imu_aspirin_i2c.c File Reference

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

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Macros
#define	ASPIRIN_I2C_DEV   i2c2
#define	ASPIRIN_ACCEL_RATE   ADXL345_RATE_50HZ
	adxl345 accelerometer output rate, lowpass is set to half of rate More...
#define	ASPIRIN_GYRO_LOWPASS   ITG3200_DLPF_20HZ
	gyro internal lowpass frequency More...
#define	ASPIRIN_GYRO_SMPLRT_DIV   19
	gyro sample rate divider More...

Functions
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_aspirin_i2c_event (void)

Variables
struct ImuAspirinI2c	imu_aspirin

Macro Definition Documentation

#define ASPIRIN_ACCEL_RATE   ADXL345_RATE_50HZ

adxl345 accelerometer output rate, lowpass is set to half of rate

Definition at line 45 of file imu_aspirin_i2c.c.

Referenced by imu_impl_init().

#define ASPIRIN_GYRO_LOWPASS   ITG3200_DLPF_20HZ

gyro internal lowpass frequency

Definition at line 58 of file imu_aspirin_i2c.c.

Referenced by imu_impl_init().

#define ASPIRIN_GYRO_SMPLRT_DIV   19

gyro sample rate divider

Definition at line 71 of file imu_aspirin_i2c.c.

Referenced by imu_impl_init().

#define ASPIRIN_I2C_DEV   i2c2

Definition at line 38 of file imu_aspirin_i2c.c.

Referenced by imu_impl_init().

Function Documentation

void imu_aspirin_i2c_event

(

void

)

Definition at line 129 of file imu_aspirin_i2c.c.

References ImuAspirinI2c::acc_adxl, Imu::accel, Imu::accel_unscaled, adxl345_i2c_event(), Adxl345_I2c::data, Hmc58xx::data, Itg3200::data, Adxl345_I2c::data_available, Hmc58xx::data_available, Itg3200::data_available, FALSE, get_sys_time_usec(), Imu::gyro, ImuAspirinI2c::gyro_itg, Imu::gyro_unscaled, hmc58xx_event(), imu, imu_aspirin, IMU_ASPIRIN_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), itg3200_event(), Imu::mag, ImuAspirinI2c::mag_hmc, Imu::mag_unscaled, RATES_COPY, 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 83 of file imu_aspirin_i2c.c.

References ImuAspirinI2c::acc_adxl, ADXL345_ADDR, adxl345_i2c_init(), ASPIRIN_ACCEL_RATE, ASPIRIN_GYRO_LOWPASS, ASPIRIN_GYRO_SMPLRT_DIV, ASPIRIN_I2C_DEV, Adxl345_I2c::config, Itg3200::config, Itg3200Config::dlpf_cfg, gpio_set(), gpio_setup_output(), ImuAspirinI2c::gyro_itg, HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5843, ITG3200_ADDR, itg3200_init(), ImuAspirinI2c::mag_hmc, 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 118 of file imu_aspirin_i2c.c.

References ImuAspirinI2c::acc_adxl, adxl345_i2c_periodic(), ImuAspirinI2c::gyro_itg, hmc58xx_periodic(), imu_aspirin, itg3200_periodic(), and ImuAspirinI2c::mag_hmc.

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Variable Documentation

struct ImuAspirinI2c imu_aspirin

Definition at line 81 of file imu_aspirin_i2c.c.

Referenced by imu_aspirin_i2c_event(), and imu_periodic().