Paparazzi UAS  v7.0_unstable
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Data Structures | Macros | Typedefs | Enumerations | Functions | Variables
mpu9250.h File Reference

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

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "peripherals/mpu9250_regs.h"
+ Include dependency graph for mpu9250.h:
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Go to the source code of this file.

Data Structures

struct  Mpu9250I2cSlave
 
struct  Mpu9250Config
 

Macros

#define MPU9250_DEFAULT_SMPLRT_DIV   0
 Default sample rate divider. More...
 
#define MPU9250_DEFAULT_FS_SEL   MPU9250_GYRO_RANGE_1000
 Default gyro full scale range +- 2000°/s. More...
 
#define MPU9250_DEFAULT_AFS_SEL   MPU9250_ACCEL_RANGE_8G
 Default accel full scale range +- 16g. More...
 
#define MPU9250_DEFAULT_DLPF_ACCEL_CFG   MPU9250_DLPF_ACCEL_41HZ
 Default internal sampling (1kHz, 42Hz LP Bandwidth) More...
 
#define MPU9250_DEFAULT_DLPF_GYRO_CFG   MPU9250_DLPF_GYRO_41HZ
 Default internal sampling (1kHz, 42Hz LP Bandwidth) More...
 
#define MPU9250_DEFAULT_INT_CFG   1
 Default interrupt config: DATA_RDY_EN. More...
 
#define MPU9250_DEFAULT_CLK_SEL   1
 Default clock: PLL with X gyro reference. More...
 
#define MPU9250_I2C_NB_SLAVES   5
 
#define MPU9250_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 MPU9250_GYRO_SENS_250_NUM   19327
 
#define MPU9250_GYRO_SENS_250_DEN   35470
 
#define MPU9250_GYRO_SENS_500   1.08977
 
#define MPU9250_GYRO_SENS_500_NUM   57663
 
#define MPU9250_GYRO_SENS_500_DEN   52913
 
#define MPU9250_GYRO_SENS_1000   2.17953
 
#define MPU9250_GYRO_SENS_1000_NUM   18271
 
#define MPU9250_GYRO_SENS_1000_DEN   8383
 
#define MPU9250_GYRO_SENS_2000   4.35906
 
#define MPU9250_GYRO_SENS_2000_NUM   36542
 
#define MPU9250_GYRO_SENS_2000_DEN   8383
 
#define MPU9250_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 MPU9250_ACCEL_SENS_2G_NUM   981
 
#define MPU9250_ACCEL_SENS_2G_DEN   1600
 
#define MPU9250_ACCEL_SENS_4G   1.22625
 
#define MPU9250_ACCEL_SENS_4G_NUM   981
 
#define MPU9250_ACCEL_SENS_4G_DEN   800
 
#define MPU9250_ACCEL_SENS_8G   2.4525
 
#define MPU9250_ACCEL_SENS_8G_NUM   981
 
#define MPU9250_ACCEL_SENS_8G_DEN   400
 
#define MPU9250_ACCEL_SENS_16G   4.905
 
#define MPU9250_ACCEL_SENS_16G_NUM   981
 
#define MPU9250_ACCEL_SENS_16G_DEN   200
 

Typedefs

typedef void(* Mpu9250ConfigSet) (void *mpu, uint8_t _reg, uint8_t _val)
 Configuration function prototype. More...
 
typedef bool(* Mpu9250I2cSlaveConfigure) (Mpu9250ConfigSet mpu_set, void *mpu)
 function prototype for configuration of a single I2C slave More...
 

Enumerations

enum  Mpu9250ConfStatus {
  MPU9250_CONF_UNINIT , MPU9250_CONF_RESET , MPU9250_CONF_USER_RESET , MPU9250_CONF_PWR ,
  MPU9250_CONF_SD , MPU9250_CONF_DLPF_ACCEL , MPU9250_CONF_DLPF_GYRO , MPU9250_CONF_GYRO ,
  MPU9250_CONF_ACCEL , MPU9250_CONF_I2C_SLAVES , MPU9250_CONF_INT_ENABLE , MPU9250_CONF_DONE
}
 

Functions

void mpu9250_set_default_config (struct Mpu9250Config *c)
 
void mpu9250_send_config (Mpu9250ConfigSet mpu_set, void *mpu, struct Mpu9250Config *config)
 Configuration sequence called once before normal use. More...
 
bool mpu9250_configure_i2c_slaves (Mpu9250ConfigSet mpu_set, void *mpu)
 Configure I2C slaves of the MPU. More...
 

Variables

const float MPU9250_GYRO_SENS [4]
 
const struct Int32Rates MPU9250_GYRO_SENS_FRAC [4][2]
 
const float MPU9250_ACCEL_SENS [4]
 
const struct Int32Vect3 MPU9250_ACCEL_SENS_FRAC [4][2]
 

Detailed Description

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

Definition in file mpu9250.h.

Data Structure Documentation

◆ Mpu9250I2cSlave

struct Mpu9250I2cSlave

Definition at line 123 of file mpu9250.h.

Data Fields
Mpu9250I2cSlaveConfigure configure

◆ Mpu9250Config

struct Mpu9250Config

Definition at line 127 of file mpu9250.h.

+ Collaboration diagram for Mpu9250Config:
Data Fields
enum Mpu9250AccelRanges accel_range g Range
uint8_t clk_sel Clock select.
enum Mpu9250DLPFAccel dlpf_accel_cfg Digital Low Pass Filter for accelerometer.
enum Mpu9250DLPFGyro dlpf_gyro_cfg Digital Low Pass Filter for gyroscope.
bool drdy_int_enable Enable Data Ready Interrupt.
enum Mpu9250GyroRanges gyro_range deg/s Range
bool i2c_bypass Bypass MPU I2C.

Only effective if using the I2C implementation.

enum Mpu9250MstClk i2c_mst_clk MPU I2C master clock speed.
uint8_t i2c_mst_delay MPU I2C slaves delayed sample rate.
enum Mpu9250ConfStatus init_status init status
bool initialized config done flag
uint8_t nb_bytes number of bytes to read starting with MPU9250_REG_INT_STATUS
uint8_t nb_slave_init number of already configured/initialized slaves
uint8_t nb_slaves number of used I2C slaves
struct Mpu9250I2cSlave slaves[MPU9250_I2C_NB_SLAVES] I2C slaves.
uint8_t smplrt_div Sample rate divider.

Macro Definition Documentation

◆ MPU9250_ACCEL_SENS_16G

#define MPU9250_ACCEL_SENS_16G   4.905

Definition at line 93 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_16G_DEN

#define MPU9250_ACCEL_SENS_16G_DEN   200

Definition at line 95 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_16G_NUM

#define MPU9250_ACCEL_SENS_16G_NUM   981

Definition at line 94 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_2G

#define MPU9250_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 mpu9250.h.

◆ MPU9250_ACCEL_SENS_2G_DEN

#define MPU9250_ACCEL_SENS_2G_DEN   1600

Definition at line 86 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_2G_NUM

#define MPU9250_ACCEL_SENS_2G_NUM   981

Definition at line 85 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_4G

#define MPU9250_ACCEL_SENS_4G   1.22625

Definition at line 87 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_4G_DEN

#define MPU9250_ACCEL_SENS_4G_DEN   800

Definition at line 89 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_4G_NUM

#define MPU9250_ACCEL_SENS_4G_NUM   981

Definition at line 88 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_8G

#define MPU9250_ACCEL_SENS_8G   2.4525

Definition at line 90 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_8G_DEN

#define MPU9250_ACCEL_SENS_8G_DEN   400

Definition at line 92 of file mpu9250.h.

◆ MPU9250_ACCEL_SENS_8G_NUM

#define MPU9250_ACCEL_SENS_8G_NUM   981

Definition at line 91 of file mpu9250.h.

◆ MPU9250_DEFAULT_AFS_SEL

#define MPU9250_DEFAULT_AFS_SEL   MPU9250_ACCEL_RANGE_8G

Default accel full scale range +- 16g.

Definition at line 41 of file mpu9250.h.

◆ MPU9250_DEFAULT_CLK_SEL

#define MPU9250_DEFAULT_CLK_SEL   1

Default clock: PLL with X gyro reference.

Definition at line 49 of file mpu9250.h.

◆ MPU9250_DEFAULT_DLPF_ACCEL_CFG

#define MPU9250_DEFAULT_DLPF_ACCEL_CFG   MPU9250_DLPF_ACCEL_41HZ

Default internal sampling (1kHz, 42Hz LP Bandwidth)

Definition at line 43 of file mpu9250.h.

◆ MPU9250_DEFAULT_DLPF_GYRO_CFG

#define MPU9250_DEFAULT_DLPF_GYRO_CFG   MPU9250_DLPF_GYRO_41HZ

Default internal sampling (1kHz, 42Hz LP Bandwidth)

Definition at line 45 of file mpu9250.h.

◆ MPU9250_DEFAULT_FS_SEL

#define MPU9250_DEFAULT_FS_SEL   MPU9250_GYRO_RANGE_1000

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

Definition at line 39 of file mpu9250.h.

◆ MPU9250_DEFAULT_INT_CFG

#define MPU9250_DEFAULT_INT_CFG   1

Default interrupt config: DATA_RDY_EN.

Definition at line 47 of file mpu9250.h.

◆ MPU9250_DEFAULT_SMPLRT_DIV

#define MPU9250_DEFAULT_SMPLRT_DIV   0

Default sample rate divider.

Definition at line 37 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_1000

#define MPU9250_GYRO_SENS_1000   2.17953

Definition at line 67 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_1000_DEN

#define MPU9250_GYRO_SENS_1000_DEN   8383

Definition at line 69 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_1000_NUM

#define MPU9250_GYRO_SENS_1000_NUM   18271

Definition at line 68 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_2000

#define MPU9250_GYRO_SENS_2000   4.35906

Definition at line 70 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_2000_DEN

#define MPU9250_GYRO_SENS_2000_DEN   8383

Definition at line 72 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_2000_NUM

#define MPU9250_GYRO_SENS_2000_NUM   36542

Definition at line 71 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_250

#define MPU9250_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 mpu9250.h.

◆ MPU9250_GYRO_SENS_250_DEN

#define MPU9250_GYRO_SENS_250_DEN   35470

Definition at line 63 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_250_NUM

#define MPU9250_GYRO_SENS_250_NUM   19327

Definition at line 62 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_500

#define MPU9250_GYRO_SENS_500   1.08977

Definition at line 64 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_500_DEN

#define MPU9250_GYRO_SENS_500_DEN   52913

Definition at line 66 of file mpu9250.h.

◆ MPU9250_GYRO_SENS_500_NUM

#define MPU9250_GYRO_SENS_500_NUM   57663

Definition at line 65 of file mpu9250.h.

◆ MPU9250_I2C_NB_SLAVES

#define MPU9250_I2C_NB_SLAVES   5

Definition at line 53 of file mpu9250.h.

Typedef Documentation

◆ Mpu9250ConfigSet

typedef void(* Mpu9250ConfigSet) (void *mpu, uint8_t _reg, uint8_t _val)

Configuration function prototype.

Definition at line 118 of file mpu9250.h.

◆ Mpu9250I2cSlaveConfigure

typedef bool(* Mpu9250I2cSlaveConfigure) (Mpu9250ConfigSet mpu_set, void *mpu)

function prototype for configuration of a single I2C slave

Definition at line 121 of file mpu9250.h.

Enumeration Type Documentation

◆ Mpu9250ConfStatus

enum Mpu9250ConfStatus
Enumerator
MPU9250_CONF_UNINIT 
MPU9250_CONF_RESET 
MPU9250_CONF_USER_RESET 
MPU9250_CONF_PWR 
MPU9250_CONF_SD 
MPU9250_CONF_DLPF_ACCEL 
MPU9250_CONF_DLPF_GYRO 
MPU9250_CONF_GYRO 
MPU9250_CONF_ACCEL 
MPU9250_CONF_I2C_SLAVES 
MPU9250_CONF_INT_ENABLE 
MPU9250_CONF_DONE 

Definition at line 102 of file mpu9250.h.

Function Documentation

◆ mpu9250_configure_i2c_slaves()

bool mpu9250_configure_i2c_slaves ( Mpu9250ConfigSet  mpu_set,
void *  mpu 
)

Configure I2C slaves of the MPU.

This is I2C/SPI implementation specific.

Parameters
mpu_setconfiguration function
mpuMpu9250Spi or Mpu9250I2c peripheral
Returns
TRUE when all slaves are configured

Configure I2C slaves of the MPU.

Definition at line 175 of file mpu9250_i2c.c.

References Mpu9250_I2c::config, Mpu9250_Spi::config, Mpu9250I2cSlave::configure, Mpu9250Config::i2c_bypass, Mpu9250Config::i2c_mst_clk, Mpu9250Config::i2c_mst_delay, MPU9250_I2C_CONF_DONE, MPU9250_I2C_CONF_I2C_BYPASS_DIS, MPU9250_I2C_CONF_I2C_BYPASS_EN, MPU9250_I2C_CONF_I2C_MST_CLK, MPU9250_I2C_CONF_I2C_MST_DELAY, MPU9250_I2C_CONF_I2C_MST_DIS, MPU9250_I2C_CONF_I2C_MST_EN, MPU9250_I2C_CONF_I2C_SMPLRT, MPU9250_I2C_CONF_SLAVES_CONFIGURE, MPU9250_I2C_CONF_UNINIT, MPU9250_I2C_IF_DIS, MPU9250_I2C_MST_EN, MPU9250_I2C_NB_SLAVES, MPU9250_REG_I2C_MST_CTRL, MPU9250_REG_I2C_MST_DELAY, MPU9250_REG_I2C_SLV4_CTRL, MPU9250_REG_INT_PIN_CFG, MPU9250_REG_USER_CTRL, MPU9250_SPI_CONF_DONE, MPU9250_SPI_CONF_I2C_MST_CLK, MPU9250_SPI_CONF_I2C_MST_DELAY, MPU9250_SPI_CONF_I2C_MST_EN, MPU9250_SPI_CONF_SLAVES_CONFIGURE, MPU9250_SPI_CONF_UNINIT, Mpu9250Config::nb_slave_init, Mpu9250Config::nb_slaves, Mpu9250_I2c::slave_init_status, Mpu9250_Spi::slave_init_status, and Mpu9250Config::slaves.

Referenced by mpu9250_send_config().

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◆ mpu9250_send_config()

void mpu9250_send_config ( Mpu9250ConfigSet  mpu_set,
void *  mpu,
struct Mpu9250Config *  config 
)

Configuration sequence called once before normal use.

Definition at line 89 of file mpu9250.c.

References config, MPU9250_CONF_ACCEL, MPU9250_CONF_DLPF_ACCEL, MPU9250_CONF_DLPF_GYRO, MPU9250_CONF_DONE, MPU9250_CONF_GYRO, MPU9250_CONF_I2C_SLAVES, MPU9250_CONF_INT_ENABLE, MPU9250_CONF_PWR, MPU9250_CONF_RESET, MPU9250_CONF_SD, MPU9250_CONF_USER_RESET, mpu9250_configure_i2c_slaves(), MPU9250_FIFO_RESET, MPU9250_I2C_MST_RESET, MPU9250_REG_ACCEL_CONFIG, MPU9250_REG_ACCEL_CONFIG_2, MPU9250_REG_CONFIG, MPU9250_REG_GYRO_CONFIG, MPU9250_REG_INT_ENABLE, MPU9250_REG_PWR_MGMT_1, MPU9250_REG_SMPLRT_DIV, MPU9250_REG_USER_CTRL, and MPU9250_SIG_COND_RESET.

Referenced by mpu9250_i2c_event(), mpu9250_i2c_start_configure(), mpu9250_spi_event(), and mpu9250_spi_start_configure().

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◆ mpu9250_set_default_config()

void mpu9250_set_default_config ( struct Mpu9250Config *  c)

Definition at line 68 of file mpu9250.c.

References Mpu9250Config::accel_range, Mpu9250Config::clk_sel, Mpu9250Config::dlpf_accel_cfg, Mpu9250Config::dlpf_gyro_cfg, Mpu9250Config::drdy_int_enable, Mpu9250Config::gyro_range, Mpu9250Config::i2c_bypass, MPU9250_DEFAULT_AFS_SEL, MPU9250_DEFAULT_CLK_SEL, MPU9250_DEFAULT_DLPF_ACCEL_CFG, MPU9250_DEFAULT_DLPF_GYRO_CFG, MPU9250_DEFAULT_FS_SEL, MPU9250_DEFAULT_SMPLRT_DIV, Mpu9250Config::nb_bytes, Mpu9250Config::nb_slave_init, Mpu9250Config::nb_slaves, and Mpu9250Config::smplrt_div.

Referenced by mpu9250_i2c_init(), and mpu9250_spi_init().

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Variable Documentation

◆ MPU9250_ACCEL_SENS

const float MPU9250_ACCEL_SENS[4]
extern

Definition at line 50 of file mpu9250.c.

◆ MPU9250_ACCEL_SENS_FRAC

const struct Int32Vect3 MPU9250_ACCEL_SENS_FRAC[4][2]
extern

Definition at line 50 of file mpu9250.c.

Referenced by imu_mpu9250_init().

◆ MPU9250_GYRO_SENS

const float MPU9250_GYRO_SENS[4]
extern

Definition at line 32 of file mpu9250.c.

◆ MPU9250_GYRO_SENS_FRAC

const struct Int32Rates MPU9250_GYRO_SENS_FRAC[4][2]
extern

Definition at line 32 of file mpu9250.c.

Referenced by imu_mpu9250_init().