#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <platform.h>
#include "common/axis.h"
#include "common/maths.h"
#include "system.h"
#include "gpio.h"
#include "exti.h"
#include "bus_spi.h"
#include "gyro_sync.h"
#include "sensor.h"
#include "accgyro.h"
#include "accgyro_mpu.h"
#include "accgyro_spi_mpu6000.h"

Include dependency graph for accgyro_spi_mpu6000.c:

Macros
#define	BIT_SLEEP 0x40

#define	BIT_H_RESET 0x80

#define	BITS_CLKSEL 0x07

#define	MPU_CLK_SEL_PLLGYROX 0x01

#define	MPU_CLK_SEL_PLLGYROZ 0x03

#define	MPU_EXT_SYNC_GYROX 0x02

#define	BITS_FS_250DPS 0x00

#define	BITS_FS_500DPS 0x08

#define	BITS_FS_1000DPS 0x10

#define	BITS_FS_2000DPS 0x18

#define	BITS_FS_2G 0x00

#define	BITS_FS_4G 0x08

#define	BITS_FS_8G 0x10

#define	BITS_FS_16G 0x18

#define	BITS_FS_MASK 0x18

#define	BITS_DLPF_CFG_256HZ 0x00

#define	BITS_DLPF_CFG_188HZ 0x01

#define	BITS_DLPF_CFG_98HZ 0x02

#define	BITS_DLPF_CFG_42HZ 0x03

#define	BITS_DLPF_CFG_20HZ 0x04

#define	BITS_DLPF_CFG_10HZ 0x05

#define	BITS_DLPF_CFG_5HZ 0x06

#define	BITS_DLPF_CFG_2100HZ_NOLPF 0x07

#define	BITS_DLPF_CFG_MASK 0x07

#define	BIT_INT_ANYRD_2CLEAR 0x10

#define	BIT_RAW_RDY_EN 0x01

#define	BIT_I2C_IF_DIS 0x10

#define	BIT_INT_STATUS_DATA 0x01

#define	BIT_GYRO 3

#define	BIT_ACC 2

#define	BIT_TEMP 1

#define	MPU6000ES_REV_C4 0x14

#define	MPU6000ES_REV_C5 0x15

#define	MPU6000ES_REV_D6 0x16

#define	MPU6000ES_REV_D7 0x17

#define	MPU6000ES_REV_D8 0x18

#define	MPU6000_REV_C4 0x54

#define	MPU6000_REV_C5 0x55

#define	MPU6000_REV_D6 0x56

#define	MPU6000_REV_D7 0x57

#define	MPU6000_REV_D8 0x58

#define	MPU6000_REV_D9 0x59

#define	MPU6000_REV_D10 0x5A

#define	DISABLE_MPU6000 GPIO_SetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN)

#define	ENABLE_MPU6000 GPIO_ResetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN)

Functions
bool	mpu6000WriteRegister (uint8_t reg, uint8_t data)

bool	mpu6000ReadRegister (uint8_t reg, uint8_t length, uint8_t *data)

bool	mpu6000SpiDetect (void)

bool	mpu6000SpiAccDetect (acc_t *accel)

bool	mpu6000SpiGyroDetect (gyro_t *gyr)

Variables
uint8_t	mpuLowPassFilter

Macro Definition Documentation

#define BIT_ACC 2

#define BIT_GYRO 3

#define BIT_H_RESET 0x80

#define BIT_I2C_IF_DIS 0x10

#define BIT_INT_ANYRD_2CLEAR 0x10

#define BIT_INT_STATUS_DATA 0x01

#define BIT_RAW_RDY_EN 0x01

#define BIT_SLEEP 0x40

#define BIT_TEMP 1

#define BITS_CLKSEL 0x07

#define BITS_DLPF_CFG_10HZ 0x05

#define BITS_DLPF_CFG_188HZ 0x01

#define BITS_DLPF_CFG_20HZ 0x04

#define BITS_DLPF_CFG_2100HZ_NOLPF 0x07

#define BITS_DLPF_CFG_256HZ 0x00

#define BITS_DLPF_CFG_42HZ 0x03

#define BITS_DLPF_CFG_5HZ 0x06

#define BITS_DLPF_CFG_98HZ 0x02

#define BITS_DLPF_CFG_MASK 0x07

#define BITS_FS_1000DPS 0x10

#define BITS_FS_16G 0x18

#define BITS_FS_2000DPS 0x18

#define BITS_FS_250DPS 0x00

#define BITS_FS_2G 0x00

#define BITS_FS_4G 0x08

#define BITS_FS_500DPS 0x08

#define BITS_FS_8G 0x10

#define BITS_FS_MASK 0x18

#define DISABLE_MPU6000 GPIO_SetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN)

#define ENABLE_MPU6000 GPIO_ResetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN)

#define MPU6000_REV_C4 0x54

#define MPU6000_REV_C5 0x55

#define MPU6000_REV_D10 0x5A

#define MPU6000_REV_D6 0x56

#define MPU6000_REV_D7 0x57

#define MPU6000_REV_D8 0x58

#define MPU6000_REV_D9 0x59

#define MPU6000ES_REV_C4 0x14

#define MPU6000ES_REV_C5 0x15

#define MPU6000ES_REV_D6 0x16

#define MPU6000ES_REV_D7 0x17

#define MPU6000ES_REV_D8 0x18

#define MPU_CLK_SEL_PLLGYROX 0x01

#define MPU_CLK_SEL_PLLGYROZ 0x03

#define MPU_EXT_SYNC_GYROX 0x02