imu_px4fmu.c File Reference

Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883. More...

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/spi.h"
#include "peripherals/hmc58xx_regs.h"

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Macros
#define	PX4FMU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000
#define	PX4FMU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Functions
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_px4fmu_event (void)

Variables
struct ImuPx4fmu	imu_px4fmu

Detailed Description

Driver for the PX4FMU SPI1 for the MPU6000 and I2C2 for the HMC5883.

Definition in file imu_px4fmu.c.

Macro Definition Documentation

#define PX4FMU_ACCEL_RANGE   MPU60X0_ACCEL_RANGE_16G

Definition at line 62 of file imu_px4fmu.c.

Referenced by imu_impl_init().

#define PX4FMU_GYRO_RANGE   MPU60X0_GYRO_RANGE_2000

Definition at line 57 of file imu_px4fmu.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 68 of file imu_px4fmu.c.

References Mpu60x0Config::accel_range, Mpu60x0_Spi::config, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::gyro_range, ImuPx4fmu::hmc, HMC58XX_ADDR, hmc58xx_init(), ImuPx4fmu::mpu, mpu60x0_spi_init(), PX4FMU_ACCEL_RANGE, PX4FMU_GYRO_RANGE, Mpu60x0Config::smplrt_div, spi1, and SPI_SLAVE2.

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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 83 of file imu_px4fmu.c.

References ImuPx4fmu::hmc, hmc58xx_periodic(), imu_px4fmu, ImuPx4fmu::mpu, and mpu60x0_spi_periodic().

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void imu_px4fmu_event

(

void

)

Definition at line 91 of file imu_px4fmu.c.

References Imu::accel, Imu::accel_unscaled, Hmc58xx::data, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Hmc58xx::data_available, Mpu60x0_Spi::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, ImuPx4fmu::hmc, hmc58xx_event(), imu, IMU_BOARD_ID, imu_px4fmu, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuPx4fmu::mpu, mpu60x0_spi_event(), RATES_ASSIGN, VECT3_ASSIGN, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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Variable Documentation

struct ImuPx4fmu imu_px4fmu

Definition at line 66 of file imu_px4fmu.c.

Referenced by imu_periodic(), and imu_px4fmu_event().