imu_mpu9250_spi.c File Reference

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

#include "subsystems/imu.h"
#include "subsystems/abi.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/spi.h"
#include "peripherals/ak8963_regs.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_CHAN_X   0
#define	IMU_MPU9250_CHAN_Y   1
#define	IMU_MPU9250_CHAN_Z   2
#define	IMU_MPU9250_X_SIGN   1
#define	IMU_MPU9250_Y_SIGN   1
#define	IMU_MPU9250_Z_SIGN   1
#define	IMU_MPU9250_READ_MAG   TRUE
#define	IMU_MPU9250_MAG_STARTUP_DELAY   1
#define	Int16FromBuf(_buf, _idx)   ((int16_t)(_buf[_idx] | (_buf[_idx+1] << 8)))

Functions
void	mpu_wait_slave4_ready (void)
void	mpu_wait_slave4_ready_cb (struct spi_transaction *t)
bool_t	imu_mpu9250_configure_mag_slave (Mpu9250ConfigSet mpu_set, void *mpu)
	function to configure akm8963 mag More...
void	imu_impl_init (void)
	must be defined by underlying hardware More...
void	imu_periodic (void)
	optional. More...
void	imu_mpu9250_event (void)
static void	mpu_set_and_wait (Mpu9250ConfigSet mpu_set, void *mpu, uint8_t _reg, uint8_t _val)

Variables
struct ImuMpu9250	imu_mpu9250

Detailed Description

IMU driver for the MPU9250 using SPI.

Definition in file imu_mpu9250_spi.c.

Macro Definition Documentation

#define IMU_MPU9250_ACCEL_LOWPASS_FILTER   MPU9250_DLPF_ACCEL_41HZ

Definition at line 62 of file imu_mpu9250_spi.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_ACCEL_RANGE   MPU9250_ACCEL_RANGE_8G

Definition at line 76 of file imu_mpu9250_spi.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_CHAN_X   0

Definition at line 82 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_CHAN_Y   1

Definition at line 86 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_CHAN_Z   2

Definition at line 90 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_GYRO_LOWPASS_FILTER   MPU9250_DLPF_GYRO_41HZ

Definition at line 61 of file imu_mpu9250_spi.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_GYRO_RANGE   MPU9250_GYRO_RANGE_1000

Definition at line 71 of file imu_mpu9250_spi.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_MAG_STARTUP_DELAY   1

Definition at line 112 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_configure_mag_slave().

#define IMU_MPU9250_READ_MAG   TRUE

Definition at line 108 of file imu_mpu9250_spi.c.

#define IMU_MPU9250_SMPLRT_DIV   9

Definition at line 60 of file imu_mpu9250_spi.c.

Referenced by imu_impl_init().

#define IMU_MPU9250_X_SIGN   1

Definition at line 95 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_Y_SIGN   1

Definition at line 99 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

#define IMU_MPU9250_Z_SIGN   1

Definition at line 103 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

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

Definition at line 173 of file imu_mpu9250_spi.c.

Referenced by imu_mpu9250_event().

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 121 of file imu_mpu9250_spi.c.

References Mpu9250Config::accel_range, spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, Mpu9250_I2c::config, Mpu9250I2cSlave::configure, spi_transaction::cpha, spi_transaction::cpol, Mpu9250Config::dlpf_accel_cfg, Mpu9250Config::dlpf_gyro_cfg, spi_transaction::dss, FALSE, Mpu9250Config::gyro_range, Mpu9250Config::i2c_mst_clk, Mpu9250Config::i2c_mst_delay, imu_mpu9250, IMU_MPU9250_ACCEL_LOWPASS_FILTER, IMU_MPU9250_ACCEL_RANGE, imu_mpu9250_configure_mag_slave(), IMU_MPU9250_GYRO_LOWPASS_FILTER, IMU_MPU9250_GYRO_RANGE, IMU_MPU9250_SMPLRT_DIV, spi_transaction::input_buf, spi_transaction::input_length, ImuMpu9250::mpu, MPU9250_MST_CLK_400KHZ, mpu9250_spi_init(), mpu_wait_slave4_ready_cb(), Mpu9250Config::nb_bytes, Mpu9250Config::nb_slaves, spi_transaction::output_buf, spi_transaction::output_length, spi_transaction::select, ImuMpu9250::slave4_ready, spi_transaction::slave_idx, Mpu9250Config::slaves, Mpu9250Config::smplrt_div, SPICphaEdge2, SPICpolIdleHigh, SPIDiv64, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, spi_transaction::status, ImuMpu9250::wait_slave4_rx_buf, ImuMpu9250::wait_slave4_trans, and ImuMpu9250::wait_slave4_tx_buf.

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bool_t imu_mpu9250_configure_mag_slave	(	Mpu9250ConfigSet	mpu_set,
		void *	mpu
	)

function to configure akm8963 mag

Returns

TRUE if mag configuration finished

Definition at line 230 of file imu_mpu9250_spi.c.

References AK8963_CNTL1_CM_2, AK8963_REG_CNTL1, AK8963_REG_CNTL2, AK8963_REG_HXL, FALSE, get_sys_time_float(), IMU_MPU9250_MAG_STARTUP_DELAY, MPU9250_MAG_ADDR, MPU9250_REG_I2C_SLV0_ADDR, MPU9250_REG_I2C_SLV0_CTRL, MPU9250_REG_I2C_SLV0_REG, MPU9250_REG_I2C_SLV4_ADDR, MPU9250_REG_I2C_SLV4_CTRL, MPU9250_REG_I2C_SLV4_DO, MPU9250_REG_I2C_SLV4_REG, MPU9250_SPI_READ, mpu_set_and_wait(), mpu_wait_slave4_ready(), and TRUE.

Referenced by imu_impl_init().

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void imu_mpu9250_event

(

void

)

Definition at line 174 of file imu_mpu9250_spi.c.

References Imu::accel, Imu::accel_unscaled, Mpu9250_I2c::data_accel, Mpu9250_I2c::data_available, Mpu9250_I2c::data_ext, 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_MPU9250_X_SIGN, IMU_MPU9250_Y_SIGN, IMU_MPU9250_Z_SIGN, imu_scale_accel(), imu_scale_gyro(), imu_scale_mag(), Int16FromBuf, Imu::mag, Imu::mag_unscaled, ImuMpu9250::mpu, mpu9250, mpu9250_i2c_event(), mpu9250_spi_event(), RATES_COPY, VECT3_COPY, Int32Vect3::x, Int32Vect3::y, and Int32Vect3::z.

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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 168 of file imu_mpu9250_spi.c.

References imu_mpu9250, ImuMpu9250::mpu, and mpu9250_spi_periodic().

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static void mpu_set_and_wait ( Mpu9250ConfigSet  mpu_set, void *  mpu, uint8_t  _reg, uint8_t  _val  )

inlinestatic

Definition at line 221 of file imu_mpu9250_spi.c.

References imu_mpu9250, ImuMpu9250::mpu, and SPITransSuccess.

Referenced by imu_mpu9250_configure_mag_slave().

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void mpu_wait_slave4_ready

(

void

)

Definition at line 265 of file imu_mpu9250_spi.c.

References imu_mpu9250, ImuMpu9250::mpu, MPU9250_REG_I2C_MST_STATUS, MPU9250_SPI_READ, ImuMpu9250::slave4_ready, spi_submit(), SPITransDone, spi_transaction::status, ImuMpu9250::wait_slave4_trans, and ImuMpu9250::wait_slave4_tx_buf.

Referenced by imu_mpu9250_configure_mag_slave().

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void mpu_wait_slave4_ready_cb

(

struct spi_transaction *

t

)

Definition at line 275 of file imu_mpu9250_spi.c.

References FALSE, imu_mpu9250, spi_transaction::input_buf, MPU9250_I2C_SLV4_DONE, ImuMpu9250::slave4_ready, SPITransDone, spi_transaction::status, and TRUE.

Referenced by imu_impl_init().

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Variable Documentation

struct ImuMpu9250 imu_mpu9250

Definition at line 115 of file imu_mpu9250_spi.c.

Referenced by imu_impl_init(), imu_mpu9250_event(), imu_periodic(), mpu_set_and_wait(), mpu_wait_slave4_ready(), and mpu_wait_slave4_ready_cb().