mpu9250_spi.h File Reference

Driver for the MPU-9250 using SPI. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/spi.h"
#include "peripherals/mpu9250.h"

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Data Structures
struct	Mpu9250_Spi
union	Mpu9250_Spi.data_accel
union	Mpu9250_Spi.data_rates

Macros
#define	MPU9250_BUFFER_LEN   32
#define	MPU9250_BUFFER_EXT_LEN   16

Enumerations
enum	Mpu9250SpiSlaveInitStatus {   MPU9250_SPI_CONF_UNINIT , MPU9250_SPI_CONF_I2C_MST_CLK , MPU9250_SPI_CONF_I2C_MST_DELAY , MPU9250_SPI_CONF_I2C_MST_EN ,   MPU9250_SPI_CONF_SLAVES_CONFIGURE , MPU9250_SPI_CONF_DONE }

Functions
void	mpu9250_spi_init (struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t addr)
void	mpu9250_spi_start_configure (struct Mpu9250_Spi *mpu)
void	mpu9250_spi_read (struct Mpu9250_Spi *mpu)
void	mpu9250_spi_event (struct Mpu9250_Spi *mpu)
static void	mpu9250_spi_periodic (struct Mpu9250_Spi *mpu)
	convenience function: read or start configuration if not already initialized More...

Detailed Description

Driver for the MPU-9250 using SPI.

Definition in file mpu9250_spi.h.

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Data Structure Documentation

Mpu9250_Spi

struct Mpu9250_Spi

Definition at line 51 of file mpu9250_spi.h.

Collaboration diagram for Mpu9250_Spi:

Data Fields
struct Mpu9250Config	config
union Mpu9250_Spi	data_accel
volatile bool	data_available	data ready flag
uint8_t	data_ext[MPU9250_BUFFER_EXT_LEN]
union Mpu9250_Spi	data_rates
volatile uint8_t	rx_buf[MPU9250_BUFFER_LEN]
enum Mpu9250SpiSlaveInitStatus	slave_init_status
struct spi_periph *	spi_p
struct spi_transaction	spi_trans
volatile uint8_t	tx_buf[2]

Mpu9250_Spi.data_accel

union Mpu9250_Spi.data_accel

Definition at line 57 of file mpu9250_spi.h.

Data Fields
int16_t	value[3]	accel data values accessible by channel index
struct Int16Vect3	vect	accel data vector in accel coordinate system

Mpu9250_Spi.data_rates

union Mpu9250_Spi.data_rates

Definition at line 61 of file mpu9250_spi.h.

Data Fields
struct Int16Rates	rates	rates data as angular rates in gyro coordinate system
int16_t	value[3]	rates data values accessible by channel index

Macro Definition Documentation

MPU9250_BUFFER_EXT_LEN

#define MPU9250_BUFFER_EXT_LEN   16

Definition at line 40 of file mpu9250_spi.h.

MPU9250_BUFFER_LEN

#define MPU9250_BUFFER_LEN   32

Definition at line 39 of file mpu9250_spi.h.

Enumeration Type Documentation

Mpu9250SpiSlaveInitStatus

enum Mpu9250SpiSlaveInitStatus

Enumerator
MPU9250_SPI_CONF_UNINIT
MPU9250_SPI_CONF_I2C_MST_CLK
MPU9250_SPI_CONF_I2C_MST_DELAY
MPU9250_SPI_CONF_I2C_MST_EN
MPU9250_SPI_CONF_SLAVES_CONFIGURE
MPU9250_SPI_CONF_DONE

Definition at line 42 of file mpu9250_spi.h.

Function Documentation

mpu9250_spi_event()

void mpu9250_spi_event

(

struct Mpu9250_Spi *

mpu

)

Definition at line 109 of file mpu9250_spi.c.

References Mpu9250_Spi::config, Mpu9250_Spi::data_accel, Mpu9250_Spi::data_available, Mpu9250_Spi::data_ext, Mpu9250_Spi::data_rates, Mpu9250Config::init_status, Mpu9250Config::initialized, Int16FromBuf, MPU9250_CONF_UNINIT, mpu9250_send_config(), mpu9250_spi_write_to_reg(), Mpu9250Config::nb_bytes, Mpu9250Config::nb_slaves, Mpu9250_Spi::rx_buf, Mpu9250_Spi::spi_trans, SPITransDone, SPITransFailed, SPITransSuccess, and spi_transaction::status.

Referenced by imu_mpu9250_event().

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mpu9250_spi_init()

void mpu9250_spi_init	(	struct Mpu9250_Spi *	mpu,
		struct spi_periph *	spi_p,
		uint8_t	addr
	)

Definition at line 31 of file mpu9250_spi.c.

References spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, Mpu9250_Spi::config, spi_transaction::cpha, spi_transaction::cpol, Mpu9250_Spi::data_available, spi_transaction::dss, Mpu9250Config::init_status, Mpu9250Config::initialized, spi_transaction::input_buf, spi_transaction::input_length, MPU9250_BUFFER_LEN, MPU9250_CONF_UNINIT, mpu9250_set_default_config(), MPU9250_SPI_CONF_UNINIT, spi_transaction::output_buf, spi_transaction::output_length, Mpu9250_Spi::rx_buf, spi_transaction::select, spi_transaction::slave_idx, Mpu9250_Spi::slave_init_status, Mpu9250_Spi::spi_p, Mpu9250_Spi::spi_trans, SPICphaEdge2, SPICpolIdleHigh, SPIDiv64, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, spi_transaction::status, and Mpu9250_Spi::tx_buf.

Referenced by imu_mpu9250_init().

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mpu9250_spi_periodic()

static void mpu9250_spi_periodic ( struct Mpu9250_Spi *  mpu )

inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 77 of file mpu9250_spi.h.

References Mpu9250_Spi::config, Mpu9250Config::initialized, mpu9250_spi_read(), and mpu9250_spi_start_configure().

Referenced by imu_mpu9250_periodic().

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mpu9250_spi_read()

void mpu9250_spi_read

(

struct Mpu9250_Spi *

mpu

)

Definition at line 96 of file mpu9250_spi.c.

References Mpu9250_Spi::config, Mpu9250Config::initialized, spi_transaction::input_length, MPU9250_REG_INT_STATUS, MPU9250_SPI_READ, Mpu9250Config::nb_bytes, spi_transaction::output_length, Mpu9250_Spi::spi_p, spi_submit(), Mpu9250_Spi::spi_trans, SPITransDone, spi_transaction::status, and Mpu9250_Spi::tx_buf.

Referenced by mpu9250_spi_periodic().

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mpu9250_spi_start_configure()

void mpu9250_spi_start_configure

(

struct Mpu9250_Spi *

mpu

)

Definition at line 77 of file mpu9250_spi.c.

References Mpu9250_Spi::config, Mpu9250Config::init_status, spi_transaction::input_length, MPU9250_CONF_UNINIT, MPU9250_REG_WHO_AM_I, mpu9250_send_config(), MPU9250_SPI_READ, mpu9250_spi_write_to_reg(), MPU9250_WHOAMI_REPLY, spi_transaction::output_length, Mpu9250_Spi::rx_buf, Mpu9250_Spi::spi_p, spi_submit(), Mpu9250_Spi::spi_trans, SPITransDone, SPITransPending, SPITransRunning, SPITransSuccess, spi_transaction::status, and Mpu9250_Spi::tx_buf.

Referenced by mpu9250_spi_periodic().

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