imu_navstik.h File Reference

#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/hmc58xx.h"
#include "peripherals/mpu60x0_i2c.h"

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Data Structures
struct	ImuNavstik

Macros
#define	NAVSTIK_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000
#define	NAVSTIK_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G
#define	IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
#define	IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
#define	IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
#define	IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
#define	IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
#define	IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
#define	IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]
#define	IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]
#define	IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]
#define	IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
#define	IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
#define	IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
#define	IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
#define	IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
#define	IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]
#define	IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]
#define	IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]
#define	IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]

Functions
void	imu_navstik_init (void)
	Navstik IMU initializtion of the MPU-60x0 and HMC58xx. More...
void	imu_navstik_periodic (void)
	Handle all the periodic tasks of the Navstik IMU components. More...
void	imu_navstik_event (void)
	Handle all the events of the Navstik IMU components. More...

Variables
struct ImuNavstik	imu_navstik
	Basic Navstik IMU data. More...

Detailed Description

Interface for the Navstik magnetometer, accelerometer and gyroscope

Definition in file imu_navstik.h.

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Data Structure Documentation

ImuNavstik

struct ImuNavstik

Definition at line 72 of file imu_navstik.h.

Collaboration diagram for ImuNavstik:

Data Fields
struct Hmc58xx	hmc
struct Mpu60x0_I2c	mpu

Macro Definition Documentation

IMU_ACCEL_X_SENS

#define IMU_ACCEL_X_SENS   MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]

Definition at line 60 of file imu_navstik.h.

IMU_ACCEL_X_SENS_DEN

#define IMU_ACCEL_X_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]

Definition at line 62 of file imu_navstik.h.

IMU_ACCEL_X_SENS_NUM

#define IMU_ACCEL_X_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]

Definition at line 61 of file imu_navstik.h.

IMU_ACCEL_Y_SENS

#define IMU_ACCEL_Y_SENS   MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]

Definition at line 63 of file imu_navstik.h.

IMU_ACCEL_Y_SENS_DEN

#define IMU_ACCEL_Y_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]

Definition at line 65 of file imu_navstik.h.

IMU_ACCEL_Y_SENS_NUM

#define IMU_ACCEL_Y_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]

Definition at line 64 of file imu_navstik.h.

IMU_ACCEL_Z_SENS

#define IMU_ACCEL_Z_SENS   MPU60X0_ACCEL_SENS[NAVSTIK_ACCEL_RANGE]

Definition at line 66 of file imu_navstik.h.

IMU_ACCEL_Z_SENS_DEN

#define IMU_ACCEL_Z_SENS_DEN   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][1]

Definition at line 68 of file imu_navstik.h.

IMU_ACCEL_Z_SENS_NUM

#define IMU_ACCEL_Z_SENS_NUM   MPU60X0_ACCEL_SENS_FRAC[NAVSTIK_ACCEL_RANGE][0]

Definition at line 67 of file imu_navstik.h.

IMU_GYRO_P_SENS

#define IMU_GYRO_P_SENS   MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]

Definition at line 47 of file imu_navstik.h.

IMU_GYRO_P_SENS_DEN

#define IMU_GYRO_P_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]

Definition at line 49 of file imu_navstik.h.

IMU_GYRO_P_SENS_NUM

#define IMU_GYRO_P_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]

Definition at line 48 of file imu_navstik.h.

IMU_GYRO_Q_SENS

#define IMU_GYRO_Q_SENS   MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]

Definition at line 50 of file imu_navstik.h.

IMU_GYRO_Q_SENS_DEN

#define IMU_GYRO_Q_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]

Definition at line 52 of file imu_navstik.h.

IMU_GYRO_Q_SENS_NUM

#define IMU_GYRO_Q_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]

Definition at line 51 of file imu_navstik.h.

IMU_GYRO_R_SENS

#define IMU_GYRO_R_SENS   MPU60X0_GYRO_SENS[NAVSTIK_GYRO_RANGE]

Definition at line 53 of file imu_navstik.h.

IMU_GYRO_R_SENS_DEN

#define IMU_GYRO_R_SENS_DEN   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][1]

Definition at line 55 of file imu_navstik.h.

IMU_GYRO_R_SENS_NUM

#define IMU_GYRO_R_SENS_NUM   MPU60X0_GYRO_SENS_FRAC[NAVSTIK_GYRO_RANGE][0]

Definition at line 54 of file imu_navstik.h.

NAVSTIK_ACCEL_RANGE

#define NAVSTIK_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G

Definition at line 42 of file imu_navstik.h.

NAVSTIK_GYRO_RANGE

#define NAVSTIK_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000

Definition at line 38 of file imu_navstik.h.

Function Documentation

imu_navstik_event()

void imu_navstik_event

(

void

)

Handle all the events of the Navstik IMU components.

When there is data available convert it to the correct axis and save it in the imu structure.

Definition at line 102 of file imu_navstik.c.

References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Hmc58xx::data_available, Mpu60x0_I2c::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuNavstik::hmc, hmc58xx_event(), imu, IMU_BOARD_ID, imu_navstik, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuNavstik::mpu, mpu60x0_i2c_event(), RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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imu_navstik_init()

void imu_navstik_init

(

void

)

Navstik IMU initializtion of the MPU-60x0 and HMC58xx.

Definition at line 72 of file imu_navstik.c.

References Mpu60x0Config::accel_range, Mpu60x0_I2c::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, ImuNavstik::hmc, HMC58XX_ADDR, hmc58xx_init(), imu_navstik, ImuNavstik::mpu, MPU60X0_ADDR_ALT, mpu60x0_i2c_init(), NAVSTIK_ACCEL_RANGE, NAVSTIK_GYRO_RANGE, NAVSTIK_MAG_I2C_DEV, NAVSTIK_MPU_I2C_DEV, and Mpu60x0Config::smplrt_div.

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imu_navstik_periodic()

void imu_navstik_periodic

(

void

)

Handle all the periodic tasks of the Navstik IMU components.

Read the MPU60x0 every periodic call and the HMC58XX every 10th call.

Definition at line 89 of file imu_navstik.c.

References ImuNavstik::hmc, hmc58xx_periodic(), imu_navstik, ImuNavstik::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

imu_navstik

struct ImuNavstik imu_navstik

Basic Navstik IMU data.

Definition at line 67 of file imu_navstik.c.

Referenced by imu_navstik_event(), imu_navstik_init(), and imu_navstik_periodic().