l3gd20_spi.h File Reference

Driver for L3GD20 3-axis gyroscope from ST using SPI. More...

#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/spi.h"
#include "peripherals/l3gd20.h"

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Data Structures
struct	L3gd20_Spi
union	L3gd20_Spi.data_rates

Functions
void	l3gd20_spi_init (struct L3gd20_Spi *l3g, struct spi_periph *spi_p, uint8_t slave_idx)
void	l3gd20_spi_start_configure (struct L3gd20_Spi *l3g)
void	l3gd20_spi_read (struct L3gd20_Spi *l3g)
void	l3gd20_spi_event (struct L3gd20_Spi *l3g)
static void	l3gd20_spi_periodic (struct L3gd20_Spi *l3g)
	convenience function: read or start configuration if not already initialized More...

Detailed Description

Driver for L3GD20 3-axis gyroscope from ST using SPI.

Definition in file l3gd20_spi.h.

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Data Structure Documentation

struct L3gd20_Spi

Definition at line 38 of file l3gd20_spi.h.

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Data Fields
struct L3gd20Config	config
volatile bool	data_available	data ready flag
union L3gd20_Spi	data_rates
enum L3gd20ConfStatus	init_status	init status
bool	initialized	config done flag
volatile uint8_t	rx_buf[8]
struct spi_periph *	spi_p
struct spi_transaction	spi_trans
volatile uint8_t	tx_buf[2]

union L3gd20_Spi.data_rates

Definition at line 46 of file l3gd20_spi.h.

Data Fields
struct Int16Rates	rates	data vector in accel coordinate system
int16_t	value[3]	data values accessible by channel index

Function Documentation

void l3gd20_spi_event

(

struct L3gd20_Spi *

l3g

)

Definition at line 135 of file l3gd20_spi.c.

References L3gd20_Spi::data_available, L3gd20_Spi::data_rates, L3gd20_Spi::init_status, L3gd20_Spi::initialized, Int16FromBuf, L3G_CONF_UNINIT, L3G_CONF_WHO_AM_I, L3G_CONF_WHO_AM_I_OK, l3gd20_spi_send_config(), L3GD20_WHO_AM_I, L3gd20_Spi::rx_buf, L3gd20_Spi::spi_trans, SPITransDone, SPITransFailed, SPITransSuccess, and spi_transaction::status.

Referenced by imu_px4_event().

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void l3gd20_spi_init	(	struct L3gd20_Spi *	l3g,
		struct spi_periph *	spi_p,
		uint8_t	slave_idx
	)

Definition at line 30 of file l3gd20_spi.c.

References spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, L3gd20_Spi::config, spi_transaction::cpha, spi_transaction::cpol, L3gd20_Spi::data_available, spi_transaction::dss, L3gd20_Spi::init_status, L3gd20_Spi::initialized, spi_transaction::input_buf, spi_transaction::input_length, L3G_CONF_UNINIT, l3gd20_set_default_config(), spi_transaction::output_buf, spi_transaction::output_length, L3gd20_Spi::rx_buf, spi_transaction::select, spi_transaction::slave_idx, L3gd20_Spi::spi_p, L3gd20_Spi::spi_trans, SPICphaEdge2, SPICpolIdleHigh, SPIDiv64, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, spi_transaction::status, and L3gd20_Spi::tx_buf.

Referenced by imu_px4_init().

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static void l3gd20_spi_periodic ( struct L3gd20_Spi *  l3g )

inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 60 of file l3gd20_spi.h.

References L3gd20_Spi::initialized, l3gd20_spi_read(), and l3gd20_spi_start_configure().

Referenced by imu_px4_periodic().

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void l3gd20_spi_read

(

struct L3gd20_Spi *

l3g

)

Definition at line 122 of file l3gd20_spi.c.

References L3gd20_Spi::initialized, spi_transaction::input_length, L3GD20_REG_STATUS_REG, spi_transaction::output_length, L3gd20_Spi::spi_p, spi_submit(), L3gd20_Spi::spi_trans, SPITransDone, spi_transaction::status, and L3gd20_Spi::tx_buf.

Referenced by l3gd20_spi_periodic().

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void l3gd20_spi_start_configure

(

struct L3gd20_Spi *

l3g

)

Definition at line 112 of file l3gd20_spi.c.

References L3gd20_Spi::init_status, L3G_CONF_UNINIT, l3gd20_spi_send_config(), L3gd20_Spi::spi_trans, SPITransDone, SPITransSuccess, and spi_transaction::status.

Referenced by l3gd20_spi_periodic().

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