imu_aspirin_2_spi.c File Reference

Driver for the Aspirin v2.x IMU using SPI for the MPU6000. More...

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/spi.h"
#include "peripherals/hmc58xx_regs.h"

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Macros
#define	ASPIRIN_2_SPI_SLAVE_IDX   SPI_SLAVE2
#define	ASPIRIN_2_SPI_DEV   spi2
#define	HMC58XX_DO   0x6
#define	HMC58XX_MS   0x0
#define	HMC58XX_GN   0x1
#define	HMC58XX_MD   0x0
#define	HMC58XX_CRA   ((HMC58XX_DO<<2)|(HMC58XX_MS))
#define	HMC58XX_CRB   (HMC58XX_GN<<5)
#define	ASPIRIN_2_MAG_STARTUP_DELAY   1.5
	delay in seconds before starting to configure HMC58xx mag slave More...
#define	Int16FromBuf(_buf, _idx)   ((int16_t)((_buf[_idx]<<8) | _buf[_idx+1]))

Functions
void	mpu_wait_slave4_ready (void)
void	mpu_wait_slave4_ready_cb (struct spi_transaction *t)
bool	imu_aspirin2_configure_mag_slave (Mpu60x0ConfigSet mpu_set, void *mpu)
	function to configure hmc5883 mag More...
void	imu_aspirin2_init (void)
void	imu_aspirin2_periodic (void)
void	imu_aspirin2_event (void)
static void	mpu_set_and_wait (Mpu60x0ConfigSet mpu_set, void *mpu, uint8_t _reg, uint8_t _val)

Variables
struct ImuAspirin2Spi	imu_aspirin2

Detailed Description

Driver for the Aspirin v2.x IMU using SPI for the MPU6000.

Definition in file imu_aspirin_2_spi.c.

Macro Definition Documentation

#define ASPIRIN_2_MAG_STARTUP_DELAY   1.5

delay in seconds before starting to configure HMC58xx mag slave

Definition at line 90 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_configure_mag_slave().

#define ASPIRIN_2_SPI_DEV   spi2

Definition at line 40 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_init().

#define ASPIRIN_2_SPI_SLAVE_IDX   SPI_SLAVE2

Definition at line 35 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_init().

#define HMC58XX_CRA   ((HMC58XX_DO<<2)|(HMC58XX_MS))

Definition at line 85 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_configure_mag_slave().

#define HMC58XX_CRB   (HMC58XX_GN<<5)

Definition at line 86 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_configure_mag_slave().

#define HMC58XX_DO   0x6

Definition at line 73 of file imu_aspirin_2_spi.c.

#define HMC58XX_GN   0x1

Definition at line 79 of file imu_aspirin_2_spi.c.

#define HMC58XX_MD   0x0

Definition at line 82 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_configure_mag_slave().

#define HMC58XX_MS   0x0

Definition at line 76 of file imu_aspirin_2_spi.c.

#define Int16FromBuf	(		_buf,
			_idx
	)		((int16_t)((_buf[_idx]<<8) | _buf[_idx+1]))

Definition at line 152 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_event().

Function Documentation

bool imu_aspirin2_configure_mag_slave	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu
	)

function to configure hmc5883 mag

Returns

TRUE if mag configuration finished

Definition at line 254 of file imu_aspirin_2_spi.c.

References ASPIRIN_2_MAG_STARTUP_DELAY, get_sys_time_float(), HMC58XX_ADDR, HMC58XX_CRA, HMC58XX_CRB, HMC58XX_MD, HMC58XX_REG_CFGA, HMC58XX_REG_CFGB, HMC58XX_REG_DATXM, HMC58XX_REG_MODE, MPU60X0_REG_I2C_SLV0_ADDR, MPU60X0_REG_I2C_SLV0_CTRL, MPU60X0_REG_I2C_SLV0_REG, MPU60X0_REG_I2C_SLV4_ADDR, MPU60X0_REG_I2C_SLV4_CTRL, MPU60X0_REG_I2C_SLV4_DO, MPU60X0_REG_I2C_SLV4_REG, MPU60X0_SPI_READ, mpu_set_and_wait(), and mpu_wait_slave4_ready().

Referenced by imu_aspirin2_init().

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void imu_aspirin2_event

(

void

)

Definition at line 154 of file imu_aspirin_2_spi.c.

References Imu::accel, Imu::accel_unscaled, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_ext, Mpu60x0_Spi::data_rates, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_aspirin2, IMU_ASPIRIN2_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Int16FromBuf, Imu::mag, Imu::mag_unscaled, ImuAspirin2Spi::mpu, mpu60x0_spi_event(), RATES_ASSIGN, RATES_COPY, VECT3_ASSIGN, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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void imu_aspirin2_init

(

void

)

Definition at line 99 of file imu_aspirin_2_spi.c.

References Mpu60x0Config::accel_range, spi_transaction::after_cb, ASPIRIN_2_ACCEL_RANGE, ASPIRIN_2_GYRO_RANGE, ASPIRIN_2_SPI_DEV, ASPIRIN_2_SPI_SLAVE_IDX, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, Mpu60x0_Spi::config, Mpu60x0I2cSlave::configure, spi_transaction::cpha, spi_transaction::cpol, Mpu60x0Config::dlpf_cfg, spi_transaction::dss, Mpu60x0Config::gyro_range, Mpu60x0Config::i2c_mst_clk, Mpu60x0Config::i2c_mst_delay, imu_aspirin2, imu_aspirin2_configure_mag_slave(), spi_transaction::input_buf, spi_transaction::input_length, ImuAspirin2Spi::mpu, MPU60X0_MST_CLK_400KHZ, mpu60x0_spi_init(), mpu_wait_slave4_ready_cb(), Mpu60x0Config::nb_bytes, Mpu60x0Config::nb_slaves, spi_transaction::output_buf, spi_transaction::output_length, spi_transaction::select, ImuAspirin2Spi::slave4_ready, spi_transaction::slave_idx, Mpu60x0Config::slaves, Mpu60x0Config::smplrt_div, SPICphaEdge2, SPICpolIdleHigh, SPIDiv64, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, spi_transaction::status, ImuAspirin2Spi::wait_slave4_rx_buf, ImuAspirin2Spi::wait_slave4_trans, and ImuAspirin2Spi::wait_slave4_tx_buf.

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void imu_aspirin2_periodic

(

void

)

Definition at line 147 of file imu_aspirin_2_spi.c.

References imu_aspirin2, ImuAspirin2Spi::mpu, and mpu60x0_spi_periodic().

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static void mpu_set_and_wait ( Mpu60x0ConfigSet  mpu_set, void *  mpu, uint8_t  _reg, uint8_t  _val  )

inlinestatic

Definition at line 245 of file imu_aspirin_2_spi.c.

References imu_aspirin2, ImuAspirin2Spi::mpu, Mpu60x0_Spi::spi_trans, SPITransSuccess, and spi_transaction::status.

Referenced by imu_aspirin2_configure_mag_slave().

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void mpu_wait_slave4_ready

(

void

)

Definition at line 291 of file imu_aspirin_2_spi.c.

References imu_aspirin2, ImuAspirin2Spi::mpu, MPU60X0_REG_I2C_MST_STATUS, MPU60X0_SPI_READ, ImuAspirin2Spi::slave4_ready, Mpu60x0_Spi::spi_p, spi_submit(), SPITransDone, spi_transaction::status, ImuAspirin2Spi::wait_slave4_trans, and ImuAspirin2Spi::wait_slave4_tx_buf.

Referenced by imu_aspirin2_configure_mag_slave().

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void mpu_wait_slave4_ready_cb

(

struct spi_transaction *

t

)

Definition at line 301 of file imu_aspirin_2_spi.c.

References imu_aspirin2, spi_transaction::input_buf, MPU60X0_I2C_SLV4_DONE, ImuAspirin2Spi::slave4_ready, SPITransDone, and spi_transaction::status.

Referenced by imu_aspirin2_init().

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Variable Documentation

struct ImuAspirin2Spi imu_aspirin2

Definition at line 93 of file imu_aspirin_2_spi.c.

Referenced by imu_aspirin2_event(), imu_aspirin2_init(), imu_aspirin2_periodic(), mpu_set_and_wait(), mpu_wait_slave4_ready(), and mpu_wait_slave4_ready_cb().