Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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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 *
16 * You should have received a copy of the GNU General Public License
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"
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
50
70
71// Functions
72extern void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t addr);
73extern void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu);
74extern void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu);
75extern void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu);
76
78static inline void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu)
79{
80 if (mpu->config.initialized) {
82 } else {
84 }
85}
86
87#endif // MPU60X0_SPI_H
SPI peripheral structure.
Definition spi.h:174
SPI transaction structure.
Definition spi.h:148
MPU-60X0 driver common interface (I2C and SPI).
bool initialized
config done flag
Definition mpu60x0.h:149
volatile bool data_available
data ready flag
Definition mpu60x0_spi.h:56
uint8_t data_ext[MPU60X0_BUFFER_EXT_LEN]
Definition mpu60x0_spi.h:66
void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
struct Mpu60x0Config config
Definition mpu60x0_spi.h:67
void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
struct spi_transaction spi_trans
Definition mpu60x0_spi.h:53
float temp
temperature in degrees Celcius
Definition mpu60x0_spi.h:65
volatile uint8_t tx_buf[2]
Definition mpu60x0_spi.h:54
#define MPU60X0_BUFFER_EXT_LEN
Definition mpu60x0_spi.h:40
union Mpu60x0_Spi::@344 data_rates
void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
Definition mpu60x0_spi.c:77
enum Mpu60x0SpiSlaveInitStatus slave_init_status
Definition mpu60x0_spi.h:68
struct spi_periph * spi_p
Definition mpu60x0_spi.h:52
Mpu60x0SpiSlaveInitStatus
Definition mpu60x0_spi.h:42
@ MPU60X0_SPI_CONF_SLAVES_CONFIGURE
Definition mpu60x0_spi.h:47
@ MPU60X0_SPI_CONF_UNINIT
Definition mpu60x0_spi.h:43
@ MPU60X0_SPI_CONF_I2C_MST_CLK
Definition mpu60x0_spi.h:44
@ MPU60X0_SPI_CONF_DONE
Definition mpu60x0_spi.h:48
@ MPU60X0_SPI_CONF_I2C_MST_DELAY
Definition mpu60x0_spi.h:45
@ MPU60X0_SPI_CONF_I2C_MST_EN
Definition mpu60x0_spi.h:46
volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]
Definition mpu60x0_spi.h:55
static void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition mpu60x0_spi.h:78
#define MPU60X0_BUFFER_LEN
Definition mpu60x0_spi.h:39
void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t addr)
Definition mpu60x0_spi.c:31
union Mpu60x0_Spi::@343 data_accel
Paparazzi fixed point algebra.
Architecture independent SPI (Serial Peripheral Interface) API.
short int16_t
Typedef defining 16 bit short type.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.