Paparazzi UAS  v5.15_devel-113-g1b57ff1
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lsm6ds33_i2c.h
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1 /*
2  * Copyright (C) 2019 Alexis Cornard <alexiscornard@gmail.com>
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21 
28 #ifndef LSM6_I2C_H
29 #define LSM6_I2C_H
30 
31 #include "std.h"
32 #include "math/pprz_algebra_int.h"
33 #include "mcu_periph/i2c.h"
34 
35 /* Include common LSM6DS33 options and definitions */
36 #include "peripherals/lsm6ds33.h"
37 
38 struct Lsm6_I2c {
39  struct i2c_periph *i2c_p;
42  bool initialized;
43  volatile bool data_available;
44  union {
45  struct Int16Vect3 vect;
46  int16_t value[3];
47  } data_xl;
48  union {
49  struct Int16Rates rates;
50  int16_t value[3];
51  } data_g;
53 };
54 
55 // Functions
56 extern void lsm6_i2c_init(struct Lsm6_I2c *lsm, struct i2c_periph *i2c_p, uint8_t addr);
57 extern void lsm6_i2c_start_configure(struct Lsm6_I2c *lsm);
58 extern void lsm6_i2c_read(struct Lsm6_I2c *lsm);
59 extern void lsm6_i2c_event(struct Lsm6_I2c *lsm);
60 
62 static inline void lsm6_i2c_periodic(struct Lsm6_I2c *lsm)
63 {
64  if (lsm->initialized) {
65  lsm6_i2c_read(lsm);
66  } else {
68  }
69 }
70 
71 #endif // LSM6_I2C_H
LSM6DS33 accelerometer and gyrometer driver I2C interface.
enum Lsm6ConfStatus init_status
init status
Definition: lsm6ds33_i2c.h:41
struct Lsm6Config config
Definition: lsm6ds33_i2c.h:52
union Lsm6_I2c::@321 data_g
void lsm6_i2c_read(struct Lsm6_I2c *lsm)
Definition: lsm6ds33_i2c.c:99
signed short int16_t
Definition: types.h:17
union Lsm6_I2c::@320 data_xl
bool initialized
config done flag
Definition: lsm6ds33_i2c.h:42
volatile bool data_available
data ready flag
Definition: lsm6ds33_i2c.h:43
I2C transaction structure.
Definition: i2c.h:93
void lsm6_i2c_init(struct Lsm6_I2c *lsm, struct i2c_periph *i2c_p, uint8_t addr)
Definition: lsm6ds33_i2c.c:33
I2C peripheral structure.
Definition: i2c.h:138
unsigned char uint8_t
Definition: types.h:14
struct i2c_transaction i2c_trans
Definition: lsm6ds33_i2c.h:40
void lsm6_i2c_event(struct Lsm6_I2c *lsm)
Definition: lsm6ds33_i2c.c:114
Lsm6ConfStatus
Definition: lsm6ds33.h:102
void lsm6_i2c_start_configure(struct Lsm6_I2c *lsm)
Definition: lsm6ds33_i2c.c:88
struct i2c_periph * i2c_p
Definition: lsm6ds33_i2c.h:39
static void lsm6_i2c_periodic(struct Lsm6_I2c *lsm)
convenience function: read or start configuration if not already initialized
Definition: lsm6ds33_i2c.h:62
Paparazzi fixed point algebra.
Architecture independent I2C (Inter-Integrated Circuit Bus) API.