imu_ppzuav.c File Reference

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/i2c.h"

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Macros
#define	IMU_PPZUAV_I2C_DEV   i2c0
#define	IMU_PPZUAV_ACCEL_RATE   ADXL345_RATE_50HZ
	adxl345 accelerometer output rate, lowpass is set to half of rate More...
#define	IMU_PPZUAV_GYRO_LOWPASS   ITG3200_DLPF_20HZ
	gyro internal lowpass frequency More...
#define	IMU_PPZUAV_GYRO_SMPLRT_DIV   19
	gyro sample rate divider More...

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

Variables
struct ImuPpzuav	imu_ppzuav

Macro Definition Documentation

#define IMU_PPZUAV_ACCEL_RATE   ADXL345_RATE_50HZ

adxl345 accelerometer output rate, lowpass is set to half of rate

Definition at line 43 of file imu_ppzuav.c.

Referenced by imu_impl_init().

#define IMU_PPZUAV_GYRO_LOWPASS   ITG3200_DLPF_20HZ

gyro internal lowpass frequency

Definition at line 56 of file imu_ppzuav.c.

Referenced by imu_impl_init().

#define IMU_PPZUAV_GYRO_SMPLRT_DIV   19

gyro sample rate divider

Definition at line 69 of file imu_ppzuav.c.

Referenced by imu_impl_init().

#define IMU_PPZUAV_I2C_DEV   i2c0

Definition at line 37 of file imu_ppzuav.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 81 of file imu_ppzuav.c.

References ImuPpzuav::acc_adxl, ADXL345_ADDR, adxl345_i2c_init(), Adxl345_I2c::config, Itg3200::config, Itg3200Config::dlpf_cfg, ImuPpzuav::gyro_itg, HMC58XX_ADDR, hmc58xx_init(), HMC_TYPE_5843, IMU_PPZUAV_ACCEL_RATE, IMU_PPZUAV_GYRO_LOWPASS, IMU_PPZUAV_GYRO_SMPLRT_DIV, IMU_PPZUAV_I2C_DEV, ITG3200_ADDR, itg3200_init(), ImuPpzuav::mag_hmc, Adxl345Config::rate, Itg3200Config::smplrt_div, and Hmc58xx::type.

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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 101 of file imu_ppzuav.c.

References ImuPpzuav::acc_adxl, adxl345_i2c_periodic(), ImuPpzuav::gyro_itg, hmc58xx_periodic(), imu_ppzuav, itg3200_periodic(), and ImuPpzuav::mag_hmc.

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void imu_ppzuav_event

(

void

)

Definition at line 112 of file imu_ppzuav.c.

References ImuPpzuav::acc_adxl, Imu::accel, Imu::accel_unscaled, 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, ImuPpzuav::gyro_itg, Imu::gyro_unscaled, hmc58xx_event(), imu, imu_ppzuav, IMU_PPZUAV_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), itg3200_event(), Imu::mag, ImuPpzuav::mag_hmc, Imu::mag_unscaled, Int32Rates::p, Int32Rates::q, Int32Rates::r, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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Variable Documentation

struct ImuPpzuav imu_ppzuav

Definition at line 79 of file imu_ppzuav.c.

Referenced by imu_periodic(), and imu_ppzuav_event().