imu_drotek_10dof_v2.c File Reference

Driver for the Drotek 10DOF V2 IMU. More...

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

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Macros
#define	DROTEK_2_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000
#define	DROTEK_2_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G
#define	DROTEK_2_MPU_I2C_ADDR   MPU60X0_ADDR_ALT
#define	DROTEK_2_HMC_I2C_ADDR   HMC58XX_ADDR

Functions
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_drotek2_event (void)
bool_t	imu_drotek2_configure_mag_slave (Mpu60x0ConfigSet mpu_set, void *mpu)
	callback function to configure hmc5883 mag More...

Variables
struct ImuDrotek2	imu_drotek2

Detailed Description

Driver for the Drotek 10DOF V2 IMU.

MPU6050 + HMC5883 + MS5611 Reading the baro is not part of the IMU driver.

By default the axes orientation should be as printed on the pcb, meaning z-axis pointing down if ICs are facing down. The orientation can be switched so that the IMU can be mounted ICs facing up by defining IMU_DROTEK_2_ORIENTATION_IC_UP.

Definition in file imu_drotek_10dof_v2.c.

Macro Definition Documentation

#define DROTEK_2_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_8G

Definition at line 65 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

#define DROTEK_2_GYRO_RANGE   MPU60X0_GYRO_RANGE_1000

Definition at line 60 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

#define DROTEK_2_HMC_I2C_ADDR   HMC58XX_ADDR

Definition at line 75 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

#define DROTEK_2_MPU_I2C_ADDR   MPU60X0_ADDR_ALT

Definition at line 70 of file imu_drotek_10dof_v2.c.

Referenced by imu_impl_init().

Function Documentation

bool_t imu_drotek2_configure_mag_slave	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu
	)

callback function to configure hmc5883 mag

Returns

TRUE if mag configuration finished

Definition at line 165 of file imu_drotek_10dof_v2.c.

References FALSE, ImuDrotek2::hmc, hmc58xx_start_configure(), imu_drotek2, Hmc58xx::initialized, and TRUE.

Referenced by imu_impl_init().

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void imu_drotek2_event

(

void

)

Definition at line 117 of file imu_drotek_10dof_v2.c.

References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Hmc58xx::data_available, Mpu60x0_I2c::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuDrotek2::hmc, hmc58xx_event(), imu, imu_drotek2, IMU_DROTEK_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuDrotek2::mpu, mpu60x0_i2c_event(), Int32Rates::p, Int32Rates::q, Int32Rates::r, 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

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 82 of file imu_drotek_10dof_v2.c.

References Mpu60x0Config::accel_range, Mpu60x0_I2c::config, Mpu60x0I2cSlave::configure, Mpu60x0Config::dlpf_cfg, DROTEK_2_ACCEL_RANGE, DROTEK_2_GYRO_RANGE, DROTEK_2_HMC_I2C_ADDR, DROTEK_2_MPU_I2C_ADDR, Mpu60x0Config::gyro_range, ImuDrotek2::hmc, hmc58xx_init(), Mpu60x0Config::i2c_bypass, imu_drotek2_configure_mag_slave(), ImuDrotek2::mpu, mpu60x0_i2c_init(), Mpu60x0Config::nb_slaves, Mpu60x0Config::slaves, Mpu60x0Config::smplrt_div, and TRUE.

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void 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 106 of file imu_drotek_10dof_v2.c.

References Mpu60x0_I2c::config, ImuDrotek2::hmc, hmc58xx_read(), imu_drotek2, Mpu60x0Config::initialized, ImuDrotek2::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

struct ImuDrotek2 imu_drotek2

Definition at line 80 of file imu_drotek_10dof_v2.c.

Referenced by imu_drotek2_configure_mag_slave(), imu_drotek2_event(), and imu_periodic().