#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/ecl/geo/geo.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/systemlib/conversions.h>
#include <lib/systemlib/px4_macros.h>
#include "MPU9250_mag.h"

Include dependency graph for mpu9250.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	MPUReport
	Report conversation within the mpu, including command byte and interrupt status. More...

class	MPU9250

Macros
#define	MPUREG_WHOAMI 0x75

#define	MPUREG_SMPLRT_DIV 0x19

#define	MPUREG_CONFIG 0x1A

#define	MPUREG_GYRO_CONFIG 0x1B

#define	MPUREG_ACCEL_CONFIG 0x1C

#define	MPUREG_ACCEL_CONFIG2 0x1D

#define	MPUREG_LPACCEL_ODR 0x1E

#define	MPUREG_WOM_THRESH 0x1F

#define	MPUREG_FIFO_EN 0x23

#define	MPUREG_I2C_MST_CTRL 0x24

#define	MPUREG_I2C_SLV0_ADDR 0x25

#define	MPUREG_I2C_SLV0_REG 0x26

#define	MPUREG_I2C_SLV0_CTRL 0x27

#define	MPUREG_I2C_SLV1_ADDR 0x28

#define	MPUREG_I2C_SLV1_REG 0x29

#define	MPUREG_I2C_SLV1_CTRL 0x2A

#define	MPUREG_I2C_SLV2_ADDR 0x2B

#define	MPUREG_I2C_SLV2_REG 0x2C

#define	MPUREG_I2C_SLV2_CTRL 0x2D

#define	MPUREG_I2C_SLV3_ADDR 0x2E

#define	MPUREG_I2C_SLV3_REG 0x2F

#define	MPUREG_I2C_SLV3_CTRL 0x30

#define	MPUREG_I2C_SLV4_ADDR 0x31

#define	MPUREG_I2C_SLV4_REG 0x32

#define	MPUREG_I2C_SLV4_DO 0x33

#define	MPUREG_I2C_SLV4_CTRL 0x34

#define	MPUREG_I2C_SLV4_DI 0x35

#define	MPUREG_I2C_MST_STATUS 0x36

#define	MPUREG_INT_PIN_CFG 0x37

#define	MPUREG_INT_ENABLE 0x38

#define	MPUREG_INT_STATUS 0x3A

#define	MPUREG_ACCEL_XOUT_H 0x3B

#define	MPUREG_ACCEL_XOUT_L 0x3C

#define	MPUREG_ACCEL_YOUT_H 0x3D

#define	MPUREG_ACCEL_YOUT_L 0x3E

#define	MPUREG_ACCEL_ZOUT_H 0x3F

#define	MPUREG_ACCEL_ZOUT_L 0x40

#define	MPUREG_TEMP_OUT_H 0x41

#define	MPUREG_TEMP_OUT_L 0x42

#define	MPUREG_GYRO_XOUT_H 0x43

#define	MPUREG_GYRO_XOUT_L 0x44

#define	MPUREG_GYRO_YOUT_H 0x45

#define	MPUREG_GYRO_YOUT_L 0x46

#define	MPUREG_GYRO_ZOUT_H 0x47

#define	MPUREG_GYRO_ZOUT_L 0x48

#define	MPUREG_EXT_SENS_DATA_00 0x49

#define	MPUREG_I2C_SLV0_D0 0x63

#define	MPUREG_I2C_SLV1_D0 0x64

#define	MPUREG_I2C_SLV2_D0 0x65

#define	MPUREG_I2C_SLV3_D0 0x66

#define	MPUREG_I2C_MST_DELAY_CTRL 0x67

#define	MPUREG_SIGNAL_PATH_RESET 0x68

#define	MPUREG_MOT_DETECT_CTRL 0x69

#define	MPUREG_USER_CTRL 0x6A

#define	MPUREG_PWR_MGMT_1 0x6B

#define	MPUREG_PWR_MGMT_2 0x6C

#define	MPUREG_FIFO_COUNTH 0x72

#define	MPUREG_FIFO_COUNTL 0x73

#define	MPUREG_FIFO_R_W 0x74

#define	BIT_SLEEP 0x40

#define	BIT_H_RESET 0x80

#define	MPU_CLK_SEL_AUTO 0x01

#define	BITS_GYRO_ST_X 0x80

#define	BITS_GYRO_ST_Y 0x40

#define	BITS_GYRO_ST_Z 0x20

#define	BITS_FS_250DPS 0x00

#define	BITS_FS_500DPS 0x08

#define	BITS_FS_1000DPS 0x10

#define	BITS_FS_2000DPS 0x18

#define	BITS_FS_MASK 0x18

#define	BITS_DLPF_CFG_250HZ 0x00

#define	BITS_DLPF_CFG_184HZ 0x01

#define	BITS_DLPF_CFG_92HZ 0x02

#define	BITS_DLPF_CFG_41HZ 0x03

#define	BITS_DLPF_CFG_20HZ 0x04

#define	BITS_DLPF_CFG_10HZ 0x05

#define	BITS_DLPF_CFG_5HZ 0x06

#define	BITS_DLPF_CFG_3600HZ 0x07

#define	BITS_DLPF_CFG_MASK 0x07

#define	BITS_ACCEL_CONFIG2_41HZ 0x03

#define	BIT_RAW_RDY_EN 0x01

#define	BIT_INT_ANYRD_2CLEAR 0x10

#define	BIT_INT_BYPASS_EN 0x02

#define	BIT_I2C_READ_FLAG 0x80

#define	BIT_I2C_SLV0_NACK 0x01

#define	BIT_I2C_FIFO_EN 0x40

#define	BIT_I2C_MST_EN 0x20

#define	BIT_I2C_IF_DIS 0x10

#define	BIT_FIFO_RST 0x04

#define	BIT_I2C_MST_RST 0x02

#define	BIT_SIG_COND_RST 0x01

#define	BIT_I2C_SLV0_EN 0x80

#define	BIT_I2C_SLV0_BYTE_SW 0x40

#define	BIT_I2C_SLV0_REG_DIS 0x20

#define	BIT_I2C_SLV0_REG_GRP 0x10

#define	BIT_I2C_MST_MULT_MST_EN 0x80

#define	BIT_I2C_MST_WAIT_FOR_ES 0x40

#define	BIT_I2C_MST_SLV_3_FIFO_EN 0x20

#define	BIT_I2C_MST_P_NSR 0x10

#define	BITS_I2C_MST_CLOCK_258HZ 0x08

#define	BITS_I2C_MST_CLOCK_400HZ 0x0D

#define	BIT_I2C_SLV0_DLY_EN 0x01

#define	BIT_I2C_SLV1_DLY_EN 0x02

#define	BIT_I2C_SLV2_DLY_EN 0x04

#define	BIT_I2C_SLV3_DLY_EN 0x08

#define	MPU_WHOAMI_9250 0x71

#define	MPU_WHOAMI_6500 0x70

#define	MPU9250_ACCEL_DEFAULT_RATE 1000

#define	MPU9250_ACCEL_MAX_OUTPUT_RATE 280

#define	MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30

#define	MPU9250_GYRO_DEFAULT_RATE 1000

#define	MPU9250_GYRO_MAX_OUTPUT_RATE MPU9250_ACCEL_MAX_OUTPUT_RATE

#define	MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30

#define	MPU9250_DEFAULT_ONCHIP_FILTER_FREQ 92

#define	MPU9250_LOW_BUS_SPEED 0

#define	MPU9250_HIGH_BUS_SPEED 0x8000

#define	MPU9250_REG_MASK 0x00FF

#define	MPU9250_IS_HIGH_SPEED(r) ((r) & MPU9250_HIGH_BUS_SPEED)

#define	MPU9250_REG(r) ((r) & MPU9250_REG_MASK)

#define	MPU9250_SET_SPEED(r, s) ((r)\|(s))

#define	MPU9250_HIGH_SPEED_OP(r) MPU9250_SET_SPEED((r), MPU9250_HIGH_BUS_SPEED)

#define	MPU9250_LOW_SPEED_OP(r) ((r) &~MPU9250_HIGH_BUS_SPEED)

Typedefs
typedef device::Device (	MPU9250_constructor) (int, uint32_t)

Functions
device::Device *	MPU9250_SPI_interface (int bus, uint32_t cs)

device::Device *	MPU9250_I2C_interface (int bus, uint32_t address)

int	MPU9250_probe (device::Device *dev)

Macro Definition Documentation

◆ BIT_FIFO_RST

#define BIT_FIFO_RST 0x04

Definition at line 148 of file mpu9250.h.

◆ BIT_H_RESET

#define BIT_H_RESET 0x80

Definition at line 114 of file mpu9250.h.

◆ BIT_I2C_FIFO_EN

#define BIT_I2C_FIFO_EN 0x40

Definition at line 145 of file mpu9250.h.

◆ BIT_I2C_IF_DIS

#define BIT_I2C_IF_DIS 0x10

Definition at line 147 of file mpu9250.h.

◆ BIT_I2C_MST_EN

#define BIT_I2C_MST_EN 0x20

Definition at line 146 of file mpu9250.h.

◆ BIT_I2C_MST_MULT_MST_EN

#define BIT_I2C_MST_MULT_MST_EN 0x80

Definition at line 157 of file mpu9250.h.

◆ BIT_I2C_MST_P_NSR

#define BIT_I2C_MST_P_NSR 0x10

Definition at line 160 of file mpu9250.h.

◆ BIT_I2C_MST_RST

#define BIT_I2C_MST_RST 0x02

Definition at line 149 of file mpu9250.h.

◆ BIT_I2C_MST_SLV_3_FIFO_EN

#define BIT_I2C_MST_SLV_3_FIFO_EN 0x20

Definition at line 159 of file mpu9250.h.

◆ BIT_I2C_MST_WAIT_FOR_ES

#define BIT_I2C_MST_WAIT_FOR_ES 0x40

Definition at line 158 of file mpu9250.h.

◆ BIT_I2C_READ_FLAG

#define BIT_I2C_READ_FLAG 0x80

Definition at line 142 of file mpu9250.h.

◆ BIT_I2C_SLV0_BYTE_SW

#define BIT_I2C_SLV0_BYTE_SW 0x40

Definition at line 153 of file mpu9250.h.

◆ BIT_I2C_SLV0_DLY_EN

#define BIT_I2C_SLV0_DLY_EN 0x01

Definition at line 164 of file mpu9250.h.

◆ BIT_I2C_SLV0_EN

#define BIT_I2C_SLV0_EN 0x80

Definition at line 152 of file mpu9250.h.

◆ BIT_I2C_SLV0_NACK

#define BIT_I2C_SLV0_NACK 0x01

Definition at line 144 of file mpu9250.h.

◆ BIT_I2C_SLV0_REG_DIS

#define BIT_I2C_SLV0_REG_DIS 0x20

Definition at line 154 of file mpu9250.h.

◆ BIT_I2C_SLV0_REG_GRP

#define BIT_I2C_SLV0_REG_GRP 0x10

Definition at line 155 of file mpu9250.h.

◆ BIT_I2C_SLV1_DLY_EN

#define BIT_I2C_SLV1_DLY_EN 0x02

Definition at line 165 of file mpu9250.h.

◆ BIT_I2C_SLV2_DLY_EN

#define BIT_I2C_SLV2_DLY_EN 0x04

Definition at line 166 of file mpu9250.h.

◆ BIT_I2C_SLV3_DLY_EN

#define BIT_I2C_SLV3_DLY_EN 0x08

Definition at line 167 of file mpu9250.h.

◆ BIT_INT_ANYRD_2CLEAR

#define BIT_INT_ANYRD_2CLEAR 0x10

Definition at line 139 of file mpu9250.h.

◆ BIT_INT_BYPASS_EN

#define BIT_INT_BYPASS_EN 0x02

Definition at line 140 of file mpu9250.h.

◆ BIT_RAW_RDY_EN

#define BIT_RAW_RDY_EN 0x01

Definition at line 138 of file mpu9250.h.

◆ BIT_SIG_COND_RST

#define BIT_SIG_COND_RST 0x01

Definition at line 150 of file mpu9250.h.

◆ BIT_SLEEP

#define BIT_SLEEP 0x40

Definition at line 113 of file mpu9250.h.

◆ BITS_ACCEL_CONFIG2_41HZ

#define BITS_ACCEL_CONFIG2_41HZ 0x03

Definition at line 136 of file mpu9250.h.

◆ BITS_DLPF_CFG_10HZ

#define BITS_DLPF_CFG_10HZ 0x05

Definition at line 131 of file mpu9250.h.

◆ BITS_DLPF_CFG_184HZ

#define BITS_DLPF_CFG_184HZ 0x01

Definition at line 127 of file mpu9250.h.

◆ BITS_DLPF_CFG_20HZ

#define BITS_DLPF_CFG_20HZ 0x04

Definition at line 130 of file mpu9250.h.

◆ BITS_DLPF_CFG_250HZ

#define BITS_DLPF_CFG_250HZ 0x00

Definition at line 126 of file mpu9250.h.

◆ BITS_DLPF_CFG_3600HZ

#define BITS_DLPF_CFG_3600HZ 0x07

Definition at line 133 of file mpu9250.h.

◆ BITS_DLPF_CFG_41HZ

#define BITS_DLPF_CFG_41HZ 0x03

Definition at line 129 of file mpu9250.h.

◆ BITS_DLPF_CFG_5HZ

#define BITS_DLPF_CFG_5HZ 0x06

Definition at line 132 of file mpu9250.h.

◆ BITS_DLPF_CFG_92HZ

#define BITS_DLPF_CFG_92HZ 0x02

Definition at line 128 of file mpu9250.h.

◆ BITS_DLPF_CFG_MASK

#define BITS_DLPF_CFG_MASK 0x07

Definition at line 134 of file mpu9250.h.

◆ BITS_FS_1000DPS

#define BITS_FS_1000DPS 0x10

Definition at line 122 of file mpu9250.h.

◆ BITS_FS_2000DPS

#define BITS_FS_2000DPS 0x18

Definition at line 123 of file mpu9250.h.

◆ BITS_FS_250DPS

#define BITS_FS_250DPS 0x00

Definition at line 120 of file mpu9250.h.

◆ BITS_FS_500DPS

#define BITS_FS_500DPS 0x08

Definition at line 121 of file mpu9250.h.

◆ BITS_FS_MASK

#define BITS_FS_MASK 0x18

Definition at line 124 of file mpu9250.h.

◆ BITS_GYRO_ST_X

#define BITS_GYRO_ST_X 0x80

Definition at line 117 of file mpu9250.h.

◆ BITS_GYRO_ST_Y

#define BITS_GYRO_ST_Y 0x40

Definition at line 118 of file mpu9250.h.

◆ BITS_GYRO_ST_Z

#define BITS_GYRO_ST_Z 0x20

Definition at line 119 of file mpu9250.h.

◆ BITS_I2C_MST_CLOCK_258HZ

#define BITS_I2C_MST_CLOCK_258HZ 0x08

Definition at line 161 of file mpu9250.h.

◆ BITS_I2C_MST_CLOCK_400HZ

#define BITS_I2C_MST_CLOCK_400HZ 0x0D

Definition at line 162 of file mpu9250.h.

◆ MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ

#define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30

Definition at line 174 of file mpu9250.h.

◆ MPU9250_ACCEL_DEFAULT_RATE

#define MPU9250_ACCEL_DEFAULT_RATE 1000

Definition at line 172 of file mpu9250.h.

◆ MPU9250_ACCEL_MAX_OUTPUT_RATE

#define MPU9250_ACCEL_MAX_OUTPUT_RATE 280

Definition at line 173 of file mpu9250.h.

◆ MPU9250_DEFAULT_ONCHIP_FILTER_FREQ

#define MPU9250_DEFAULT_ONCHIP_FILTER_FREQ 92

Definition at line 180 of file mpu9250.h.

Referenced by MPU9250::reset_mpu().

◆ MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ

#define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30

Definition at line 178 of file mpu9250.h.

◆ MPU9250_GYRO_DEFAULT_RATE

#define MPU9250_GYRO_DEFAULT_RATE 1000

Definition at line 175 of file mpu9250.h.

◆ MPU9250_GYRO_MAX_OUTPUT_RATE

#define MPU9250_GYRO_MAX_OUTPUT_RATE MPU9250_ACCEL_MAX_OUTPUT_RATE

Definition at line 177 of file mpu9250.h.

◆ MPU9250_HIGH_BUS_SPEED

#define MPU9250_HIGH_BUS_SPEED 0x8000

Definition at line 209 of file mpu9250.h.

Referenced by MPU9250::check_registers(), and MPU9250::measure().

◆ MPU9250_HIGH_SPEED_OP

#define MPU9250_HIGH_SPEED_OP ( r ) MPU9250_SET_SPEED((r), MPU9250_HIGH_BUS_SPEED)

Definition at line 214 of file mpu9250.h.

◆ MPU9250_IS_HIGH_SPEED

#define MPU9250_IS_HIGH_SPEED ( r ) ((r) & MPU9250_HIGH_BUS_SPEED)

Definition at line 211 of file mpu9250.h.

Referenced by MPU9250_SPI::set_bus_frequency().

◆ MPU9250_LOW_BUS_SPEED

#define MPU9250_LOW_BUS_SPEED 0

Definition at line 208 of file mpu9250.h.

◆ MPU9250_LOW_SPEED_OP

#define MPU9250_LOW_SPEED_OP ( r ) ((r) &~MPU9250_HIGH_BUS_SPEED)

Definition at line 215 of file mpu9250.h.

Referenced by MPU9250::read_reg16(), MPU9250_mag::write_reg(), and MPU9250::write_reg().

◆ MPU9250_REG

#define MPU9250_REG ( r ) ((r) & MPU9250_REG_MASK)

Definition at line 212 of file mpu9250.h.

Referenced by MPU9250_SPI::set_bus_frequency().

◆ MPU9250_REG_MASK

#define MPU9250_REG_MASK 0x00FF

Definition at line 210 of file mpu9250.h.

◆ MPU9250_SET_SPEED

#define MPU9250_SET_SPEED	(	r,
		s
	)	((r)\|(s))

Definition at line 213 of file mpu9250.h.

Referenced by MPU9250::read_reg(), and MPU9250::read_reg_range().

◆ MPU_CLK_SEL_AUTO

#define MPU_CLK_SEL_AUTO 0x01

Definition at line 115 of file mpu9250.h.

◆ MPU_WHOAMI_6500

#define MPU_WHOAMI_6500 0x70

Definition at line 170 of file mpu9250.h.

Referenced by MPU9250::_set_dlpf_filter(), MPU9250::_set_sample_rate(), MPU9250::measure(), MPU9250_SPI::probe(), MPU9250::probe(), MPU9250::reset_mpu(), and MPU9250::set_accel_range().

◆ MPU_WHOAMI_9250

#define MPU_WHOAMI_9250 0x71

Definition at line 169 of file mpu9250.h.

Referenced by MPU9250::_set_dlpf_filter(), MPU9250::_set_sample_rate(), MPU9250_mag::ak8963_setup(), MPU9250_mag::ak8963_setup_master_i2c(), MPU9250::init(), MPU9250::measure(), MPU9250_SPI::probe(), MPU9250::probe(), MPU9250::reset(), MPU9250::reset_mpu(), and MPU9250::set_accel_range().

◆ MPUREG_ACCEL_CONFIG

#define MPUREG_ACCEL_CONFIG 0x1C

Definition at line 56 of file mpu9250.h.

◆ MPUREG_ACCEL_CONFIG2

#define MPUREG_ACCEL_CONFIG2 0x1D

Definition at line 57 of file mpu9250.h.

◆ MPUREG_ACCEL_XOUT_H

#define MPUREG_ACCEL_XOUT_H 0x3B

Definition at line 83 of file mpu9250.h.

◆ MPUREG_ACCEL_XOUT_L

#define MPUREG_ACCEL_XOUT_L 0x3C

Definition at line 84 of file mpu9250.h.

◆ MPUREG_ACCEL_YOUT_H

#define MPUREG_ACCEL_YOUT_H 0x3D

Definition at line 85 of file mpu9250.h.

◆ MPUREG_ACCEL_YOUT_L

#define MPUREG_ACCEL_YOUT_L 0x3E

Definition at line 86 of file mpu9250.h.

◆ MPUREG_ACCEL_ZOUT_H

#define MPUREG_ACCEL_ZOUT_H 0x3F

Definition at line 87 of file mpu9250.h.

◆ MPUREG_ACCEL_ZOUT_L

#define MPUREG_ACCEL_ZOUT_L 0x40

Definition at line 88 of file mpu9250.h.

◆ MPUREG_CONFIG

#define MPUREG_CONFIG 0x1A

Definition at line 54 of file mpu9250.h.

◆ MPUREG_EXT_SENS_DATA_00

#define MPUREG_EXT_SENS_DATA_00 0x49

Definition at line 97 of file mpu9250.h.

◆ MPUREG_FIFO_COUNTH

#define MPUREG_FIFO_COUNTH 0x72

Definition at line 108 of file mpu9250.h.

◆ MPUREG_FIFO_COUNTL

#define MPUREG_FIFO_COUNTL 0x73

Definition at line 109 of file mpu9250.h.

◆ MPUREG_FIFO_EN

#define MPUREG_FIFO_EN 0x23

Definition at line 60 of file mpu9250.h.

◆ MPUREG_FIFO_R_W

#define MPUREG_FIFO_R_W 0x74

Definition at line 110 of file mpu9250.h.

◆ MPUREG_GYRO_CONFIG

#define MPUREG_GYRO_CONFIG 0x1B

Definition at line 55 of file mpu9250.h.

◆ MPUREG_GYRO_XOUT_H

#define MPUREG_GYRO_XOUT_H 0x43

Definition at line 91 of file mpu9250.h.

◆ MPUREG_GYRO_XOUT_L

#define MPUREG_GYRO_XOUT_L 0x44

Definition at line 92 of file mpu9250.h.

◆ MPUREG_GYRO_YOUT_H

#define MPUREG_GYRO_YOUT_H 0x45

Definition at line 93 of file mpu9250.h.

◆ MPUREG_GYRO_YOUT_L

#define MPUREG_GYRO_YOUT_L 0x46

Definition at line 94 of file mpu9250.h.

◆ MPUREG_GYRO_ZOUT_H

#define MPUREG_GYRO_ZOUT_H 0x47

Definition at line 95 of file mpu9250.h.

◆ MPUREG_GYRO_ZOUT_L

#define MPUREG_GYRO_ZOUT_L 0x48

Definition at line 96 of file mpu9250.h.

◆ MPUREG_I2C_MST_CTRL

#define MPUREG_I2C_MST_CTRL 0x24

Definition at line 61 of file mpu9250.h.

◆ MPUREG_I2C_MST_DELAY_CTRL

#define MPUREG_I2C_MST_DELAY_CTRL 0x67

Definition at line 102 of file mpu9250.h.

◆ MPUREG_I2C_MST_STATUS

#define MPUREG_I2C_MST_STATUS 0x36

Definition at line 79 of file mpu9250.h.

◆ MPUREG_I2C_SLV0_ADDR

#define MPUREG_I2C_SLV0_ADDR 0x25

Definition at line 62 of file mpu9250.h.

◆ MPUREG_I2C_SLV0_CTRL

#define MPUREG_I2C_SLV0_CTRL 0x27

Definition at line 64 of file mpu9250.h.

◆ MPUREG_I2C_SLV0_D0

#define MPUREG_I2C_SLV0_D0 0x63

Definition at line 98 of file mpu9250.h.

◆ MPUREG_I2C_SLV0_REG

#define MPUREG_I2C_SLV0_REG 0x26

Definition at line 63 of file mpu9250.h.

◆ MPUREG_I2C_SLV1_ADDR

#define MPUREG_I2C_SLV1_ADDR 0x28

Definition at line 65 of file mpu9250.h.

◆ MPUREG_I2C_SLV1_CTRL

#define MPUREG_I2C_SLV1_CTRL 0x2A

Definition at line 67 of file mpu9250.h.

◆ MPUREG_I2C_SLV1_D0

#define MPUREG_I2C_SLV1_D0 0x64

Definition at line 99 of file mpu9250.h.

◆ MPUREG_I2C_SLV1_REG

#define MPUREG_I2C_SLV1_REG 0x29

Definition at line 66 of file mpu9250.h.

◆ MPUREG_I2C_SLV2_ADDR

#define MPUREG_I2C_SLV2_ADDR 0x2B

Definition at line 68 of file mpu9250.h.

◆ MPUREG_I2C_SLV2_CTRL

#define MPUREG_I2C_SLV2_CTRL 0x2D

Definition at line 70 of file mpu9250.h.

◆ MPUREG_I2C_SLV2_D0

#define MPUREG_I2C_SLV2_D0 0x65

Definition at line 100 of file mpu9250.h.

◆ MPUREG_I2C_SLV2_REG

#define MPUREG_I2C_SLV2_REG 0x2C

Definition at line 69 of file mpu9250.h.

◆ MPUREG_I2C_SLV3_ADDR

#define MPUREG_I2C_SLV3_ADDR 0x2E

Definition at line 71 of file mpu9250.h.

◆ MPUREG_I2C_SLV3_CTRL

#define MPUREG_I2C_SLV3_CTRL 0x30

Definition at line 73 of file mpu9250.h.

◆ MPUREG_I2C_SLV3_D0

#define MPUREG_I2C_SLV3_D0 0x66

Definition at line 101 of file mpu9250.h.

◆ MPUREG_I2C_SLV3_REG

#define MPUREG_I2C_SLV3_REG 0x2F

Definition at line 72 of file mpu9250.h.

◆ MPUREG_I2C_SLV4_ADDR

#define MPUREG_I2C_SLV4_ADDR 0x31

Definition at line 74 of file mpu9250.h.

◆ MPUREG_I2C_SLV4_CTRL

#define MPUREG_I2C_SLV4_CTRL 0x34

Definition at line 77 of file mpu9250.h.

◆ MPUREG_I2C_SLV4_DI

#define MPUREG_I2C_SLV4_DI 0x35

Definition at line 78 of file mpu9250.h.

◆ MPUREG_I2C_SLV4_DO

#define MPUREG_I2C_SLV4_DO 0x33

Definition at line 76 of file mpu9250.h.

◆ MPUREG_I2C_SLV4_REG

#define MPUREG_I2C_SLV4_REG 0x32

Definition at line 75 of file mpu9250.h.

◆ MPUREG_INT_ENABLE

#define MPUREG_INT_ENABLE 0x38

Definition at line 81 of file mpu9250.h.

◆ MPUREG_INT_PIN_CFG

#define MPUREG_INT_PIN_CFG 0x37

Definition at line 80 of file mpu9250.h.

◆ MPUREG_INT_STATUS

#define MPUREG_INT_STATUS 0x3A

Definition at line 82 of file mpu9250.h.

◆ MPUREG_LPACCEL_ODR

#define MPUREG_LPACCEL_ODR 0x1E

Definition at line 58 of file mpu9250.h.

◆ MPUREG_MOT_DETECT_CTRL

#define MPUREG_MOT_DETECT_CTRL 0x69

Definition at line 104 of file mpu9250.h.

◆ MPUREG_PWR_MGMT_1

#define MPUREG_PWR_MGMT_1 0x6B

Definition at line 106 of file mpu9250.h.

◆ MPUREG_PWR_MGMT_2

#define MPUREG_PWR_MGMT_2 0x6C

Definition at line 107 of file mpu9250.h.

◆ MPUREG_SIGNAL_PATH_RESET

#define MPUREG_SIGNAL_PATH_RESET 0x68

Definition at line 103 of file mpu9250.h.

◆ MPUREG_SMPLRT_DIV

#define MPUREG_SMPLRT_DIV 0x19

Definition at line 53 of file mpu9250.h.

◆ MPUREG_TEMP_OUT_H

#define MPUREG_TEMP_OUT_H 0x41

Definition at line 89 of file mpu9250.h.

◆ MPUREG_TEMP_OUT_L

#define MPUREG_TEMP_OUT_L 0x42

Definition at line 90 of file mpu9250.h.

◆ MPUREG_USER_CTRL

#define MPUREG_USER_CTRL 0x6A

Definition at line 105 of file mpu9250.h.

◆ MPUREG_WHOAMI

#define MPUREG_WHOAMI 0x75

Definition at line 52 of file mpu9250.h.

◆ MPUREG_WOM_THRESH

#define MPUREG_WOM_THRESH 0x1F

Definition at line 59 of file mpu9250.h.

Typedef Documentation

◆ MPU9250_constructor

typedef device::Device*(* MPU9250_constructor) (int, uint32_t)

Definition at line 222 of file mpu9250.h.

Function Documentation

◆ MPU9250_I2C_interface()

device::Device* MPU9250_I2C_interface	(	int	bus,
		uint32_t	address
	)

◆ MPU9250_probe()

int MPU9250_probe ( device::Device * dev )

◆ MPU9250_SPI_interface()

device::Device * MPU9250_SPI_interface	(	int	bus,
		uint32_t	cs
	)

Definition at line 83 of file mpu9250_spi.cpp.

Classes

Macros

Typedefs

Functions