Common driver for Invensense MPU-xxx0 6/9-axis IMUs. More...

Data Structures
struct	pios_mpu_cfg

Macros
#define	PIOS_MPU_PRODUCT_ID 0x0C

#define	PIOS_MPU_SMPLRT_DIV_REG 0X19

#define	PIOS_MPU_DLPF_CFG_REG 0X1A

#define	PIOS_MPU_GYRO_CFG_REG 0X1B

#define	PIOS_MPU_ACCEL_CFG_REG 0X1C

#define	PIOS_MPU_ACCEL_CFG2_REG 0X1D

#define	PIOS_MPU_FIFO_EN_REG 0x23

#define	PIOS_MPU_SLV0_ADDR_REG 0x25

#define	PIOS_MPU_SLV0_REG_REG 0x26

#define	PIOS_MPU_SLV0_CTRL_REG 0x27

#define	PIOS_MPU_SLV1_ADDR_REG 0x28

#define	PIOS_MPU_SLV1_REG_REG 0x29

#define	PIOS_MPU_SLV1_DO_REG 0x64

#define	PIOS_MPU_SLV1_CTRL_REG 0x2A

#define	PIOS_MPU_SLV4_ADDR_REG 0x31

#define	PIOS_MPU_SLV4_REG_REG 0x32

#define	PIOS_MPU_SLV4_DO_REG 0x33

#define	PIOS_MPU_SLV4_CTRL_REG 0x34

#define	PIOS_MPU_SLV4_DI_REG 0x35

#define	PIOS_MPU_I2C_MST_STATUS_REG 0x36

#define	PIOS_MPU_INT_CFG_REG 0x37

#define	PIOS_MPU_INT_EN_REG 0x38

#define	PIOS_MPU_INT_STATUS_REG 0x3A

#define	PIOS_MPU_ACCEL_X_OUT_MSB 0x3B

#define	PIOS_MPU_ACCEL_X_OUT_LSB 0x3C

#define	PIOS_MPU_ACCEL_Y_OUT_MSB 0x3D

#define	PIOS_MPU_ACCEL_Y_OUT_LSB 0x3E

#define	PIOS_MPU_ACCEL_Z_OUT_MSB 0x3F

#define	PIOS_MPU_ACCEL_Z_OUT_LSB 0x40

#define	PIOS_MPU_TEMP_OUT_MSB 0x41

#define	PIOS_MPU_TEMP_OUT_LSB 0x42

#define	PIOS_MPU_GYRO_X_OUT_MSB 0x43

#define	PIOS_MPU_GYRO_X_OUT_LSB 0x44

#define	PIOS_MPU_GYRO_Y_OUT_MSB 0x45

#define	PIOS_MPU_GYRO_Y_OUT_LSB 0x46

#define	PIOS_MPU_GYRO_Z_OUT_MSB 0x47

#define	PIOS_MPU_GYRO_Z_OUT_LSB 0x48

#define	PIOS_MPU_I2C_MST_DELAY_CTRL 0x67

#define	PIOS_MPU_SIGNAL_PATH_RESET 0x68

#define	PIOS_MPU_USER_CTRL_REG 0x6A

#define	PIOS_MPU_PWR_MGMT_REG 0x6B

#define	PIOS_MPU_FIFO_CNT_MSB 0x72

#define	PIOS_MPU_FIFO_CNT_LSB 0x73

#define	PIOS_MPU_FIFO_REG 0x74

#define	PIOS_MPU_WHOAMI 0x75

#define	PIOS_MPU_FIFO_TEMP_OUT 0x80

#define	PIOS_MPU_FIFO_GYRO_X_OUT 0x40

#define	PIOS_MPU_FIFO_GYRO_Y_OUT 0x20

#define	PIOS_MPU_FIFO_GYRO_Z_OUT 0x10

#define	PIOS_MPU_ACCEL_OUT 0x08

#define	PIOS_MPU_INT_ACTL 0x80

#define	PIOS_MPU_INT_OPEN 0x40

#define	PIOS_MPU_INT_LATCH_EN 0x20

#define	PIOS_MPU_INT_CLR_ANYRD 0x10

#define	PIOS_MPU_INT_I2C_BYPASS_EN 0x02

#define	PIOS_MPU_INTEN_OVERFLOW 0x10

#define	PIOS_MPU_INTEN_DATA_RDY 0x01

#define	PIOS_MPU_INT_STATUS_OVERFLOW 0x10

#define	PIOS_MPU_INT_STATUS_IMU_RDY 0X04

#define	PIOS_MPU_INT_STATUS_DATA_RDY 0X01

#define	PIOS_MPU_USERCTL_FIFO_EN 0X40

#define	PIOS_MPU_USERCTL_I2C_MST_EN 0X20

#define	PIOS_MPU_USERCTL_DIS_I2C 0X10

#define	PIOS_MPU_USERCTL_FIFO_RST 0X02

#define	PIOS_MPU_USERCTL_GYRO_RST 0X01

#define	PIOS_MPU_PWRMGMT_IMU_RST 0X80

#define	PIOS_MPU_PWRMGMT_INTERN_CLK 0X00

#define	PIOS_MPU_PWRMGMT_PLL_X_CLK 0X01

#define	PIOS_MPU_PWRMGMT_PLL_Y_CLK 0X02

#define	PIOS_MPU_PWRMGMT_PLL_Z_CLK 0X03

#define	PIOS_MPU_PWRMGMT_STOP_CLK 0X07

#define	PIOS_MPU_I2C_MST_SLV4_DONE 0x40

#define	PIOS_MPU_I2C_MST_LOST_ARB 0x20

#define	PIOS_MPU_I2C_MST_SLV4_NACK 0x10

#define	PIOS_MPU_I2C_MST_SLV0_NACK 0x01

#define	PIOS_MPU_I2CSLV_EN 0x80

#define	PIOS_MPU_I2CSLV_BYTE_SW 0x40

#define	PIOS_MPU_I2CSLV_REG_DIS 0x20

#define	PIOS_MPU_I2CSLV_GRP 0x10

#define	PIOS_MPU_I2CMSTDELAY_SLV0EN 0x01

#define	PIOS_MPU_I2CMSTDELAY_SLV1EN 0x02

#define	PIOS_MPU_I2CMSTDELAY_ESSHADOW 0x80

#define	PIOS_MPU_AK89XX_ADDR 0x0C

#define	PIOS_MPU_AK89XX_WHOAMI_REG 0x00

#define	PIOS_MPU_AK89XX_WHOAMI_ID 0x48

#define	PIOS_MPU_AK89XX_ST1_REG 0x02

#define	PIOS_MPU_AK89XX_ST2_REG 0x09

#define	PIOS_MPU_AK89XX_ST1_DRDY 0x01

#define	PIOS_MPU_AK8963_ST2_BITM 0x10

#define	PIOS_MPU_AK89XX_ST2_HOFL 0x08

#define	PIOS_MPU_AK8975_ST2_DERR 0x04

#define	PIOS_MPU_AK89XX_CNTL1_REG 0x0A

#define	PIOS_MPU_AK8963_CNTL2_REG 0x0B

#define	PIOS_MPU_AK8963_CNTL2_SRST 0x01

#define	PIOS_MPU_AK8963_MODE_CONTINUOUS_FAST_16B 0x16

#define	PIOS_MPU_AK8975_MODE_SINGLE_12B 0x01

Typedefs
typedef struct pios_mpu_dev *	pios_mpu_dev_t

Enumerations
enum	pios_mpu_error { PIOS_MPU_ERROR_NONE = 0, PIOS_MPU_ERROR_NOCONFIG = 1, PIOS_MPU_ERROR_PROBEFAILED, PIOS_MPU_ERROR_WRITEFAILED, PIOS_MPU_ERROR_READFAILED, PIOS_MPU_ERROR_NOIRQ, PIOS_MPU_ERROR_SAMPLERATE, PIOS_MPU_ERROR_WHOAMI, PIOS_MPU_ERROR_MAGFAILED }

enum	pios_mpu_type { PIOS_MPU60X0, PIOS_MPU6500, PIOS_MPU9150, PIOS_MPU9250, PIOS_ICM20608G, PIOS_ICM20602, PIOS_ICM20689, PIOS_MPU_NUM }

enum	pios_mpu60x0_gyro_filter { PIOS_MPU60X0_GYRO_LOWPASS_256_HZ = 0x00, PIOS_MPU60X0_GYRO_LOWPASS_188_HZ = 0x01, PIOS_MPU60X0_GYRO_LOWPASS_98_HZ = 0x02, PIOS_MPU60X0_GYRO_LOWPASS_42_HZ = 0x03, PIOS_MPU60X0_GYRO_LOWPASS_20_HZ = 0x04, PIOS_MPU60X0_GYRO_LOWPASS_10_HZ = 0x05, PIOS_MPU60X0_GYRO_LOWPASS_5_HZ = 0x06 }

enum	pios_mpu6500_gyro_filter { PIOS_MPU6500_GYRO_LOWPASS_250_HZ = 0x00, PIOS_MPU6500_GYRO_LOWPASS_184_HZ = 0x01, PIOS_MPU6500_GYRO_LOWPASS_92_HZ = 0x02, PIOS_MPU6500_GYRO_LOWPASS_41_HZ = 0x03, PIOS_MPU6500_GYRO_LOWPASS_20_HZ = 0x04, PIOS_MPU6500_GYRO_LOWPASS_10_HZ = 0x05, PIOS_MPU6500_GYRO_LOWPASS_5_HZ = 0x06 }

enum	pios_icm206xx_gyro_filter { PIOS_ICM206XX_GYRO_LOWPASS_250_HZ = 0x00, PIOS_ICM206XX_GYRO_LOWPASS_176_HZ = 0x01, PIOS_ICM206XX_GYRO_LOWPASS_92_HZ = 0x02, PIOS_ICM206XX_GYRO_LOWPASS_41_HZ = 0x03, PIOS_ICM206XX_GYRO_LOWPASS_20_HZ = 0x04, PIOS_ICM206XX_GYRO_LOWPASS_10_HZ = 0x05, PIOS_ICM206XX_GYRO_LOWPASS_5_HZ = 0x06, PIOS_ICM206XX_GYRO_LOWPASS_3281_HZ = 0x07 }

enum	pios_mpu6500_accel_filter { PIOS_MPU6500_ACCEL_LOWPASS_460_HZ = 0x00, PIOS_MPU6500_ACCEL_LOWPASS_184_HZ = 0x01, PIOS_MPU6500_ACCEL_LOWPASS_92_HZ = 0x02, PIOS_MPU6500_ACCEL_LOWPASS_41_HZ = 0x03, PIOS_MPU6500_ACCEL_LOWPASS_20_HZ = 0x04, PIOS_MPU6500_ACCEL_LOWPASS_10_HZ = 0x05, PIOS_MPU6500_ACCEL_LOWPASS_5_HZ = 0x06 }

enum	pios_icm206xx_accel_filter { PIOS_ICM206XX_ACCEL_LOWPASS_218_HZ = 0x00, PIOS_ICM206XX_ACCEL_LOWPASS_99_HZ = 0x02, PIOS_ICM206XX_ACCEL_LOWPASS_45_HZ = 0x03, PIOS_ICM206XX_ACCEL_LOWPASS_21_HZ = 0x04, PIOS_ICM206XX_ACCEL_LOWPASS_10_HZ = 0x05, PIOS_ICM206XX_ACCEL_LOWPASS_5_HZ = 0x06, PIOS_ICM206XX_ACCEL_LOWPASS_420_HZ = 0x07 }

enum	pios_mpu_gyro_range { PIOS_MPU_SCALE_250_DEG = 0x00, PIOS_MPU_SCALE_500_DEG = 0x08, PIOS_MPU_SCALE_1000_DEG = 0x10, PIOS_MPU_SCALE_2000_DEG = 0x18 }

enum	pios_mpu_accel_range { PIOS_MPU_SCALE_2G = 0x00, PIOS_MPU_SCALE_4G = 0x08, PIOS_MPU_SCALE_8G = 0x10, PIOS_MPU_SCALE_16G = 0x18 }

enum	pios_mpu_orientation { PIOS_MPU_TOP_0DEG = 0x00, PIOS_MPU_TOP_90DEG = 0x01, PIOS_MPU_TOP_180DEG = 0x02, PIOS_MPU_TOP_270DEG = 0x03, PIOS_MPU_BOTTOM_0DEG = 0x04, PIOS_MPU_BOTTOM_90DEG = 0x05, PIOS_MPU_BOTTOM_180DEG = 0x06, PIOS_MPU_BOTTOM_270DEG = 0x07 }

Functions
int32_t	PIOS_MPU_I2C_Init (pios_mpu_dev_t dev, pios_i2c_t i2c_id, const struct pios_mpu_cfg cfg)
	Initialize the MPU-xxxx 6/9-axis sensor on I2C. More...

int32_t	PIOS_MPU_SPI_Init (pios_mpu_dev_t dev, pios_spi_t spi_id, uint32_t slave_num, const struct pios_mpu_cfg cfg)
	Initialize the MPU-xxxx 6/9-axis sensor on SPI. More...

int32_t	PIOS_MPU_Test ()

int32_t	PIOS_MPU_SetGyroRange (enum pios_mpu_gyro_range range)

int32_t	PIOS_MPU_SetAccelRange (enum pios_mpu_accel_range range)

int32_t	PIOS_MPU_SetSampleRate (uint16_t samplerate_hz)

void	PIOS_MPU_SetGyroBandwidth (uint16_t bandwidth)
	Sets the bandwidth desired from the gyro. The driver will automatically select the lowest bandwidth low-pass filter capable of providing the desired bandwidth. More...

void	PIOS_MPU_SetAccelBandwidth (uint16_t bandwidth)
	Sets the bandwidth desired from the accelerometer. The driver will automatically select the lowest bandwidth low-pass filter capable of providing the desired bandwidth. More...

bool	PIOS_MPU_IRQHandler (void)
	The IMU interrupt handler. Fetches new data from the IMU. More...

enum pios_mpu_type	PIOS_MPU_GetType (void)
	Which type of MPU was detected? More...

Detailed Description

Common driver for Invensense MPU-xxx0 6/9-axis IMUs.

Common driver for Invensense MPU-xxx0 6/9-axis IMUs. Private Declarations.

Common driver for Invensense MPU-xxx0 6/9-axis IMUs. Public Interface.

Macro Definition Documentation

#define PIOS_MPU_ACCEL_CFG2_REG 0X1D

Definition at line 40 of file pios_mpu_priv.h.

#define PIOS_MPU_ACCEL_CFG_REG 0X1C

Definition at line 39 of file pios_mpu_priv.h.

#define PIOS_MPU_ACCEL_OUT 0x08

Definition at line 86 of file pios_mpu_priv.h.

#define PIOS_MPU_ACCEL_X_OUT_LSB 0x3C

Definition at line 59 of file pios_mpu_priv.h.

#define PIOS_MPU_ACCEL_X_OUT_MSB 0x3B

Definition at line 58 of file pios_mpu_priv.h.

#define PIOS_MPU_ACCEL_Y_OUT_LSB 0x3E

Definition at line 61 of file pios_mpu_priv.h.

#define PIOS_MPU_ACCEL_Y_OUT_MSB 0x3D

Definition at line 60 of file pios_mpu_priv.h.

#define PIOS_MPU_ACCEL_Z_OUT_LSB 0x40

Definition at line 63 of file pios_mpu_priv.h.

#define PIOS_MPU_ACCEL_Z_OUT_MSB 0x3F

Definition at line 62 of file pios_mpu_priv.h.

#define PIOS_MPU_AK8963_CNTL2_REG 0x0B

Definition at line 146 of file pios_mpu_priv.h.

#define PIOS_MPU_AK8963_CNTL2_SRST 0x01

Definition at line 147 of file pios_mpu_priv.h.

#define PIOS_MPU_AK8963_MODE_CONTINUOUS_FAST_16B 0x16

Definition at line 148 of file pios_mpu_priv.h.

#define PIOS_MPU_AK8963_ST2_BITM 0x10

Definition at line 142 of file pios_mpu_priv.h.

#define PIOS_MPU_AK8975_MODE_SINGLE_12B 0x01

Definition at line 149 of file pios_mpu_priv.h.

#define PIOS_MPU_AK8975_ST2_DERR 0x04

Definition at line 144 of file pios_mpu_priv.h.

#define PIOS_MPU_AK89XX_ADDR 0x0C

Definition at line 136 of file pios_mpu_priv.h.

#define PIOS_MPU_AK89XX_CNTL1_REG 0x0A

Definition at line 145 of file pios_mpu_priv.h.

#define PIOS_MPU_AK89XX_ST1_DRDY 0x01

Definition at line 141 of file pios_mpu_priv.h.

#define PIOS_MPU_AK89XX_ST1_REG 0x02

Definition at line 139 of file pios_mpu_priv.h.

#define PIOS_MPU_AK89XX_ST2_HOFL 0x08

Definition at line 143 of file pios_mpu_priv.h.

#define PIOS_MPU_AK89XX_ST2_REG 0x09

Definition at line 140 of file pios_mpu_priv.h.

#define PIOS_MPU_AK89XX_WHOAMI_ID 0x48

Definition at line 138 of file pios_mpu_priv.h.

#define PIOS_MPU_AK89XX_WHOAMI_REG 0x00

Definition at line 137 of file pios_mpu_priv.h.

#define PIOS_MPU_DLPF_CFG_REG 0X1A

Definition at line 37 of file pios_mpu_priv.h.

#define PIOS_MPU_FIFO_CNT_LSB 0x73

Definition at line 77 of file pios_mpu_priv.h.

#define PIOS_MPU_FIFO_CNT_MSB 0x72

Definition at line 76 of file pios_mpu_priv.h.

#define PIOS_MPU_FIFO_EN_REG 0x23

Definition at line 41 of file pios_mpu_priv.h.

#define PIOS_MPU_FIFO_GYRO_X_OUT 0x40

Definition at line 83 of file pios_mpu_priv.h.

#define PIOS_MPU_FIFO_GYRO_Y_OUT 0x20

Definition at line 84 of file pios_mpu_priv.h.

#define PIOS_MPU_FIFO_GYRO_Z_OUT 0x10

Definition at line 85 of file pios_mpu_priv.h.

#define PIOS_MPU_FIFO_REG 0x74

Definition at line 78 of file pios_mpu_priv.h.

#define PIOS_MPU_FIFO_TEMP_OUT 0x80

Definition at line 82 of file pios_mpu_priv.h.

#define PIOS_MPU_GYRO_CFG_REG 0X1B

Definition at line 38 of file pios_mpu_priv.h.

#define PIOS_MPU_GYRO_X_OUT_LSB 0x44

Definition at line 67 of file pios_mpu_priv.h.

#define PIOS_MPU_GYRO_X_OUT_MSB 0x43

Definition at line 66 of file pios_mpu_priv.h.

#define PIOS_MPU_GYRO_Y_OUT_LSB 0x46

Definition at line 69 of file pios_mpu_priv.h.

#define PIOS_MPU_GYRO_Y_OUT_MSB 0x45

Definition at line 68 of file pios_mpu_priv.h.

#define PIOS_MPU_GYRO_Z_OUT_LSB 0x48

Definition at line 71 of file pios_mpu_priv.h.

#define PIOS_MPU_GYRO_Z_OUT_MSB 0x47

Definition at line 70 of file pios_mpu_priv.h.

#define PIOS_MPU_I2C_MST_DELAY_CTRL 0x67

Definition at line 72 of file pios_mpu_priv.h.

#define PIOS_MPU_I2C_MST_LOST_ARB 0x20

Definition at line 120 of file pios_mpu_priv.h.

#define PIOS_MPU_I2C_MST_SLV0_NACK 0x01

Definition at line 122 of file pios_mpu_priv.h.

#define PIOS_MPU_I2C_MST_SLV4_DONE 0x40

Definition at line 119 of file pios_mpu_priv.h.

#define PIOS_MPU_I2C_MST_SLV4_NACK 0x10

Definition at line 121 of file pios_mpu_priv.h.

#define PIOS_MPU_I2C_MST_STATUS_REG 0x36

Definition at line 54 of file pios_mpu_priv.h.

#define PIOS_MPU_I2CMSTDELAY_ESSHADOW 0x80

Definition at line 133 of file pios_mpu_priv.h.

#define PIOS_MPU_I2CMSTDELAY_SLV0EN 0x01

Definition at line 131 of file pios_mpu_priv.h.

#define PIOS_MPU_I2CMSTDELAY_SLV1EN 0x02

Definition at line 132 of file pios_mpu_priv.h.

#define PIOS_MPU_I2CSLV_BYTE_SW 0x40

Definition at line 126 of file pios_mpu_priv.h.

#define PIOS_MPU_I2CSLV_EN 0x80

Definition at line 125 of file pios_mpu_priv.h.

#define PIOS_MPU_I2CSLV_GRP 0x10

Definition at line 128 of file pios_mpu_priv.h.

#define PIOS_MPU_I2CSLV_REG_DIS 0x20

Definition at line 127 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_ACTL 0x80

Definition at line 89 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_CFG_REG 0x37

Definition at line 55 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_CLR_ANYRD 0x10

Definition at line 92 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_EN_REG 0x38

Definition at line 56 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_I2C_BYPASS_EN 0x02

Definition at line 93 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_LATCH_EN 0x20

Definition at line 91 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_OPEN 0x40

Definition at line 90 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_STATUS_DATA_RDY 0X01

Definition at line 101 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_STATUS_IMU_RDY 0X04

Definition at line 100 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_STATUS_OVERFLOW 0x10

Definition at line 99 of file pios_mpu_priv.h.

#define PIOS_MPU_INT_STATUS_REG 0x3A

Definition at line 57 of file pios_mpu_priv.h.

#define PIOS_MPU_INTEN_DATA_RDY 0x01

Definition at line 96 of file pios_mpu_priv.h.

#define PIOS_MPU_INTEN_OVERFLOW 0x10

Definition at line 95 of file pios_mpu_priv.h.

#define PIOS_MPU_PRODUCT_ID 0x0C

Definition at line 35 of file pios_mpu_priv.h.

#define PIOS_MPU_PWR_MGMT_REG 0x6B

Definition at line 75 of file pios_mpu_priv.h.

#define PIOS_MPU_PWRMGMT_IMU_RST 0X80

Definition at line 111 of file pios_mpu_priv.h.

#define PIOS_MPU_PWRMGMT_INTERN_CLK 0X00

Definition at line 112 of file pios_mpu_priv.h.

#define PIOS_MPU_PWRMGMT_PLL_X_CLK 0X01

Definition at line 113 of file pios_mpu_priv.h.

#define PIOS_MPU_PWRMGMT_PLL_Y_CLK 0X02

Definition at line 114 of file pios_mpu_priv.h.

#define PIOS_MPU_PWRMGMT_PLL_Z_CLK 0X03

Definition at line 115 of file pios_mpu_priv.h.

#define PIOS_MPU_PWRMGMT_STOP_CLK 0X07

Definition at line 116 of file pios_mpu_priv.h.

#define PIOS_MPU_SIGNAL_PATH_RESET 0x68

Definition at line 73 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV0_ADDR_REG 0x25

Definition at line 42 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV0_CTRL_REG 0x27

Definition at line 44 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV0_REG_REG 0x26

Definition at line 43 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV1_ADDR_REG 0x28

Definition at line 45 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV1_CTRL_REG 0x2A

Definition at line 48 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV1_DO_REG 0x64

Definition at line 47 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV1_REG_REG 0x29

Definition at line 46 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV4_ADDR_REG 0x31

Definition at line 49 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV4_CTRL_REG 0x34

Definition at line 52 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV4_DI_REG 0x35

Definition at line 53 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV4_DO_REG 0x33

Definition at line 51 of file pios_mpu_priv.h.

#define PIOS_MPU_SLV4_REG_REG 0x32

Definition at line 50 of file pios_mpu_priv.h.

#define PIOS_MPU_SMPLRT_DIV_REG 0X19

Definition at line 36 of file pios_mpu_priv.h.

#define PIOS_MPU_TEMP_OUT_LSB 0x42

Definition at line 65 of file pios_mpu_priv.h.

#define PIOS_MPU_TEMP_OUT_MSB 0x41

Definition at line 64 of file pios_mpu_priv.h.

#define PIOS_MPU_USER_CTRL_REG 0x6A

Definition at line 74 of file pios_mpu_priv.h.

#define PIOS_MPU_USERCTL_DIS_I2C 0X10

Definition at line 106 of file pios_mpu_priv.h.

#define PIOS_MPU_USERCTL_FIFO_EN 0X40

Definition at line 104 of file pios_mpu_priv.h.

#define PIOS_MPU_USERCTL_FIFO_RST 0X02

Definition at line 107 of file pios_mpu_priv.h.

#define PIOS_MPU_USERCTL_GYRO_RST 0X01

Definition at line 108 of file pios_mpu_priv.h.

#define PIOS_MPU_USERCTL_I2C_MST_EN 0X20

Definition at line 105 of file pios_mpu_priv.h.

#define PIOS_MPU_WHOAMI 0x75

Definition at line 79 of file pios_mpu_priv.h.

Typedef Documentation

typedef struct pios_mpu_dev* pios_mpu_dev_t

Definition at line 150 of file pios_mpu.h.

Enumeration Type Documentation

enum pios_icm206xx_accel_filter

Enumerator
PIOS_ICM206XX_ACCEL_LOWPASS_218_HZ
PIOS_ICM206XX_ACCEL_LOWPASS_99_HZ
PIOS_ICM206XX_ACCEL_LOWPASS_45_HZ
PIOS_ICM206XX_ACCEL_LOWPASS_21_HZ
PIOS_ICM206XX_ACCEL_LOWPASS_10_HZ
PIOS_ICM206XX_ACCEL_LOWPASS_5_HZ
PIOS_ICM206XX_ACCEL_LOWPASS_420_HZ

Definition at line 104 of file pios_mpu.h.

enum pios_icm206xx_gyro_filter

Enumerator
PIOS_ICM206XX_GYRO_LOWPASS_250_HZ
PIOS_ICM206XX_GYRO_LOWPASS_176_HZ
PIOS_ICM206XX_GYRO_LOWPASS_92_HZ
PIOS_ICM206XX_GYRO_LOWPASS_41_HZ
PIOS_ICM206XX_GYRO_LOWPASS_20_HZ
PIOS_ICM206XX_GYRO_LOWPASS_10_HZ
PIOS_ICM206XX_GYRO_LOWPASS_5_HZ
PIOS_ICM206XX_GYRO_LOWPASS_3281_HZ

Definition at line 83 of file pios_mpu.h.

enum pios_mpu60x0_gyro_filter

Enumerator
PIOS_MPU60X0_GYRO_LOWPASS_256_HZ
PIOS_MPU60X0_GYRO_LOWPASS_188_HZ
PIOS_MPU60X0_GYRO_LOWPASS_98_HZ
PIOS_MPU60X0_GYRO_LOWPASS_42_HZ
PIOS_MPU60X0_GYRO_LOWPASS_20_HZ
PIOS_MPU60X0_GYRO_LOWPASS_10_HZ
PIOS_MPU60X0_GYRO_LOWPASS_5_HZ

Definition at line 63 of file pios_mpu.h.

enum pios_mpu6500_accel_filter

Enumerator
PIOS_MPU6500_ACCEL_LOWPASS_460_HZ
PIOS_MPU6500_ACCEL_LOWPASS_184_HZ
PIOS_MPU6500_ACCEL_LOWPASS_92_HZ
PIOS_MPU6500_ACCEL_LOWPASS_41_HZ
PIOS_MPU6500_ACCEL_LOWPASS_20_HZ
PIOS_MPU6500_ACCEL_LOWPASS_10_HZ
PIOS_MPU6500_ACCEL_LOWPASS_5_HZ

Definition at line 94 of file pios_mpu.h.

enum pios_mpu6500_gyro_filter

Enumerator
PIOS_MPU6500_GYRO_LOWPASS_250_HZ
PIOS_MPU6500_GYRO_LOWPASS_184_HZ
PIOS_MPU6500_GYRO_LOWPASS_92_HZ
PIOS_MPU6500_GYRO_LOWPASS_41_HZ
PIOS_MPU6500_GYRO_LOWPASS_20_HZ
PIOS_MPU6500_GYRO_LOWPASS_10_HZ
PIOS_MPU6500_GYRO_LOWPASS_5_HZ

Definition at line 73 of file pios_mpu.h.

enum pios_mpu_accel_range

Enumerator
PIOS_MPU_SCALE_2G
PIOS_MPU_SCALE_4G
PIOS_MPU_SCALE_8G
PIOS_MPU_SCALE_16G

Definition at line 121 of file pios_mpu.h.

enum pios_mpu_error

MPU driver error return types

Enumerator
PIOS_MPU_ERROR_NONE
PIOS_MPU_ERROR_NOCONFIG
PIOS_MPU_ERROR_PROBEFAILED
PIOS_MPU_ERROR_WRITEFAILED
PIOS_MPU_ERROR_READFAILED
PIOS_MPU_ERROR_NOIRQ
PIOS_MPU_ERROR_SAMPLERATE
PIOS_MPU_ERROR_WHOAMI
PIOS_MPU_ERROR_MAGFAILED

Definition at line 37 of file pios_mpu.h.

enum pios_mpu_gyro_range

Enumerator
PIOS_MPU_SCALE_250_DEG
PIOS_MPU_SCALE_500_DEG
PIOS_MPU_SCALE_1000_DEG
PIOS_MPU_SCALE_2000_DEG

Definition at line 114 of file pios_mpu.h.

enum pios_mpu_orientation

Enumerator
PIOS_MPU_TOP_0DEG
PIOS_MPU_TOP_90DEG
PIOS_MPU_TOP_180DEG
PIOS_MPU_TOP_270DEG
PIOS_MPU_BOTTOM_0DEG
PIOS_MPU_BOTTOM_90DEG
PIOS_MPU_BOTTOM_180DEG
PIOS_MPU_BOTTOM_270DEG

Definition at line 128 of file pios_mpu.h.

enum pios_mpu_type

Supported IMU devices

Enumerator
PIOS_MPU60X0	MPU-6000, SPI/I2C or MPU-6050, I2C
PIOS_MPU6500	MPU-6500, SPI/I2C
PIOS_MPU9150	MPU-9150, contains MPU-6050+AK8975C
PIOS_MPU9250	MPU-9250, contains MPU-6500+AK8963
PIOS_ICM20608G	ICM-20608-G, SPI/I2C
PIOS_ICM20602	ICM-20602, SPI/I2C
PIOS_ICM20689	ICM-20689, SPI/I2C
PIOS_MPU_NUM	Number of elements

Definition at line 52 of file pios_mpu.h.

Function Documentation

enum pios_mpu_type PIOS_MPU_GetType ( void )

Which type of MPU was detected?

int32_t PIOS_MPU_I2C_Init	(	pios_mpu_dev_t *	dev,
		pios_i2c_t	i2c_id,
		const struct pios_mpu_cfg *	cfg
	)

Initialize the MPU-xxxx 6/9-axis sensor on I2C.

Parameters

[in]	i2c_id	PiOS I2C driver instance ID/pointer
[in]	cfg	MPU config

Returns: 0 for success, -1 for failure to allocate, -10 for failure to get irq

bool PIOS_MPU_IRQHandler ( void )

The IMU interrupt handler. Fetches new data from the IMU.

void PIOS_MPU_SetAccelBandwidth ( uint16_t bandwidth )

Sets the bandwidth desired from the accelerometer. The driver will automatically select the lowest bandwidth low-pass filter capable of providing the desired bandwidth.

Parameters

[in] bandwidth The desired bandwidth [Hz]

int32_t PIOS_MPU_SetAccelRange ( enum pios_mpu_accel_range range )

void PIOS_MPU_SetGyroBandwidth ( uint16_t bandwidth )

Sets the bandwidth desired from the gyro. The driver will automatically select the lowest bandwidth low-pass filter capable of providing the desired bandwidth.

Parameters

[in] bandwidth The desired bandwidth [Hz]

int32_t PIOS_MPU_SetGyroRange ( enum pios_mpu_gyro_range range )

int32_t PIOS_MPU_SetSampleRate ( uint16_t samplerate_hz )

Set the sample rate in Hz by determining the nearest divisor

Parameters

[in] sample rate in Hz

int32_t PIOS_MPU_SPI_Init	(	pios_mpu_dev_t *	dev,
		pios_spi_t	spi_id,
		uint32_t	slave_num,
		const struct pios_mpu_cfg *	cfg
	)

Initialize the MPU-xxxx 6/9-axis sensor on SPI.

Returns: 0 for success, -1 for failure to allocate, -10 for failure to get irq

int32_t PIOS_MPU_Test ( )

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation