imu_mpu6000_hmc5883.h File Reference

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

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "subsystems/imu/imu_mpu60x0_defaults.h"
#include "peripherals/mpu60x0_spi.h"
#include "peripherals/hmc58xx.h"

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Data Structures
struct	ImuMpu6000Hmc5883

Macros
#define	ImuEvent   imu_mpu_hmc_event

Functions
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.

E.g. for Aspirin 2.1

Definition in file imu_mpu6000_hmc5883.h.

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Data Structure Documentation

struct ImuMpu6000Hmc5883

Definition at line 40 of file imu_mpu6000_hmc5883.h.

Collaboration diagram for ImuMpu6000Hmc5883:

Data Fields
struct Hmc58xx	hmc
struct Mpu60x0_Spi	mpu

Macro Definition Documentation

#define ImuEvent   imu_mpu_hmc_event

Definition at line 49 of file imu_mpu6000_hmc5883.h.

Function Documentation

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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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().