Paparazzi UAS  v5.12_stable-4-g9b43e9b
Paparazzi is a free software Unmanned Aircraft System.
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mpu60x0_i2c.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
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14  * GNU General Public License for more details.
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20  */
21 
28 #ifndef MPU60X0_I2C_H
29 #define MPU60X0_I2C_H
30 
31 #include "std.h"
32 #include "math/pprz_algebra_int.h"
33 #include "mcu_periph/i2c.h"
34 
35 /* Include common MPU60X0 options and definitions */
36 #include "peripherals/mpu60x0.h"
37 
38 
39 #define MPU60X0_BUFFER_EXT_LEN 16
40 
52 };
53 
54 struct Mpu60x0_I2c {
55  struct i2c_periph *i2c_p;
57  volatile bool data_available;
58  union {
59  struct Int16Vect3 vect;
60  int16_t value[3];
61  } data_accel;
62  union {
63  struct Int16Rates rates;
64  int16_t value[3];
65  } data_rates;
66  float temp;
70 };
71 
72 // Functions
73 extern void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr);
74 extern void mpu60x0_i2c_start_configure(struct Mpu60x0_I2c *mpu);
75 extern void mpu60x0_i2c_read(struct Mpu60x0_I2c *mpu);
76 extern void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu);
77 
79 static inline void mpu60x0_i2c_periodic(struct Mpu60x0_I2c *mpu)
80 {
81  if (mpu->config.initialized) {
82  mpu60x0_i2c_read(mpu);
83  } else {
85  }
86 }
87 
88 #endif // MPU60X0_I2C_H
uint8_t data_ext[MPU60X0_BUFFER_EXT_LEN]
Definition: mpu60x0_i2c.h:67
union Mpu60x0_I2c::@314 data_rates
union Mpu60x0_I2c::@313 data_accel
void mpu60x0_i2c_read(struct Mpu60x0_I2c *mpu)
Definition: mpu60x0_i2c.c:71
bool initialized
config done flag
Definition: mpu60x0.h:133
void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
Definition: mpu60x0_i2c.c:82
struct Mpu60x0Config config
Definition: mpu60x0_i2c.h:68
Mpu60x0I2cSlaveInitStatus
Definition: mpu60x0_i2c.h:41
struct i2c_transaction i2c_trans
Definition: mpu60x0_i2c.h:56
float temp
temperature in degrees Celcius
Definition: mpu60x0_i2c.h:66
signed short int16_t
Definition: types.h:17
#define MPU60X0_BUFFER_EXT_LEN
Definition: mpu60x0_i2c.h:39
I2C transaction structure.
Definition: i2c.h:93
I2C peripheral structure.
Definition: i2c.h:138
unsigned char uint8_t
Definition: types.h:14
void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr)
Definition: mpu60x0_i2c.c:31
void mpu60x0_i2c_start_configure(struct Mpu60x0_I2c *mpu)
Definition: mpu60x0_i2c.c:61
MPU-60X0 driver common interface (I2C and SPI).
static void mpu60x0_i2c_periodic(struct Mpu60x0_I2c *mpu)
convenience function: read or start configuration if not already initialized
Definition: mpu60x0_i2c.h:79
enum Mpu60x0I2cSlaveInitStatus slave_init_status
Definition: mpu60x0_i2c.h:69
struct i2c_periph * i2c_p
Definition: mpu60x0_i2c.h:55
Paparazzi fixed point algebra.
volatile bool data_available
data ready flag
Definition: mpu60x0_i2c.h:57
Architecture independent I2C (Inter-Integrated Circuit Bus) API.