Paparazzi UAS  v5.15_devel-88-gb3ad7fe
Paparazzi is a free software Unmanned Aircraft System.
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mpu60x0_spi.h
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
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4  * This file is part of paparazzi.
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21 
28 #ifndef MPU60X0_SPI_H
29 #define MPU60X0_SPI_H
30 
31 #include "std.h"
32 #include "math/pprz_algebra_int.h"
33 #include "mcu_periph/spi.h"
34 
35 /* Include common MPU60X0 options and definitions */
36 #include "peripherals/mpu60x0.h"
37 
38 
39 #define MPU60X0_BUFFER_LEN 32
40 #define MPU60X0_BUFFER_EXT_LEN 16
41 
49 };
50 
51 struct Mpu60x0_Spi {
52  struct spi_periph *spi_p;
54  volatile uint8_t tx_buf[2];
56  volatile bool data_available;
57  union {
58  struct Int16Vect3 vect;
59  int16_t value[3];
60  } data_accel;
61  union {
62  struct Int16Rates rates;
63  int16_t value[3];
64  } data_rates;
65  float temp;
69 };
70 
71 // Functions
72 extern void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t addr);
73 extern void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu);
74 extern void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu);
75 extern void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu);
76 
78 static inline void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu)
79 {
80  if (mpu->config.initialized) {
81  mpu60x0_spi_read(mpu);
82  } else {
84  }
85 }
86 
87 #endif // MPU60X0_SPI_H
union Mpu60x0_Spi::@325 data_rates
uint8_t data_ext[MPU60X0_BUFFER_EXT_LEN]
Definition: mpu60x0_spi.h:66
bool initialized
config done flag
Definition: mpu60x0.h:149
struct Mpu60x0Config config
Definition: mpu60x0_spi.h:67
SPI transaction structure.
Definition: spi.h:142
#define MPU60X0_BUFFER_LEN
Definition: mpu60x0_spi.h:39
volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]
Definition: mpu60x0_spi.h:55
void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:115
Architecture independent SPI (Serial Peripheral Interface) API.
SPI peripheral structure.
Definition: spi.h:168
static void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu60x0_spi.h:78
enum Mpu60x0SpiSlaveInitStatus slave_init_status
Definition: mpu60x0_spi.h:68
struct spi_transaction spi_trans
Definition: mpu60x0_spi.h:53
signed short int16_t
Definition: types.h:17
void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:77
float temp
temperature in degrees Celcius
Definition: mpu60x0_spi.h:65
struct spi_periph * spi_p
Definition: mpu60x0_spi.h:52
volatile uint8_t tx_buf[2]
Definition: mpu60x0_spi.h:54
volatile bool data_available
data ready flag
Definition: mpu60x0_spi.h:56
#define MPU60X0_BUFFER_EXT_LEN
Definition: mpu60x0_spi.h:40
unsigned char uint8_t
Definition: types.h:14
void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t addr)
Definition: mpu60x0_spi.c:31
MPU-60X0 driver common interface (I2C and SPI).
Mpu60x0SpiSlaveInitStatus
Definition: mpu60x0_spi.h:42
void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:128
union Mpu60x0_Spi::@324 data_accel
Paparazzi fixed point algebra.