mpu60x0_spi.h File Reference

Driver for the MPU-60X0 using SPI. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/spi.h"
#include "peripherals/mpu60x0.h"

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Data Structures
struct	Mpu60x0_Spi
union	Mpu60x0_Spi.data_accel
union	Mpu60x0_Spi.data_rates

Macros
#define	MPU60X0_BUFFER_LEN   32
#define	MPU60X0_BUFFER_EXT_LEN   16

Enumerations
enum	Mpu60x0SpiSlaveInitStatus {   MPU60X0_SPI_CONF_UNINIT , 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_DONE }

Functions
void	mpu60x0_spi_init (struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t addr)
void	mpu60x0_spi_start_configure (struct Mpu60x0_Spi *mpu)
void	mpu60x0_spi_read (struct Mpu60x0_Spi *mpu)
void	mpu60x0_spi_event (struct Mpu60x0_Spi *mpu)
static void	mpu60x0_spi_periodic (struct Mpu60x0_Spi *mpu)
	convenience function: read or start configuration if not already initialized More...

Detailed Description

Driver for the MPU-60X0 using SPI.

Definition in file mpu60x0_spi.h.

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Data Structure Documentation

Mpu60x0_Spi

struct Mpu60x0_Spi

Definition at line 51 of file mpu60x0_spi.h.

Collaboration diagram for Mpu60x0_Spi:

Data Fields
struct Mpu60x0Config	config
union Mpu60x0_Spi	data_accel
volatile bool	data_available	data ready flag
uint8_t	data_ext[MPU60X0_BUFFER_EXT_LEN]
union Mpu60x0_Spi	data_rates
volatile uint8_t	rx_buf[MPU60X0_BUFFER_LEN]
enum Mpu60x0SpiSlaveInitStatus	slave_init_status
struct spi_periph *	spi_p
struct spi_transaction	spi_trans
float	temp	temperature in degrees Celcius
volatile uint8_t	tx_buf[2]

Mpu60x0_Spi.data_accel

union Mpu60x0_Spi.data_accel

Definition at line 57 of file mpu60x0_spi.h.

Data Fields
int16_t	value[3]	accel data values accessible by channel index
struct Int16Vect3	vect	accel data vector in accel coordinate system

Mpu60x0_Spi.data_rates

union Mpu60x0_Spi.data_rates

Definition at line 61 of file mpu60x0_spi.h.

Data Fields
struct Int16Rates	rates	rates data as angular rates in gyro coordinate system
int16_t	value[3]	rates data values accessible by channel index

Macro Definition Documentation

MPU60X0_BUFFER_EXT_LEN

#define MPU60X0_BUFFER_EXT_LEN   16

Definition at line 40 of file mpu60x0_spi.h.

MPU60X0_BUFFER_LEN

#define MPU60X0_BUFFER_LEN   32

Definition at line 39 of file mpu60x0_spi.h.

Enumeration Type Documentation

Mpu60x0SpiSlaveInitStatus

enum Mpu60x0SpiSlaveInitStatus

Enumerator
MPU60X0_SPI_CONF_UNINIT
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_DONE

Definition at line 42 of file mpu60x0_spi.h.

Function Documentation

mpu60x0_spi_event()

void mpu60x0_spi_event

(

struct Mpu60x0_Spi *

mpu

)

Definition at line 128 of file mpu60x0_spi.c.

References Mpu60x0_Spi::config, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_ext, Mpu60x0_Spi::data_rates, ICM20600, ICM20602, ICM20608, ICM20689, Mpu60x0Config::init_status, Mpu60x0Config::initialized, Int16FromBuf, MPU60X0_CONF_UNINIT, mpu60x0_send_config(), mpu60x0_spi_write_to_reg(), Mpu60x0Config::nb_bytes, Mpu60x0Config::nb_slaves, Mpu60x0_Spi::rx_buf, Mpu60x0_Spi::spi_trans, SPITransDone, SPITransFailed, SPITransSuccess, spi_transaction::status, Mpu60x0_Spi::temp, and Mpu60x0Config::type.

Referenced by imu_aspirin2_event(), imu_cube_event(), imu_mpu_hmc_event(), imu_mpu_spi_event(), and imu_px4fmu_event().

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mpu60x0_spi_init()

void mpu60x0_spi_init	(	struct Mpu60x0_Spi *	mpu,
		struct spi_periph *	spi_p,
		uint8_t	addr
	)

Definition at line 31 of file mpu60x0_spi.c.

References spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, Mpu60x0_Spi::config, spi_transaction::cpha, spi_transaction::cpol, Mpu60x0_Spi::data_available, spi_transaction::dss, Mpu60x0Config::init_status, Mpu60x0Config::initialized, spi_transaction::input_buf, spi_transaction::input_length, MPU60X0_BUFFER_LEN, MPU60X0_CONF_UNINIT, mpu60x0_set_default_config(), MPU60X0_SPI_CONF_UNINIT, spi_transaction::output_buf, spi_transaction::output_length, Mpu60x0_Spi::rx_buf, spi_transaction::select, spi_transaction::slave_idx, Mpu60x0_Spi::slave_init_status, Mpu60x0_Spi::spi_p, Mpu60x0_Spi::spi_trans, SPICphaEdge2, SPICpolIdleHigh, SPIDiv64, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, spi_transaction::status, and Mpu60x0_Spi::tx_buf.

Referenced by imu_aspirin2_init(), imu_cube_init(), imu_mpu_hmc_init(), imu_mpu_spi_init(), and imu_px4fmu_init().

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mpu60x0_spi_periodic()

static void mpu60x0_spi_periodic ( struct Mpu60x0_Spi *  mpu )

inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 78 of file mpu60x0_spi.h.

References Mpu60x0_Spi::config, Mpu60x0Config::initialized, mpu60x0_spi_read(), and mpu60x0_spi_start_configure().

Referenced by imu_aspirin2_periodic(), imu_cube_periodic(), imu_mpu_hmc_periodic(), imu_mpu_spi_periodic(), and imu_px4fmu_periodic().

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mpu60x0_spi_read()

void mpu60x0_spi_read

(

struct Mpu60x0_Spi *

mpu

)

Definition at line 115 of file mpu60x0_spi.c.

References Mpu60x0_Spi::config, Mpu60x0Config::initialized, spi_transaction::input_length, MPU60X0_REG_INT_STATUS, MPU60X0_SPI_READ, Mpu60x0Config::nb_bytes, spi_transaction::output_length, Mpu60x0_Spi::spi_p, spi_submit(), Mpu60x0_Spi::spi_trans, SPITransDone, spi_transaction::status, and Mpu60x0_Spi::tx_buf.

Referenced by mpu60x0_spi_periodic().

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mpu60x0_spi_start_configure()

void mpu60x0_spi_start_configure

(

struct Mpu60x0_Spi *

mpu

)

Definition at line 77 of file mpu60x0_spi.c.

References Mpu60x0_Spi::config, ICM20600, ICM20600_WHOAMI_REPLY, ICM20602, ICM20602_WHOAMI_REPLY, ICM20608, ICM20608_WHOAMI_REPLY, ICM20689, ICM20689_WHOAMI_REPLY, Mpu60x0Config::init_status, spi_transaction::input_length, MPU60X0, MPU60X0_CONF_UNINIT, MPU60X0_REG_WHO_AM_I, mpu60x0_send_config(), MPU60X0_SPI_READ, mpu60x0_spi_write_to_reg(), MPU60X0_WHOAMI_REPLY, spi_transaction::output_length, Mpu60x0_Spi::rx_buf, Mpu60x0_Spi::spi_p, spi_submit(), Mpu60x0_Spi::spi_trans, SPITransDone, SPITransPending, SPITransRunning, SPITransSuccess, spi_transaction::status, Mpu60x0_Spi::tx_buf, and Mpu60x0Config::type.

Referenced by mpu60x0_spi_periodic().

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