imu_mpu6000.c File Reference

Driver for IMU with only MPU6000 via SPI. More...

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

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Macros
#define	IMU_MPU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
#define	IMU_MPU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

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

Variables
struct ImuMpu6000	imu_mpu_spi

Detailed Description

Driver for IMU with only MPU6000 via SPI.

Definition in file imu_mpu6000.c.

Macro Definition Documentation

#define IMU_MPU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 65 of file imu_mpu6000.c.

Referenced by imu_impl_init().

#define IMU_MPU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 60 of file imu_mpu6000.c.

Referenced by imu_impl_init().

Function Documentation

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)

Todo:

drdy int handling for adxl345

Definition at line 72 of file imu_mpu6000.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, IMU_MPU_ACCEL_RANGE, IMU_MPU_GYRO_RANGE, ImuMpu6000::mpu, mpu60x0_spi_init(), and Mpu60x0Config::smplrt_div.

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void imu_mpu_spi_event

(

void

)

Definition at line 88 of file imu_mpu6000.c.

References Imu::accel, Imu::accel_unscaled, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, IMU_MPU6000_ID, imu_mpu_spi, imu_scale_accel(), imu_scale_gyro(), ImuMpu6000::mpu, mpu60x0_spi_event(), RATES_COPY, and VECT3_COPY.

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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 83 of file imu_mpu6000.c.

References imu_mpu_spi, ImuMpu6000::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

struct ImuMpu6000 imu_mpu_spi

Definition at line 70 of file imu_mpu6000.c.

Referenced by imu_mpu_spi_event(), and imu_periodic().