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mpu60x0.h
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1 /*
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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 
49 // Default number of I2C slaves
50 #ifndef MPU60X0_I2C_NB_SLAVES
51 #define MPU60X0_I2C_NB_SLAVES 5
52 #endif
53 
59 #define MPU60X0_GYRO_SENS_250 0.544883
60 #define MPU60X0_GYRO_SENS_250_NUM 19327
61 #define MPU60X0_GYRO_SENS_250_DEN 35470
62 #define MPU60X0_GYRO_SENS_500 1.08977
63 #define MPU60X0_GYRO_SENS_500_NUM 57663
64 #define MPU60X0_GYRO_SENS_500_DEN 52913
65 #define MPU60X0_GYRO_SENS_1000 2.17953
66 #define MPU60X0_GYRO_SENS_1000_NUM 18271
67 #define MPU60X0_GYRO_SENS_1000_DEN 8383
68 #define MPU60X0_GYRO_SENS_2000 4.35906
69 #define MPU60X0_GYRO_SENS_2000_NUM 36542
70 #define MPU60X0_GYRO_SENS_2000_DEN 8383
71 
72 // Get default sensitivity from a table
73 extern const float MPU60X0_GYRO_SENS[4];
74 // Get default sensitivity numerator and denominator from a table
75 extern const int32_t MPU60X0_GYRO_SENS_FRAC[4][2];
76 
82 #define MPU60X0_ACCEL_SENS_2G 0.613125
83 #define MPU60X0_ACCEL_SENS_2G_NUM 981
84 #define MPU60X0_ACCEL_SENS_2G_DEN 1600
85 #define MPU60X0_ACCEL_SENS_4G 1.22625
86 #define MPU60X0_ACCEL_SENS_4G_NUM 981
87 #define MPU60X0_ACCEL_SENS_4G_DEN 800
88 #define MPU60X0_ACCEL_SENS_8G 2.4525
89 #define MPU60X0_ACCEL_SENS_8G_NUM 981
90 #define MPU60X0_ACCEL_SENS_8G_DEN 400
91 #define MPU60X0_ACCEL_SENS_16G 4.905
92 #define MPU60X0_ACCEL_SENS_16G_NUM 981
93 #define MPU60X0_ACCEL_SENS_16G_DEN 200
94 
95 // Get default sensitivity from a table
96 extern const float MPU60X0_ACCEL_SENS[4];
97 // Get default sensitivity numerator and denominator from a table
98 extern const int32_t MPU60X0_ACCEL_SENS_FRAC[4][2];
99 
112 };
113 
115 typedef void (*Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val);
116 
118 typedef bool (*Mpu60x0I2cSlaveConfigure)(Mpu60x0ConfigSet mpu_set, void *mpu);
119 
122 };
123 
133  bool initialized;
134 
139 
145 };
146 
147 extern void mpu60x0_set_default_config(struct Mpu60x0Config *c);
148 
150 extern void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config);
151 
159 extern bool mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu);
160 
161 #endif // MPU60X0_H
void mpu60x0_set_default_config(struct Mpu60x0Config *c)
Definition: mpu60x0.c:60
Mpu60x0ConfStatus
Definition: mpu60x0.h:100
const float MPU60X0_GYRO_SENS[4]
Definition: mpu60x0.c:32
Mpu60x0AccelRanges
Selectable accel range.
Definition: mpu60x0_regs.h:164
bool initialized
config done flag
Definition: mpu60x0.h:133
uint8_t smplrt_div
Sample rate divider.
Definition: mpu60x0.h:125
uint8_t nb_slave_init
number of already configured/initialized slaves
Definition: mpu60x0.h:141
enum Mpu60x0GyroRanges gyro_range
deg/s Range
Definition: mpu60x0.h:127
enum Mpu60x0AccelRanges accel_range
g Range
Definition: mpu60x0.h:128
bool drdy_int_enable
Enable Data Ready Interrupt.
Definition: mpu60x0.h:129
enum Mpu60x0DLPF dlpf_cfg
Digital Low Pass Filter.
Definition: mpu60x0.h:126
Mpu60x0I2cSlaveConfigure configure
Definition: mpu60x0.h:121
enum Mpu60x0ConfStatus init_status
init status
Definition: mpu60x0.h:132
enum Mpu60x0MstClk i2c_mst_clk
MPU I2C master clock speed.
Definition: mpu60x0.h:143
const int32_t MPU60X0_GYRO_SENS_FRAC[4][2]
Definition: mpu60x0.c:39
Mpu60x0GyroRanges
Selectable gyro range.
Definition: mpu60x0_regs.h:154
Mpu60x0DLPF
Digital Low Pass Filter Options DLFP is affecting both gyro and accels, with slightly different bandw...
Definition: mpu60x0_regs.h:141
#define MPU60X0_I2C_NB_SLAVES
Definition: mpu60x0.h:51
Register and address definitions for MPU-6000 and MPU-6050.
uint8_t nb_slaves
number of used I2C slaves
Definition: mpu60x0.h:140
void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config)
Configuration sequence called once before normal use.
Definition: mpu60x0.c:80
uint8_t clk_sel
Clock select.
Definition: mpu60x0.h:130
Mpu60x0MstClk
I2C Master clock.
Definition: mpu60x0_regs.h:174
const int32_t MPU60X0_ACCEL_SENS_FRAC[4][2]
Definition: mpu60x0.c:53
signed long int32_t
Definition: types.h:19
bool(* Mpu60x0I2cSlaveConfigure)(Mpu60x0ConfigSet mpu_set, void *mpu)
function prototype for configuration of a single I2C slave
Definition: mpu60x0.h:118
bool mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void *mpu)
Configure I2C slaves of the MPU.
Definition: mpu60x0_i2c.c:135
unsigned char uint8_t
Definition: types.h:14
static const struct usb_config_descriptor config
Definition: usb_ser_hw.c:199
uint8_t i2c_mst_delay
MPU I2C slaves delayed sample rate.
Definition: mpu60x0.h:144
bool i2c_bypass
Bypass MPU I2C.
Definition: mpu60x0.h:138
const float MPU60X0_ACCEL_SENS[4]
Definition: mpu60x0.c:46
uint8_t nb_bytes
number of bytes to read starting with MPU60X0_REG_INT_STATUS
Definition: mpu60x0.h:131
struct Mpu60x0I2cSlave slaves[MPU60X0_I2C_NB_SLAVES]
I2C slaves.
Definition: mpu60x0.h:142
void(* Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)
Configuration function prototype.
Definition: mpu60x0.h:115