mpu9250_spi.c File Reference

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

#include "peripherals/mpu9250_spi.h"

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

Functions
void	mpu9250_spi_init (struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
static void	mpu9250_spi_write_to_reg (void *mpu, uint8_t _reg, uint8_t _val)
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)
bool	mpu9250_configure_i2c_slaves (Mpu9250ConfigSet mpu_set, void *mpu)
	configure the registered I2C slaves More...

Detailed Description

Driver for the MPU-9250 using SPI.

Definition in file mpu9250_spi.c.

Macro Definition Documentation

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

Definition at line 107 of file mpu9250_spi.c.

Referenced by mpu9250_spi_event().

Function Documentation

bool mpu9250_configure_i2c_slaves	(	Mpu9250ConfigSet	mpu_set,
		void *	mpu
	)

configure the registered I2C slaves

Configure I2C slaves of the MPU.

Definition at line 159 of file mpu9250_spi.c.

References Mpu9250_Spi::config, Mpu9250I2cSlave::configure, Mpu9250Config::i2c_mst_clk, Mpu9250Config::i2c_mst_delay, MPU9250_I2C_IF_DIS, MPU9250_I2C_MST_EN, MPU9250_I2C_NB_SLAVES, MPU9250_REG_I2C_MST_CTRL, MPU9250_REG_I2C_MST_DELAY, 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, and Mpu9250Config::slaves.

Referenced by mpu9250_send_config().

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

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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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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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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static void mpu9250_spi_write_to_reg ( void *  mpu, uint8_t  _reg, uint8_t  _val  )

static

Definition at line 66 of file mpu9250_spi.c.

References spi_transaction::input_length, spi_transaction::output_length, Mpu9250_Spi::spi_p, spi_submit(), Mpu9250_Spi::spi_trans, and Mpu9250_Spi::tx_buf.

Referenced by mpu9250_spi_event(), and mpu9250_spi_start_configure().

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