mpu9250.h

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/*
 * Copyright (C) 2014 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef MPU9250_H
#define MPU9250_H
 
#include "std.h"
#include "math/pprz_algebra_int.h"
 
/* Include address and register definition */
#include "peripherals/mpu9250_regs.h"
 
#define MPU9250_DEFAULT_SMPLRT_DIV 0
#define MPU9250_DEFAULT_FS_SEL MPU9250_GYRO_RANGE_1000
#define MPU9250_DEFAULT_AFS_SEL MPU9250_ACCEL_RANGE_8G
#define MPU9250_DEFAULT_DLPF_ACCEL_CFG MPU9250_DLPF_ACCEL_41HZ
#define MPU9250_DEFAULT_DLPF_GYRO_CFG MPU9250_DLPF_GYRO_41HZ
#define MPU9250_DEFAULT_INT_CFG 1
#define MPU9250_DEFAULT_CLK_SEL 1
 
// Default number of I2C slaves
#ifndef MPU9250_I2C_NB_SLAVES
#define MPU9250_I2C_NB_SLAVES 5
#endif
 
#define MPU9250_GYRO_SENS_250 0.544883
#define MPU9250_GYRO_SENS_250_NUM 19327
#define MPU9250_GYRO_SENS_250_DEN 35470
#define MPU9250_GYRO_SENS_500 1.08977
#define MPU9250_GYRO_SENS_500_NUM 57663
#define MPU9250_GYRO_SENS_500_DEN 52913
#define MPU9250_GYRO_SENS_1000 2.17953
#define MPU9250_GYRO_SENS_1000_NUM 18271
#define MPU9250_GYRO_SENS_1000_DEN 8383
#define MPU9250_GYRO_SENS_2000 4.35906
#define MPU9250_GYRO_SENS_2000_NUM 36542
#define MPU9250_GYRO_SENS_2000_DEN 8383
 
// Get default sensitivity from a table
extern const float MPU9250_GYRO_SENS[4];
// Get default sensitivity numerator and denominator from a table
extern const struct Int32Rates MPU9250_GYRO_SENS_FRAC[4][2];
 
#define MPU9250_ACCEL_SENS_2G 0.613125
#define MPU9250_ACCEL_SENS_2G_NUM 981
#define MPU9250_ACCEL_SENS_2G_DEN 1600
#define MPU9250_ACCEL_SENS_4G 1.22625
#define MPU9250_ACCEL_SENS_4G_NUM 981
#define MPU9250_ACCEL_SENS_4G_DEN 800
#define MPU9250_ACCEL_SENS_8G 2.4525
#define MPU9250_ACCEL_SENS_8G_NUM 981
#define MPU9250_ACCEL_SENS_8G_DEN 400
#define MPU9250_ACCEL_SENS_16G 4.905
#define MPU9250_ACCEL_SENS_16G_NUM 981
#define MPU9250_ACCEL_SENS_16G_DEN 200
 
// Get default sensitivity from a table
extern const float MPU9250_ACCEL_SENS[4];
// Get default sensitivity numerator and denominator from a table
extern const struct Int32Vect3 MPU9250_ACCEL_SENS_FRAC[4][2];
 
enum Mpu9250ConfStatus {
  MPU9250_CONF_UNINIT,
  MPU9250_CONF_RESET,
  MPU9250_CONF_USER_RESET,
  MPU9250_CONF_PWR,
  MPU9250_CONF_SD,
  MPU9250_CONF_DLPF_ACCEL,
  MPU9250_CONF_DLPF_GYRO,
  MPU9250_CONF_GYRO,
  MPU9250_CONF_ACCEL,
  MPU9250_CONF_I2C_SLAVES,
  MPU9250_CONF_INT_ENABLE,
  MPU9250_CONF_DONE
};
 
typedef void (*Mpu9250ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val);
 
typedef bool (*Mpu9250I2cSlaveConfigure)(Mpu9250ConfigSet mpu_set, void *mpu);
 
struct Mpu9250I2cSlave {
  Mpu9250I2cSlaveConfigure configure;
};
 
struct Mpu9250Config {
  uint8_t smplrt_div;                   
  enum Mpu9250DLPFAccel dlpf_accel_cfg; 
  enum Mpu9250DLPFGyro dlpf_gyro_cfg;   
  enum Mpu9250GyroRanges gyro_range;    
  enum Mpu9250AccelRanges accel_range;  
  bool drdy_int_enable;               
  uint8_t clk_sel;                      
  uint8_t nb_bytes;                     
  enum Mpu9250ConfStatus init_status;   
  bool initialized;                   
 
  bool i2c_bypass;
 
  uint8_t nb_slaves;                    
  uint8_t nb_slave_init;                
  struct Mpu9250I2cSlave slaves[MPU9250_I2C_NB_SLAVES];     
  enum Mpu9250MstClk i2c_mst_clk;       
  uint8_t i2c_mst_delay;                
};
 
extern void mpu9250_set_default_config(struct Mpu9250Config *c);
 
extern void mpu9250_send_config(Mpu9250ConfigSet mpu_set, void *mpu, struct Mpu9250Config *config);
 
extern bool mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu);
 
#endif // MPU9250_H