mpu60x0_spi.c File Reference

Driver for the MPU-60X0 using SPI. More...

#include "peripherals/mpu60x0_spi.h"

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

Functions
void	mpu60x0_spi_init (struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
static void	mpu60x0_spi_write_to_reg (void *mpu, uint8_t _reg, uint8_t _val)
void	mpu60x0_spi_start_configure (struct Mpu60x0_Spi *mpu)
void	mpu60x0_spi_read (struct Mpu60x0_Spi *mpu)
void	mpu60x0_spi_event (struct Mpu60x0_Spi *mpu)
bool	mpu60x0_configure_i2c_slaves (Mpu60x0ConfigSet mpu_set, void *mpu)
	configure the registered I2C slaves More...

Detailed Description

Driver for the MPU-60X0 using SPI.

Definition in file mpu60x0_spi.c.

Macro Definition Documentation

Int16FromBuf

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

Definition at line 127 of file mpu60x0_spi.c.

Function Documentation

mpu60x0_configure_i2c_slaves()

bool mpu60x0_configure_i2c_slaves	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu
	)

configure the registered I2C slaves

Configure I2C slaves of the MPU.

Definition at line 194 of file mpu60x0_spi.c.

References Mpu60x0_I2c::config, Mpu60x0_Spi::config, Mpu60x0I2cSlave::configure, Mpu60x0Config::i2c_bypass, Mpu60x0Config::i2c_mst_clk, Mpu60x0Config::i2c_mst_delay, MPU60X0_I2C_CONF_DONE, MPU60X0_I2C_CONF_I2C_BYPASS_DIS, MPU60X0_I2C_CONF_I2C_BYPASS_EN, MPU60X0_I2C_CONF_I2C_MST_CLK, MPU60X0_I2C_CONF_I2C_MST_DELAY, MPU60X0_I2C_CONF_I2C_MST_DIS, MPU60X0_I2C_CONF_I2C_MST_EN, MPU60X0_I2C_CONF_I2C_SMPLRT, MPU60X0_I2C_CONF_SLAVES_CONFIGURE, MPU60X0_I2C_CONF_UNINIT, MPU60X0_I2C_IF_DIS, MPU60X0_I2C_MST_EN, MPU60X0_I2C_NB_SLAVES, MPU60X0_REG_I2C_MST_CTRL, MPU60X0_REG_I2C_MST_DELAY, MPU60X0_REG_I2C_SLV4_CTRL, MPU60X0_REG_INT_PIN_CFG, MPU60X0_REG_USER_CTRL, MPU60X0_SPI_CONF_DONE, MPU60X0_SPI_CONF_I2C_MST_CLK, MPU60X0_SPI_CONF_I2C_MST_DELAY, MPU60X0_SPI_CONF_I2C_MST_EN, MPU60X0_SPI_CONF_SLAVES_CONFIGURE, MPU60X0_SPI_CONF_UNINIT, Mpu60x0Config::nb_slave_init, Mpu60x0Config::nb_slaves, Mpu60x0_I2c::slave_init_status, Mpu60x0_Spi::slave_init_status, and Mpu60x0Config::slaves.

Referenced by mpu60x0_send_config().

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mpu60x0_spi_event()

void mpu60x0_spi_event

(

struct Mpu60x0_Spi *

mpu

)

Definition at line 129 of file mpu60x0_spi.c.

References Mpu60x0_Spi::config, Mpu60x0_Spi::data_accel, Mpu60x0_Spi::data_available, Mpu60x0_Spi::data_ext, Mpu60x0_Spi::data_rates, ICM20600, ICM20602, ICM20608, ICM20689, Mpu60x0Config::init_status, Mpu60x0Config::initialized, Int16FromBuf, MPU60X0_CONF_UNINIT, mpu60x0_send_config(), mpu60x0_spi_write_to_reg(), Mpu60x0Config::nb_bytes, Mpu60x0Config::nb_slaves, Mpu60x0_Spi::rx_buf, Mpu60x0_Spi::spi_trans, SPITransDone, SPITransFailed, SPITransSuccess, spi_transaction::status, Mpu60x0_Spi::temp, and Mpu60x0Config::type.

Referenced by imu_aspirin2_event(), imu_cube_event(), imu_mpu_hmc_event(), imu_mpu_spi_event(), and imu_px4fmu_event().

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mpu60x0_spi_init()

void mpu60x0_spi_init	(	struct Mpu60x0_Spi *	mpu,
		struct spi_periph *	spi_p,
		uint8_t	slave_idx
	)

Definition at line 31 of file mpu60x0_spi.c.

References spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, Mpu60x0_Spi::config, spi_transaction::cpha, spi_transaction::cpol, Mpu60x0_Spi::data_available, spi_transaction::dss, Mpu60x0Config::init_status, Mpu60x0Config::initialized, spi_transaction::input_buf, spi_transaction::input_length, MPU60X0_BUFFER_LEN, MPU60X0_CONF_UNINIT, mpu60x0_set_default_config(), MPU60X0_SPI_CONF_UNINIT, spi_transaction::output_buf, spi_transaction::output_length, Mpu60x0_Spi::rx_buf, spi_transaction::select, spi_transaction::slave_idx, Mpu60x0_Spi::slave_init_status, Mpu60x0_Spi::spi_p, Mpu60x0_Spi::spi_trans, SPICphaEdge2, SPICpolIdleHigh, SPIDiv64, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, spi_transaction::status, and Mpu60x0_Spi::tx_buf.

Referenced by imu_aspirin2_init(), imu_cube_init(), imu_mpu_hmc_init(), imu_mpu_spi_init(), and imu_px4fmu_init().

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mpu60x0_spi_read()

void mpu60x0_spi_read

(

struct Mpu60x0_Spi *

mpu

)

Definition at line 116 of file mpu60x0_spi.c.

References Mpu60x0_Spi::config, Mpu60x0Config::initialized, spi_transaction::input_length, MPU60X0_REG_INT_STATUS, MPU60X0_SPI_READ, Mpu60x0Config::nb_bytes, spi_transaction::output_length, Mpu60x0_Spi::spi_p, spi_submit(), Mpu60x0_Spi::spi_trans, SPITransDone, spi_transaction::status, and Mpu60x0_Spi::tx_buf.

Referenced by mpu60x0_spi_periodic().

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mpu60x0_spi_start_configure()

void mpu60x0_spi_start_configure

(

struct Mpu60x0_Spi *

mpu

)

Definition at line 77 of file mpu60x0_spi.c.

References Mpu60x0_Spi::config, ICM20600, ICM20600_WHOAMI_REPLY, ICM20602, ICM20602_WHOAMI_REPLY, ICM20608, ICM20608_WHOAMI_REPLY, ICM20689, ICM20689_WHOAMI_REPLY, Mpu60x0Config::init_status, spi_transaction::input_length, MPU60X0, MPU60X0_CONF_UNINIT, MPU60X0_REG_WHO_AM_I, mpu60x0_send_config(), MPU60X0_SPI_READ, mpu60x0_spi_write_to_reg(), MPU60X0_WHOAMI_REPLY, MPU6500_WHOAMI_REPLY, spi_transaction::output_length, Mpu60x0_Spi::rx_buf, Mpu60x0_Spi::spi_p, spi_submit(), Mpu60x0_Spi::spi_trans, SPITransDone, SPITransPending, SPITransRunning, SPITransSuccess, spi_transaction::status, Mpu60x0_Spi::tx_buf, and Mpu60x0Config::type.

Referenced by mpu60x0_spi_periodic().

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mpu60x0_spi_write_to_reg()

static void mpu60x0_spi_write_to_reg ( void *  mpu, uint8_t  _reg, uint8_t  _val  )

static

Definition at line 66 of file mpu60x0_spi.c.

References spi_transaction::input_length, spi_transaction::output_length, Mpu60x0_Spi::spi_p, spi_submit(), Mpu60x0_Spi::spi_trans, and Mpu60x0_Spi::tx_buf.

Referenced by mpu60x0_spi_event(), and mpu60x0_spi_start_configure().

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