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mpu9250_spi.h File Reference

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

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/spi.h"
#include "peripherals/mpu9250.h"
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Data Structures

struct  Mpu9250_Spi
 
union  Mpu9250_Spi.data_accel
 
union  Mpu9250_Spi.data_rates
 

Macros

#define MPU9250_BUFFER_LEN   32
 
#define MPU9250_BUFFER_EXT_LEN   16
 

Enumerations

enum  Mpu9250SpiSlaveInitStatus {
  MPU9250_SPI_CONF_UNINIT, 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_DONE
}
 

Functions

void mpu9250_spi_init (struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t addr)
 
void mpu9250_spi_start_configure (struct Mpu9250_Spi *mpu)
 
void mpu9250_spi_read (struct Mpu9250_Spi *mpu)
 
void mpu9250_spi_event (struct Mpu9250_Spi *mpu)
 
static void mpu9250_spi_periodic (struct Mpu9250_Spi *mpu)
 convenience function: read or start configuration if not already initialized More...
 

Detailed Description

Driver for the MPU-9250 using SPI.

Definition in file mpu9250_spi.h.


Data Structure Documentation

struct Mpu9250_Spi

Definition at line 51 of file mpu9250_spi.h.

+ Collaboration diagram for Mpu9250_Spi:
Data Fields
struct Mpu9250Config config
union Mpu9250_Spi data_accel
volatile bool data_available data ready flag
uint8_t data_ext[MPU9250_BUFFER_EXT_LEN]
union Mpu9250_Spi data_rates
volatile uint8_t rx_buf[MPU9250_BUFFER_LEN]
enum Mpu9250SpiSlaveInitStatus slave_init_status
struct spi_periph * spi_p
struct spi_transaction spi_trans
volatile uint8_t tx_buf[2]
union Mpu9250_Spi.data_accel

Definition at line 57 of file mpu9250_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
union Mpu9250_Spi.data_rates

Definition at line 61 of file mpu9250_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

#define MPU9250_BUFFER_EXT_LEN   16

Definition at line 40 of file mpu9250_spi.h.

#define MPU9250_BUFFER_LEN   32

Definition at line 39 of file mpu9250_spi.h.

Referenced by mpu9250_spi_init().

Enumeration Type Documentation

Enumerator
MPU9250_SPI_CONF_UNINIT 
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_DONE 

Definition at line 42 of file mpu9250_spi.h.

Function Documentation

static void mpu9250_spi_periodic ( struct Mpu9250_Spi mpu)
inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 77 of file mpu9250_spi.h.

References Mpu9250_Spi::config, Mpu9250Config::initialized, mpu9250_spi_read(), and mpu9250_spi_start_configure().

Referenced by imu_mpu9250_periodic().

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void mpu9250_spi_read ( struct Mpu9250_Spi mpu)