Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
high_speed_logger_spi_link.c
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1 /*
2  * Copyright (C) 2005-2013 The Paparazzi Team
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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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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21  */
22 
24 
25 #include "modules/imu/imu.h"
26 #include "mcu_periph/spi.h"
27 
28 
31 
32 static volatile bool high_speed_logger_spi_link_ready = true;
33 
34 static void high_speed_logger_spi_link_trans_cb(struct spi_transaction *trans);
35 
37 {
39 
46  high_speed_logger_spi_link_transaction.slave_idx = HIGH_SPEED_LOGGER_SPI_LINK_SLAVE_NUMBER;
52 }
53 
54 
56 {
57  // Static counter to identify missing samples
58  static int32_t counter = 0;
59 
60  // count all periodic steps
61  counter ++;
62 
63  // only send a new message if the previous was completely sent
65  // copy the counter into the SPI datablock
67 
78 
79  spi_submit(&(HIGH_SPEED_LOGGER_SPI_LINK_DEVICE), &high_speed_logger_spi_link_transaction);
80  }
81 }
82 
83 static void high_speed_logger_spi_link_trans_cb(struct spi_transaction *trans __attribute__((unused)))
84 {
86 }
87 
88 
Imu::gyro_unscaled
struct Int32Rates gyro_unscaled
unscaled gyroscope measurements
Definition: imu.h:46
spi_transaction::cdiv
enum SPIClockDiv cdiv
prescaler of main clock to use as SPI clock
Definition: spi.h:159
uint8_t
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.
Definition: vl53l1_types.h:98
spi_transaction::cpol
enum SPIClockPolarity cpol
clock polarity control
Definition: spi.h:155
spi_transaction::output_length
uint16_t output_length
number of data words to write
Definition: spi.h:152
Int32Rates::q
int32_t q
in rad/s with INT32_RATE_FRAC
Definition: pprz_algebra_int.h:181
spi.h
spi_transaction
SPI transaction structure.
Definition: spi.h:148
Int32Vect3::z
int32_t z
Definition: pprz_algebra_int.h:91
counter
int32_t counter
Definition: avoid_navigation.c:55
SPISelectUnselect
@ SPISelectUnselect
slave is selected before transaction and unselected after
Definition: spi.h:63
spi_transaction::bitorder
enum SPIBitOrder bitorder
MSB/LSB order.
Definition: spi.h:158
Imu::accel_unscaled
struct Int32Vect3 accel_unscaled
unscaled accelerometer measurements
Definition: imu.h:47
spi_transaction::output_buf
volatile uint8_t * output_buf
pointer to transmit buffer for DMA
Definition: spi.h:150
spi_transaction::select
enum SPISlaveSelect select
slave selection behavior
Definition: spi.h:154
Int32Rates::p
int32_t p
in rad/s with INT32_RATE_FRAC
Definition: pprz_algebra_int.h:180
imu.h
SPIMSBFirst
@ SPIMSBFirst
Definition: spi.h:112
spi_transaction::cpha
enum SPIClockPhase cpha
clock phase control
Definition: spi.h:156
spi_transaction::after_cb
SPICallback after_cb
NULL or function called after the transaction.
Definition: spi.h:161
spi_submit
bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
Submit SPI transaction.
Definition: spi_arch.c:508
SPICpolIdleHigh
@ SPICpolIdleHigh
CPOL = 1.
Definition: spi.h:84
Int32Vect3::y
int32_t y
Definition: pprz_algebra_int.h:90
SPIDss8bit
@ SPIDss8bit
Definition: spi.h:90
imu
struct Imu imu
global IMU state
Definition: imu.c:108
SPIDiv64
@ SPIDiv64
Definition: spi.h:125
int32_t
int int32_t
Typedef defining 32 bit int type.
Definition: vl53l1_types.h:83
spi_transaction::input_length
uint16_t input_length
number of data words to read
Definition: spi.h:151
spi_transaction::dss
enum SPIDataSizeSelect dss
data transfer word size
Definition: spi.h:157
spi_transaction::slave_idx
uint8_t slave_idx
slave id: SPI_SLAVE0 to SPI_SLAVE4
Definition: spi.h:153
spi_transaction::input_buf
volatile uint8_t * input_buf
pointer to receive buffer for DMA
Definition: spi.h:149
SPICphaEdge2
@ SPICphaEdge2
CPHA = 1.
Definition: spi.h:75
Int32Vect3::x
int32_t x
Definition: pprz_algebra_int.h:89
Imu::mag_unscaled
struct Int32Vect3 mag_unscaled
unscaled magnetometer measurements
Definition: imu.h:48
Int32Rates::r
int32_t r
in rad/s with INT32_RATE_FRAC
Definition: pprz_algebra_int.h:182