Paparazzi UAS v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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mpu9250_spi.h
Go to the documentation of this file.
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 MPU9250_SPI_H
29#define MPU9250_SPI_H
30
31#include "std.h"
33#include "mcu_periph/spi.h"
34
35/* Include common MPU9250 options and definitions */
36#include "peripherals/mpu9250.h"
37
38
39#define MPU9250_BUFFER_LEN 32
40#define MPU9250_BUFFER_EXT_LEN 16
41
50
69
70// Functions
71extern void mpu9250_spi_init(struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t addr);
72extern void mpu9250_spi_start_configure(struct Mpu9250_Spi *mpu);
73extern void mpu9250_spi_read(struct Mpu9250_Spi *mpu);
74extern void mpu9250_spi_event(struct Mpu9250_Spi *mpu);
75
77static inline void mpu9250_spi_periodic(struct Mpu9250_Spi *mpu)
78{
79 if (mpu->config.initialized) {
81 } else {
83 }
84}
85
86#endif // MPU9250_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 mpu9250.h:137
void mpu9250_spi_init(struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t addr)
Definition mpu9250_spi.c:31
volatile bool data_available
data ready flag
Definition mpu9250_spi.h:56
uint8_t data_ext[MPU9250_BUFFER_EXT_LEN]
Definition mpu9250_spi.h:65
enum Mpu9250SpiSlaveInitStatus slave_init_status
Definition mpu9250_spi.h:67
volatile uint8_t rx_buf[MPU9250_BUFFER_LEN]
Definition mpu9250_spi.h:55
struct Mpu9250Config config
Definition mpu9250_spi.h:66
volatile uint8_t tx_buf[2]
Definition mpu9250_spi.h:54
void mpu9250_spi_read(struct Mpu9250_Spi *mpu)
Definition mpu9250_spi.c:96
static void mpu9250_spi_periodic(struct Mpu9250_Spi *mpu)
convenience function: read or start configuration if not already initialized
Definition mpu9250_spi.h:77
#define MPU9250_BUFFER_EXT_LEN
Definition mpu9250_spi.h:40
struct spi_periph * spi_p
Definition mpu9250_spi.h:52
struct spi_transaction spi_trans
Definition mpu9250_spi.h:53
#define MPU9250_BUFFER_LEN
Definition mpu9250_spi.h:39
void mpu9250_spi_start_configure(struct Mpu9250_Spi *mpu)
Definition mpu9250_spi.c:77
Mpu9250SpiSlaveInitStatus
Definition mpu9250_spi.h:42
@ MPU9250_SPI_CONF_UNINIT
Definition mpu9250_spi.h:43
@ MPU9250_SPI_CONF_SLAVES_CONFIGURE
Definition mpu9250_spi.h:47
@ MPU9250_SPI_CONF_DONE
Definition mpu9250_spi.h:48
@ MPU9250_SPI_CONF_I2C_MST_EN
Definition mpu9250_spi.h:46
@ MPU9250_SPI_CONF_I2C_MST_DELAY
Definition mpu9250_spi.h:45
@ MPU9250_SPI_CONF_I2C_MST_CLK
Definition mpu9250_spi.h:44
union Mpu9250_Spi::@347 data_accel
union Mpu9250_Spi::@348 data_rates
void mpu9250_spi_event(struct Mpu9250_Spi *mpu)
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.