imu_aspirin.c File Reference

Driver for the Aspirin v1.x IMU using SPI for the accelerometer. More...

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/spi.h"

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Macros
#define	ASPIRIN_SPI_SLAVE_IDX   SPI_SLAVE2
#define	ASPIRIN_SPI_DEV   spi2
#define	ASPIRIN_I2C_DEV   i2c2
#define	ASPIRIN_ACCEL_RATE   ADXL345_RATE_800HZ
#define	ASPIRIN_GYRO_LOWPASS   ITG3200_DLPF_256HZ
#define	ASPIRIN_GYRO_SMPLRT_DIV   14

Functions
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_aspirin_event (void)

Variables
struct ImuAspirin	imu_aspirin

Detailed Description

Driver for the Aspirin v1.x IMU using SPI for the accelerometer.

Driver for the Aspirin v1.x IMU using I2C for the accelerometer.

Definition in file imu_aspirin.c.

Macro Definition Documentation

#define ASPIRIN_ACCEL_RATE   ADXL345_RATE_800HZ

Definition at line 51 of file imu_aspirin.c.

Referenced by imu_impl_init().

#define ASPIRIN_GYRO_LOWPASS   ITG3200_DLPF_256HZ

Definition at line 58 of file imu_aspirin.c.

Referenced by imu_impl_init().

#define ASPIRIN_GYRO_SMPLRT_DIV   14

Definition at line 59 of file imu_aspirin.c.

Referenced by imu_impl_init().

#define ASPIRIN_I2C_DEV   i2c2

Definition at line 46 of file imu_aspirin.c.

Referenced by imu_impl_init().

#define ASPIRIN_SPI_DEV   spi2

Definition at line 41 of file imu_aspirin.c.

Referenced by imu_impl_init().

#define ASPIRIN_SPI_SLAVE_IDX   SPI_SLAVE2

Definition at line 36 of file imu_aspirin.c.

Referenced by imu_impl_init().

Function Documentation

void imu_aspirin_event

(

void

)

Definition at line 118 of file imu_aspirin.c.

References ImuAspirin::acc_adxl, Imu::accel, Imu::accel_unscaled, ImuAspirin::accel_valid, adxl345_spi_event(), Adxl345_Spi::data, Hmc58xx::data, Itg3200::data, Adxl345_Spi::data_available, Hmc58xx::data_available, Itg3200::data_available, FALSE, get_sys_time_usec(), Imu::gyro, ImuAspirin::gyro_itg, Imu::gyro_unscaled, ImuAspirin::gyro_valid, hmc58xx_event(), imu, imu_aspirin, IMU_ASPIRIN_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), itg3200_event(), Imu::mag, ImuAspirin::mag_hmc, Imu::mag_unscaled, ImuAspirin::mag_valid, RATES_COPY, TRUE, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_impl_init

(

void

)

must be defined by underlying hardware

Todo:

drdy int handling for adxl345

Todo:

eoc interrupt for itg3200, polling for now (including status reg)

Definition at line 68 of file imu_aspirin.c.

References ImuAspirin::acc_adxl, ImuAspirin::accel_valid, adxl345_spi_init(), ASPIRIN_ACCEL_RATE, ASPIRIN_GYRO_LOWPASS, ASPIRIN_GYRO_SMPLRT_DIV, ASPIRIN_I2C_DEV, ASPIRIN_SPI_DEV, ASPIRIN_SPI_SLAVE_IDX, Adxl345_Spi::config, Itg3200::config, Itg3200Config::dlpf_cfg, FALSE, ImuAspirin::gyro_itg, ImuAspirin::gyro_valid, HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5843, imu_aspirin_arch_init(), ITG3200_ADDR, itg3200_init(), ImuAspirin::mag_hmc, ImuAspirin::mag_valid, Adxl345Config::rate, Itg3200Config::smplrt_div, and Hmc58xx::type.

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void imu_periodic

(

void

)

optional.

If not provided by implementation, empty function is used

Definition at line 107 of file imu_aspirin.c.

References ImuAspirin::acc_adxl, adxl345_spi_periodic(), ImuAspirin::gyro_itg, hmc58xx_periodic(), imu_aspirin, itg3200_periodic(), and ImuAspirin::mag_hmc.

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Variable Documentation

struct ImuAspirin imu_aspirin

Definition at line 66 of file imu_aspirin.c.

Referenced by exti15_10_isr(), imu_aspirin_event(), and imu_periodic().