mpu60x0.h File Reference

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

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "peripherals/mpu60x0_regs.h"

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Data Structures
struct	Mpu60x0I2cSlave
struct	Mpu60x0Config

Macros
#define	MPU60X0_DEFAULT_SMPLRT_DIV   0
	Default sample rate divider. More...
#define	MPU60X0_DEFAULT_FS_SEL   MPU60X0_GYRO_RANGE_2000
	Default gyro full scale range +- 2000°/s. More...
#define	MPU60X0_DEFAULT_AFS_SEL   MPU60X0_ACCEL_RANGE_16G
	Default accel full scale range +- 16g. More...
#define	MPU60X0_DEFAULT_DLPF_CFG   MPU60X0_DLPF_98HZ
	Default internal sampling (1kHz, 98Hz LP Bandwidth) More...
#define	MPU60X0_DEFAULT_DLPF_CFG_ACC   MPU60X0_DLPF_ACC_99HZ
	Default internal sampling for accelerometer ICM devices only (1kHz, 99Hz LP Bandwidth) More...
#define	MPU60X0_DEFAULT_INT_CFG   1
	Default interrupt config: DATA_RDY_EN. More...
#define	MPU60X0_DEFAULT_CLK_SEL   1
	Default clock: PLL with X gyro reference. More...
#define	MPU60X0_I2C_NB_SLAVES   5
#define	MPU60X0_GYRO_SENS_250   0.544883
	default gyro sensitivy from the datasheet sens = 1/ [LSB/(deg/s)] * pi/180 * 2^INT32_RATE_FRAC ex: MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 4096 = 2.17953 More...
#define	MPU60X0_GYRO_SENS_250_NUM   19327
#define	MPU60X0_GYRO_SENS_250_DEN   35470
#define	MPU60X0_GYRO_SENS_500   1.08977
#define	MPU60X0_GYRO_SENS_500_NUM   57663
#define	MPU60X0_GYRO_SENS_500_DEN   52913
#define	MPU60X0_GYRO_SENS_1000   2.17953
#define	MPU60X0_GYRO_SENS_1000_NUM   18271
#define	MPU60X0_GYRO_SENS_1000_DEN   8383
#define	MPU60X0_GYRO_SENS_2000   4.35906
#define	MPU60X0_GYRO_SENS_2000_NUM   36542
#define	MPU60X0_GYRO_SENS_2000_DEN   8383
#define	MPU60X0_ACCEL_SENS_2G   0.613125
	default accel sensitivy from the datasheet sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC ex: MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525 More...
#define	MPU60X0_ACCEL_SENS_2G_NUM   981
#define	MPU60X0_ACCEL_SENS_2G_DEN   1600
#define	MPU60X0_ACCEL_SENS_4G   1.22625
#define	MPU60X0_ACCEL_SENS_4G_NUM   981
#define	MPU60X0_ACCEL_SENS_4G_DEN   800
#define	MPU60X0_ACCEL_SENS_8G   2.4525
#define	MPU60X0_ACCEL_SENS_8G_NUM   981
#define	MPU60X0_ACCEL_SENS_8G_DEN   400
#define	MPU60X0_ACCEL_SENS_16G   4.905
#define	MPU60X0_ACCEL_SENS_16G_NUM   981
#define	MPU60X0_ACCEL_SENS_16G_DEN   200

Typedefs
typedef void(*	Mpu60x0ConfigSet) (void *mpu, uint8_t _reg, uint8_t _val)
	Configuration function prototype. More...
typedef bool(*	Mpu60x0I2cSlaveConfigure) (Mpu60x0ConfigSet mpu_set, void *mpu)
	function prototype for configuration of a single I2C slave More...

Enumerations
enum	Mpu60x0Type {   MPU60X0 , ICM20600 , ICM20608 , ICM20602 ,   ICM20689 }
	MPU60x0 sensor type. More...
enum	Mpu60x0ConfStatus {   MPU60X0_CONF_UNINIT , MPU60X0_CONF_RESET , MPU60X0_CONF_USER_RESET , MPU60X0_CONF_PWR ,   MPU60X0_CONF_SD , MPU60X0_CONF_DLPF , MPU60X0_CONF_GYRO , MPU60X0_CONF_ACCEL ,   MPU60X0_CONF_ACCEL2 , MPU60X0_CONF_I2C_SLAVES , MPU60X0_CONF_INT_ENABLE , MPU60X0_CONF_UNDOC1 ,   MPU60X0_CONF_DONE }

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...
bool	mpu60x0_configure_i2c_slaves (Mpu60x0ConfigSet mpu_set, void *mpu)
	Configure I2C slaves of the MPU. 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 interface (I2C and SPI).

Definition in file mpu60x0.h.

---

Data Structure Documentation

Mpu60x0I2cSlave

struct Mpu60x0I2cSlave

Definition at line 134 of file mpu60x0.h.

Data Fields
Mpu60x0I2cSlaveConfigure	configure

Mpu60x0Config

struct Mpu60x0Config

Definition at line 138 of file mpu60x0.h.

Collaboration diagram for Mpu60x0Config:

Data Fields
enum Mpu60x0AccelRanges	accel_range	g Range
uint8_t	clk_sel	Clock select.
enum Mpu60x0DLPF	dlpf_cfg	Digital Low Pass Filter.
enum Mpu60x0ACCDLPF	dlpf_cfg_acc	Digital Low Pass Filter for acceleremoter (ICM devices only)
bool	drdy_int_enable	Enable Data Ready Interrupt.
enum Mpu60x0GyroRanges	gyro_range	deg/s Range
bool	i2c_bypass	Bypass MPU I2C. Only effective if using the I2C implementation.
enum Mpu60x0MstClk	i2c_mst_clk	MPU I2C master clock speed.
uint8_t	i2c_mst_delay	MPU I2C slaves delayed sample rate.
enum Mpu60x0ConfStatus	init_status	init status
bool	initialized	config done flag
uint8_t	nb_bytes	number of bytes to read starting with MPU60X0_REG_INT_STATUS
uint8_t	nb_slave_init	number of already configured/initialized slaves
uint8_t	nb_slaves	number of used I2C slaves
struct Mpu60x0I2cSlave	slaves[MPU60X0_I2C_NB_SLAVES]	I2C slaves.
uint8_t	smplrt_div	Sample rate divider.
enum Mpu60x0Type	type	The type of sensor (MPU60x0, ICM20608, ...)

Macro Definition Documentation

MPU60X0_ACCEL_SENS_16G

#define MPU60X0_ACCEL_SENS_16G   4.905

Definition at line 93 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_16G_DEN

#define MPU60X0_ACCEL_SENS_16G_DEN   200

Definition at line 95 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_16G_NUM

#define MPU60X0_ACCEL_SENS_16G_NUM   981

Definition at line 94 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_2G

#define MPU60X0_ACCEL_SENS_2G   0.613125

default accel sensitivy from the datasheet sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC ex: MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525

Definition at line 84 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_2G_DEN

#define MPU60X0_ACCEL_SENS_2G_DEN   1600

Definition at line 86 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_2G_NUM

#define MPU60X0_ACCEL_SENS_2G_NUM   981

Definition at line 85 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_4G

#define MPU60X0_ACCEL_SENS_4G   1.22625

Definition at line 87 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_4G_DEN

#define MPU60X0_ACCEL_SENS_4G_DEN   800

Definition at line 89 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_4G_NUM

#define MPU60X0_ACCEL_SENS_4G_NUM   981

Definition at line 88 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_8G

#define MPU60X0_ACCEL_SENS_8G   2.4525

Definition at line 90 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_8G_DEN

#define MPU60X0_ACCEL_SENS_8G_DEN   400

Definition at line 92 of file mpu60x0.h.

MPU60X0_ACCEL_SENS_8G_NUM

#define MPU60X0_ACCEL_SENS_8G_NUM   981

Definition at line 91 of file mpu60x0.h.

MPU60X0_DEFAULT_AFS_SEL

#define MPU60X0_DEFAULT_AFS_SEL   MPU60X0_ACCEL_RANGE_16G

Default accel full scale range +- 16g.

Definition at line 41 of file mpu60x0.h.

MPU60X0_DEFAULT_CLK_SEL

#define MPU60X0_DEFAULT_CLK_SEL   1

Default clock: PLL with X gyro reference.

Definition at line 49 of file mpu60x0.h.

MPU60X0_DEFAULT_DLPF_CFG

#define MPU60X0_DEFAULT_DLPF_CFG   MPU60X0_DLPF_98HZ

Default internal sampling (1kHz, 98Hz LP Bandwidth)

Definition at line 43 of file mpu60x0.h.

MPU60X0_DEFAULT_DLPF_CFG_ACC

#define MPU60X0_DEFAULT_DLPF_CFG_ACC   MPU60X0_DLPF_ACC_99HZ

Default internal sampling for accelerometer ICM devices only (1kHz, 99Hz LP Bandwidth)

Definition at line 45 of file mpu60x0.h.

MPU60X0_DEFAULT_FS_SEL

#define MPU60X0_DEFAULT_FS_SEL   MPU60X0_GYRO_RANGE_2000

Default gyro full scale range +- 2000°/s.

Definition at line 39 of file mpu60x0.h.

MPU60X0_DEFAULT_INT_CFG

#define MPU60X0_DEFAULT_INT_CFG   1

Default interrupt config: DATA_RDY_EN.

Definition at line 47 of file mpu60x0.h.

MPU60X0_DEFAULT_SMPLRT_DIV

#define MPU60X0_DEFAULT_SMPLRT_DIV   0

Default sample rate divider.

Definition at line 37 of file mpu60x0.h.

MPU60X0_GYRO_SENS_1000

#define MPU60X0_GYRO_SENS_1000   2.17953

Definition at line 67 of file mpu60x0.h.

MPU60X0_GYRO_SENS_1000_DEN

#define MPU60X0_GYRO_SENS_1000_DEN   8383

Definition at line 69 of file mpu60x0.h.

MPU60X0_GYRO_SENS_1000_NUM

#define MPU60X0_GYRO_SENS_1000_NUM   18271

Definition at line 68 of file mpu60x0.h.

MPU60X0_GYRO_SENS_2000

#define MPU60X0_GYRO_SENS_2000   4.35906

Definition at line 70 of file mpu60x0.h.

MPU60X0_GYRO_SENS_2000_DEN

#define MPU60X0_GYRO_SENS_2000_DEN   8383

Definition at line 72 of file mpu60x0.h.

MPU60X0_GYRO_SENS_2000_NUM

#define MPU60X0_GYRO_SENS_2000_NUM   36542

Definition at line 71 of file mpu60x0.h.

MPU60X0_GYRO_SENS_250

#define MPU60X0_GYRO_SENS_250   0.544883

default gyro sensitivy from the datasheet sens = 1/ [LSB/(deg/s)] * pi/180 * 2^INT32_RATE_FRAC ex: MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 4096 = 2.17953

Definition at line 61 of file mpu60x0.h.

MPU60X0_GYRO_SENS_250_DEN

#define MPU60X0_GYRO_SENS_250_DEN   35470

Definition at line 63 of file mpu60x0.h.

MPU60X0_GYRO_SENS_250_NUM

#define MPU60X0_GYRO_SENS_250_NUM   19327

Definition at line 62 of file mpu60x0.h.

MPU60X0_GYRO_SENS_500

#define MPU60X0_GYRO_SENS_500   1.08977

Definition at line 64 of file mpu60x0.h.

MPU60X0_GYRO_SENS_500_DEN

#define MPU60X0_GYRO_SENS_500_DEN   52913

Definition at line 66 of file mpu60x0.h.

MPU60X0_GYRO_SENS_500_NUM

#define MPU60X0_GYRO_SENS_500_NUM   57663

Definition at line 65 of file mpu60x0.h.

MPU60X0_I2C_NB_SLAVES

#define MPU60X0_I2C_NB_SLAVES   5

Definition at line 53 of file mpu60x0.h.

Typedef Documentation

Mpu60x0ConfigSet

typedef void(* Mpu60x0ConfigSet) (void *mpu, uint8_t _reg, uint8_t _val)

Configuration function prototype.

Definition at line 129 of file mpu60x0.h.

Mpu60x0I2cSlaveConfigure

typedef bool(* Mpu60x0I2cSlaveConfigure) (Mpu60x0ConfigSet mpu_set, void *mpu)

function prototype for configuration of a single I2C slave

Definition at line 132 of file mpu60x0.h.

Enumeration Type Documentation

Mpu60x0ConfStatus

enum Mpu60x0ConfStatus

Enumerator
MPU60X0_CONF_UNINIT
MPU60X0_CONF_RESET
MPU60X0_CONF_USER_RESET
MPU60X0_CONF_PWR
MPU60X0_CONF_SD
MPU60X0_CONF_DLPF
MPU60X0_CONF_GYRO
MPU60X0_CONF_ACCEL
MPU60X0_CONF_ACCEL2
MPU60X0_CONF_I2C_SLAVES
MPU60X0_CONF_INT_ENABLE
MPU60X0_CONF_UNDOC1
MPU60X0_CONF_DONE

Definition at line 112 of file mpu60x0.h.

Mpu60x0Type

enum Mpu60x0Type

MPU60x0 sensor type.

Enumerator
MPU60X0
ICM20600
ICM20608
ICM20602
ICM20689

Definition at line 104 of file mpu60x0.h.

Function Documentation

mpu60x0_configure_i2c_slaves()

bool mpu60x0_configure_i2c_slaves	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu
	)

Configure I2C slaves of the MPU.

This is I2C/SPI implementation specific.

Parameters

mpu_set	configuration function
mpu	Mpu60x0Spi or Mpu60x0I2c peripheral

Returns

TRUE when all slaves are configured

Configure I2C slaves of the MPU.

Definition at line 135 of file mpu60x0_i2c.c.

References Mpu60x0_I2c::config, Mpu60x0_Spi::config, Mpu60x0I2cSlave::configure, Mpu60x0Config::i2c_bypass, Mpu60x0Config::i2c_mst_clk, Mpu60x0Config::i2c_mst_delay, MPU60X0_I2C_CONF_DONE, MPU60X0_I2C_CONF_I2C_BYPASS_DIS, MPU60X0_I2C_CONF_I2C_BYPASS_EN, MPU60X0_I2C_CONF_I2C_MST_CLK, MPU60X0_I2C_CONF_I2C_MST_DELAY, MPU60X0_I2C_CONF_I2C_MST_DIS, MPU60X0_I2C_CONF_I2C_MST_EN, MPU60X0_I2C_CONF_I2C_SMPLRT, MPU60X0_I2C_CONF_SLAVES_CONFIGURE, MPU60X0_I2C_CONF_UNINIT, MPU60X0_I2C_IF_DIS, MPU60X0_I2C_MST_EN, MPU60X0_I2C_NB_SLAVES, MPU60X0_REG_I2C_MST_CTRL, MPU60X0_REG_I2C_MST_DELAY, MPU60X0_REG_I2C_SLV4_CTRL, MPU60X0_REG_INT_PIN_CFG, MPU60X0_REG_USER_CTRL, MPU60X0_SPI_CONF_DONE, MPU60X0_SPI_CONF_I2C_MST_CLK, MPU60X0_SPI_CONF_I2C_MST_DELAY, MPU60X0_SPI_CONF_I2C_MST_EN, MPU60X0_SPI_CONF_SLAVES_CONFIGURE, MPU60X0_SPI_CONF_UNINIT, Mpu60x0Config::nb_slave_init, Mpu60x0Config::nb_slaves, Mpu60x0_I2c::slave_init_status, Mpu60x0_Spi::slave_init_status, and Mpu60x0Config::slaves.

Referenced by mpu60x0_send_config().

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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]

extern

Definition at line 49 of file mpu60x0.c.

MPU60X0_ACCEL_SENS_FRAC

const struct Int32Vect3 MPU60X0_ACCEL_SENS_FRAC[4][2]

extern

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]

extern

Definition at line 31 of file mpu60x0.c.

MPU60X0_GYRO_SENS_FRAC

const struct Int32Rates MPU60X0_GYRO_SENS_FRAC[4][2]

extern

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().