mpu9250.c File Reference

MPU-9250 driver common functions (I2C and SPI). More...

#include "peripherals/mpu9250.h"

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Functions
void	mpu9250_set_default_config (struct Mpu9250Config *c)
void	mpu9250_send_config (Mpu9250ConfigSet mpu_set, void *mpu, struct Mpu9250Config *config)
	Configuration sequence called once before normal use. More...

Variables
const float	MPU9250_GYRO_SENS [4]
const struct Int32Rates	MPU9250_GYRO_SENS_FRAC [4][2]
const float	MPU9250_ACCEL_SENS [4]
const struct Int32Vect3	MPU9250_ACCEL_SENS_FRAC [4][2]

Detailed Description

MPU-9250 driver common functions (I2C and SPI).

Still needs the either I2C or SPI specific implementation.

Definition in file mpu9250.c.

Function Documentation

mpu9250_send_config()

void mpu9250_send_config	(	Mpu9250ConfigSet	mpu_set,
		void *	mpu,
		struct Mpu9250Config *	config
	)

Configuration sequence called once before normal use.

Definition at line 89 of file mpu9250.c.

References config, MPU9250_CONF_ACCEL, MPU9250_CONF_DLPF_ACCEL, MPU9250_CONF_DLPF_GYRO, MPU9250_CONF_DONE, MPU9250_CONF_GYRO, MPU9250_CONF_I2C_SLAVES, MPU9250_CONF_INT_ENABLE, MPU9250_CONF_PWR, MPU9250_CONF_RESET, MPU9250_CONF_SD, MPU9250_CONF_USER_RESET, mpu9250_configure_i2c_slaves(), MPU9250_FIFO_RESET, MPU9250_I2C_MST_RESET, MPU9250_REG_ACCEL_CONFIG, MPU9250_REG_ACCEL_CONFIG_2, MPU9250_REG_CONFIG, MPU9250_REG_GYRO_CONFIG, MPU9250_REG_INT_ENABLE, MPU9250_REG_PWR_MGMT_1, MPU9250_REG_SMPLRT_DIV, MPU9250_REG_USER_CTRL, and MPU9250_SIG_COND_RESET.

Referenced by mpu9250_i2c_event(), mpu9250_i2c_start_configure(), mpu9250_spi_event(), and mpu9250_spi_start_configure().

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mpu9250_set_default_config()

void mpu9250_set_default_config

(

struct Mpu9250Config *

c

)

Definition at line 68 of file mpu9250.c.

References Mpu9250Config::accel_range, Mpu9250Config::clk_sel, Mpu9250Config::dlpf_accel_cfg, Mpu9250Config::dlpf_gyro_cfg, Mpu9250Config::drdy_int_enable, Mpu9250Config::gyro_range, Mpu9250Config::i2c_bypass, MPU9250_DEFAULT_AFS_SEL, MPU9250_DEFAULT_CLK_SEL, MPU9250_DEFAULT_DLPF_ACCEL_CFG, MPU9250_DEFAULT_DLPF_GYRO_CFG, MPU9250_DEFAULT_FS_SEL, MPU9250_DEFAULT_SMPLRT_DIV, Mpu9250Config::nb_bytes, Mpu9250Config::nb_slave_init, Mpu9250Config::nb_slaves, and Mpu9250Config::smplrt_div.

Referenced by mpu9250_i2c_init(), and mpu9250_spi_init().

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Variable Documentation

MPU9250_ACCEL_SENS

const float MPU9250_ACCEL_SENS[4]

Initial value:

= {
  MPU9250_ACCEL_SENS_2G,
  MPU9250_ACCEL_SENS_4G,
  MPU9250_ACCEL_SENS_8G,
  MPU9250_ACCEL_SENS_16G
}

Definition at line 50 of file mpu9250.c.

MPU9250_ACCEL_SENS_FRAC

const struct Int32Vect3 MPU9250_ACCEL_SENS_FRAC[4][2]

Initial value:

= {
  { {MPU9250_ACCEL_SENS_2G_NUM, MPU9250_ACCEL_SENS_2G_NUM, MPU9250_ACCEL_SENS_2G_NUM},
    {MPU9250_ACCEL_SENS_2G_DEN, MPU9250_ACCEL_SENS_2G_DEN, MPU9250_ACCEL_SENS_2G_DEN} },
  { {MPU9250_ACCEL_SENS_4G_NUM, MPU9250_ACCEL_SENS_4G_NUM, MPU9250_ACCEL_SENS_4G_NUM},
    {MPU9250_ACCEL_SENS_4G_DEN, MPU9250_ACCEL_SENS_4G_DEN, MPU9250_ACCEL_SENS_4G_DEN} },
  { {MPU9250_ACCEL_SENS_8G_NUM, MPU9250_ACCEL_SENS_8G_NUM, MPU9250_ACCEL_SENS_8G_NUM},
    {MPU9250_ACCEL_SENS_8G_DEN, MPU9250_ACCEL_SENS_8G_DEN, MPU9250_ACCEL_SENS_8G_DEN} },
  { {MPU9250_ACCEL_SENS_16G_NUM, MPU9250_ACCEL_SENS_16G_NUM, MPU9250_ACCEL_SENS_16G_NUM},
    {MPU9250_ACCEL_SENS_16G_DEN, MPU9250_ACCEL_SENS_16G_DEN, MPU9250_ACCEL_SENS_16G_DEN} }
}

Definition at line 50 of file mpu9250.c.

Referenced by imu_mpu9250_init().

MPU9250_GYRO_SENS

const float MPU9250_GYRO_SENS[4]

Initial value:

= {
  MPU9250_GYRO_SENS_250,
  MPU9250_GYRO_SENS_500,
  MPU9250_GYRO_SENS_1000,
  MPU9250_GYRO_SENS_2000
}

Definition at line 32 of file mpu9250.c.

MPU9250_GYRO_SENS_FRAC

const struct Int32Rates MPU9250_GYRO_SENS_FRAC[4][2]

Initial value:

= {
  { {MPU9250_GYRO_SENS_250_NUM, MPU9250_GYRO_SENS_250_NUM, MPU9250_GYRO_SENS_250_NUM},
    {MPU9250_GYRO_SENS_250_DEN, MPU9250_GYRO_SENS_250_DEN, MPU9250_GYRO_SENS_250_DEN} },
  { {MPU9250_GYRO_SENS_500_NUM, MPU9250_GYRO_SENS_500_NUM, MPU9250_GYRO_SENS_500_NUM},
    {MPU9250_GYRO_SENS_500_DEN, MPU9250_GYRO_SENS_500_DEN, MPU9250_GYRO_SENS_500_DEN} },
  { {MPU9250_GYRO_SENS_1000_NUM, MPU9250_GYRO_SENS_1000_NUM, MPU9250_GYRO_SENS_1000_NUM},
    {MPU9250_GYRO_SENS_1000_DEN, MPU9250_GYRO_SENS_1000_DEN, MPU9250_GYRO_SENS_1000_DEN} },
  { {MPU9250_GYRO_SENS_2000_NUM, MPU9250_GYRO_SENS_2000_NUM, MPU9250_GYRO_SENS_2000_NUM},
    {MPU9250_GYRO_SENS_2000_DEN, MPU9250_GYRO_SENS_2000_DEN, MPU9250_GYRO_SENS_2000_DEN} }
}

Definition at line 32 of file mpu9250.c.

Referenced by imu_mpu9250_init().