Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
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mpu60x0_spi.h
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1 /*
2  * Copyright (C) 2013 Gautier Hattenberger
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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_t data_available;
57  union {
58  struct Int16Vect3 vect;
60  } data_accel;
61  union {
62  struct Int16Rates rates;
63  int16_t value[3];
64  } data_rates;
68 };
69 
70 // Functions
71 extern void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t addr);
72 extern void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu);
73 extern void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu);
74 extern void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu);
75 
77 static inline void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu) {
78  if (mpu->config.initialized)
79  mpu60x0_spi_read(mpu);
80  else
82 }
83 
84 #endif // MPU60X0_SPI_H
struct Int16Rates rates
rates data as angular rates in gyro coordinate system
Definition: mpu60x0_spi.h:62
enum Mpu60x0SpiSlaveInitStatus slave_init_status
Definition: mpu60x0_spi.h:67
volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]
Definition: mpu60x0_spi.h:55
int16_t value[3]
accel data values accessible by channel index
Definition: mpu60x0_spi.h:59
#define MPU60X0_BUFFER_LEN
Definition: mpu60x0_spi.h:39
void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:86
Architecture independent SPI (Serial Peripheral Interface) API.
union Mpu60x0_Spi::@26 data_rates
uint8_t data_ext[MPU60X0_BUFFER_EXT_LEN]
Definition: mpu60x0_spi.h:65
struct Mpu60x0Config config
Definition: mpu60x0_spi.h:66
static void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu60x0_spi.h:77
bool_t initialized
config done flag
Definition: mpu60x0.h:82
signed short int16_t
Definition: types.h:17
void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:76
union Mpu60x0_Spi::@25 data_accel
volatile uint8_t tx_buf[2]
Definition: mpu60x0_spi.h:54
#define MPU60X0_BUFFER_EXT_LEN
Definition: mpu60x0_spi.h:40
volatile bool_t data_available
data ready flag
Definition: mpu60x0_spi.h:56
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).
struct spi_periph * spi_p
Definition: mpu60x0_spi.h:52
SPI transaction structure.
Definition: spi.h:142
Mpu60x0SpiSlaveInitStatus
Definition: mpu60x0_spi.h:42
struct Int16Vect3 vect
accel data vector in accel coordinate system
Definition: mpu60x0_spi.h:58
void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:99
struct spi_transaction spi_trans
Definition: mpu60x0_spi.h:53
Paparazzi fixed point algebra.