mpu60x0.c File Reference

MPU-60X0 driver common functions (I2C and SPI). More...

#include "peripherals/mpu60x0.h"

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Functions
void	mpu60x0_set_default_config (struct Mpu60x0Config *c)
void	mpu60x0_send_config (Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config)
	Configuration sequence called once before normal use. More...

Variables
const float	MPU60X0_GYRO_SENS [4]
const struct Int32Rates	MPU60X0_GYRO_SENS_FRAC [4][2]
const float	MPU60X0_ACCEL_SENS [4]
const struct Int32Vect3	MPU60X0_ACCEL_SENS_FRAC [4][2]

Detailed Description

MPU-60X0 driver common functions (I2C and SPI).

Still needs the either I2C or SPI specific implementation.

Definition in file mpu60x0.c.

Function Documentation

mpu60x0_send_config()

void mpu60x0_send_config	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu,
		struct Mpu60x0Config *	config
	)

Configuration sequence called once before normal use.

Definition at line 89 of file mpu60x0.c.

References config, MPU60X0, MPU60X0_CONF_ACCEL, MPU60X0_CONF_ACCEL2, MPU60X0_CONF_DLPF, MPU60X0_CONF_DONE, MPU60X0_CONF_GYRO, MPU60X0_CONF_I2C_SLAVES, MPU60X0_CONF_INT_ENABLE, MPU60X0_CONF_PWR, MPU60X0_CONF_RESET, MPU60X0_CONF_SD, MPU60X0_CONF_UNDOC1, MPU60X0_CONF_USER_RESET, mpu60x0_configure_i2c_slaves(), MPU60X0_FIFO_RESET, MPU60X0_I2C_MST_RESET, MPU60X0_REG_ACCEL_CONFIG, MPU60X0_REG_ACCEL_CONFIG2, MPU60X0_REG_CONFIG, MPU60X0_REG_GYRO_CONFIG, MPU60X0_REG_INT_ENABLE, MPU60X0_REG_PWR_MGMT_1, MPU60X0_REG_SMPLRT_DIV, MPU60X0_REG_UNDOC1, MPU60X0_REG_USER_CTRL, and MPU60X0_SIG_COND_RESET.

Referenced by mpu60x0_i2c_event(), mpu60x0_i2c_start_configure(), mpu60x0_spi_event(), and mpu60x0_spi_start_configure().

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mpu60x0_set_default_config()

void mpu60x0_set_default_config

(

struct Mpu60x0Config *

c

)

Definition at line 67 of file mpu60x0.c.

References Mpu60x0Config::accel_range, Mpu60x0Config::clk_sel, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::dlpf_cfg_acc, Mpu60x0Config::drdy_int_enable, Mpu60x0Config::gyro_range, Mpu60x0Config::i2c_bypass, MPU60X0, MPU60X0_DEFAULT_AFS_SEL, MPU60X0_DEFAULT_CLK_SEL, MPU60X0_DEFAULT_DLPF_CFG, MPU60X0_DEFAULT_DLPF_CFG_ACC, MPU60X0_DEFAULT_FS_SEL, MPU60X0_DEFAULT_SMPLRT_DIV, Mpu60x0Config::nb_bytes, Mpu60x0Config::nb_slave_init, Mpu60x0Config::nb_slaves, Mpu60x0Config::smplrt_div, and Mpu60x0Config::type.

Referenced by mpu60x0_i2c_init(), and mpu60x0_spi_init().

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Variable Documentation

MPU60X0_ACCEL_SENS

const float MPU60X0_ACCEL_SENS[4]

Initial value:

= {
  MPU60X0_ACCEL_SENS_2G,
  MPU60X0_ACCEL_SENS_4G,
  MPU60X0_ACCEL_SENS_8G,
  MPU60X0_ACCEL_SENS_16G
}

Definition at line 49 of file mpu60x0.c.

MPU60X0_ACCEL_SENS_FRAC

const struct Int32Vect3 MPU60X0_ACCEL_SENS_FRAC[4][2]

Initial value:

= {
  { {MPU60X0_ACCEL_SENS_2G_NUM, MPU60X0_ACCEL_SENS_2G_NUM, MPU60X0_ACCEL_SENS_2G_NUM},
    {MPU60X0_ACCEL_SENS_2G_DEN, MPU60X0_ACCEL_SENS_2G_DEN, MPU60X0_ACCEL_SENS_2G_DEN} },
  { {MPU60X0_ACCEL_SENS_4G_NUM, MPU60X0_ACCEL_SENS_4G_NUM, MPU60X0_ACCEL_SENS_4G_NUM},
    {MPU60X0_ACCEL_SENS_4G_DEN, MPU60X0_ACCEL_SENS_4G_DEN, MPU60X0_ACCEL_SENS_4G_DEN} },
  { {MPU60X0_ACCEL_SENS_8G_NUM, MPU60X0_ACCEL_SENS_8G_NUM, MPU60X0_ACCEL_SENS_8G_NUM},
    {MPU60X0_ACCEL_SENS_8G_DEN, MPU60X0_ACCEL_SENS_8G_DEN, MPU60X0_ACCEL_SENS_8G_DEN} },
  { {MPU60X0_ACCEL_SENS_16G_NUM, MPU60X0_ACCEL_SENS_16G_NUM, MPU60X0_ACCEL_SENS_16G_NUM},
    {MPU60X0_ACCEL_SENS_16G_DEN, MPU60X0_ACCEL_SENS_16G_DEN, MPU60X0_ACCEL_SENS_16G_DEN} }
}

Definition at line 49 of file mpu60x0.c.

Referenced by imu_apogee_init(), imu_aspirin2_init(), imu_bebop_init(), imu_cube_init(), imu_disco_init(), imu_mpu_hmc_init(), imu_mpu_i2c_init(), imu_mpu_spi_init(), and imu_px4fmu_init().

MPU60X0_GYRO_SENS

const float MPU60X0_GYRO_SENS[4]

Initial value:

= {
  MPU60X0_GYRO_SENS_250,
  MPU60X0_GYRO_SENS_500,
  MPU60X0_GYRO_SENS_1000,
  MPU60X0_GYRO_SENS_2000
}

Definition at line 31 of file mpu60x0.c.

MPU60X0_GYRO_SENS_FRAC

const struct Int32Rates MPU60X0_GYRO_SENS_FRAC[4][2]

Initial value:

= {
  { {MPU60X0_GYRO_SENS_250_NUM, MPU60X0_GYRO_SENS_250_NUM, MPU60X0_GYRO_SENS_250_NUM},
    {MPU60X0_GYRO_SENS_250_DEN, MPU60X0_GYRO_SENS_250_DEN, MPU60X0_GYRO_SENS_250_DEN} },
  { {MPU60X0_GYRO_SENS_500_NUM, MPU60X0_GYRO_SENS_500_NUM, MPU60X0_GYRO_SENS_500_NUM},
    {MPU60X0_GYRO_SENS_500_DEN, MPU60X0_GYRO_SENS_500_DEN, MPU60X0_GYRO_SENS_500_DEN} },
  { {MPU60X0_GYRO_SENS_1000_NUM, MPU60X0_GYRO_SENS_1000_NUM, MPU60X0_GYRO_SENS_1000_NUM},
    {MPU60X0_GYRO_SENS_1000_DEN, MPU60X0_GYRO_SENS_1000_DEN, MPU60X0_GYRO_SENS_1000_DEN} },
  { {MPU60X0_GYRO_SENS_2000_NUM, MPU60X0_GYRO_SENS_2000_NUM, MPU60X0_GYRO_SENS_2000_NUM},
    {MPU60X0_GYRO_SENS_2000_DEN, MPU60X0_GYRO_SENS_2000_DEN, MPU60X0_GYRO_SENS_2000_DEN} }
}

Definition at line 31 of file mpu60x0.c.

Referenced by imu_apogee_init(), imu_aspirin2_init(), imu_bebop_init(), imu_cube_init(), imu_disco_init(), imu_mpu_hmc_init(), imu_mpu_i2c_init(), imu_mpu_spi_init(), and imu_px4fmu_init().