C++ (Cpp) mpu_set_and_wait Examples

Example #1

File: imu_mpu9250_spi.c Project: enacuavlab/paparazzi

/** function to configure akm8963 mag
 * @return TRUE if mag configuration finished
 */
bool imu_mpu9250_configure_mag_slave(Mpu9250ConfigSet mpu_set, void *mpu)
{
  // wait before starting the configuration of the mag
  // doing to early may void the mode configuration
  if (get_sys_time_float() < IMU_MPU9250_MAG_STARTUP_DELAY) {
    return false;
  }

  //config AK8963 soft reset
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_ADDR, (MPU9250_MAG_ADDR >> 1));
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_REG, AK8963_REG_CNTL2);
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_DO, 1);
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable

  mpu_wait_slave4_ready();

  // Set it to continious measuring mode 2
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_ADDR, (MPU9250_MAG_ADDR >> 1));
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_REG, AK8963_REG_CNTL1);
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_DO, AK8963_CNTL1_CM_2);
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable

  mpu_wait_slave4_ready();

  //Config SLV0 for continus Read
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV0_ADDR, (MPU9250_MAG_ADDR >> 1) | MPU9250_SPI_READ);
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV0_REG, AK8963_REG_HXL);
  // Put the enable command as last.
  mpu_set_and_wait(mpu_set, mpu, MPU9250_REG_I2C_SLV0_CTRL,
                   (1 << 7) |    // Slave 0 enable
                   (7 << 0));    // Read 7 bytes (mag x,y,z + status)

  return true;
}

Example #2

File: imu_aspirin_2_spi.c Project: 2seasuav/paparuzzi

/** function to configure hmc5883 mag
 * @return TRUE if mag configuration finished
 */
bool imu_aspirin2_configure_mag_slave(Mpu60x0ConfigSet mpu_set, void *mpu)
{
  // wait before starting the configuration of the HMC58xx mag
  // doing to early may void the mode configuration
  if (get_sys_time_float() < ASPIRIN_2_MAG_STARTUP_DELAY) {
    return false;
  }

  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1));
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_REG, HMC58XX_REG_CFGA);
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_DO, HMC58XX_CRA);
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable

  mpu_wait_slave4_ready();

  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1));
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_REG, HMC58XX_REG_CFGB);
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_DO, HMC58XX_CRB);
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable

  mpu_wait_slave4_ready();

  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_ADDR, (HMC58XX_ADDR >> 1));
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_REG, HMC58XX_REG_MODE);
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_DO, HMC58XX_MD);
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV4_CTRL, (1 << 7)); // Slave 4 enable

  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV0_ADDR, (HMC58XX_ADDR >> 1) | MPU60X0_SPI_READ);
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV0_REG, HMC58XX_REG_DATXM);
  // Put the enable command as last.
  mpu_set_and_wait(mpu_set, mpu, MPU60X0_REG_I2C_SLV0_CTRL,
                   (1 << 7) |    // Slave 0 enable
                   (6 << 0));    // Read 6 bytes

  return true;
}