lsm303d_spi.h File Reference

Driver for ST LSM303D 3D accelerometer and magnetometer. More...

#include "std.h"
#include "mcu_periph/spi.h"
#include "math/pprz_algebra_int.h"
#include "peripherals/lsm303d.h"

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Data Structures
struct	Lsm303d_Spi
union	Lsm303d_Spi.data_accel
union	Lsm303d_Spi.data_mag

Functions
void	lsm303d_spi_init (struct Lsm303d_Spi *lsm, struct spi_periph *spi_p, uint8_t slave_idx, enum Lsm303dTarget target)
void	lsm303d_spi_start_configure (struct Lsm303d_Spi *lsm)
void	lsm303d_spi_read (struct Lsm303d_Spi *lsm)
void	lsm303d_spi_event (struct Lsm303d_Spi *lsm)
static void	lsm303d_spi_periodic (struct Lsm303d_Spi *lsm)
	convenience function: read or start configuration if not already initialized More...

Detailed Description

Driver for ST LSM303D 3D accelerometer and magnetometer.

Definition in file lsm303d_spi.h.

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Data Structure Documentation

struct Lsm303d_Spi

Definition at line 37 of file lsm303d_spi.h.

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Data Fields
struct Lsm303dConfig	conf
union Lsm303d_Spi	data_accel
volatile bool	data_available_acc	data ready flag accelero
volatile bool	data_available_mag	data ready flag magneto
union Lsm303d_Spi	data_mag
enum Lsm303dConfStatus	init_status
bool	initialized	config done flag
volatile uint8_t	rx_buf[8]
struct spi_periph *	spi_p
struct spi_transaction	spi_trans
enum Lsm303dTarget	target
volatile uint8_t	tx_buf[2]

union Lsm303d_Spi.data_accel

Definition at line 47 of file lsm303d_spi.h.

Data Fields
int16_t	value[3]	data values accessible by channel index
struct Int16Vect3	vect	data vector in acc coordinate system

union Lsm303d_Spi.data_mag

Definition at line 51 of file lsm303d_spi.h.

Data Fields
int16_t	value[3]	data values accessible by channel index
struct Int16Vect3	vect	data vector in mag coordinate system

Function Documentation

void lsm303d_spi_event

(

struct Lsm303d_Spi *

lsm

)

Definition at line 176 of file lsm303d_spi.c.

References Lsm303d_Spi::data_accel, Lsm303d_Spi::data_available_acc, Lsm303d_Spi::data_available_mag, Lsm303d_Spi::data_mag, Lsm303d_Spi::init_status, Lsm303d_Spi::initialized, Int16FromBuf, LSM303D_CONF_UNINIT, lsm303d_spi_send_config(), LSM303D_TARGET_ACC, LSM303D_ZYXADA, LSM303D_ZYXMDA, Lsm303d_Spi::rx_buf, Lsm303d_Spi::spi_trans, SPITransDone, SPITransFailed, SPITransSuccess, spi_transaction::status, Lsm303d_Spi::target, and TRUE.

Referenced by imu_px4_event().

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void lsm303d_spi_init	(	struct Lsm303d_Spi *	lsm,
		struct spi_periph *	spi_p,
		uint8_t	slave_idx,
		enum Lsm303dTarget	target
	)

Definition at line 32 of file lsm303d_spi.c.

References spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, Lsm303d_Spi::conf, spi_transaction::cpha, spi_transaction::cpol, Lsm303d_Spi::data_available_acc, Lsm303d_Spi::data_available_mag, spi_transaction::dss, FALSE, Lsm303d_Spi::init_status, Lsm303d_Spi::initialized, spi_transaction::input_buf, spi_transaction::input_length, LSM303D_CONF_UNINIT, lsm303d_set_default_config(), spi_transaction::output_buf, spi_transaction::output_length, Lsm303d_Spi::rx_buf, spi_transaction::select, spi_transaction::slave_idx, Lsm303d_Spi::spi_p, Lsm303d_Spi::spi_trans, SPICphaEdge2, SPICpolIdleHigh, SPIDiv64, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, spi_transaction::status, Lsm303d_Spi::target, target, and Lsm303d_Spi::tx_buf.

Referenced by imu_px4_init().

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static void lsm303d_spi_periodic ( struct Lsm303d_Spi *  lsm )

inlinestatic

convenience function: read or start configuration if not already initialized

Definition at line 68 of file lsm303d_spi.h.

References Lsm303d_Spi::initialized, lsm303d_spi_read(), and lsm303d_spi_start_configure().

Referenced by imu_px4_periodic().

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void lsm303d_spi_read

(

struct Lsm303d_Spi *

lsm

)

Definition at line 151 of file lsm303d_spi.c.

References Lsm303d_Spi::initialized, spi_transaction::input_length, LSM303D_REG_STATUS_A, LSM303D_REG_STATUS_M, LSM303D_TARGET_ACC, spi_transaction::output_length, Lsm303d_Spi::spi_p, spi_submit(), Lsm303d_Spi::spi_trans, SPITransDone, spi_transaction::status, Lsm303d_Spi::target, and Lsm303d_Spi::tx_buf.

Referenced by lsm303d_spi_periodic().

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void lsm303d_spi_start_configure

(

struct Lsm303d_Spi *

lsm

)

Definition at line 140 of file lsm303d_spi.c.

References Lsm303d_Spi::init_status, LSM303D_CONF_UNINIT, lsm303d_spi_send_config(), Lsm303d_Spi::spi_trans, SPITransDone, SPITransSuccess, and spi_transaction::status.

Referenced by lsm303d_spi_periodic().

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