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mpu9250.h
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1 /*
2  * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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4  * This file is part of paparazzi.
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20 
27 #ifndef MPU9250_H
28 #define MPU9250_H
29 
30 #include "std.h"
31 
32 /* Include address and register definition */
34 
36 #define MPU9250_DEFAULT_SMPLRT_DIV 0
37 #define MPU9250_DEFAULT_FS_SEL MPU9250_GYRO_RANGE_1000
39 #define MPU9250_DEFAULT_AFS_SEL MPU9250_ACCEL_RANGE_8G
41 #define MPU9250_DEFAULT_DLPF_ACCEL_CFG MPU9250_DLPF_ACCEL_41HZ
43 #define MPU9250_DEFAULT_DLPF_GYRO_CFG MPU9250_DLPF_GYRO_41HZ
45 #define MPU9250_DEFAULT_INT_CFG 1
47 #define MPU9250_DEFAULT_CLK_SEL 1
49 
50 // Default number of I2C slaves
51 #ifndef MPU9250_I2C_NB_SLAVES
52 #define MPU9250_I2C_NB_SLAVES 5
53 #endif
54 
60 #define MPU9250_GYRO_SENS_250 0.544883
61 #define MPU9250_GYRO_SENS_250_NUM 19327
62 #define MPU9250_GYRO_SENS_250_DEN 35470
63 #define MPU9250_GYRO_SENS_500 1.08977
64 #define MPU9250_GYRO_SENS_500_NUM 57663
65 #define MPU9250_GYRO_SENS_500_DEN 52913
66 #define MPU9250_GYRO_SENS_1000 2.17953
67 #define MPU9250_GYRO_SENS_1000_NUM 18271
68 #define MPU9250_GYRO_SENS_1000_DEN 8383
69 #define MPU9250_GYRO_SENS_2000 4.35906
70 #define MPU9250_GYRO_SENS_2000_NUM 36542
71 #define MPU9250_GYRO_SENS_2000_DEN 8383
72 
73 // Get default sensitivity from a table
74 extern const float MPU9250_GYRO_SENS[4];
75 // Get default sensitivity numerator and denominator from a table
76 extern const int32_t MPU9250_GYRO_SENS_FRAC[4][2];
77 
83 #define MPU9250_ACCEL_SENS_2G 0.613125
84 #define MPU9250_ACCEL_SENS_2G_NUM 981
85 #define MPU9250_ACCEL_SENS_2G_DEN 1600
86 #define MPU9250_ACCEL_SENS_4G 1.22625
87 #define MPU9250_ACCEL_SENS_4G_NUM 981
88 #define MPU9250_ACCEL_SENS_4G_DEN 800
89 #define MPU9250_ACCEL_SENS_8G 2.4525
90 #define MPU9250_ACCEL_SENS_8G_NUM 981
91 #define MPU9250_ACCEL_SENS_8G_DEN 400
92 #define MPU9250_ACCEL_SENS_16G 4.905
93 #define MPU9250_ACCEL_SENS_16G_NUM 981
94 #define MPU9250_ACCEL_SENS_16G_DEN 200
95 
96 // Get default sensitivity from a table
97 extern const float MPU9250_ACCEL_SENS[4];
98 // Get default sensitivity numerator and denominator from a table
99 extern const int32_t MPU9250_ACCEL_SENS_FRAC[4][2];
100 
114 };
115 
117 typedef void (*Mpu9250ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val);
118 
120 typedef bool (*Mpu9250I2cSlaveConfigure)(Mpu9250ConfigSet mpu_set, void *mpu);
121 
124 };
125 
136  bool initialized;
137 
142 
148 };
149 
150 extern void mpu9250_set_default_config(struct Mpu9250Config *c);
151 
153 extern void mpu9250_send_config(Mpu9250ConfigSet mpu_set, void *mpu, struct Mpu9250Config *config);
154 
162 extern bool mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu);
163 
164 #endif // MPU9250_H
enum Mpu9250MstClk i2c_mst_clk
MPU I2C master clock speed.
Definition: mpu9250.h:146
const int32_t MPU9250_ACCEL_SENS_FRAC[4][2]
Definition: mpu9250.c:53
Mpu9250I2cSlaveConfigure configure
Definition: mpu9250.h:123
bool drdy_int_enable
Enable Data Ready Interrupt.
Definition: mpu9250.h:132
enum Mpu9250DLPFGyro dlpf_gyro_cfg
Digital Low Pass Filter for gyroscope.
Definition: mpu9250.h:129
Mpu9250GyroRanges
Selectable gyro range.
Definition: mpu9250_regs.h:162
enum Mpu9250GyroRanges gyro_range
deg/s Range
Definition: mpu9250.h:130
enum Mpu9250ConfStatus init_status
init status
Definition: mpu9250.h:135
uint8_t nb_bytes
number of bytes to read starting with MPU9250_REG_INT_STATUS
Definition: mpu9250.h:134
bool(* Mpu9250I2cSlaveConfigure)(Mpu9250ConfigSet mpu_set, void *mpu)
function prototype for configuration of a single I2C slave
Definition: mpu9250.h:120
uint8_t clk_sel
Clock select.
Definition: mpu9250.h:133
Mpu9250MstClk
I2C Master clock.
Definition: mpu9250_regs.h:182
const int32_t MPU9250_GYRO_SENS_FRAC[4][2]
Definition: mpu9250.c:39
enum Mpu9250DLPFAccel dlpf_accel_cfg
Digital Low Pass Filter for accelerometer.
Definition: mpu9250.h:128
Mpu9250DLPFAccel
Definition: mpu9250_regs.h:149
bool i2c_bypass
Bypass MPU I2C.
Definition: mpu9250.h:141
bool mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu)
Configure I2C slaves of the MPU.
Definition: mpu9250_i2c.c:175
void mpu9250_send_config(Mpu9250ConfigSet mpu_set, void *mpu, struct Mpu9250Config *config)
Configuration sequence called once before normal use.
Definition: mpu9250.c:81
void(* Mpu9250ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu9250.h:117
const float MPU9250_ACCEL_SENS[4]
Definition: mpu9250.c:46
Mpu9250ConfStatus
Definition: mpu9250.h:101
uint8_t nb_slaves
number of used I2C slaves
Definition: mpu9250.h:143
signed long int32_t
Definition: types.h:19
Register and address definitions for MPU-9250.
enum Mpu9250AccelRanges accel_range
g Range
Definition: mpu9250.h:131
unsigned char uint8_t
Definition: types.h:14
void mpu9250_set_default_config(struct Mpu9250Config *c)
Definition: mpu9250.c:60
struct Mpu9250I2cSlave slaves[MPU9250_I2C_NB_SLAVES]
I2C slaves.
Definition: mpu9250.h:145
Mpu9250AccelRanges
Selectable accel range.
Definition: mpu9250_regs.h:172
static const struct usb_config_descriptor config
Definition: usb_ser_hw.c:199
uint8_t nb_slave_init
number of already configured/initialized slaves
Definition: mpu9250.h:144
#define MPU9250_I2C_NB_SLAVES
Definition: mpu9250.h:52
const float MPU9250_GYRO_SENS[4]
Definition: mpu9250.c:32
uint8_t smplrt_div
Sample rate divider.
Definition: mpu9250.h:127
bool initialized
config done flag
Definition: mpu9250.h:136
Mpu9250DLPFGyro
Digital Low Pass Filter Options.
Definition: mpu9250_regs.h:139
uint8_t i2c_mst_delay
MPU I2C slaves delayed sample rate.
Definition: mpu9250.h:147