu_mpu9250_i2c.h.

IMU_GYRO_R_SENS

#define IMU_GYRO_R_SENS   MPU9250_GYRO_SENS[IMU_MPU9250_GYRO_RANGE]

Definition at line 54 of file imu_mpu9250_i2c.h.

IMU_GYRO_R_SENS_DEN

#define IMU_GYRO_R_SENS_DEN   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][1]

Definition at line 56 of file imu_mpu9250_i2c.h.

IMU_GYRO_R_SENS_NUM

#define IMU_GYRO_R_SENS_NUM   MPU9250_GYRO_SENS_FRAC[IMU_MPU9250_GYRO_RANGE][0]

Definition at line 55 of file imu_mpu9250_i2c.h.

IMU_MPU9250_ACCEL_RANGE

#define IMU_MPU9250_ACCEL_RANGE   MPU9250_ACCEL_RANGE_8G

Definition at line 43 of file imu_mpu9250_i2c.h.

IMU_MPU9250_GYRO_RANGE

#define IMU_MPU9250_GYRO_RANGE   MPU9250_GYRO_RANGE_1000

Definition at line 39 of file imu_mpu9250_i2c.h.

Function Documentation

imu_mpu9250_event()

void imu_mpu9250_event

(

void

)

Definition at line 47 of file imu_mpu9250.c.

imu_mpu9250_init()

void imu_mpu9250_init

(

void

)

Definition at line 37 of file imu_mpu9250.c.

imu_mpu9250_periodic()

void imu_mpu9250_periodic

(

void

)

Definition at line 42 of file imu_mpu9250.c.

Variable Documentation

imu_mpu9250

struct ImuMpu9250 imu_mpu9250

Definition at line 100 of file imu_mpu9250_i2c.c.