mpu9x50_main.cpp File Reference

#include <stdint.h>
#include <fcntl.h>
#include <unistd.h>
#include <signal.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/getopt.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <semaphore.h>
#include <mpu9x50.h>

Include dependency graph for mpu9x50_main.cpp:

Go to the source code of this file.

Namespaces
	mpu9x50

Macros
#define	MAX_LEN_DEV_PATH   32
#define	SPI_INT_GPIO   65

Functions
__EXPORT int	mpu9x50_main (int argc, char *argv[])
	driver 'main' command More...
static void	mpu9x50::usage ()
	Print out the usage information. More...
static void	mpu9x50::stop ()
	mpu9x50 stop measurement More...
static void	mpu9x50::task_main_trampoline (int argc, char *argv[])
	task main trampoline function More...
static void	mpu9x50::task_main (int argc, char *argv[])
	mpu9x50 measurement thread primary entry point More...
static bool	mpu9x50::create_pubs ()
	create and advertise all publicatoins More...
static void	mpu9x50::update_reports ()
	update all sensor reports with the latest sensor reading More...
static void	mpu9x50::publish_reports ()
	publish all sensor reports More...
static void	mpu9x50::parameters_update ()
	update all parameters More...
static void	mpu9x50::parameters_init ()
	initialize all parameter handles and load the initial parameter values More...
static void	mpu9x50::parameter_update_poll ()
	poll parameter update More...
static void *	mpu9x50::data_ready_isr (void *context)
	MPU9x50 data ready interrupt service routine. More...
void	mpu9x50::start ()
	Attempt to start driver on all available I2C busses. More...

Variables
static char	mpu9x50::_device [MAX_LEN_DEV_PATH]
	SPI device path that mpu9x50 is connected to. More...
static bool	mpu9x50::_is_running = false
	flag indicating if mpu9x50 app is running More...
static bool	mpu9x50::_task_should_exit = false
	flag indicating if measurement thread should exit More...
static px4_task_t	mpu9x50::_task_handle = -1
	handle to the task main thread More...
static struct mpu9x50_data	mpu9x50::_data
	IMU measurement data. More...
static orb_advert_t	mpu9x50::_gyro_pub = nullptr
	gyro data publication More...
static int	mpu9x50::_gyro_orb_class_instance
	instance handle for gyro devices More...
static orb_advert_t	mpu9x50::_accel_pub = nullptr
	accelerameter data publication More...
static int	mpu9x50::_accel_orb_class_instance
	instance handle for accel devices More...
static orb_advert_t	mpu9x50::_mag_pub = nullptr
	compass data publication More...
static int	mpu9x50::_mag_orb_class_instance
	instance handle for mag devices More...
static int	mpu9x50::_params_sub
	parameter update subscription More...
static sensor_gyro_s	mpu9x50::_gyro
	gyro report More...
static sensor_accel_s	mpu9x50::_accel
	accel report More...
static struct mag_report	mpu9x50::_mag
	mag report More...
static struct gyro_calibration_s	mpu9x50::_gyro_sc
	gyro scale More...
static struct accel_calibration_s	mpu9x50::_accel_sc
	accel scale More...
static struct mag_calibration_s	mpu9x50::_mag_sc
	mag scale More...
static enum gyro_lpf_e	mpu9x50::_gyro_lpf = MPU9X50_GYRO_LPF_20HZ
	gyro lpf enum value More...
static enum acc_lpf_e	mpu9x50::_accel_lpf = MPU9X50_ACC_LPF_20HZ
	accel lpf enum value More...
static enum gyro_sample_rate_e	mpu9x50::_imu_sample_rate = MPU9x50_SAMPLE_RATE_500HZ
	IMU sample rate enum. More...
struct {
param_t   mpu9x50::accel_x_offset
param_t   mpu9x50::accel_x_scale
param_t   mpu9x50::accel_y_offset
param_t   mpu9x50::accel_y_scale
param_t   mpu9x50::accel_z_offset
param_t   mpu9x50::accel_z_scale
param_t   mpu9x50::gyro_x_offset
param_t   mpu9x50::gyro_x_scale
param_t   mpu9x50::gyro_y_offset
param_t   mpu9x50::gyro_y_scale
param_t   mpu9x50::gyro_z_offset
param_t   mpu9x50::gyro_z_scale
param_t   mpu9x50::mag_x_offset
param_t   mpu9x50::mag_x_scale
param_t   mpu9x50::mag_y_offset
param_t   mpu9x50::mag_y_scale
param_t   mpu9x50::mag_z_offset
param_t   mpu9x50::mag_z_scale
param_t   mpu9x50::gyro_lpf_enum
param_t   mpu9x50::accel_lpf_enum
param_t   mpu9x50::imu_sample_rate_enum
}	mpu9x50::_params_handles
	parameter handles More...
bool	mpu9x50::exit_mreasurement = false
static int64_t	mpu9x50::_isr_data_ready_timestamp = 0

Macro Definition Documentation

MAX_LEN_DEV_PATH

#define MAX_LEN_DEV_PATH   32

Definition at line 70 of file mpu9x50_main.cpp.

Referenced by mpu9x50_main().

SPI_INT_GPIO

#define SPI_INT_GPIO   65

Definition at line 73 of file mpu9x50_main.cpp.

Referenced by mpu9x50::task_main().

Function Documentation

mpu9x50_main()

int mpu9x50_main	(	int	argc,
		char *	argv[]
	)

driver 'main' command

Definition at line 603 of file mpu9x50_main.cpp.

References mpu9x50::_device, mpu9x50::_is_running, MAX_LEN_DEV_PATH, mpu9x50::start(), mpu9x50::stop(), and mpu9x50::usage().

Here is the call graph for this function: