Paparazzi UAS  v5.15_devel-113-g1b57ff1
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mpu9250_spi.h
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
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21 
28 #ifndef MPU9250_SPI_H
29 #define MPU9250_SPI_H
30 
31 #include "std.h"
32 #include "math/pprz_algebra_int.h"
33 #include "mcu_periph/spi.h"
34 
35 /* Include common MPU9250 options and definitions */
36 #include "peripherals/mpu9250.h"
37 
38 
39 #define MPU9250_BUFFER_LEN 32
40 #define MPU9250_BUFFER_EXT_LEN 16
41 
49 };
50 
51 struct Mpu9250_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;
68 };
69 
70 // Functions
71 extern void mpu9250_spi_init(struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t addr);
72 extern void mpu9250_spi_start_configure(struct Mpu9250_Spi *mpu);
73 extern void mpu9250_spi_read(struct Mpu9250_Spi *mpu);
74 extern void mpu9250_spi_event(struct Mpu9250_Spi *mpu);
75 
77 static inline void mpu9250_spi_periodic(struct Mpu9250_Spi *mpu)
78 {
79  if (mpu->config.initialized) {
80  mpu9250_spi_read(mpu);
81  } else {
83  }
84 }
85 
86 #endif // MPU9250_SPI_H
volatile uint8_t tx_buf[2]
Definition: mpu9250_spi.h:54
MPU-60X0 driver common interface (I2C and SPI).
static void mpu9250_spi_periodic(struct Mpu9250_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu9250_spi.h:77
void mpu9250_spi_read(struct Mpu9250_Spi *mpu)
Definition: mpu9250_spi.c:96
#define MPU9250_BUFFER_LEN
Definition: mpu9250_spi.h:39
void mpu9250_spi_start_configure(struct Mpu9250_Spi *mpu)
Definition: mpu9250_spi.c:77
SPI transaction structure.
Definition: spi.h:142
Architecture independent SPI (Serial Peripheral Interface) API.
SPI peripheral structure.
Definition: spi.h:168
union Mpu9250_Spi::@329 data_rates
enum Mpu9250SpiSlaveInitStatus slave_init_status
Definition: mpu9250_spi.h:67
#define MPU9250_BUFFER_EXT_LEN
Definition: mpu9250_spi.h:40
signed short int16_t
Definition: types.h:17
uint8_t data_ext[MPU9250_BUFFER_EXT_LEN]
Definition: mpu9250_spi.h:65
struct Mpu9250Config config
Definition: mpu9250_spi.h:66
struct spi_periph * spi_p
Definition: mpu9250_spi.h:52
unsigned char uint8_t
Definition: types.h:14
void mpu9250_spi_init(struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t addr)
Definition: mpu9250_spi.c:31
volatile bool data_available
data ready flag
Definition: mpu9250_spi.h:56
union Mpu9250_Spi::@328 data_accel
bool initialized
config done flag
Definition: mpu9250.h:136
Mpu9250SpiSlaveInitStatus
Definition: mpu9250_spi.h:42
struct spi_transaction spi_trans
Definition: mpu9250_spi.h:53
volatile uint8_t rx_buf[MPU9250_BUFFER_LEN]
Definition: mpu9250_spi.h:55
void mpu9250_spi_event(struct Mpu9250_Spi *mpu)
Definition: mpu9250_spi.c:109
Paparazzi fixed point algebra.