mpu60x0.h File Reference

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

#include "std.h"
#include "peripherals/mpu60x0_regs.h"

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Go to the source code of this file.

Data Structures
struct	Mpu60x0I2cSlave
struct	Mpu60x0Config

Macros
#define	MPU60X0_DEFAULT_SMPLRT_DIV   0
	Default sample rate divider. More...
#define	MPU60X0_DEFAULT_FS_SEL   MPU60X0_GYRO_RANGE_2000
	Default gyro full scale range +- 2000°/s. More...
#define	MPU60X0_DEFAULT_AFS_SEL   MPU60X0_ACCEL_RANGE_16G
	Default accel full scale range +- 16g. More...
#define	MPU60X0_DEFAULT_DLPF_CFG   MPU60X0_DLPF_98HZ
	Default internal sampling (1kHz, 98Hz LP Bandwidth) More...
#define	MPU60X0_DEFAULT_DLPF_CFG_ACC   MPU60X0_DLPF_ACC_99HZ
	Default internal sampling for accelerometer ICM devices only (1kHz, 99Hz LP Bandwidth) More...
#define	MPU60X0_DEFAULT_INT_CFG   1
	Default interrupt config: DATA_RDY_EN. More...
#define	MPU60X0_DEFAULT_CLK_SEL   1
	Default clock: PLL with X gyro reference. More...
#define	MPU60X0_I2C_NB_SLAVES   5
#define	MPU60X0_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	MPU60X0_GYRO_SENS_250_NUM   19327
#define	MPU60X0_GYRO_SENS_250_DEN   35470
#define	MPU60X0_GYRO_SENS_500   1.08977
#define	MPU60X0_GYRO_SENS_500_NUM   57663
#define	MPU60X0_GYRO_SENS_500_DEN   52913
#define	MPU60X0_GYRO_SENS_1000   2.17953
#define	MPU60X0_GYRO_SENS_1000_NUM   18271
#define	MPU60X0_GYRO_SENS_1000_DEN   8383
#define	MPU60X0_GYRO_SENS_2000   4.35906
#define	MPU60X0_GYRO_SENS_2000_NUM   36542
#define	MPU60X0_GYRO_SENS_2000_DEN   8383
#define	MPU60X0_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	MPU60X0_ACCEL_SENS_2G_NUM   981
#define	MPU60X0_ACCEL_SENS_2G_DEN   1600
#define	MPU60X0_ACCEL_SENS_4G   1.22625
#define	MPU60X0_ACCEL_SENS_4G_NUM   981
#define	MPU60X0_ACCEL_SENS_4G_DEN   800
#define	MPU60X0_ACCEL_SENS_8G   2.4525
#define	MPU60X0_ACCEL_SENS_8G_NUM   981
#define	MPU60X0_ACCEL_SENS_8G_DEN   400
#define	MPU60X0_ACCEL_SENS_16G   4.905
#define	MPU60X0_ACCEL_SENS_16G_NUM   981
#define	MPU60X0_ACCEL_SENS_16G_DEN   200

Typedefs
typedef void(*	Mpu60x0ConfigSet )(void *mpu, uint8_t _reg, uint8_t _val)
	Configuration function prototype. More...
typedef bool(*	Mpu60x0I2cSlaveConfigure )(Mpu60x0ConfigSet mpu_set, void *mpu)
	function prototype for configuration of a single I2C slave More...

Enumerations
enum	Mpu60x0Type {   MPU60X0, ICM20600, ICM20608, ICM20602,   ICM20689 }
	MPU60x0 sensor type. More...
enum	Mpu60x0ConfStatus {   MPU60X0_CONF_UNINIT, MPU60X0_CONF_RESET, MPU60X0_CONF_USER_RESET, MPU60X0_CONF_PWR,   MPU60X0_CONF_SD, MPU60X0_CONF_DLPF, MPU60X0_CONF_GYRO, MPU60X0_CONF_ACCEL,   MPU60X0_CONF_ACCEL2, MPU60X0_CONF_I2C_SLAVES, MPU60X0_CONF_INT_ENABLE, MPU60X0_CONF_UNDOC1,   MPU60X0_CONF_DONE }

Functions
void	mpu60x0_set_default_config (struct Mpu60x0Config *c)
void	mpu60x0_send_config (Mpu60x0ConfigSet mpu_set, void *mpu, struct Mpu60x0Config *config)
	Configuration sequence called once before normal use. More...
bool	mpu60x0_configure_i2c_slaves (Mpu60x0ConfigSet mpu_set, void *mpu)
	Configure I2C slaves of the MPU. More...

Variables
const float	MPU60X0_GYRO_SENS [4]
const int32_t	MPU60X0_GYRO_SENS_FRAC [4][2]
const float	MPU60X0_ACCEL_SENS [4]
const int32_t	MPU60X0_ACCEL_SENS_FRAC [4][2]

Detailed Description

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

Definition in file mpu60x0.h.

---

Data Structure Documentation

struct Mpu60x0I2cSlave

Definition at line 134 of file mpu60x0.h.

Data Fields
Mpu60x0I2cSlaveConfigure	configure

struct Mpu60x0Config

Definition at line 138 of file mpu60x0.h.

Collaboration diagram for Mpu60x0Config:

Data Fields
enum Mpu60x0AccelRanges	accel_range	g Range
uint8_t	clk_sel	Clock select.
enum Mpu60x0DLPF	dlpf_cfg	Digital Low Pass Filter.
enum Mpu60x0ACCDLPF	dlpf_cfg_acc	Digital Low Pass Filter for acceleremoter (ICM devices only)
bool	drdy_int_enable	Enable Data Ready Interrupt.
enum Mpu60x0GyroRanges	gyro_range	deg/s Range
bool	i2c_bypass	Bypass MPU I2C. Only effective if using the I2C implementation.
enum Mpu60x0MstClk	i2c_mst_clk	MPU I2C master clock speed.
uint8_t	i2c_mst_delay	MPU I2C slaves delayed sample rate.
enum Mpu60x0ConfStatus	init_status	init status
bool	initialized	config done flag
uint8_t	nb_bytes	number of bytes to read starting with MPU60X0_REG_INT_STATUS
uint8_t	nb_slave_init	number of already configured/initialized slaves
uint8_t	nb_slaves	number of used I2C slaves
struct Mpu60x0I2cSlave	slaves[MPU60X0_I2C_NB_SLAVES]	I2C slaves.
uint8_t	smplrt_div	Sample rate divider.
enum Mpu60x0Type	type	The type of sensor (MPU60x0, ICM20608, ...)

Macro Definition Documentation

#define MPU60X0_ACCEL_SENS_16G   4.905

Definition at line 93 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_16G_DEN   200

Definition at line 95 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_16G_NUM   981

Definition at line 94 of file mpu60x0.h.

#define MPU60X0_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 84 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_2G_DEN   1600

Definition at line 86 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_2G_NUM   981

Definition at line 85 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_4G   1.22625

Definition at line 87 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_4G_DEN   800

Definition at line 89 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_4G_NUM   981

Definition at line 88 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_8G   2.4525

Definition at line 90 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_8G_DEN   400

Definition at line 92 of file mpu60x0.h.

#define MPU60X0_ACCEL_SENS_8G_NUM   981

Definition at line 91 of file mpu60x0.h.

#define MPU60X0_DEFAULT_AFS_SEL   MPU60X0_ACCEL_RANGE_16G

Default accel full scale range +- 16g.

Definition at line 41 of file mpu60x0.h.

Referenced by mpu60x0_set_default_config().

#define MPU60X0_DEFAULT_CLK_SEL   1

Default clock: PLL with X gyro reference.

Definition at line 49 of file mpu60x0.h.

Referenced by mpu60x0_set_default_config().

#define MPU60X0_DEFAULT_DLPF_CFG   MPU60X0_DLPF_98HZ

Default internal sampling (1kHz, 98Hz LP Bandwidth)

Definition at line 43 of file mpu60x0.h.

Referenced by mpu60x0_set_default_config().

#define MPU60X0_DEFAULT_DLPF_CFG_ACC   MPU60X0_DLPF_ACC_99HZ

Default internal sampling for accelerometer ICM devices only (1kHz, 99Hz LP Bandwidth)

Definition at line 45 of file mpu60x0.h.

Referenced by mpu60x0_set_default_config().

#define MPU60X0_DEFAULT_FS_SEL   MPU60X0_GYRO_RANGE_2000

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

Definition at line 39 of file mpu60x0.h.

Referenced by mpu60x0_set_default_config().

#define MPU60X0_DEFAULT_INT_CFG   1

Default interrupt config: DATA_RDY_EN.

Definition at line 47 of file mpu60x0.h.

#define MPU60X0_DEFAULT_SMPLRT_DIV   0

Default sample rate divider.

Definition at line 37 of file mpu60x0.h.

Referenced by mpu60x0_set_default_config().

#define MPU60X0_GYRO_SENS_1000   2.17953

Definition at line 67 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_1000_DEN   8383

Definition at line 69 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_1000_NUM   18271

Definition at line 68 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_2000   4.35906

Definition at line 70 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_2000_DEN   8383

Definition at line 72 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_2000_NUM   36542

Definition at line 71 of file mpu60x0.h.

#define MPU60X0_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 61 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_250_DEN   35470

Definition at line 63 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_250_NUM   19327

Definition at line 62 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_500   1.08977

Definition at line 64 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_500_DEN   52913

Definition at line 66 of file mpu60x0.h.

#define MPU60X0_GYRO_SENS_500_NUM   57663

Definition at line 65 of file mpu60x0.h.

#define MPU60X0_I2C_NB_SLAVES   5

Definition at line 53 of file mpu60x0.h.

Referenced by mpu60x0_configure_i2c_slaves().

Typedef Documentation

typedef void(* Mpu60x0ConfigSet)(void *mpu, uint8_t _reg, uint8_t _val)

Configuration function prototype.

Definition at line 129 of file mpu60x0.h.

typedef bool(* Mpu60x0I2cSlaveConfigure)(Mpu60x0ConfigSet mpu_set, void *mpu)

function prototype for configuration of a single I2C slave

Definition at line 132 of file mpu60x0.h.

Enumeration Type Documentation

enum Mpu60x0ConfStatus

Enumerator
MPU60X0_CONF_UNINIT
MPU60X0_CONF_RESET
MPU60X0_CONF_USER_RESET
MPU60X0_CONF_PWR
MPU60X0_CONF_SD
MPU60X0_CONF_DLPF
MPU60X0_CONF_GYRO
MPU60X0_CONF_ACCEL
MPU60X0_CONF_ACCEL2
MPU60X0_CONF_I2C_SLAVES
MPU60X0_CONF_INT_ENABLE
MPU60X0_CONF_UNDOC1
MPU60X0_CONF_DONE

Definition at line 112 of file mpu60x0.h.

enum Mpu60x0Type

MPU60x0 sensor type.

Enumerator
MPU60X0
ICM20600
ICM20608
ICM20602
ICM20689

Definition at line 104 of file mpu60x0.h.

Function Documentation

bool mpu60x0_configure_i2c_slaves	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu
	)

Configure I2C slaves of the MPU.

This is I2C/SPI implementation specific.

Parameters

mpu_set	configuration function
mpu	Mpu60x0Spi or Mpu60x0I2c peripheral

Returns

TRUE when all slaves are configured

Configure I2C slaves of the MPU.

Definition at line 135 of file mpu60x0_i2c.c.

References Mpu60x0_Spi::config, Mpu60x0_I2c::config, Mpu60x0I2cSlave::configure, Mpu60x0Config::i2c_bypass, Mpu60x0Config::i2c_mst_clk, Mpu60x0Config::i2c_mst_delay, MPU60X0_I2C_CONF_DONE, MPU60X0_I2C_CONF_I2C_BYPASS_DIS, MPU60X0_I2C_CONF_I2C_BYPASS_EN, MPU60X0_I2C_CONF_I2C_MST_CLK, MPU60X0_I2C_CONF_I2C_MST_DELAY, MPU60X0_I2C_CONF_I2C_MST_DIS, MPU60X0_I2C_CONF_I2C_MST_EN, MPU60X0_I2C_CONF_I2C_SMPLRT, MPU60X0_I2C_CONF_SLAVES_CONFIGURE, MPU60X0_I2C_CONF_UNINIT, MPU60X0_I2C_IF_DIS, MPU60X0_I2C_MST_EN, MPU60X0_I2C_NB_SLAVES, MPU60X0_REG_I2C_MST_CTRL, MPU60X0_REG_I2C_MST_DELAY, MPU60X0_REG_I2C_SLV4_CTRL, MPU60X0_REG_INT_PIN_CFG, MPU60X0_REG_USER_CTRL, MPU60X0_SPI_CONF_DONE, MPU60X0_SPI_CONF_I2C_MST_CLK, MPU60X0_SPI_CONF_I2C_MST_DELAY, MPU60X0_SPI_CONF_I2C_MST_EN, MPU60X0_SPI_CONF_SLAVES_CONFIGURE, MPU60X0_SPI_CONF_UNINIT, Mpu60x0Config::nb_slave_init, Mpu60x0Config::nb_slaves, Mpu60x0_Spi::slave_init_status, Mpu60x0_I2c::slave_init_status, and Mpu60x0Config::slaves.

Referenced by mpu60x0_send_config().

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void mpu60x0_send_config	(	Mpu60x0ConfigSet	mpu_set,
		void *	mpu,
		struct Mpu60x0Config *	config
	)

Configuration sequence called once before normal use.

Definition at line 82 of file mpu60x0.c.

References Mpu60x0Config::accel_range, Mpu60x0Config::clk_sel, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::dlpf_cfg_acc, Mpu60x0Config::drdy_int_enable, Mpu60x0Config::gyro_range, Mpu60x0Config::init_status, Mpu60x0Config::initialized, MPU60X0, MPU60X0_CONF_ACCEL, MPU60X0_CONF_ACCEL2, MPU60X0_CONF_DLPF, MPU60X0_CONF_DONE, MPU60X0_CONF_GYRO, MPU60X0_CONF_I2C_SLAVES, MPU60X0_CONF_INT_ENABLE, MPU60X0_CONF_PWR, MPU60X0_CONF_RESET, MPU60X0_CONF_SD, MPU60X0_CONF_UNDOC1, MPU60X0_CONF_USER_RESET, mpu60x0_configure_i2c_slaves(), MPU60X0_FIFO_RESET, MPU60X0_I2C_MST_RESET, MPU60X0_REG_ACCEL_CONFIG, MPU60X0_REG_ACCEL_CONFIG2, MPU60X0_REG_CONFIG, MPU60X0_REG_GYRO_CONFIG, MPU60X0_REG_INT_ENABLE, MPU60X0_REG_PWR_MGMT_1, MPU60X0_REG_SMPLRT_DIV, MPU60X0_REG_UNDOC1, MPU60X0_REG_USER_CTRL, MPU60X0_SIG_COND_RESET, Mpu60x0Config::nb_slaves, Mpu60x0Config::smplrt_div, and Mpu60x0Config::type.

Referenced by mpu60x0_i2c_event(), mpu60x0_i2c_start_configure(), mpu60x0_spi_event(), and mpu60x0_spi_start_configure().

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void mpu60x0_set_default_config

(

struct Mpu60x0Config *

c

)

Definition at line 60 of file mpu60x0.c.

References Mpu60x0Config::accel_range, Mpu60x0Config::clk_sel, Mpu60x0Config::dlpf_cfg, Mpu60x0Config::dlpf_cfg_acc, Mpu60x0Config::drdy_int_enable, Mpu60x0Config::gyro_range, Mpu60x0Config::i2c_bypass, MPU60X0, MPU60X0_DEFAULT_AFS_SEL, MPU60X0_DEFAULT_CLK_SEL, MPU60X0_DEFAULT_DLPF_CFG, MPU60X0_DEFAULT_DLPF_CFG_ACC, MPU60X0_DEFAULT_FS_SEL, MPU60X0_DEFAULT_SMPLRT_DIV, Mpu60x0Config::nb_bytes, Mpu60x0Config::nb_slave_init, Mpu60x0Config::nb_slaves, Mpu60x0Config::smplrt_div, and Mpu60x0Config::type.

Referenced by mpu60x0_i2c_init(), and mpu60x0_spi_init().

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Variable Documentation

const float MPU60X0_ACCEL_SENS[4]

Definition at line 46 of file mpu60x0.c.

const int32_t MPU60X0_ACCEL_SENS_FRAC[4][2]

Definition at line 53 of file mpu60x0.c.

const float MPU60X0_GYRO_SENS[4]

Definition at line 32 of file mpu60x0.c.

const int32_t MPU60X0_GYRO_SENS_FRAC[4][2]

Definition at line 39 of file mpu60x0.c.