imu_mpu6000_hmc5883.c File Reference

Driver for IMU with MPU6000 via SPI and HMC5883 via I2c. More...

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/spi.h"
#include "peripherals/hmc58xx_regs.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_hmc_event (void)

Variables
struct ImuMpu6000Hmc5883	imu_mpu_hmc

Detailed Description

Driver for IMU with MPU6000 via SPI and HMC5883 via I2c.

Definition in file imu_mpu6000_hmc5883.c.

Macro Definition Documentation

#define IMU_MPU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 68 of file imu_mpu6000_hmc5883.c.

Referenced by imu_impl_init().

#define IMU_MPU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 63 of file imu_mpu6000_hmc5883.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 75 of file imu_mpu6000_hmc5883.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, ImuMpu6000Hmc5883::hmc, HMC58XX_ADDR, hmc58xx_init(), IMU_MPU_ACCEL_RANGE, IMU_MPU_GYRO_RANGE, ImuMpu6000Hmc5883::mpu, mpu60x0_spi_init(), and Mpu60x0Config::smplrt_div.

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void imu_mpu_hmc_event

(

void

)

Definition at line 99 of file imu_mpu6000_hmc5883.c.

References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Hmc58xx::data_available, Mpu60x0_Spi::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuMpu6000Hmc5883::hmc, hmc58xx_event(), imu, IMU_MPU6000_HMC_ID, imu_mpu_hmc, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuMpu6000Hmc5883::mpu, mpu60x0_spi_event(), RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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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 89 of file imu_mpu6000_hmc5883.c.

References ImuMpu6000Hmc5883::hmc, hmc58xx_periodic(), imu_mpu_hmc, ImuMpu6000Hmc5883::mpu, and mpu60x0_spi_periodic().

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Variable Documentation

struct ImuMpu6000Hmc5883 imu_mpu_hmc

Definition at line 73 of file imu_mpu6000_hmc5883.c.

Referenced by imu_mpu_hmc_event(), and imu_periodic().