mpu9250_i2c.h File Reference

Driver for the MPU-9250 using I2C. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/i2c.h"
#include "peripherals/mpu9250.h"
#include "peripherals/ak8963.h"

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Data Structures
struct	Mpu9250_I2c
union	Mpu9250_I2c.data_accel
union	Mpu9250_I2c.data_rates

Macros
#define	IMU_MPU9250_READ_MAG   TRUE
#define	MPU9250_BUFFER_EXT_LEN   16

Enumerations
enum	Mpu9250I2cSlaveInitStatus {   MPU9250_I2C_CONF_UNINIT , MPU9250_I2C_CONF_I2C_MST_DIS , MPU9250_I2C_CONF_I2C_BYPASS_EN , MPU9250_I2C_CONF_SLAVES_CONFIGURE ,   MPU9250_I2C_CONF_I2C_BYPASS_DIS , MPU9250_I2C_CONF_I2C_MST_CLK , MPU9250_I2C_CONF_I2C_MST_DELAY , MPU9250_I2C_CONF_I2C_SMPLRT ,   MPU9250_I2C_CONF_I2C_MST_EN , MPU9250_I2C_CONF_DONE }

Functions
void	mpu9250_i2c_init (struct Mpu9250_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
void	mpu9250_i2c_start_configure (struct Mpu9250_I2c *mpu)
void	mpu9250_i2c_read (struct Mpu9250_I2c *mpu)
void	mpu9250_i2c_event (struct Mpu9250_I2c *mpu)
static void	mpu9250_i2c_periodic (struct Mpu9250_I2c *mpu)
	convenience function: read or start configuration if not already initialized More...

Detailed Description

Driver for the MPU-9250 using I2C.

Definition in file mpu9250_i2c.h.

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Data Structure Documentation

Mpu9250_I2c

struct Mpu9250_I2c

Definition at line 59 of file mpu9250_i2c.h.

Collaboration diagram for Mpu9250_I2c:

Data Fields
struct Ak8963	akm	"internal" magnetometer
struct Mpu9250Config	config
union Mpu9250_I2c	data_accel
volatile bool	data_available	data ready flag
uint8_t	data_ext[MPU9250_BUFFER_EXT_LEN]
union Mpu9250_I2c	data_rates
struct i2c_periph *	i2c_p
struct i2c_transaction	i2c_trans
enum Mpu9250I2cSlaveInitStatus	slave_init_status

Mpu9250_I2c.data_accel

union Mpu9250_I2c.data_accel

Definition at line 63 of file mpu9250_i2c.h.

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

Mpu9250_I2c.data_rates

union Mpu9250_I2c.data_rates

Definition at line 67 of file mpu9250_i2c.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

IMU_MPU9250_READ_MAG

#define IMU_MPU9250_READ_MAG   TRUE

Definition at line 40 of file mpu9250_i2c.h.

MPU9250_BUFFER_EXT_LEN

#define MPU9250_BUFFER_EXT_LEN   16

Definition at line 44 of file mpu9250_i2c.h.

Enumeration Type Documentation

Mpu9250I2cSlaveInitStatus

enum Mpu9250I2cSlaveInitStatus

Enumerator
MPU9250_I2C_CONF_UNINIT
MPU9250_I2C_CONF_I2C_MST_DIS
MPU9250_I2C_CONF_I2C_BYPASS_EN
MPU9250_I2C_CONF_SLAVES_CONFIGURE
MPU9250_I2C_CONF_I2C_BYPASS_DIS
MPU9250_I2C_CONF_I2C_MST_CLK
MPU9250_I2C_CONF_I2C_MST_DELAY
MPU9250_I2C_CONF_I2C_SMPLRT
MPU9250_I2C_CONF_I2C_MST_EN
MPU9250_I2C_CONF_DONE

Definition at line 46 of file mpu9250_i2c.h.

Function Documentation

mpu9250_i2c_event()

void mpu9250_i2c_event

(

struct Mpu9250_I2c *

mpu

)

Definition at line 106 of file mpu9250_i2c.c.

References ak8963_event(), Mpu9250_I2c::akm, i2c_transaction::buf, Mpu9250_I2c::config, Mpu9250_I2c::data_accel, Mpu9250_I2c::data_available, Mpu9250_I2c::data_ext, Mpu9250_I2c::data_rates, FALSE, Mpu9250Config::i2c_bypass, Mpu9250_I2c::i2c_trans, I2CTransDone, I2CTransFailed, I2CTransSuccess, Mpu9250Config::init_status, Mpu9250Config::initialized, Int16FromBuf, MPU9250_CONF_UNINIT, mpu9250_i2c_write_to_reg(), mpu9250_send_config(), Mpu9250Config::nb_bytes, Mpu9250Config::nb_slaves, and i2c_transaction::status.

Referenced by imu_mpu9250_event().

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mpu9250_i2c_init()

void mpu9250_i2c_init	(	struct Mpu9250_I2c *	mpu,
		struct i2c_periph *	i2c_p,
		uint8_t	addr
	)

Definition at line 33 of file mpu9250_i2c.c.

References ak8963_init(), Mpu9250_I2c::akm, Mpu9250_I2c::config, Mpu9250I2cSlave::configure, Mpu9250_I2c::data_available, Mpu9250Config::i2c_bypass, Mpu9250_I2c::i2c_p, Mpu9250_I2c::i2c_trans, I2CTransDone, imu_mpu9250_configure_mag_slave(), Mpu9250Config::init_status, Mpu9250Config::initialized, MPU9250_CONF_UNINIT, MPU9250_I2C_CONF_UNINIT, MPU9250_MAG_ADDR, mpu9250_set_default_config(), Mpu9250Config::nb_slaves, i2c_transaction::slave_addr, Mpu9250_I2c::slave_init_status, Mpu9250Config::slaves, and i2c_transaction::status.

Referenced by imu_mpu9250_init().

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mpu9250_i2c_periodic()

static void mpu9250_i2c_periodic ( struct Mpu9250_I2c *  mpu )

inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 86 of file mpu9250_i2c.h.

References Mpu9250_I2c::config, Mpu9250Config::initialized, mpu9250_i2c_read(), and mpu9250_i2c_start_configure().

Referenced by imu_mpu9250_periodic().

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mpu9250_i2c_read()

void mpu9250_i2c_read

(

struct Mpu9250_I2c *

mpu

)

Definition at line 87 of file mpu9250_i2c.c.

References ak8963_read(), Mpu9250_I2c::akm, i2c_transaction::buf, Mpu9250_I2c::config, Mpu9250_I2c::i2c_p, Mpu9250_I2c::i2c_trans, i2c_transceive(), I2CTransDone, Mpu9250Config::initialized, MPU9250_REG_INT_STATUS, Mpu9250Config::nb_bytes, i2c_transaction::slave_addr, and i2c_transaction::status.

Referenced by mpu9250_i2c_periodic().

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mpu9250_i2c_start_configure()

void mpu9250_i2c_start_configure

(

struct Mpu9250_I2c *

mpu

)

Definition at line 77 of file mpu9250_i2c.c.

References Mpu9250_I2c::config, Mpu9250_I2c::i2c_trans, I2CTransDone, I2CTransSuccess, Mpu9250Config::init_status, MPU9250_CONF_UNINIT, mpu9250_i2c_write_to_reg(), mpu9250_send_config(), and i2c_transaction::status.

Referenced by mpu9250_i2c_periodic().

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