Paparazzi UAS  v5.15_devel-58-g208c37b
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imu_mpu9250_spi.c File Reference

IMU driver for the MPU9250 using SPI. More...

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Macros

#define IMU_MPU9250_SMPLRT_DIV   9
 
#define IMU_MPU9250_GYRO_LOWPASS_FILTER   MPU9250_DLPF_GYRO_41HZ
 
#define IMU_MPU9250_ACCEL_LOWPASS_FILTER   MPU9250_DLPF_ACCEL_41HZ
 
#define IMU_MPU9250_CHAN_X   0
 
#define IMU_MPU9250_CHAN_Y   1
 
#define IMU_MPU9250_CHAN_Z   2
 
#define IMU_MPU9250_X_SIGN   1
 
#define IMU_MPU9250_Y_SIGN   1
 
#define IMU_MPU9250_Z_SIGN   1
 
#define IMU_MPU9250_READ_MAG   TRUE
 
#define IMU_MPU9250_MAG_STARTUP_DELAY   1
 
#define Int16FromBuf(_buf, _idx)   ((int16_t)(_buf[_idx] | (_buf[_idx+1] << 8)))
 

Functions

void mpu_wait_slave4_ready (void)
 
void mpu_wait_slave4_ready_cb (struct spi_transaction *t)
 
bool imu_mpu9250_configure_mag_slave (Mpu9250ConfigSet mpu_set, void *mpu)
 function to configure akm8963 mag More...
 
void imu_mpu9250_init (void)
 
void imu_mpu9250_periodic (void)
 
void imu_mpu9250_event (void)
 
static void mpu_set_and_wait (Mpu9250ConfigSet mpu_set, void *mpu, uint8_t _reg, uint8_t _val)
 

Variables

struct ImuMpu9250 imu_mpu9250
 

Detailed Description

IMU driver for the MPU9250 using SPI.

Definition in file imu_mpu9250_spi.c.

Macro Definition Documentation

#define IMU_MPU9250_ACCEL_LOWPASS_FILTER   MPU9250_DLPF_ACCEL_41HZ

Definition at line 62 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_init().

#define IMU_MPU9250_CHAN_X   0

Definition at line 75 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_CHAN_Y   1

Definition at line 79 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_CHAN_Z   2

Definition at line 83 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_GYRO_LOWPASS_FILTER   MPU9250_DLPF_GYRO_41HZ

Definition at line 61 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_init().

#define IMU_MPU9250_MAG_STARTUP_DELAY   1

Definition at line 105 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_configure_mag_slave().

#define IMU_MPU9250_READ_MAG   TRUE

Definition at line 101 of file imu_mpu9250_spi.c.

#define IMU_MPU9250_SMPLRT_DIV   9

Definition at line 60 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_init().

#define IMU_MPU9250_X_SIGN   1

Definition at line 88 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_Y_SIGN   1

Definition at line 92 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_Z_SIGN   1

Definition at line 96 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define Int16FromBuf (   _buf,
  _idx 
)    ((int16_t)(_buf[_idx] | (_buf[_idx+1] << 8)))

Definition at line 166 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

Function Documentation

bool imu_mpu9250_configure_mag_slave ( Mpu9250ConfigSet  mpu_set,
void *  mpu 
)
void imu_mpu9250_periodic ( void  )

Definition at line 161 of file imu_mpu9250_spi.c.

References imu_mpu9250, ImuMpu9250::mpu, mpu9250, mpu9250_i2c_periodic(), and mpu9250_spi_periodic().

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static void mpu_set_and_wait ( Mpu9250ConfigSet  mpu_set,
void *  mpu,
uint8_t  _reg,
uint8_t  _val 
)
inlinestatic

Definition at line 214 of file imu_mpu9250_spi.c.

References imu_mpu9250, ImuMpu9250::mpu, and SPITransSuccess.

Referenced by imu_mpu9250_configure_mag_slave().

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void mpu_wait_slave4_ready ( void  )

Definition at line 258 of file imu_mpu9250_spi.c.

References imu_mpu9250, ImuMpu9250::mpu, MPU9250_REG_I2C_MST_STATUS, MPU9250_SPI_READ, ImuMpu9250::slave4_ready, spi_submit(), SPITransDone, spi_transaction::status, ImuMpu9250::wait_slave4_trans, and ImuMpu9250::wait_slave4_tx_buf.

Referenced by imu_mpu9250_configure_mag_slave().

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void mpu_wait_slave4_ready_cb ( struct spi_transaction t)

Definition at line 268 of file imu_mpu9250_spi.c.

References imu_mpu9250, spi_transaction::input_buf, MPU9250_I2C_SLV4_DONE, ImuMpu9250::slave4_ready, SPITransDone, and spi_transaction::status.

Referenced by imu_mpu9250_init().

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Variable Documentation