src/main/drivers/accgyro/accgyro_spi_mpu9250.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "drivers/bus.h"
  24
  25 #define mpu9250_CONFIG                      0x1A
  26
  27 /* We should probably use these. :)
  28 #define BITS_DLPF_CFG_256HZ         0x00
  29 #define BITS_DLPF_CFG_188HZ         0x01
  30 #define BITS_DLPF_CFG_98HZ          0x02
  31 #define BITS_DLPF_CFG_42HZ          0x03
  32 #define BITS_DLPF_CFG_20HZ          0x04
  33 #define BITS_DLPF_CFG_10HZ          0x05
  34 #define BITS_DLPF_CFG_5HZ           0x06
  35 #define BITS_DLPF_CFG_2100HZ_NOLPF  0x07
  36 */
  37
  38 #define GYRO_SCALE_FACTOR  0.00053292f  // (4/131) * pi/180   (32.75 LSB = 1 DPS)
  39
  40 #define MPU9250_BIT_RESET                   (0x80)
  41
  42 // RF = Register Flag
  43 #define MPU_RF_DATA_RDY_EN (1 << 0)
  44
  45 void mpu9250SpiResetGyro(void);
  46
  47 uint8_t mpu9250SpiDetect(const extDevice_t *dev);
  48
  49 bool mpu9250SpiAccDetect(accDev_t *acc);
  50 bool mpu9250SpiGyroDetect(gyroDev_t *gyro);
  51
  52 bool mpu9250SpiWriteRegister(const extDevice_t *dev, uint8_t reg, uint8_t data);
  53 bool mpu9250SpiWriteRegisterVerify(const extDevice_t *dev, uint8_t reg, uint8_t data);
  54 bool mpu9250SpiReadRegBuf(const extDevice_t *dev, uint8_t reg, uint8_t length, uint8_t *data);