mpu60x0_i2c.h File Reference

Driver for the MPU-60X0 using I2C. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/i2c.h"
#include "peripherals/mpu60x0.h"

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Data Structures
struct	Mpu60x0_I2c
union	Mpu60x0_I2c.data_accel
union	Mpu60x0_I2c.data_rates

Macros
#define	MPU60X0_BUFFER_EXT_LEN   16

Enumerations
enum	Mpu60x0I2cSlaveInitStatus {   MPU60X0_I2C_CONF_UNINIT, MPU60X0_I2C_CONF_I2C_MST_DIS, MPU60X0_I2C_CONF_I2C_BYPASS_EN, MPU60X0_I2C_CONF_SLAVES_CONFIGURE,   MPU60X0_I2C_CONF_I2C_BYPASS_DIS, MPU60X0_I2C_CONF_I2C_MST_CLK, MPU60X0_I2C_CONF_I2C_MST_DELAY, MPU60X0_I2C_CONF_I2C_SMPLRT,   MPU60X0_I2C_CONF_I2C_MST_EN, MPU60X0_I2C_CONF_DONE }

Functions
void	mpu60x0_i2c_init (struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
void	mpu60x0_i2c_start_configure (struct Mpu60x0_I2c *mpu)
void	mpu60x0_i2c_read (struct Mpu60x0_I2c *mpu)
void	mpu60x0_i2c_event (struct Mpu60x0_I2c *mpu)
static void	mpu60x0_i2c_periodic (struct Mpu60x0_I2c *mpu)
	convenience function: read or start configuration if not already initialized More...

Detailed Description

Driver for the MPU-60X0 using I2C.

Definition in file mpu60x0_i2c.h.

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Data Structure Documentation

struct Mpu60x0_I2c

Definition at line 54 of file mpu60x0_i2c.h.

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Data Fields
struct Mpu60x0Config	config
union Mpu60x0_I2c	data_accel
volatile bool	data_available	data ready flag
uint8_t	data_ext[MPU60X0_BUFFER_EXT_LEN]
union Mpu60x0_I2c	data_rates
struct i2c_periph *	i2c_p
struct i2c_transaction	i2c_trans
enum Mpu60x0I2cSlaveInitStatus	slave_init_status
float	temp	temperature in degrees Celcius

union Mpu60x0_I2c.data_accel

Definition at line 58 of file mpu60x0_i2c.h.

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

union Mpu60x0_I2c.data_rates

Definition at line 62 of file mpu60x0_i2c.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

#define MPU60X0_BUFFER_EXT_LEN   16

Definition at line 39 of file mpu60x0_i2c.h.

Enumeration Type Documentation

enum Mpu60x0I2cSlaveInitStatus

Enumerator
MPU60X0_I2C_CONF_UNINIT
MPU60X0_I2C_CONF_I2C_MST_DIS
MPU60X0_I2C_CONF_I2C_BYPASS_EN
MPU60X0_I2C_CONF_SLAVES_CONFIGURE
MPU60X0_I2C_CONF_I2C_BYPASS_DIS
MPU60X0_I2C_CONF_I2C_MST_CLK
MPU60X0_I2C_CONF_I2C_MST_DELAY
MPU60X0_I2C_CONF_I2C_SMPLRT
MPU60X0_I2C_CONF_I2C_MST_EN
MPU60X0_I2C_CONF_DONE

Definition at line 41 of file mpu60x0_i2c.h.

Function Documentation

void mpu60x0_i2c_event

(

struct Mpu60x0_I2c *

mpu

)

Definition at line 82 of file mpu60x0_i2c.c.

References i2c_transaction::buf, Mpu60x0_I2c::config, Mpu60x0_I2c::data_accel, Mpu60x0_I2c::data_available, Mpu60x0_I2c::data_ext, Mpu60x0_I2c::data_rates, FALSE, Mpu60x0Config::i2c_bypass, Mpu60x0_I2c::i2c_trans, I2CTransDone, I2CTransFailed, I2CTransSuccess, Mpu60x0Config::init_status, Mpu60x0Config::initialized, Int16FromBuf, MPU60X0_CONF_UNINIT, mpu60x0_i2c_write_to_reg(), mpu60x0_send_config(), Mpu60x0Config::nb_bytes, Mpu60x0Config::nb_slaves, i2c_transaction::status, and Mpu60x0_I2c::temp.

Referenced by imu_apogee_event(), imu_bebop_event(), imu_disco_event(), imu_drotek2_event(), imu_krooz_event(), imu_mpu_i2c_event(), imu_navstik_event(), and imu_swing_event().

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void mpu60x0_i2c_init	(	struct Mpu60x0_I2c *	mpu,
		struct i2c_periph *	i2c_p,
		uint8_t	addr
	)

Definition at line 31 of file mpu60x0_i2c.c.

References Mpu60x0_I2c::config, Mpu60x0_I2c::data_available, Mpu60x0_I2c::i2c_p, Mpu60x0_I2c::i2c_trans, I2CTransDone, Mpu60x0Config::init_status, Mpu60x0Config::initialized, MPU60X0_CONF_UNINIT, MPU60X0_I2C_CONF_UNINIT, mpu60x0_set_default_config(), i2c_transaction::slave_addr, Mpu60x0_I2c::slave_init_status, and i2c_transaction::status.

Referenced by imu_apogee_init(), imu_bebop_init(), imu_disco_init(), imu_drotek2_init(), imu_krooz_init(), imu_mpu_i2c_init(), imu_navstik_init(), and imu_swing_init().

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static void mpu60x0_i2c_periodic ( struct Mpu60x0_I2c *  mpu )

inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 79 of file mpu60x0_i2c.h.

References Mpu60x0_I2c::config, Mpu60x0Config::initialized, mpu60x0_i2c_read(), and mpu60x0_i2c_start_configure().

Referenced by imu_apogee_periodic(), imu_bebop_periodic(), imu_disco_periodic(), imu_drotek2_periodic(), imu_mpu_i2c_periodic(), imu_navstik_periodic(), and imu_swing_periodic().

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void mpu60x0_i2c_read

(

struct Mpu60x0_I2c *

mpu

)

Definition at line 71 of file mpu60x0_i2c.c.

References i2c_transaction::buf, Mpu60x0_I2c::config, Mpu60x0_I2c::i2c_p, Mpu60x0_I2c::i2c_trans, i2c_transceive(), I2CTransDone, Mpu60x0Config::initialized, MPU60X0_REG_INT_STATUS, Mpu60x0Config::nb_bytes, i2c_transaction::slave_addr, and i2c_transaction::status.

Referenced by imu_krooz_event(), and mpu60x0_i2c_periodic().

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void mpu60x0_i2c_start_configure

(

struct Mpu60x0_I2c *

mpu

)

Definition at line 61 of file mpu60x0_i2c.c.

References Mpu60x0_I2c::config, Mpu60x0_I2c::i2c_trans, I2CTransDone, I2CTransSuccess, Mpu60x0Config::init_status, MPU60X0_CONF_UNINIT, mpu60x0_i2c_write_to_reg(), mpu60x0_send_config(), and i2c_transaction::status.

Referenced by imu_krooz_periodic(), and mpu60x0_i2c_periodic().

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