mpu9250_i2c.c File Reference

Driver for the MPU-9250 using I2C. More...

#include "peripherals/mpu9250_i2c.h"

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

Functions
bool	imu_mpu9250_configure_mag_slave (Mpu9250ConfigSet mpu_set, void *mpu)
	callback function to configure ak8963 mag More...
void	mpu9250_i2c_init (struct Mpu9250_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
static void	mpu9250_i2c_write_to_reg (void *mpu, uint8_t _reg, uint8_t _val)
void	mpu9250_i2c_start_configure (struct Mpu9250_I2c *mpu)
void	mpu9250_i2c_read (struct Mpu9250_I2c *mpu)
void	mpu9250_i2c_event (struct Mpu9250_I2c *mpu)
bool	mpu9250_configure_i2c_slaves (Mpu9250ConfigSet mpu_set, void *mpu)
	configure the registered I2C slaves More...

Detailed Description

Driver for the MPU-9250 using I2C.

Definition in file mpu9250_i2c.c.

Macro Definition Documentation

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

Definition at line 99 of file mpu9250_i2c.c.

Referenced by mpu9250_i2c_event().

Function Documentation

bool imu_mpu9250_configure_mag_slave	(	Mpu9250ConfigSet	mpu_set,
		void *	mpu
	)

callback function to configure ak8963 mag

function to configure akm8963 mag

Returns

TRUE if mag configuration finished

Definition at line 154 of file mpu9250_i2c.c.

References ak8963_configure(), Mpu9250_I2c::akm, and Ak8963::initialized.

Referenced by mpu9250_i2c_init().

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bool mpu9250_configure_i2c_slaves	(	Mpu9250ConfigSet	mpu_set,
		void *	mpu
	)

configure the registered I2C slaves

Configure I2C slaves of the MPU.

Definition at line 167 of file mpu9250_i2c.c.

References Mpu9250_I2c::config, Mpu9250I2cSlave::configure, Mpu9250Config::i2c_bypass, Mpu9250Config::i2c_mst_clk, Mpu9250Config::i2c_mst_delay, MPU9250_I2C_CONF_DONE, MPU9250_I2C_CONF_I2C_BYPASS_DIS, MPU9250_I2C_CONF_I2C_BYPASS_EN, MPU9250_I2C_CONF_I2C_MST_CLK, MPU9250_I2C_CONF_I2C_MST_DELAY, MPU9250_I2C_CONF_I2C_MST_DIS, MPU9250_I2C_CONF_I2C_MST_EN, MPU9250_I2C_CONF_I2C_SMPLRT, MPU9250_I2C_CONF_SLAVES_CONFIGURE, MPU9250_I2C_CONF_UNINIT, MPU9250_I2C_MST_EN, MPU9250_I2C_NB_SLAVES, MPU9250_REG_I2C_MST_CTRL, MPU9250_REG_I2C_MST_DELAY, MPU9250_REG_I2C_SLV4_CTRL, MPU9250_REG_INT_PIN_CFG, MPU9250_REG_USER_CTRL, Mpu9250Config::nb_slave_init, Mpu9250Config::nb_slaves, Mpu9250_I2c::slave_init_status, and Mpu9250Config::slaves.

void mpu9250_i2c_event

(

struct Mpu9250_I2c *

mpu

)

Definition at line 101 of file mpu9250_i2c.c.

References ak8963_event(), Mpu9250_I2c::akm, i2c_transaction::buf, Mpu9250_I2c::config, Mpu9250_I2c::data_accel, Mpu9250_I2c::data_available, Mpu9250_I2c::data_ext, Mpu9250_I2c::data_rates, FALSE, Mpu9250Config::i2c_bypass, Mpu9250_I2c::i2c_trans, I2CTransDone, I2CTransFailed, I2CTransSuccess, Mpu9250Config::init_status, Mpu9250Config::initialized, Int16FromBuf, MPU9250_CONF_UNINIT, mpu9250_i2c_write_to_reg(), mpu9250_send_config(), Mpu9250Config::nb_bytes, Mpu9250Config::nb_slaves, and i2c_transaction::status.

Referenced by imu_mpu9250_event().

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void mpu9250_i2c_init	(	struct Mpu9250_I2c *	mpu,
		struct i2c_periph *	i2c_p,
		uint8_t	addr
	)

Definition at line 33 of file mpu9250_i2c.c.

References ak8963_init(), Mpu9250_I2c::akm, Mpu9250_I2c::config, Mpu9250I2cSlave::configure, Mpu9250_I2c::data_available, Mpu9250Config::i2c_bypass, Mpu9250_I2c::i2c_p, Mpu9250_I2c::i2c_trans, I2CTransDone, imu_mpu9250_configure_mag_slave(), Mpu9250Config::init_status, Mpu9250Config::initialized, MPU9250_CONF_UNINIT, MPU9250_I2C_CONF_UNINIT, MPU9250_MAG_ADDR, mpu9250_set_default_config(), Mpu9250Config::nb_slaves, i2c_transaction::slave_addr, Mpu9250_I2c::slave_init_status, Mpu9250Config::slaves, and i2c_transaction::status.

Referenced by imu_mpu9250_init().

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void mpu9250_i2c_read

(

struct Mpu9250_I2c *

mpu

)

Definition at line 84 of file mpu9250_i2c.c.

References ak8963_read(), Mpu9250_I2c::akm, i2c_transaction::buf, Mpu9250_I2c::config, Mpu9250_I2c::i2c_p, Mpu9250_I2c::i2c_trans, i2c_transceive(), I2CTransDone, Mpu9250Config::initialized, MPU9250_REG_INT_STATUS, Mpu9250Config::nb_bytes, i2c_transaction::slave_addr, and i2c_transaction::status.

Referenced by mpu9250_i2c_periodic().

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void mpu9250_i2c_start_configure

(

struct Mpu9250_I2c *

mpu

)

Definition at line 74 of file mpu9250_i2c.c.

References Mpu9250_I2c::config, Mpu9250_I2c::i2c_trans, I2CTransDone, I2CTransSuccess, Mpu9250Config::init_status, MPU9250_CONF_UNINIT, mpu9250_i2c_write_to_reg(), mpu9250_send_config(), and i2c_transaction::status.

Referenced by mpu9250_i2c_periodic().

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static void mpu9250_i2c_write_to_reg ( void *  mpu, uint8_t  _reg, uint8_t  _val  )

static

Definition at line 65 of file mpu9250_i2c.c.

References i2c_transaction::buf, Mpu9250_I2c::i2c_p, Mpu9250_I2c::i2c_trans, i2c_transmit(), and i2c_transaction::slave_addr.

Referenced by mpu9250_i2c_event(), and mpu9250_i2c_start_configure().

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