imu_aspirin_2_spi.h File Reference

Driver for the Aspirin v2.x IMU using SPI for the MPU6000. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "subsystems/imu/imu_mpu60x0_defaults.h"
#include "peripherals/mpu60x0_spi.h"

Include dependency graph for imu_aspirin_2_spi.h:

Go to the source code of this file.

Data Structures
struct	ImuAspirin2Spi

Macros
#define	ImuEvent   imu_aspirin2_event

Functions
void	imu_aspirin2_event (void)

Variables
struct ImuAspirin2Spi	imu_aspirin2

Detailed Description

Driver for the Aspirin v2.x IMU using SPI for the MPU6000.

Definition in file imu_aspirin_2_spi.h.

---

Data Structure Documentation

struct ImuAspirin2Spi

Definition at line 38 of file imu_aspirin_2_spi.h.

Collaboration diagram for ImuAspirin2Spi:

Data Fields
struct Mpu60x0_Spi	mpu
volatile bool_t	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

#define ImuEvent   imu_aspirin2_event

Definition at line 51 of file imu_aspirin_2_spi.h.

Function Documentation

void imu_aspirin2_event

(

void

)

Definition at line 161 of file imu_aspirin_2_spi.c.

References Imu::accel, Imu::accel_unscaled, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_ext, Mpu60x0_Spi::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_aspirin2, IMU_ASPIRIN2_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Int16FromBuf, Imu::mag, Imu::mag_unscaled, ImuAspirin2Spi::mpu, mpu60x0_spi_event(), RATES_ASSIGN, RATES_COPY, VECT3_ASSIGN, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

Here is the call graph for this function:

Variable Documentation

struct ImuAspirin2Spi imu_aspirin2

Definition at line 100 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_event(), imu_impl_init(), imu_periodic(), mpu_set_and_wait(), mpu_wait_slave4_ready(), and mpu_wait_slave4_ready_cb().