mpu9250_spi.h

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/*
 * Copyright (C) 2013 Gautier Hattenberger
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef MPU9250_SPI_H
#define MPU9250_SPI_H
 
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/spi.h"
 
/* Include common MPU9250 options and definitions */
#include "peripherals/mpu9250.h"
 
 
#define MPU9250_BUFFER_LEN 32
#define MPU9250_BUFFER_EXT_LEN 16
 
enum Mpu9250SpiSlaveInitStatus {
  MPU9250_SPI_CONF_UNINIT,
  MPU9250_SPI_CONF_I2C_MST_CLK,
  MPU9250_SPI_CONF_I2C_MST_DELAY,
  MPU9250_SPI_CONF_I2C_MST_EN,
  MPU9250_SPI_CONF_SLAVES_CONFIGURE,
  MPU9250_SPI_CONF_DONE
};
 
struct Mpu9250_Spi {
  struct spi_periph *spi_p;
  struct spi_transaction spi_trans;
  volatile uint8_t tx_buf[2];
  volatile uint8_t rx_buf[MPU9250_BUFFER_LEN];
  volatile bool data_available;     
  union {
    struct Int16Vect3 vect;           
    int16_t value[3];                 
  } data_accel;
  union {
    struct Int16Rates rates;          
    int16_t value[3];                 
  } data_rates;
  uint8_t data_ext[MPU9250_BUFFER_EXT_LEN];
  struct Mpu9250Config config;
  enum Mpu9250SpiSlaveInitStatus slave_init_status;
};
 
// Functions
extern void mpu9250_spi_init(struct Mpu9250_Spi *mpu, struct spi_periph *spi_p, uint8_t addr);
extern void mpu9250_spi_start_configure(struct Mpu9250_Spi *mpu);
extern void mpu9250_spi_read(struct Mpu9250_Spi *mpu);
extern void mpu9250_spi_event(struct Mpu9250_Spi *mpu);
 
static inline void mpu9250_spi_periodic(struct Mpu9250_Spi *mpu)
{
  if (mpu->config.initialized) {
    mpu9250_spi_read(mpu);
  } else {
    mpu9250_spi_start_configure(mpu);
  }
}
 
#endif // MPU9250_SPI_H