#include <mpu9250.h>

Inheritance diagram for MPU9250:

Collaboration diagram for MPU9250:

Public Member Functions
	MPU9250 (device::Device interface, device::Device mag_interface, enum Rotation rotation)

virtual	~MPU9250 ()

virtual int	init ()

uint8_t	get_whoami ()

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

Protected Member Functions
virtual int	probe ()
	whoami result More...

void	Run () override

Protected Attributes
device::Device *	_interface

uint8_t	_whoami {0}

Private Member Functions
bool	check_null_data (uint16_t *data, uint8_t size)

bool	check_duplicate (uint8_t *accel_data)

void	start ()

void	stop ()

int	reset ()

int	reset_mpu ()
	Resets the main chip (excluding the magnetometer if any). More...

void	measure ()
	Fetch measurements from the sensor and update the report buffers. More...

uint8_t	read_reg (unsigned reg, uint32_t speed=MPU9250_LOW_BUS_SPEED)
	Read a register from the mpu. More...

uint16_t	read_reg16 (unsigned reg)

uint8_t	read_reg_range (unsigned start_reg, uint32_t speed, uint8_t *buf, uint16_t count)
	Read a register range from the mpu. More...

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the mpu. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the mpu. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the mpu, updating _checked_values. More...

void	modify_checked_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a checked register in the mpu. More...

int	set_accel_range (unsigned max_g)
	Set the mpu measurement range. More...

uint16_t	swap16 (uint16_t val)
	Swap a 16-bit value read from the mpu to native byte order. More...

bool	is_external ()
	Get the internal / external state. More...

void	_set_dlpf_filter (uint16_t frequency_hz)

void	_set_sample_rate (unsigned desired_sample_rate_hz)

void	check_registers ()

Private Attributes
PX4Accelerometer	_px4_accel

PX4Gyroscope	_px4_gyro

MPU9250_mag	_mag

unsigned	_call_interval {1000}

unsigned	_dlpf_freq {0}

unsigned	_sample_rate {1000}

perf_counter_t	_sample_perf

perf_counter_t	_bad_transfers

perf_counter_t	_bad_registers

perf_counter_t	_good_transfers

perf_counter_t	_duplicates

uint8_t	_register_wait {0}

uint64_t	_reset_wait {0}

const uint16_t *	_checked_registers {nullptr}

uint8_t	_checked_values [MPU9250_NUM_CHECKED_REGISTERS] {}

uint8_t	_checked_bad [MPU9250_NUM_CHECKED_REGISTERS] {}

unsigned	_checked_next {0}

unsigned	_num_checked_registers {0}

float	_last_temperature {0.0f}

uint8_t	_last_accel_data [6] {}

bool	_got_duplicate {false}

Static Private Attributes
static constexpr int	MPU9250_NUM_CHECKED_REGISTERS {11}

static const uint16_t	_mpu9250_checked_registers [MPU9250_NUM_CHECKED_REGISTERS]

Friends
class	MPU9250_mag

Detailed Description

Definition at line 226 of file mpu9250.h.

Constructor & Destructor Documentation

◆ MPU9250()

MPU9250::MPU9250	(	device::Device *	interface,
		device::Device *	mag_interface,
		enum Rotation	rotation
	)

Definition at line 73 of file mpu9250.cpp.

References _px4_accel, _px4_gyro, DRV_ACC_DEVTYPE_MPU9250, DRV_GYR_DEVTYPE_MPU9250, PX4Accelerometer::set_device_type(), and PX4Gyroscope::set_device_type().

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◆ ~MPU9250()

MPU9250::~MPU9250 ( )

virtual

Definition at line 90 of file mpu9250.cpp.

References _bad_registers, _bad_transfers, _duplicates, _good_transfers, _sample_perf, perf_free(), and stop().

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Member Function Documentation

◆ _set_dlpf_filter()

void MPU9250::_set_dlpf_filter ( uint16_t frequency_hz )

private

Definition at line 328 of file mpu9250.cpp.

References _dlpf_freq, _whoami, BITS_DLPF_CFG_10HZ, BITS_DLPF_CFG_184HZ, BITS_DLPF_CFG_20HZ, BITS_DLPF_CFG_250HZ, BITS_DLPF_CFG_3600HZ, BITS_DLPF_CFG_41HZ, BITS_DLPF_CFG_5HZ, BITS_DLPF_CFG_92HZ, MPU_WHOAMI_6500, MPU_WHOAMI_9250, MPUREG_CONFIG, and write_checked_reg().

Referenced by reset_mpu().

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◆ _set_sample_rate()

void MPU9250::_set_sample_rate ( unsigned desired_sample_rate_hz )

private

Definition at line 295 of file mpu9250.cpp.

References _sample_rate, _whoami, MPU9250_GYRO_DEFAULT_RATE, MPU_WHOAMI_6500, MPU_WHOAMI_9250, MPUREG_SMPLRT_DIV, and write_checked_reg().

Referenced by reset_mpu().

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◆ check_duplicate()

bool MPU9250::check_duplicate ( uint8_t * accel_data )

private

Definition at line 594 of file mpu9250.cpp.

References _duplicates, _got_duplicate, _last_accel_data, _sample_perf, perf_count(), and perf_end().

Referenced by measure().

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◆ check_null_data()

bool MPU9250::check_null_data	(	uint16_t *	data,
		uint8_t	size
	)

private

Definition at line 574 of file mpu9250.cpp.

References _bad_transfers, _good_transfers, _sample_perf, perf_count(), and perf_end().

Referenced by measure().

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◆ check_registers()

void MPU9250::check_registers ( void )

private

Definition at line 514 of file mpu9250.cpp.

References _bad_registers, _checked_bad, _checked_next, _checked_registers, _checked_values, _num_checked_registers, _register_wait, _reset_wait, BIT_H_RESET, hrt_absolute_time(), MPU9250_HIGH_BUS_SPEED, MPU_CLK_SEL_AUTO, MPUREG_PWR_MGMT_1, MPUREG_PWR_MGMT_2, perf_count(), read_reg(), and write_reg().

Referenced by measure().

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◆ get_whoami()

uint8_t MPU9250::get_whoami ( )

inline

Definition at line 233 of file mpu9250.h.

◆ init()

int MPU9250::init ( )

virtual

Definition at line 104 of file mpu9250.cpp.

References MPU9250_mag::_interface, _interface, _mag, _reset_wait, _sample_rate, _whoami, MPU9250_mag::ak8963_reset(), device::Device::DeviceBusType_I2C, device::Device::get_device_bus_type(), hrt_absolute_time(), device::Device::init(), MPU9250_mag::is_passthrough(), MPU_WHOAMI_9250, OK, probe(), reset_mpu(), and start().

Referenced by DfMpu9250Wrapper::start(), and mpu9250::start_bus().

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◆ is_external()

bool MPU9250::is_external ( )

inlineprivate

Get the internal / external state.

Returns: true if the sensor is not on the main MCU board

Definition at line 389 of file mpu9250.h.

References device::Device::external().

Referenced by MPU9250_mag::_measure().

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◆ measure()

void MPU9250::measure ( )

private

Fetch measurements from the sensor and update the report buffers.

Definition at line 619 of file mpu9250.cpp.

References _bad_registers, _bad_transfers, _last_temperature, _mag, MPU9250_mag::_measure(), _px4_accel, _px4_gyro, _register_wait, _reset_wait, _sample_perf, _whoami, check_duplicate(), check_null_data(), check_registers(), f(), hrt_absolute_time(), hrt_abstime, int16_t_from_bytes(), MPU9250_mag::is_passthrough(), MPU9250_mag::measure(), MPU9250_HIGH_BUS_SPEED, MPU_WHOAMI_6500, MPU_WHOAMI_9250, MPUREG_INT_STATUS, OK, perf_begin(), perf_end(), perf_event_count(), read_reg_range(), PX4Accelerometer::set_error_count(), PX4Gyroscope::set_error_count(), PX4Accelerometer::set_temperature(), PX4Gyroscope::set_temperature(), PX4Accelerometer::update(), and PX4Gyroscope::update().

Referenced by Run().

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◆ modify_checked_reg()

void MPU9250::modify_checked_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a checked register in the mpu.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 429 of file mpu9250.cpp.

References read_reg(), and write_checked_reg().

Referenced by MPU9250_mag::ak8963_setup(), and MPU9250_mag::ak8963_setup_master_i2c().

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◆ modify_reg()

void MPU9250::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the mpu.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 420 of file mpu9250.cpp.

References read_reg(), and write_reg().

Referenced by MPU9250_mag::ak8963_setup().

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◆ print_info()

void MPU9250::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 743 of file mpu9250.cpp.

References _bad_registers, _bad_transfers, _duplicates, _good_transfers, _mag, _px4_accel, _px4_gyro, _sample_perf, perf_print_counter(), PX4Accelerometer::print_status(), PX4Gyroscope::print_status(), and MPU9250_mag::print_status().

Referenced by mpu9250::status().

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◆ probe()

int MPU9250::probe ( )

protectedvirtual

whoami result

Definition at line 265 of file mpu9250.cpp.

References _checked_bad, _checked_registers, _checked_values, _mpu9250_checked_registers, _num_checked_registers, _whoami, MPU9250_NUM_CHECKED_REGISTERS, MPU_WHOAMI_6500, MPU_WHOAMI_9250, MPUREG_WHOAMI, and read_reg().

Referenced by init().

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◆ read_reg()

uint8_t MPU9250::read_reg	(	unsigned	reg,
		uint32_t	speed = `MPU9250_LOW_BUS_SPEED`
	)

private

Read a register from the mpu.

Parameters

The	register to read.
The	bus speed to read with.

Returns: The value that was read.

Definition at line 382 of file mpu9250.cpp.

References _interface, MPU9250_SET_SPEED, and device::Device::read().

Referenced by check_registers(), modify_checked_reg(), modify_reg(), probe(), and reset_mpu().

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◆ read_reg16()

uint16_t MPU9250::read_reg16 ( unsigned reg )

private

Definition at line 402 of file mpu9250.cpp.

References _interface, arraySize, MPU9250_LOW_SPEED_OP, and device::Device::read().

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◆ read_reg_range()

uint8_t MPU9250::read_reg_range	(	unsigned	start_reg,
		uint32_t	speed,
		uint8_t *	buf,
		uint16_t	count
	)

private

Read a register range from the mpu.

Parameters

The	start address to read from.
The	bus speed to read with.
The	address of the target data buffer.
The	count of bytes to be read.

Returns: The value that was read.

Definition at line 392 of file mpu9250.cpp.

References _interface, MPU9250_SET_SPEED, and device::Device::read().

Referenced by measure().

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◆ reset()

int MPU9250::reset ( )

private

Definition at line 157 of file mpu9250.cpp.

References _mag, _reset_wait, _whoami, MPU9250_mag::ak8963_reset(), hrt_absolute_time(), MPU_WHOAMI_9250, OK, and reset_mpu().

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◆ reset_mpu()

int MPU9250::reset_mpu ( )

private

Resets the main chip (excluding the magnetometer if any).

Definition at line 182 of file mpu9250.cpp.

References _checked_registers, _checked_values, _interface, _mag, _num_checked_registers, _px4_gyro, _sample_rate, _set_dlpf_filter(), _set_sample_rate(), _whoami, ACCEL_RANGE_G, BIT_H_RESET, BIT_I2C_IF_DIS, BIT_INT_ANYRD_2CLEAR, BIT_INT_BYPASS_EN, BIT_RAW_RDY_EN, BITS_ACCEL_CONFIG2_41HZ, BITS_FS_2000DPS, device::Device::DeviceBusType_I2C, device::Device::get_device_bus_type(), MPU9250_mag::is_passthrough(), MPU9250_DEFAULT_ONCHIP_FILTER_FREQ, MPU_CLK_SEL_AUTO, MPU_WHOAMI_6500, MPU_WHOAMI_9250, MPUREG_ACCEL_CONFIG2, MPUREG_GYRO_CONFIG, MPUREG_INT_ENABLE, MPUREG_INT_PIN_CFG, MPUREG_PWR_MGMT_1, MPUREG_PWR_MGMT_2, MPUREG_USER_CTRL, OK, read_reg(), set_accel_range(), PX4Gyroscope::set_scale(), write_checked_reg(), and write_reg().

Referenced by init(), and reset().

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◆ Run()

void MPU9250::Run ( )

overrideprotected

Definition at line 507 of file mpu9250.cpp.

References measure().

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◆ set_accel_range()

int MPU9250::set_accel_range ( unsigned max_g )

private

Set the mpu measurement range.

Parameters

max_g The maximum G value the range must support.

Returns: OK if the value can be supported, -ERANGE otherwise.

Definition at line 452 of file mpu9250.cpp.

References _px4_accel, _whoami, CONSTANTS_ONE_G, MPU_WHOAMI_6500, MPU_WHOAMI_9250, MPUREG_ACCEL_CONFIG, OK, PX4Accelerometer::set_scale(), and write_checked_reg().

Referenced by reset_mpu().

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◆ start()

void MPU9250::start ( )

private

Definition at line 492 of file mpu9250.cpp.

References _call_interval, MPU9250_TIMER_REDUCTION, and stop().

Referenced by init(), and DfMpu9250Wrapper::start().

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◆ stop()

void MPU9250::stop ( )

private

Definition at line 501 of file mpu9250.cpp.

Referenced by start(), DfMpu9250Wrapper::stop(), and ~MPU9250().

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◆ swap16()

uint16_t MPU9250::swap16 ( uint16_t val )

inlineprivate

Swap a 16-bit value read from the mpu to native byte order.

Definition at line 382 of file mpu9250.h.

◆ write_checked_reg()

void MPU9250::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the mpu, updating _checked_values.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 438 of file mpu9250.cpp.

References _checked_bad, _checked_registers, _checked_values, _num_checked_registers, and write_reg().

Referenced by _set_dlpf_filter(), _set_sample_rate(), modify_checked_reg(), reset_mpu(), and set_accel_range().

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◆ write_reg()

void MPU9250::write_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the mpu.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 413 of file mpu9250.cpp.

References _interface, MPU9250_LOW_SPEED_OP, and device::Device::write().

Referenced by MPU9250_mag::ak8963_setup(), MPU9250_mag::ak8963_setup_master_i2c(), check_registers(), modify_reg(), MPU9250_mag::passthrough_read(), MPU9250_mag::passthrough_write(), reset_mpu(), MPU9250_mag::set_passthrough(), and write_checked_reg().

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Friends And Related Function Documentation

◆ MPU9250_mag

friend class MPU9250_mag

friend

Definition at line 246 of file mpu9250.h.

Member Data Documentation

◆ _bad_registers

perf_counter_t MPU9250::_bad_registers

private

Definition at line 265 of file mpu9250.h.

Referenced by check_registers(), measure(), print_info(), and ~MPU9250().

◆ _bad_transfers

perf_counter_t MPU9250::_bad_transfers

private

Definition at line 264 of file mpu9250.h.

Referenced by check_null_data(), measure(), print_info(), and ~MPU9250().

◆ _call_interval

unsigned MPU9250::_call_interval {1000}

private

Definition at line 257 of file mpu9250.h.

Referenced by start().

◆ _checked_bad

uint8_t MPU9250::_checked_bad[MPU9250_NUM_CHECKED_REGISTERS] {}

private

Definition at line 282 of file mpu9250.h.

Referenced by check_registers(), probe(), and write_checked_reg().

◆ _checked_next

unsigned MPU9250::_checked_next {0}

private

Definition at line 283 of file mpu9250.h.

Referenced by check_registers().

◆ _checked_registers

const uint16_t* MPU9250::_checked_registers {nullptr}

private

Definition at line 279 of file mpu9250.h.

Referenced by check_registers(), probe(), reset_mpu(), and write_checked_reg().

◆ _checked_values

uint8_t MPU9250::_checked_values[MPU9250_NUM_CHECKED_REGISTERS] {}

private

Definition at line 281 of file mpu9250.h.

Referenced by check_registers(), probe(), reset_mpu(), and write_checked_reg().

◆ _dlpf_freq

unsigned MPU9250::_dlpf_freq {0}

private

Definition at line 259 of file mpu9250.h.

Referenced by _set_dlpf_filter().

◆ _duplicates

perf_counter_t MPU9250::_duplicates

private

Definition at line 267 of file mpu9250.h.

Referenced by check_duplicate(), print_info(), and ~MPU9250().

◆ _good_transfers

perf_counter_t MPU9250::_good_transfers

private

Definition at line 266 of file mpu9250.h.

Referenced by check_null_data(), print_info(), and ~MPU9250().

◆ _got_duplicate

bool MPU9250::_got_duplicate {false}

private

Definition at line 295 of file mpu9250.h.

Referenced by check_duplicate().

◆ _interface

device::Device* MPU9250::_interface

protected

Definition at line 241 of file mpu9250.h.

Referenced by init(), MPU9250_mag::read_block(), read_reg(), read_reg16(), read_reg_range(), reset_mpu(), and write_reg().

◆ _last_accel_data

uint8_t MPU9250::_last_accel_data[6] {}

private

Definition at line 294 of file mpu9250.h.

Referenced by check_duplicate().

◆ _last_temperature

float MPU9250::_last_temperature {0.0f}

private

Definition at line 288 of file mpu9250.h.

Referenced by MPU9250_mag::_measure(), and measure().

◆ _mag

MPU9250_mag MPU9250::_mag

private

Definition at line 255 of file mpu9250.h.

Referenced by init(), measure(), print_info(), reset(), and reset_mpu().

◆ _mpu9250_checked_registers

const uint16_t MPU9250::_mpu9250_checked_registers

staticprivate

Initial value:

= { MPUREG_WHOAMI,
                                              MPUREG_PWR_MGMT_1,
                                              MPUREG_PWR_MGMT_2,
                                              MPUREG_USER_CTRL,
                                              MPUREG_SMPLRT_DIV,
                                              MPUREG_CONFIG,
                                              MPUREG_GYRO_CONFIG,
                                              MPUREG_ACCEL_CONFIG,
                                              MPUREG_ACCEL_CONFIG2,
                                              MPUREG_INT_ENABLE,
                                              MPUREG_INT_PIN_CFG
                                            }

Definition at line 277 of file mpu9250.h.

Referenced by probe().

◆ _num_checked_registers

unsigned MPU9250::_num_checked_registers {0}

private

Definition at line 284 of file mpu9250.h.

Referenced by check_registers(), probe(), reset_mpu(), and write_checked_reg().

◆ _px4_accel

PX4Accelerometer MPU9250::_px4_accel

private

Definition at line 252 of file mpu9250.h.

Referenced by measure(), MPU9250(), print_info(), and set_accel_range().

◆ _px4_gyro

PX4Gyroscope MPU9250::_px4_gyro

private

Definition at line 253 of file mpu9250.h.

Referenced by measure(), MPU9250(), print_info(), and reset_mpu().

◆ _register_wait

uint8_t MPU9250::_register_wait {0}

private

Definition at line 269 of file mpu9250.h.

Referenced by check_registers(), and measure().

◆ _reset_wait

uint64_t MPU9250::_reset_wait {0}

private

Definition at line 270 of file mpu9250.h.

Referenced by check_registers(), init(), measure(), and reset().

◆ _sample_perf

perf_counter_t MPU9250::_sample_perf

private

Definition at line 263 of file mpu9250.h.

Referenced by check_duplicate(), check_null_data(), measure(), print_info(), and ~MPU9250().

◆ _sample_rate

unsigned MPU9250::_sample_rate {1000}

private

Definition at line 261 of file mpu9250.h.

Referenced by _set_sample_rate(), init(), and reset_mpu().

◆ _whoami

uint8_t MPU9250::_whoami {0}

protected

Definition at line 242 of file mpu9250.h.

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

◆ MPU9250_NUM_CHECKED_REGISTERS

constexpr int MPU9250::MPU9250_NUM_CHECKED_REGISTERS {11}

staticprivate

Definition at line 276 of file mpu9250.h.

Referenced by probe().

The documentation for this class was generated from the following files:

src/drivers/imu/mpu9250/mpu9250.h
src/drivers/imu/mpu9250/mpu9250.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ MPU9250()

◆ ~MPU9250()

Member Function Documentation

◆ _set_dlpf_filter()

◆ _set_sample_rate()

◆ check_duplicate()

◆ check_null_data()

◆ check_registers()

◆ get_whoami()

◆ init()

◆ is_external()

◆ measure()

◆ modify_checked_reg()

◆ modify_reg()

◆ print_info()

◆ probe()

◆ read_reg()

◆ read_reg16()

◆ read_reg_range()

◆ reset()

◆ reset_mpu()

◆ Run()

◆ set_accel_range()

◆ start()

◆ stop()

◆ swap16()

◆ write_checked_reg()

◆ write_reg()

Friends And Related Function Documentation

◆ MPU9250_mag

Member Data Documentation

◆ _bad_registers

◆ _bad_transfers

◆ _call_interval

◆ _checked_bad

◆ _checked_next

◆ _checked_registers

◆ _checked_values

◆ _dlpf_freq

◆ _duplicates

◆ _good_transfers

◆ _got_duplicate

◆ _interface

◆ _last_accel_data

◆ _last_temperature

◆ _mag

◆ _mpu9250_checked_registers

◆ _num_checked_registers

◆ _px4_accel

◆ _px4_gyro

◆ _register_wait

◆ _reset_wait

◆ _sample_perf

◆ _sample_rate

◆ _whoami

◆ MPU9250_NUM_CHECKED_REGISTERS