Paparazzi UAS  v5.15_devel-59-g8c145b7
Paparazzi is a free software Unmanned Aircraft System.
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l3gd20_spi.h
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1 /*
2  * Copyright (C) 2013 Felix Ruess <felix.ruess@gmail.com>
3  *
4  * This file is part of paparazzi.
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21 
28 #ifndef L3GD20_SPI_H
29 #define L3GD20_SPI_H
30 
31 #include "std.h"
32 #include "math/pprz_algebra_int.h"
33 #include "mcu_periph/spi.h"
34 
35 /* Include common L3GD20 options and definitions */
36 #include "peripherals/l3gd20.h"
37 
38 struct L3gd20_Spi {
39  struct spi_periph *spi_p;
41  volatile uint8_t tx_buf[2];
42  volatile uint8_t rx_buf[8];
44  bool initialized;
45  volatile bool data_available;
46  union {
47  struct Int16Rates rates;
48  int16_t value[3];
49  } data_rates;
51 };
52 
53 // Functions
54 extern void l3gd20_spi_init(struct L3gd20_Spi *l3g, struct spi_periph *spi_p, uint8_t slave_idx);
55 extern void l3gd20_spi_start_configure(struct L3gd20_Spi *l3g);
56 extern void l3gd20_spi_read(struct L3gd20_Spi *l3g);
57 extern void l3gd20_spi_event(struct L3gd20_Spi *l3g);
58 
60 static inline void l3gd20_spi_periodic(struct L3gd20_Spi *l3g)
61 {
62  if (l3g->initialized) {
63  l3gd20_spi_read(l3g);
64  } else {
66  }
67 }
68 
69 #endif // L3GD20_SPI_H
struct spi_transaction spi_trans
Definition: l3gd20_spi.h:40
struct spi_periph * spi_p
Definition: l3gd20_spi.h:39
enum L3gd20ConfStatus init_status
init status
Definition: l3gd20_spi.h:43
ST L3GD20 3-axis gyroscope driver common interface (I2C and SPI).
SPI transaction structure.
Definition: spi.h:142
void l3gd20_spi_init(struct L3gd20_Spi *l3g, struct spi_periph *spi_p, uint8_t slave_idx)
Definition: l3gd20_spi.c:30
volatile uint8_t tx_buf[2]
Definition: l3gd20_spi.h:41
static void l3gd20_spi_periodic(struct L3gd20_Spi *l3g)
convenience function: read or start configuration if not already initialized
Definition: l3gd20_spi.h:60
Architecture independent SPI (Serial Peripheral Interface) API.
SPI peripheral structure.
Definition: spi.h:168
void l3gd20_spi_start_configure(struct L3gd20_Spi *l3g)
Definition: l3gd20_spi.c:112
L3gd20ConfStatus
Definition: l3gd20.h:34
signed short int16_t
Definition: types.h:17
volatile uint8_t rx_buf[8]
Definition: l3gd20_spi.h:42
bool initialized
config done flag
Definition: l3gd20_spi.h:44
void l3gd20_spi_event(struct L3gd20_Spi *l3g)
Definition: l3gd20_spi.c:135
volatile bool data_available
data ready flag
Definition: l3gd20_spi.h:45
unsigned char uint8_t
Definition: types.h:14
void l3gd20_spi_read(struct L3gd20_Spi *l3g)
Definition: l3gd20_spi.c:122
union L3gd20_Spi::@312 data_rates
struct L3gd20Config config
Definition: l3gd20_spi.h:50
Paparazzi fixed point algebra.