imu_b2.c File Reference

Driver for the Booz2 IMUs. More...

#include "subsystems/imu.h"
#include "led.h"
#include "subsystems/abi.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	ImuMagEvent()   {}
	Event functions for imu_b2. More...

Functions
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_b2_event (void)

Variables
struct ImuBooz2	imu_b2

Detailed Description

Driver for the Booz2 IMUs.

Analog gyros and accelerometers are read via MAX1168 16-bit SPI ADC. Depending on version, different I2C or SPI magnetometers are used.

Definition in file imu_b2.c.

Macro Definition Documentation

#define ImuMagEvent

(

)

{}

Event functions for imu_b2.

Definition at line 148 of file imu_b2.c.

Referenced by imu_b2_event().

Function Documentation

void imu_b2_event

(

void

)

Definition at line 152 of file imu_b2.c.

References Imu::accel, Imu::accel_unscaled, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, IMU_ACCEL_X_CHAN, IMU_ACCEL_Y_CHAN, IMU_ACCEL_Z_CHAN, IMU_ASPIRIN2_ID, IMU_GYRO_P_CHAN, IMU_GYRO_Q_CHAN, IMU_GYRO_R_CHAN, imu_scale_accel(), imu_scale_gyro(), ImuMagEvent, MAX1168_DATA_AVAILABLE, max1168_event(), MAX1168_IDLE, max1168_status, max1168_values, Int32Rates::p, Int32Rates::q, Int32Rates::r, 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)

Todo:

drdy int handling for adxl345

Todo:

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

Definition at line 38 of file imu_b2.c.

References ami601_init(), hmc5843_init(), HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5843, imu_b2, max1168_init(), ms2100, and ms2100_init().

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void imu_periodic

(

void

)

optional.

If not provided by implementation, empty function is used

Definition at line 57 of file imu_b2.c.

References ami601_read(), hmc58xx_periodic(), imu_b2, Max1168Periodic, ms2100, and ms2100_periodic().

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Variable Documentation

struct ImuBooz2 imu_b2

Definition at line 34 of file imu_b2.c.

Referenced by imu_impl_init(), and imu_periodic().