ICM20789.cpp File Reference

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <utility>
#include <stdio.h>

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Macros
#define	MPUREG_WHOAMI   0x75
#define	MPUREG_USER_CTRL   0x6A
#define	MPUREG_PWR_MGMT_1   0x6B
#define	MPUREG_INT_PIN_CFG   0x37
#define	BIT_BYPASS_EN   0x02
#define	BIT_INT_RD_CLEAR   0x10
#define	BIT_LATCH_INT_EN   0x20
#define	BIT_USER_CTRL_I2C_MST_EN   0x20
#define	BIT_PWR_MGMT_1_DEVICE_RESET   0x80
#define	BIT_USER_CTRL_I2C_IF_DIS   0x10
#define	BIT_PWR_MGMT_1_CLK_XGYRO   0x01
#define	BIT_PWR_MGMT_1_CLK_ZGYRO   0x03
#define	CMD_SOFT_RESET   0x805D
#define	CMD_READ_ID   0xEFC8

Functions
void	setup (void)
void	loop (void)
static bool	send_cmd16 (uint16_t cmd)
static bool	read_calibration_data (void)
	AP_HAL_MAIN ()

Variables
const AP_HAL::HAL &	hal = AP_HAL::get_HAL()
	-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- More...
static AP_HAL::OwnPtr< AP_HAL::Device >	i2c_dev
static AP_HAL::OwnPtr< AP_HAL::Device >	spi_dev
static AP_HAL::OwnPtr< AP_HAL::Device >	dev

Macro Definition Documentation

BIT_BYPASS_EN

#define BIT_BYPASS_EN   0x02

Definition at line 24 of file ICM20789.cpp.

Referenced by AP_InertialSensor_Invensense::_hardware_init(), AP_Baro_LPS2XH::_imu_i2c_init(), AP_Baro_ICM20789::imu_i2c_init(), and AP_InertialSensor_Invensense::start().

BIT_INT_RD_CLEAR

#define BIT_INT_RD_CLEAR   0x10

Definition at line 25 of file ICM20789.cpp.

Referenced by AP_InertialSensor_Invensense::start().

BIT_LATCH_INT_EN

#define BIT_LATCH_INT_EN   0x20

Definition at line 26 of file ICM20789.cpp.

Referenced by AP_InertialSensor_Invensense::start().

BIT_PWR_MGMT_1_CLK_XGYRO

#define BIT_PWR_MGMT_1_CLK_XGYRO   0x01

Definition at line 31 of file ICM20789.cpp.

Referenced by AP_Baro_LPS2XH::_imu_i2c_init(), AP_Baro_ICM20789::imu_i2c_init(), and AP_Baro_ICM20789::imu_spi_init().

BIT_PWR_MGMT_1_CLK_ZGYRO

#define BIT_PWR_MGMT_1_CLK_ZGYRO   0x03

Definition at line 32 of file ICM20789.cpp.

Referenced by AP_InertialSensor_Invensense::_hardware_init().

BIT_PWR_MGMT_1_DEVICE_RESET

#define BIT_PWR_MGMT_1_DEVICE_RESET   0x80

Definition at line 29 of file ICM20789.cpp.

Referenced by AP_InertialSensor_Invensense::_hardware_init().

BIT_USER_CTRL_I2C_IF_DIS

#define BIT_USER_CTRL_I2C_IF_DIS   0x10

Definition at line 30 of file ICM20789.cpp.

Referenced by AP_InertialSensor_Invensense::_hardware_init(), and AP_Baro_ICM20789::imu_spi_init().

BIT_USER_CTRL_I2C_MST_EN

#define BIT_USER_CTRL_I2C_MST_EN   0x20

Definition at line 28 of file ICM20789.cpp.

Referenced by AP_Invensense_AuxiliaryBus::_configure_slaves(), and AP_InertialSensor_Invensense::_hardware_init().

CMD_READ_ID

#define CMD_READ_ID   0xEFC8

Definition at line 36 of file ICM20789.cpp.

Referenced by read_calibration_data().

CMD_SOFT_RESET

#define CMD_SOFT_RESET   0x805D

Definition at line 35 of file ICM20789.cpp.

Referenced by read_calibration_data().

MPUREG_INT_PIN_CFG

#define MPUREG_INT_PIN_CFG   0x37

Definition at line 23 of file ICM20789.cpp.

Referenced by AP_InertialSensor_Invensense::_hardware_init(), AP_Baro_LPS2XH::_imu_i2c_init(), AP_Baro_ICM20789::imu_i2c_init(), AP_Baro_ICM20789::imu_spi_init(), and AP_InertialSensor_Invensense::start().

MPUREG_PWR_MGMT_1

#define MPUREG_PWR_MGMT_1   0x6B

Definition at line 21 of file ICM20789.cpp.

Referenced by AP_InertialSensor_Invensense::_hardware_init(), AP_Baro_LPS2XH::_imu_i2c_init(), AP_Baro_ICM20789::imu_i2c_init(), and AP_Baro_ICM20789::imu_spi_init().

MPUREG_USER_CTRL

#define MPUREG_USER_CTRL   0x6A

Definition at line 20 of file ICM20789.cpp.

Referenced by AP_Invensense_AuxiliaryBus::_configure_slaves(), AP_InertialSensor_Invensense::_fifo_reset(), AP_InertialSensor_Invensense::_hardware_init(), and AP_Baro_ICM20789::imu_spi_init().

MPUREG_WHOAMI

#define MPUREG_WHOAMI   0x75

Definition at line 19 of file ICM20789.cpp.

Referenced by AP_InertialSensor_Invensense::_check_whoami(), AP_Baro_LPS2XH::_imu_i2c_init(), AP_Baro_ICM20789::imu_i2c_init(), and AP_Baro_ICM20789::imu_spi_init().

Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

Referenced by loop().

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loop()

void loop

(

void

)

Definition at line 299 of file ICM20789.cpp.

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read_calibration_data()

static bool read_calibration_data ( void  )

static

Definition at line 199 of file ICM20789.cpp.

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send_cmd16()

static bool send_cmd16 ( uint16_t  cmd )

static

Definition at line 190 of file ICM20789.cpp.

Referenced by read_calibration_data().

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setup()

void setup

(

void

)

Definition at line 266 of file ICM20789.cpp.

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Variable Documentation

dev

AP_HAL::OwnPtr<AP_HAL::Device> dev

static

Definition at line 16 of file ICM20789.cpp.

Referenced by Linux::SPIDeviceManager::_create_device(), Linux::I2CDeviceManager::_create_device(), F4Light::SPIDevice::_cs_release(), F4Light::GPIO::_pinMode(), F4Light::AnalogIn::_timer_event(), adc_init(), dispatch_handler(), dma_attach_interrupt(), dma_clear_isr_bits(), dma_detach_interrupt(), dma_disable(), dma_enable(), dma_get_isr_bits(), dma_init(), dma_init_transfer(), dma_is_stream_enabled(), dma_set_num_transfers(), F4Light::RCOutput::enable_ch(), PX4::I2CDevice::from(), VRBRAIN::I2CDevice::from(), Linux::I2CDevice::from(), AP_InertialSensor_Invensense::from(), ChibiOS::I2CDevice::from(), AP_InertialSensor_Revo::from(), get_device(), PX4::I2CDeviceManager::get_device(), VRBRAIN::I2CDeviceManager::get_device(), Linux::SPIDeviceManager::get_device(), Linux::I2CDeviceManager::get_device(), ChibiOS::I2CDeviceManager::get_device(), F4Light::RCOutput::get_freq(), GCS_MAVLINK::handle_device_op_read(), GCS_MAVLINK::handle_device_op_write(), F4Light::I2CDevice::init(), F4Light::RCOutput::init_channel(), loop(), pwmInitializeInput(), F4Light::RCOutput::set_freq(), F4Light::AnalogSource::set_pin(), F4Light::RCOutput::set_pwm(), F4Light::AnalogSource::setup_read(), AP_BoardConfig::spi_check_register(), spi_peripheral_disable(), F4Light::AnalogSource::stop_read(), usart_disable_all(), F4Light::GPIO::write(), and AP_InertialSensor_LSM9DS1::~AP_InertialSensor_LSM9DS1().

hal

const AP_HAL::HAL& hal = AP_HAL::get_HAL()

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

The strategy for roll/pitch autotune is to give the user a AUTOTUNE flight mode which behaves just like FBWA, but does automatic tuning.

While the user is flying in AUTOTUNE the gains are saved every 10 seconds, but the saved gains are not the current gains, instead it saves the gains from 10s ago. When the user exits AUTOTUNE the gains are restored from 10s ago.

This allows the user to fly as much as they want in AUTOTUNE mode, and if they are ever unhappy they just exit the mode. If they stay in AUTOTUNE for more than 10s then their gains will have changed.

Using this approach users don't need any special switches, they just need to be able to enter and exit AUTOTUNE mode

Definition at line 12 of file ICM20789.cpp.

i2c_dev

AP_HAL::OwnPtr<AP_HAL::Device> i2c_dev

static

Definition at line 14 of file ICM20789.cpp.

spi_dev

AP_HAL::OwnPtr<AP_HAL::Device> spi_dev

static

Definition at line 15 of file ICM20789.cpp.