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mpu60x0.h
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
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21 
28 #ifndef MPU60X0_H
29 #define MPU60X0_H
30 
31 #include "std.h"
32 
33 /* Include address and register definition */
35 
37 #define MPU60X0_DEFAULT_SMPLRT_DIV 0
38 #define MPU60X0_DEFAULT_FS_SEL MPU60X0_GYRO_RANGE_2000
40 #define MPU60X0_DEFAULT_AFS_SEL MPU60X0_ACCEL_RANGE_16G
42 #define MPU60X0_DEFAULT_DLPF_CFG MPU60X0_DLPF_42HZ
44 #define MPU60X0_DEFAULT_INT_CFG 1
46 #define MPU60X0_DEFAULT_CLK_SEL 1
48 
61 };
62 
64 typedef void (*Mpu60x0ConfigSet)(void* mpu, uint8_t _reg, uint8_t _val);
65 
67 typedef bool_t (*Mpu60x0I2cSlaveConfigure)(Mpu60x0ConfigSet mpu_set, void* mpu);
68 
71 };
72 
73 struct Mpu60x0Config {
78  bool_t drdy_int_enable;
82  bool_t initialized;
83 
87  bool_t i2c_bypass;
88 
90  struct Mpu60x0I2cSlave slaves[5];
93 };
94 
95 extern void mpu60x0_set_default_config(struct Mpu60x0Config *c);
96 
98 extern void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void* mpu, struct Mpu60x0Config* config);
99 
107 extern bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void* mpu);
108 
109 #endif // MPU60X0_H
void mpu60x0_set_default_config(struct Mpu60x0Config *c)
Definition: mpu60x0.c:32
Mpu60x0ConfStatus
Definition: mpu60x0.h:49
Mpu60x0AccelRanges
Selectable accel range.
Definition: mpu60x0_regs.h:160
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: mpu60x0.h:75
bool_t(* Mpu60x0I2cSlaveConfigure)(Mpu60x0ConfigSet mpu_set, void *mpu)
function prototype for configuration of a single I2C slave
Definition: mpu60x0.h:67
uint8_t nb_slaves
number of used I2C slaves
Definition: mpu60x0.h:89
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:74
Mpu60x0I2cSlaveConfigure configure
Definition: mpu60x0.h:70
bool_t drdy_int_enable
Enable Data Ready Interrupt.
Definition: mpu60x0.h:78
bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu)
Configure I2C slaves of the MPU.
Definition: mpu60x0_i2c.c:124
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:77
Mpu60x0GyroRanges
Selectable gyro range.
Definition: mpu60x0_regs.h:150
uint8_t nb_bytes
number of bytes to read starting with MPU60X0_REG_INT_STATUS
Definition: mpu60x0.h:80
Mpu60x0DLPF
Digital Low Pass Filter Options DLFP is affecting both gyro and accels, with slightly different bandw...
Definition: mpu60x0_regs.h:137
Register and address definitions for MPU-6000 and MPU-6050.
bool_t initialized
config done flag
Definition: mpu60x0.h:82
void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config)
Configuration sequence called once before normal use.
Definition: mpu60x0.c:51
Mpu60x0MstClk
I2C Master clock.
Definition: mpu60x0_regs.h:170
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:76
enum Mpu60x0ConfStatus init_status
init status
Definition: mpu60x0.h:81
struct Mpu60x0I2cSlave slaves[5]
I2C slaves.
Definition: mpu60x0.h:90
uint8_t i2c_mst_delay
MPU I2C slaves delayed sample rate.
Definition: mpu60x0.h:92
enum Mpu60x0MstClk i2c_mst_clk
MPU I2C master clock speed.
Definition: mpu60x0.h:91
bool_t i2c_bypass
Bypass MPU I2C.
Definition: mpu60x0.h:87
unsigned char uint8_t
Definition: types.h:14
uint8_t clk_sel
Clock select.
Definition: mpu60x0.h:79
static struct point c
Definition: discsurvey.c:39
void(* Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu60x0.h:64