mpu9250.h File Reference

MPU-60X0 driver common interface (I2C and SPI). More...

#include "std.h"
#include "peripherals/mpu9250_regs.h"

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Data Structures
struct	Mpu9250I2cSlave
struct	Mpu9250Config

Macros
#define	MPU9250_DEFAULT_SMPLRT_DIV   0
	Default sample rate divider. More...
#define	MPU9250_DEFAULT_FS_SEL   MPU9250_GYRO_RANGE_1000
	Default gyro full scale range +- 2000°/s. More...
#define	MPU9250_DEFAULT_AFS_SEL   MPU9250_ACCEL_RANGE_8G
	Default accel full scale range +- 16g. More...
#define	MPU9250_DEFAULT_DLPF_ACCEL_CFG   MPU9250_DLPF_ACCEL_41HZ
	Default internal sampling (1kHz, 42Hz LP Bandwidth) More...
#define	MPU9250_DEFAULT_DLPF_GYRO_CFG   MPU9250_DLPF_GYRO_41HZ
	Default internal sampling (1kHz, 42Hz LP Bandwidth) More...
#define	MPU9250_DEFAULT_INT_CFG   1
	Default interrupt config: DATA_RDY_EN. More...
#define	MPU9250_DEFAULT_CLK_SEL   1
	Default clock: PLL with X gyro reference. More...
#define	MPU9250_I2C_NB_SLAVES   5
#define	MPU9250_GYRO_SENS_250   0.544883
	default gyro sensitivy from the datasheet sens = 1/ [LSB/(deg/s)] * pi/180 * 2^INT32_RATE_FRAC ex: MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 4096 = 2.17953 More...
#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
#define	MPU9250_ACCEL_SENS_2G   0.613125
	default accel sensitivy from the datasheet sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC ex: MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525 More...
#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

Typedefs
typedef void(*	Mpu9250ConfigSet )(void *mpu, uint8_t _reg, uint8_t _val)
	Configuration function prototype. More...
typedef bool(*	Mpu9250I2cSlaveConfigure )(Mpu9250ConfigSet mpu_set, void *mpu)
	function prototype for configuration of a single I2C slave More...

Enumerations
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 }

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...
bool	mpu9250_configure_i2c_slaves (Mpu9250ConfigSet mpu_set, void *mpu)
	Configure I2C slaves of the MPU. More...

Variables
const float	MPU9250_GYRO_SENS [4]
const int32_t	MPU9250_GYRO_SENS_FRAC [4][2]
const float	MPU9250_ACCEL_SENS [4]
const int32_t	MPU9250_ACCEL_SENS_FRAC [4][2]

Detailed Description

MPU-60X0 driver common interface (I2C and SPI).

Definition in file mpu9250.h.

---

Data Structure Documentation

struct Mpu9250I2cSlave

Definition at line 122 of file mpu9250.h.

Data Fields
Mpu9250I2cSlaveConfigure	configure

struct Mpu9250Config

Definition at line 126 of file mpu9250.h.

Collaboration diagram for Mpu9250Config:

Data Fields
enum Mpu9250AccelRanges	accel_range	g Range
uint8_t	clk_sel	Clock select.
enum Mpu9250DLPFAccel	dlpf_accel_cfg	Digital Low Pass Filter for accelerometer.
enum Mpu9250DLPFGyro	dlpf_gyro_cfg	Digital Low Pass Filter for gyroscope.
bool	drdy_int_enable	Enable Data Ready Interrupt.
enum Mpu9250GyroRanges	gyro_range	deg/s Range
bool	i2c_bypass	Bypass MPU I2C. Only effective if using the I2C implementation.
enum Mpu9250MstClk	i2c_mst_clk	MPU I2C master clock speed.
uint8_t	i2c_mst_delay	MPU I2C slaves delayed sample rate.
enum Mpu9250ConfStatus	init_status	init status
bool	initialized	config done flag
uint8_t	nb_bytes	number of bytes to read starting with MPU9250_REG_INT_STATUS
uint8_t	nb_slave_init	number of already configured/initialized slaves
uint8_t	nb_slaves	number of used I2C slaves
struct Mpu9250I2cSlave	slaves[MPU9250_I2C_NB_SLAVES]	I2C slaves.
uint8_t	smplrt_div	Sample rate divider.

Macro Definition Documentation

#define MPU9250_ACCEL_SENS_16G   4.905

Definition at line 92 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_16G_DEN   200

Definition at line 94 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_16G_NUM   981

Definition at line 93 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_2G   0.613125

default accel sensitivy from the datasheet sens = 9.81 [m/s^2] / [LSB/g] * 2^INT32_ACCEL_FRAC ex: MPU with 8g has 4096 LSB/g sens = 9.81 [m/s^2] / 4096 [LSB/g] * 2^INT32_ACCEL_FRAC = 2.4525

Definition at line 83 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_2G_DEN   1600

Definition at line 85 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_2G_NUM   981

Definition at line 84 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_4G   1.22625

Definition at line 86 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_4G_DEN   800

Definition at line 88 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_4G_NUM   981

Definition at line 87 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_8G   2.4525

Definition at line 89 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_8G_DEN   400

Definition at line 91 of file mpu9250.h.

#define MPU9250_ACCEL_SENS_8G_NUM   981

Definition at line 90 of file mpu9250.h.

#define MPU9250_DEFAULT_AFS_SEL   MPU9250_ACCEL_RANGE_8G

Default accel full scale range +- 16g.

Definition at line 40 of file mpu9250.h.

Referenced by mpu9250_set_default_config().

#define MPU9250_DEFAULT_CLK_SEL   1

Default clock: PLL with X gyro reference.

Definition at line 48 of file mpu9250.h.

Referenced by mpu9250_set_default_config().

#define MPU9250_DEFAULT_DLPF_ACCEL_CFG   MPU9250_DLPF_ACCEL_41HZ

Default internal sampling (1kHz, 42Hz LP Bandwidth)

Definition at line 42 of file mpu9250.h.

Referenced by mpu9250_set_default_config().

#define MPU9250_DEFAULT_DLPF_GYRO_CFG   MPU9250_DLPF_GYRO_41HZ

Default internal sampling (1kHz, 42Hz LP Bandwidth)

Definition at line 44 of file mpu9250.h.

Referenced by mpu9250_set_default_config().

#define MPU9250_DEFAULT_FS_SEL   MPU9250_GYRO_RANGE_1000

Default gyro full scale range +- 2000°/s.

Definition at line 38 of file mpu9250.h.

Referenced by mpu9250_set_default_config().

#define MPU9250_DEFAULT_INT_CFG   1

Default interrupt config: DATA_RDY_EN.

Definition at line 46 of file mpu9250.h.

#define MPU9250_DEFAULT_SMPLRT_DIV   0

Default sample rate divider.

Definition at line 36 of file mpu9250.h.

Referenced by mpu9250_set_default_config().

#define MPU9250_GYRO_SENS_1000   2.17953

Definition at line 66 of file mpu9250.h.

#define MPU9250_GYRO_SENS_1000_DEN   8383

Definition at line 68 of file mpu9250.h.

#define MPU9250_GYRO_SENS_1000_NUM   18271

Definition at line 67 of file mpu9250.h.

#define MPU9250_GYRO_SENS_2000   4.35906

Definition at line 69 of file mpu9250.h.

#define MPU9250_GYRO_SENS_2000_DEN   8383

Definition at line 71 of file mpu9250.h.

#define MPU9250_GYRO_SENS_2000_NUM   36542

Definition at line 70 of file mpu9250.h.

#define MPU9250_GYRO_SENS_250   0.544883

default gyro sensitivy from the datasheet sens = 1/ [LSB/(deg/s)] * pi/180 * 2^INT32_RATE_FRAC ex: MPU with 1000 deg/s has 32.8 LSB/(deg/s) sens = 1/32.8 * pi/180 * 4096 = 2.17953

Definition at line 60 of file mpu9250.h.

#define MPU9250_GYRO_SENS_250_DEN   35470

Definition at line 62 of file mpu9250.h.

#define MPU9250_GYRO_SENS_250_NUM   19327

Definition at line 61 of file mpu9250.h.

#define MPU9250_GYRO_SENS_500   1.08977

Definition at line 63 of file mpu9250.h.

#define MPU9250_GYRO_SENS_500_DEN   52913

Definition at line 65 of file mpu9250.h.

#define MPU9250_GYRO_SENS_500_NUM   57663

Definition at line 64 of file mpu9250.h.

#define MPU9250_I2C_NB_SLAVES   5

Definition at line 52 of file mpu9250.h.

Referenced by mpu9250_configure_i2c_slaves().

Typedef Documentation

typedef void(* Mpu9250ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)

Configuration function prototype.

Definition at line 117 of file mpu9250.h.

typedef bool(* Mpu9250I2cSlaveConfigure)(Mpu9250ConfigSet mpu_set, void *mpu)

function prototype for configuration of a single I2C slave

Definition at line 120 of file mpu9250.h.

Enumeration Type Documentation

enum Mpu9250ConfStatus

Enumerator
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

Definition at line 101 of file mpu9250.h.

Function Documentation

bool mpu9250_configure_i2c_slaves	(	Mpu9250ConfigSet	mpu_set,
		void *	mpu
	)

Configure I2C slaves of the MPU.

This is I2C/SPI implementation specific.

Parameters

mpu_set	configuration function
mpu	Mpu9250Spi or Mpu9250I2c peripheral

Returns

TRUE when all slaves are configured

Configure I2C slaves of the MPU.

Definition at line 175 of file mpu9250_i2c.c.

References Mpu9250_Spi::config, 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_IF_DIS, 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, MPU9250_SPI_CONF_DONE, 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_UNINIT, Mpu9250Config::nb_slave_init, Mpu9250Config::nb_slaves, Mpu9250_Spi::slave_init_status, Mpu9250_I2c::slave_init_status, and Mpu9250Config::slaves.

Referenced by mpu9250_send_config().

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

Configuration sequence called once before normal use.

Definition at line 81 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::init_status, Mpu9250Config::initialized, 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, MPU9250_SIG_COND_RESET, Mpu9250Config::nb_slaves, and Mpu9250Config::smplrt_div.

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

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void mpu9250_set_default_config

(

struct Mpu9250Config *

c

)

Definition at line 60 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

const float MPU9250_ACCEL_SENS[4]

Definition at line 46 of file mpu9250.c.

const int32_t MPU9250_ACCEL_SENS_FRAC[4][2]

Definition at line 53 of file mpu9250.c.

const float MPU9250_GYRO_SENS[4]

Definition at line 32 of file mpu9250.c.

const int32_t MPU9250_GYRO_SENS_FRAC[4][2]

Definition at line 39 of file mpu9250.c.