imu_mpu60x0_i2c.c File Reference

Driver for IMU with only MPU60X0 via I2C. More...

#include <math.h>
#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/i2c.h"
#include "led.h"

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Macros
#define	IMU_MPU60X0_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
#define	IMU_MPU60X0_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G
#define	IMU_MPU60X0_I2C_ADDR   MPU60X0_ADDR

Functions
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_mpu_i2c_event (void)

Variables
struct ImuMpu60x0	imu_mpu_i2c

Detailed Description

Driver for IMU with only MPU60X0 via I2C.

Definition in file imu_mpu60x0_i2c.c.

Macro Definition Documentation

#define IMU_MPU60X0_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 62 of file imu_mpu60x0_i2c.c.

Referenced by imu_impl_init().

#define IMU_MPU60X0_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 57 of file imu_mpu60x0_i2c.c.

Referenced by imu_impl_init().

#define IMU_MPU60X0_I2C_ADDR   MPU60X0_ADDR

Definition at line 67 of file imu_mpu60x0_i2c.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_mpu60x0_i2c.c.

References Mpu60x0Config::accel_range, Mpu60x0_I2c::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, IMU_MPU60X0_ACCEL_RANGE, IMU_MPU60X0_GYRO_RANGE, IMU_MPU60X0_I2C_ADDR, imu_mpu_i2c, ImuMpu60x0::mpu, mpu60x0_i2c_init(), and Mpu60x0Config::smplrt_div.

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void imu_mpu_i2c_event

(

void

)

Definition at line 87 of file imu_mpu60x0_i2c.c.

References Imu::accel, Imu::accel_unscaled, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Mpu60x0_I2c::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, IMU_MPU60X0_ID, imu_mpu_i2c, imu_scale_accel(), imu_scale_gyro(), ImuMpu60x0::mpu, mpu60x0_i2c_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 82 of file imu_mpu60x0_i2c.c.

References imu_mpu_i2c, ImuMpu60x0::mpu, and mpu60x0_i2c_periodic().

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Variable Documentation

struct ImuMpu60x0 imu_mpu_i2c

Definition at line 70 of file imu_mpu60x0_i2c.c.

Referenced by imu_impl_init(), imu_mpu_i2c_event(), and imu_periodic().