imu_nps.c File Reference

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "generated/airframe.h"
#include "nps_sensors.h"

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Functions
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_feed_gyro_accel (void)
void	imu_feed_mag (void)
void	imu_nps_event (void)

Variables
struct ImuNps	imu_nps

Function Documentation

void imu_feed_gyro_accel

(

void

)

Definition at line 44 of file imu_nps.c.

References ImuNps::accel_available, Imu::accel_unscaled, ImuNps::gyro_available, Imu::gyro_unscaled, imu, imu_nps, RATES_ASSIGN, TRUE, VECT3_ASSIGN, and Int32Vect3::x.

void imu_feed_mag

(

void

)

Definition at line 57 of file imu_nps.c.

References imu, imu_nps, ImuNps::mag_available, Imu::mag_unscaled, TRUE, VECT3_ASSIGN, and Int32Vect3::x.

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 30 of file imu_nps.c.

References ImuNps::accel_available, FALSE, ImuNps::gyro_available, imu_nps, and ImuNps::mag_available.

void imu_nps_event

(

void

)

Definition at line 65 of file imu_nps.c.

References Imu::accel, ImuNps::accel_available, FALSE, get_sys_time_usec(), Imu::gyro, ImuNps::gyro_available, imu, IMU_BOARD_ID, imu_nps, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, and ImuNps::mag_available.

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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 39 of file imu_nps.c.

Variable Documentation

struct ImuNps imu_nps

Definition at line 28 of file imu_nps.c.

Referenced by imu_feed_gyro_accel(), imu_feed_mag(), imu_impl_init(), and imu_nps_event().