imu_krooz.c File Reference

Driver for the IMU on the KroozSD board. More...

#include <math.h>
#include "boards/krooz/imu_krooz.h"
#include "subsystems/imu/imu_krooz_sd_arch.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "filters/median_filter.h"
#include "subsystems/abi.h"
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"

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Go to the source code of this file.

Macros
#define	KROOZ_LOWPASS_FILTER   MPU60X0_DLPF_256HZ
#define	KROOZ_SMPLRT_DIV   1
#define	KROOZ_GYRO_RANGE   MPU60X0_GYRO_RANGE_250
#define	KROOZ_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_2G

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

Variables
struct ImuKrooz	imu_krooz
struct MedianFilter3Int	median_mag

Detailed Description

Driver for the IMU on the KroozSD board.

Invensense MPU-6050 Honeywell HMC-5883

Definition in file imu_krooz.c.

Macro Definition Documentation

#define KROOZ_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_2G

Definition at line 57 of file imu_krooz.c.

Referenced by imu_impl_init().

#define KROOZ_GYRO_RANGE   MPU60X0_GYRO_RANGE_250

Definition at line 52 of file imu_krooz.c.

Referenced by imu_impl_init().

#define KROOZ_LOWPASS_FILTER   MPU60X0_DLPF_256HZ

Definition at line 45 of file imu_krooz.c.

Referenced by imu_impl_init().

#define KROOZ_SMPLRT_DIV   1

Definition at line 46 of file imu_krooz.c.

Referenced by imu_impl_init().

Function Documentation

void imu_impl_init

(

void

)

must be defined by underlying hardware

Definition at line 68 of file imu_krooz.c.

References Mpu60x0Config::accel_range, ImuKrooz::accel_sum, Mpu60x0_I2c::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::drdy_int_enable, FALSE, Mpu60x0Config::gyro_range, ImuKrooz::hmc, HMC58XX_ADDR, hmc58xx_init(), ImuKrooz::hmc_eoc, imu_krooz_sd_arch_init(), InitMedianFilterVect3Int, KROOZ_ACCEL_RANGE, KROOZ_GYRO_RANGE, KROOZ_LOWPASS_FILTER, KROOZ_SMPLRT_DIV, ImuKrooz::meas_nb, median_mag, ImuKrooz::mpu, MPU60X0_ADDR, mpu60x0_i2c_init(), ImuKrooz::mpu_eoc, RATES_ASSIGN, ImuKrooz::rates_sum, Mpu60x0Config::smplrt_div, TRUE, and VECT3_ASSIGN.

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void imu_krooz_downlink_raw

(

void

)

Definition at line 137 of file imu_krooz.c.

References Imu::accel_unscaled, DefaultChannel, DefaultDevice, Imu::gyro_unscaled, imu, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

void imu_krooz_event

(

void

)

Definition at line 146 of file imu_krooz.c.

void imu_periodic

(

void

)

optional.

If not provided by implementation, empty function is used

Definition at line 98 of file imu_krooz.c.

References Imu::accel, ImuKrooz::accel_filtered, ImuKrooz::accel_sum, Imu::accel_unscaled, Mpu60x0_I2c::config, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuKrooz::hmc, hmc58xx_start_configure(), imu, IMU_BOARD_ID, IMU_KROOZ_ACCEL_AVG_FILTER, imu_scale_accel(), imu_scale_gyro(), Hmc58xx::initialized, Mpu60x0Config::initialized, ImuKrooz::meas_nb, ImuKrooz::mpu, mpu60x0_i2c_start_configure(), Int32Rates::p, Int32Rates::q, Int32Rates::r, RATES_ASSIGN, ImuKrooz::rates_sum, UpdateMedianFilterVect3Int, VECT3_ADD, VECT3_ASSIGN, VECT3_COPY, VECT3_SDIV, VECT3_SMUL, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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Variable Documentation

struct ImuKrooz imu_krooz

Definition at line 61 of file imu_krooz.c.

Referenced by exti9_5_isr().

struct MedianFilter3Int median_mag

Definition at line 66 of file imu_krooz.c.

Referenced by imu_impl_init(), imu_krooz_event(), and imu_navgo_event().