imu_navgo.c File Reference

Driver for the IMU on the NavGo board. More...

#include <math.h>
#include "imu_navgo.h"
#include "mcu_periph/i2c.h"
#include "led.h"
#include "subsystems/abi.h"
#include "mcu_periph/uart.h"
#include "messages.h"
#include "subsystems/datalink/downlink.h"

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Macros
#define	NAVGO_ACCEL_RATE   ADXL345_RATE_25HZ
#define	NAVGO_GYRO_LOWPASS   ITG3200_DLPF_10HZ
#define	NAVGO_GYRO_SMPLRT_DIV   1

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

Variables
struct ImuNavgo	imu_navgo

Detailed Description

Driver for the IMU on the NavGo board.

• Gyroscope: Invensense ITG-3200
• Accelerometer: Analog Devices ADXL345
• Magnetometer: Honeywell HMC5883L

Definition in file imu_navgo.c.

Macro Definition Documentation

#define NAVGO_ACCEL_RATE   ADXL345_RATE_25HZ

Definition at line 46 of file imu_navgo.c.

Referenced by imu_impl_init(), and imu_periodic().

#define NAVGO_GYRO_LOWPASS   ITG3200_DLPF_10HZ

Definition at line 52 of file imu_navgo.c.

Referenced by imu_impl_init().

#define NAVGO_GYRO_SMPLRT_DIV   1

Definition at line 53 of file imu_navgo.c.

Referenced by imu_impl_init().

Function Documentation

void imu_impl_init

(

void

)

must be defined by underlying hardware

Definition at line 66 of file imu_navgo.c.

References ImuNavgo::adxl, ADXL345_ADDR_ALT, adxl345_i2c_init(), Adxl345_I2c::config, Itg3200::config, Itg3200Config::dlpf_cfg, ImuNavgo::hmc, HMC58XX_ADDR, hmc58xx_init(), imu_navgo, InitMedianFilterRatesInt, InitMedianFilterVect3Int, ImuNavgo::itg, ITG3200_ADDR_ALT, itg3200_init(), median_mag, NAVGO_ACCEL_RATE, NAVGO_GYRO_LOWPASS, NAVGO_GYRO_SMPLRT_DIV, Adxl345Config::rate, and Itg3200Config::smplrt_div.

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void imu_navgo_downlink_raw

(

void

)

Definition at line 111 of file imu_navgo.c.

References Imu::accel_unscaled, DefaultChannel, DefaultDevice, Imu::gyro_unscaled, imu, Imu::mag_unscaled, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

void imu_navgo_event

(

void

)

Definition at line 120 of file imu_navgo.c.

References Imu::accel, Imu::accel_unscaled, ImuNavgo::adxl, adxl345_i2c_event(), Adxl345_I2c::data, Hmc58xx::data, Itg3200::data, Adxl345_I2c::data_available, Hmc58xx::data_available, Itg3200::data_available, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuNavgo::hmc, hmc58xx_event(), imu, IMU_BOARD_ID, imu_navgo, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), ImuNavgo::itg, itg3200_event(), Imu::mag, Imu::mag_unscaled, median_mag, RATES_ASSIGN, UpdateMedianFilterRatesInt, UpdateMedianFilterVect3Int, VECT3_ASSIGN, and VECT3_COPY.

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void imu_periodic

(

void

)

optional.

If not provided by implementation, empty function is used

Definition at line 93 of file imu_navgo.c.

References ImuNavgo::adxl, adxl345_i2c_periodic(), ImuNavgo::hmc, hmc58xx_periodic(), imu_navgo, ImuNavgo::itg, itg3200_periodic(), NAVGO_ACCEL_RATE, and PERIODIC_FREQUENCY.

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Variable Documentation

struct ImuNavgo imu_navgo

Definition at line 64 of file imu_navgo.c.

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