Paparazzi UAS  v5.18.0_stable
Paparazzi is a free software Unmanned Aircraft System.
mpu60x0_spi.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)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
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17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  */
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
mpu60x0_spi_start_configure
void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:77
Int16Vect3
Definition: pprz_algebra_int.h:62
Mpu60x0_Spi::spi_trans
struct spi_transaction spi_trans
Definition: mpu60x0_spi.h:53
MPU60X0_SPI_CONF_SLAVES_CONFIGURE
@ MPU60X0_SPI_CONF_SLAVES_CONFIGURE
Definition: mpu60x0_spi.h:47
spi.h
spi_transaction
SPI transaction structure.
Definition: spi.h:148
MPU60X0_SPI_CONF_UNINIT
@ MPU60X0_SPI_CONF_UNINIT
Definition: mpu60x0_spi.h:43
Mpu60x0_Spi::data_ext
uint8_t data_ext[MPU60X0_BUFFER_EXT_LEN]
Definition: mpu60x0_spi.h:66
MPU60X0_SPI_CONF_I2C_MST_EN
@ MPU60X0_SPI_CONF_I2C_MST_EN
Definition: mpu60x0_spi.h:46
MPU60X0_SPI_CONF_DONE
@ MPU60X0_SPI_CONF_DONE
Definition: mpu60x0_spi.h:48
pprz_algebra_int.h
Paparazzi fixed point algebra.
spi_periph
SPI peripheral structure.
Definition: spi.h:174
mpu60x0_spi_read
void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:115
std.h
MPU60X0_BUFFER_LEN
#define MPU60X0_BUFFER_LEN
Definition: mpu60x0_spi.h:39
Mpu60x0_Spi::spi_p
struct spi_periph * spi_p
Definition: mpu60x0_spi.h:52
mpu60x0_spi_init
void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t addr)
Definition: mpu60x0_spi.c:31
int16_t
signed short int16_t
Definition: types.h:17
uint8_t
unsigned char uint8_t
Definition: types.h:14
mpu60x0.h
Mpu60x0_Spi::slave_init_status
enum Mpu60x0SpiSlaveInitStatus slave_init_status
Definition: mpu60x0_spi.h:68
Int16Rates
Definition: pprz_algebra_int.h:169
MPU60X0_SPI_CONF_I2C_MST_CLK
@ MPU60X0_SPI_CONF_I2C_MST_CLK
Definition: mpu60x0_spi.h:44
mpu60x0_spi_periodic
static void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu60x0_spi.h:78
mpu60x0_spi_event
void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
Definition: mpu60x0_spi.c:128
Mpu60x0_Spi::data_accel
union Mpu60x0_Spi::@333 data_accel
Mpu60x0_Spi::data_available
volatile bool data_available
data ready flag
Definition: mpu60x0_spi.h:56
Mpu60x0_Spi::temp
float temp
temperature in degrees Celcius
Definition: mpu60x0_spi.h:65
MPU60X0_SPI_CONF_I2C_MST_DELAY
@ MPU60X0_SPI_CONF_I2C_MST_DELAY
Definition: mpu60x0_spi.h:45
Mpu60x0_Spi::tx_buf
volatile uint8_t tx_buf[2]
Definition: mpu60x0_spi.h:54
MPU60X0_BUFFER_EXT_LEN
#define MPU60X0_BUFFER_EXT_LEN
Definition: mpu60x0_spi.h:40
Mpu60x0_Spi
Definition: mpu60x0_spi.h:51
Mpu60x0Config
Definition: mpu60x0.h:138
Mpu60x0_Spi::config
struct Mpu60x0Config config
Definition: mpu60x0_spi.h:67
Mpu60x0_Spi::data_rates
union Mpu60x0_Spi::@334 data_rates
Mpu60x0SpiSlaveInitStatus
Mpu60x0SpiSlaveInitStatus
Definition: mpu60x0_spi.h:42
Mpu60x0_Spi::rx_buf
volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]
Definition: mpu60x0_spi.h:55
Mpu60x0Config::initialized
bool initialized
config done flag
Definition: mpu60x0.h:149