imu_mpu9250_spi.h File Reference

IMU driver for the MPU9250 using SPI. More...

#include "std.h"
#include "generated/airframe.h"
#include "subsystems/imu.h"
#include "peripherals/mpu9250_spi.h"

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Go to the source code of this file.

Data Structures
struct	ImuMpu9250

Macros
#define	IMU_GYRO_P_SENS   2.17953
	default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I More...
#define	IMU_GYRO_P_SENS_NUM   18271
#define	IMU_GYRO_P_SENS_DEN   8383
#define	IMU_GYRO_Q_SENS   2.17953
#define	IMU_GYRO_Q_SENS_NUM   18271
#define	IMU_GYRO_Q_SENS_DEN   8383
#define	IMU_GYRO_R_SENS   2.17953
#define	IMU_GYRO_R_SENS_NUM   18271
#define	IMU_GYRO_R_SENS_DEN   8383
#define	IMU_ACCEL_X_SENS   2.4525
	default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525 More...
#define	IMU_ACCEL_X_SENS_NUM   981
#define	IMU_ACCEL_X_SENS_DEN   400
#define	IMU_ACCEL_Y_SENS   2.4525
#define	IMU_ACCEL_Y_SENS_NUM   981
#define	IMU_ACCEL_Y_SENS_DEN   400
#define	IMU_ACCEL_Z_SENS   2.4525
#define	IMU_ACCEL_Z_SENS_NUM   981
#define	IMU_ACCEL_Z_SENS_DEN   400
#define	ImuEvent   imu_mpu9250_event

Functions
void	imu_mpu9250_event (void)

Variables
struct ImuMpu9250	imu_mpu9250

Detailed Description

IMU driver for the MPU9250 using SPI.

Definition in file imu_mpu9250_spi.h.

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Data Structure Documentation

struct ImuMpu9250

Definition at line 74 of file imu_mpu9250_i2c.h.

Collaboration diagram for ImuMpu9250:

Data Fields
struct Mpu9250_I2c	mpu
struct Mpu9250_Spi	mpu
volatile bool_t	slave4_ready
volatile uint8_t	wait_slave4_rx_buf[2]
struct spi_transaction	wait_slave4_trans
volatile uint8_t	wait_slave4_tx_buf[1]

Macro Definition Documentation

#define IMU_ACCEL_X_SENS   2.4525

default accel sensitivy from the datasheet MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525

Definition at line 62 of file imu_mpu9250_spi.h.

#define IMU_ACCEL_X_SENS_DEN   400

Definition at line 64 of file imu_mpu9250_spi.h.

#define IMU_ACCEL_X_SENS_NUM   981

Definition at line 63 of file imu_mpu9250_spi.h.

#define IMU_ACCEL_Y_SENS   2.4525

Definition at line 65 of file imu_mpu9250_spi.h.

#define IMU_ACCEL_Y_SENS_DEN   400

Definition at line 67 of file imu_mpu9250_spi.h.

#define IMU_ACCEL_Y_SENS_NUM   981

Definition at line 66 of file imu_mpu9250_spi.h.

#define IMU_ACCEL_Z_SENS   2.4525

Definition at line 68 of file imu_mpu9250_spi.h.

#define IMU_ACCEL_Z_SENS_DEN   400

Definition at line 70 of file imu_mpu9250_spi.h.

#define IMU_ACCEL_Z_SENS_NUM   981

Definition at line 69 of file imu_mpu9250_spi.h.

#define IMU_GYRO_P_SENS   2.17953

default gyro sensitivy and neutral from the datasheet MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 2^INT32_RATE_FRAC sens = 1/32.8 * pi/180 * 4096 = 2.17953 I

Definition at line 45 of file imu_mpu9250_spi.h.

#define IMU_GYRO_P_SENS_DEN   8383

Definition at line 47 of file imu_mpu9250_spi.h.

#define IMU_GYRO_P_SENS_NUM   18271

Definition at line 46 of file imu_mpu9250_spi.h.

#define IMU_GYRO_Q_SENS   2.17953

Definition at line 48 of file imu_mpu9250_spi.h.

#define IMU_GYRO_Q_SENS_DEN   8383

Definition at line 50 of file imu_mpu9250_spi.h.

#define IMU_GYRO_Q_SENS_NUM   18271

Definition at line 49 of file imu_mpu9250_spi.h.

#define IMU_GYRO_R_SENS   2.17953

Definition at line 51 of file imu_mpu9250_spi.h.

#define IMU_GYRO_R_SENS_DEN   8383

Definition at line 53 of file imu_mpu9250_spi.h.

#define IMU_GYRO_R_SENS_NUM   18271

Definition at line 52 of file imu_mpu9250_spi.h.

#define ImuEvent   imu_mpu9250_event

Definition at line 87 of file imu_mpu9250_spi.h.

Function Documentation

void imu_mpu9250_event

(

void

)

Definition at line 47 of file imu_mpu9250.c.

References Imu::accel, Imu::accel_unscaled, Mpu9250_I2c::akm, Ak8963::data, Mpu9250_I2c::data_accel, Mpu9250_I2c::data_available, Ak8963::data_available, Mpu9250_I2c::data_ext, Mpu9250_I2c::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_mpu9250, IMU_MPU9250_CHAN_X, IMU_MPU9250_CHAN_Y, IMU_MPU9250_CHAN_Z, IMU_MPU9250_ID, IMU_MPU9250_X_SIGN, IMU_MPU9250_Y_SIGN, IMU_MPU9250_Z_SIGN, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Int16FromBuf, Imu::mag, Imu::mag_unscaled, ImuMpu9250::mpu, mpu9250, mpu9250_i2c_event(), mpu9250_spi_event(), RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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Variable Documentation

struct ImuMpu9250 imu_mpu9250

Definition at line 94 of file imu_mpu9250_i2c.c.

Referenced by imu_impl_init(), imu_mpu9250_event(), imu_periodic(), mpu_set_and_wait(), mpu_wait_slave4_ready(), and mpu_wait_slave4_ready_cb().