Paparazzi UAS  v5.8.2_stable-0-g6260b7c
Paparazzi is a free software Unmanned Aircraft System.
 All Data Structures Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
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"
+ Include dependency graph for imu_mpu6000.c:

Go to the source code of this file.

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.

+ Here is the call graph for this function:

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().

+ Here is the call graph for this function:

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().