Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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mpu60x0_i2c.h
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
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10  *
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14  * GNU General Public License for more details.
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18  * the Free Software Foundation, 59 Temple Place - Suite 330,
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20  */
21 
28 #ifndef MPU60X0_I2C_H
29 #define MPU60X0_I2C_H
30 
31 #include "std.h"
32 #include "math/pprz_algebra_int.h"
33 #include "mcu_periph/i2c.h"
34 
35 /* Include common MPU60X0 options and definitions */
36 #include "peripherals/mpu60x0.h"
37 
38 
39 #define MPU60X0_BUFFER_EXT_LEN 16
40 
52 };
53 
54 struct Mpu60x0_I2c {
55  struct i2c_periph *i2c_p;
57  volatile bool_t data_available;
58  union {
59  struct Int16Vect3 vect;
61  } data_accel;
62  union {
63  struct Int16Rates rates;
64  int16_t value[3];
65  } data_rates;
69 };
70 
71 // Functions
72 extern void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr);
73 extern void mpu60x0_i2c_start_configure(struct Mpu60x0_I2c *mpu);
74 extern void mpu60x0_i2c_read(struct Mpu60x0_I2c *mpu);
75 extern void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu);
76 
78 static inline void mpu60x0_i2c_periodic(struct Mpu60x0_I2c *mpu) {
79  if (mpu->config.initialized)
80  mpu60x0_i2c_read(mpu);
81  else
83 }
84 
85 #endif // MPU60X0_I2C_H
struct i2c_periph * i2c_p
Definition: mpu60x0_i2c.h:55
enum Mpu60x0I2cSlaveInitStatus slave_init_status
Definition: mpu60x0_i2c.h:68
void mpu60x0_i2c_read(struct Mpu60x0_I2c *mpu)
Definition: mpu60x0_i2c.c:70
void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
Definition: mpu60x0_i2c.c:81
Mpu60x0I2cSlaveInitStatus
Definition: mpu60x0_i2c.h:41
union Mpu60x0_I2c::@23 data_accel
int16_t value[3]
accel data values accessible by channel index
Definition: mpu60x0_i2c.h:60
struct i2c_transaction i2c_trans
Definition: mpu60x0_i2c.h:56
uint8_t data_ext[MPU60X0_BUFFER_EXT_LEN]
Definition: mpu60x0_i2c.h:66
bool_t initialized
config done flag
Definition: mpu60x0.h:82
signed short int16_t
Definition: types.h:17
union Mpu60x0_I2c::@24 data_rates
#define MPU60X0_BUFFER_EXT_LEN
Definition: mpu60x0_i2c.h:39
volatile bool_t data_available
data ready flag
Definition: mpu60x0_i2c.h:57
struct Int16Rates rates
rates data as angular rates in gyro coordinate system
Definition: mpu60x0_i2c.h:63
struct Mpu60x0Config config
Definition: mpu60x0_i2c.h:67
unsigned char uint8_t
Definition: types.h:14
void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
Definition: mpu60x0_i2c.c:31
void mpu60x0_i2c_start_configure(struct Mpu60x0_I2c *mpu)
Definition: mpu60x0_i2c.c:60
Definition: i2c.h:90
MPU-60X0 driver common interface (I2C and SPI).
struct Int16Vect3 vect
accel data vector in accel coordinate system
Definition: mpu60x0_i2c.h:59
static void mpu60x0_i2c_periodic(struct Mpu60x0_I2c *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu60x0_i2c.h:78
Paparazzi fixed point algebra.
Architecture independent I2C (Inter-Integrated Circuit Bus) API.