imu.c File Reference

Inertial Measurement Unit interface. More...

#include "subsystems/imu.h"
#include "state.h"
#include "subsystems/abi.h"

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Functions
void	imu_init (void)
void	imu_SetBodyToImuPhi (float phi)
void	imu_SetBodyToImuTheta (float theta)
void	imu_SetBodyToImuPsi (float psi)
void	imu_SetBodyToImuCurrent (float set)
void WEAK	imu_periodic (void)
	optional. More...
void WEAK	imu_scale_gyro (struct Imu *_imu)
void WEAK	imu_scale_accel (struct Imu *_imu)
void WEAK	imu_scale_mag (struct Imu *_imu)

Variables
struct Imu	imu
	global IMU state More...

Detailed Description

Inertial Measurement Unit interface.

Definition in file imu.c.

Function Documentation

void imu_init

(

void

)

Definition at line 110 of file imu.c.

References Imu::accel_neutral, Imu::body_to_imu, DefaultPeriodic, gpio_setup_output(), Imu::gyro_neutral, imu, IMU_ACCEL_X_NEUTRAL, IMU_ACCEL_Y_NEUTRAL, IMU_ACCEL_Z_NEUTRAL, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, IMU_GYRO_P_NEUTRAL, IMU_GYRO_Q_NEUTRAL, IMU_GYRO_R_NEUTRAL, imu_impl_init(), IMU_POWER_GPIO, INT_VECT3_ZERO, Imu::mag_neutral, orientationSetEulers_f(), RATES_ASSIGN, register_periodic_telemetry(), and VECT3_ASSIGN.

Referenced by init_ap(), and main_init().

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void WEAK imu_periodic

(

void

)

optional.

If not provided by implementation, empty function is used

optional.

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

Definition at line 209 of file imu.c.

References imu_apogee, ImuApogee::mpu, and mpu60x0_i2c_periodic().

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void WEAK imu_scale_accel

(

struct Imu *

_imu

)

Definition at line 224 of file imu.c.

References Imu::accel, Imu::accel_neutral, Imu::accel_prev, Imu::accel_unscaled, IMU_ACCEL_X_SENS_DEN, IMU_ACCEL_X_SENS_NUM, IMU_ACCEL_X_SIGN, IMU_ACCEL_Y_SENS_DEN, IMU_ACCEL_Y_SENS_NUM, IMU_ACCEL_Y_SIGN, IMU_ACCEL_Z_SENS_DEN, IMU_ACCEL_Z_SENS_NUM, IMU_ACCEL_Z_SIGN, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

void WEAK imu_scale_gyro

(

struct Imu *

_imu

)

Definition at line 213 of file imu.c.

References Imu::gyro, Imu::gyro_neutral, Imu::gyro_prev, Imu::gyro_unscaled, IMU_GYRO_P_SENS_DEN, IMU_GYRO_P_SENS_NUM, IMU_GYRO_P_SIGN, IMU_GYRO_Q_SENS_DEN, IMU_GYRO_Q_SENS_NUM, IMU_GYRO_Q_SIGN, IMU_GYRO_R_SENS_DEN, IMU_GYRO_R_SENS_NUM, IMU_GYRO_R_SIGN, Int32Rates::p, Int32Rates::q, Int32Rates::r, and RATES_COPY.

void WEAK imu_scale_mag

(

struct Imu *

_imu

)

Definition at line 251 of file imu.c.

References IMU_MAG_X_SENS_DEN, IMU_MAG_X_SENS_NUM, IMU_MAG_X_SIGN, IMU_MAG_Y_SENS_DEN, IMU_MAG_Y_SENS_NUM, IMU_MAG_Y_SIGN, IMU_MAG_Z_SENS_DEN, IMU_MAG_Z_SENS_NUM, IMU_MAG_Z_SIGN, Imu::mag, Imu::mag_neutral, Imu::mag_unscaled, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

void imu_SetBodyToImuCurrent

(

float

set

)

Definition at line 179 of file imu.c.

References Imu::b2i_set_current, Imu::body_to_imu, FALSE, imu, IMU_BODY_TO_IMU_PHI, IMU_BODY_TO_IMU_PSI, IMU_BODY_TO_IMU_THETA, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), FloatEulers::phi, stateGetNedToBodyEulers_f(), stateIsAttitudeValid(), and FloatEulers::theta.

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void imu_SetBodyToImuPhi

(

float

phi

)

Definition at line 152 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::phi.

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void imu_SetBodyToImuPsi

(

float

psi

)

Definition at line 170 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::psi.

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void imu_SetBodyToImuTheta

(

float

theta

)

Definition at line 161 of file imu.c.

References Imu::body_to_imu, imu, orientationGetEulers_f(), orientationGetQuat_f(), orientationSetEulers_f(), and FloatEulers::theta.

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Variable Documentation

struct Imu imu

global IMU state

Definition at line 108 of file imu.c.

Referenced by imu_init(), imu_SetBodyToImuCurrent(), imu_SetBodyToImuPhi(), imu_SetBodyToImuPsi(), and imu_SetBodyToImuTheta().