imu_mpu9250_i2c.c File Reference

IMU driver for the MPU9250 using I2C. More...

#include "subsystems/imu.h"
#include "mcu_periph/i2c.h"
#include "mcu_periph/sys_time.h"
#include "subsystems/abi.h"

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Macros
#define	IMU_MPU9250_SMPLRT_DIV   9
#define	IMU_MPU9250_GYRO_LOWPASS_FILTER   MPU9250_DLPF_GYRO_41HZ
#define	IMU_MPU9250_ACCEL_LOWPASS_FILTER   MPU9250_DLPF_ACCEL_41HZ
#define	IMU_MPU9250_GYRO_RANGE   MPU9250_GYRO_RANGE_1000
#define	IMU_MPU9250_ACCEL_RANGE   MPU9250_ACCEL_RANGE_8G
#define	IMU_MPU9250_I2C_ADDR   MPU9250_ADDR_ALT
#define	IMU_MPU9250_CHAN_X   0
#define	IMU_MPU9250_CHAN_Y   1
#define	IMU_MPU9250_CHAN_Z   2

Functions
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_mpu9250_event (void)

Variables
struct ImuMpu9250	imu_mpu9250

Detailed Description

IMU driver for the MPU9250 using I2C.

Definition in file imu_mpu9250_i2c.c.

Macro Definition Documentation

#define IMU_MPU9250_ACCEL_LOWPASS_FILTER   MPU9250_DLPF_ACCEL_41HZ

Definition at line 56 of file imu_mpu9250_i2c.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_ACCEL_RANGE   MPU9250_ACCEL_RANGE_8G

Definition at line 70 of file imu_mpu9250_i2c.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_CHAN_X   0

Definition at line 81 of file imu_mpu9250_i2c.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_CHAN_Y   1

Definition at line 85 of file imu_mpu9250_i2c.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_CHAN_Z   2

Definition at line 89 of file imu_mpu9250_i2c.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_GYRO_LOWPASS_FILTER   MPU9250_DLPF_GYRO_41HZ

Definition at line 55 of file imu_mpu9250_i2c.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_GYRO_RANGE   MPU9250_GYRO_RANGE_1000

Definition at line 65 of file imu_mpu9250_i2c.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_I2C_ADDR   MPU9250_ADDR_ALT

Definition at line 75 of file imu_mpu9250_i2c.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_SMPLRT_DIV   9

Definition at line 54 of file imu_mpu9250_i2c.c.

Referenced by imu_impl_init().

Function Documentation

void imu_impl_init

(

void

)

must be defined by underlying hardware

must be defined by underlying hardware

Todo:

drdy int handling for adxl345

Todo:

eoc interrupt for itg3200, polling for now (including status reg)

Todo:

drdy int handling for adxl345

Todo:

eoc interrupt for itg3200, polling for now (including status reg)

Todo:

drdy int handling for adxl345

Definition at line 96 of file imu_mpu9250_i2c.c.

References Mpu9250Config::accel_range, Mpu9250_I2c::config, Mpu9250Config::dlpf_accel_cfg, Mpu9250Config::dlpf_gyro_cfg, Mpu9250Config::gyro_range, IMU_MPU9250_ACCEL_LOWPASS_FILTER, IMU_MPU9250_ACCEL_RANGE, IMU_MPU9250_GYRO_LOWPASS_FILTER, IMU_MPU9250_GYRO_RANGE, IMU_MPU9250_I2C_ADDR, IMU_MPU9250_SMPLRT_DIV, ImuMpu9250::mpu, mpu9250_i2c_init(), and Mpu9250Config::smplrt_div.

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void imu_mpu9250_event

(

void

)

Definition at line 113 of file imu_mpu9250_i2c.c.

References Imu::accel, Imu::accel_unscaled, Mpu9250_I2c::akm, Ak8963::data, Mpu9250_I2c::data_accel, Mpu9250_I2c::data_available, Ak8963::data_available, Mpu9250_I2c::data_rates, FALSE, get_sys_time_usec(), Imu::gyro, Imu::gyro_unscaled, imu, imu_mpu9250, IMU_MPU9250_CHAN_X, IMU_MPU9250_CHAN_Y, IMU_MPU9250_CHAN_Z, IMU_MPU9250_ID, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Imu::mag, Imu::mag_unscaled, ImuMpu9250::mpu, mpu9250_i2c_event(), RATES_COPY, and VECT3_COPY.

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void imu_periodic

(

void

)

optional.

If not provided by implementation, empty function is used

optional.

Read the MPU60x0 every periodic call and the HMC58XX every 10th call.

Definition at line 108 of file imu_mpu9250_i2c.c.

References imu_mpu9250, ImuMpu9250::mpu, and mpu9250_i2c_periodic().

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Variable Documentation

struct ImuMpu9250 imu_mpu9250

Definition at line 94 of file imu_mpu9250_i2c.c.

Referenced by imu_mpu9250_event(), and imu_periodic().