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[peripherals] mpu60x0: use i2c convenience functions

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This commit is contained in:
Felix Ruess
2013-04-09 00:42:20 +02:00
parent aaf6f21adb
commit 0cb7cae84b
2 changed files with 27 additions and 33 deletions
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sw/airborne/peripherals/mpu60x0_i2c.c
+3 -9
View File
@@ -22,7 +22,7 @@
/** /**
* @file peripherals/mpu60x0_i2c.c * @file peripherals/mpu60x0_i2c.c
* *
* Driver for the MPU-60X0 using SPI. * Driver for the MPU-60X0 using I2C.
* *
*/ */
@@ -51,10 +51,7 @@ static void mpu60x0_i2c_write_to_reg(void* mpu, uint8_t _reg, uint8_t _val) {
struct Mpu60x0_I2c* mpu_i2c = (struct Mpu60x0_I2c*)(mpu); struct Mpu60x0_I2c* mpu_i2c = (struct Mpu60x0_I2c*)(mpu);
mpu_i2c->i2c_trans.buf[0] = _reg; mpu_i2c->i2c_trans.buf[0] = _reg;
mpu_i2c->i2c_trans.buf[1] = _val; mpu_i2c->i2c_trans.buf[1] = _val;
mpu_i2c->i2c_trans.len_r = 0; i2c_transmit(mpu_i2c->i2c_p, &(mpu_i2c->i2c_trans), mpu->i2c_trans.slave_addr, 2);
mpu_i2c->i2c_trans.len_w = 2;
mpu_i2c->i2c_trans.type = I2CTransTx;
i2c_submit(mpu_i2c->i2c_p, &(mpu_i2c->i2c_trans));
} }
// Configuration function called once before normal use // Configuration function called once before normal use
@@ -71,12 +68,9 @@ void mpu60x0_i2c_start_configure(struct Mpu60x0_I2c *mpu)
void mpu60x0_i2c_read(struct Mpu60x0_I2c *mpu) void mpu60x0_i2c_read(struct Mpu60x0_I2c *mpu)
{ {
if (mpu->config.initialized && mpu->i2c_trans.status == I2CTransDone) { if (mpu->config.initialized && mpu->i2c_trans.status == I2CTransDone) {
mpu->i2c_trans.len_w = 1;
mpu->i2c_trans.len_r = 15; // FIXME external data
mpu->i2c_trans.type = I2CTransTxRx;
/* set read bit and multiple byte bit, then address */ /* set read bit and multiple byte bit, then address */
mpu->i2c_trans.buf[0] = MPU60X0_REG_INT_STATUS; mpu->i2c_trans.buf[0] = MPU60X0_REG_INT_STATUS;
i2c_submit(mpu->i2c_p, &(mpu->i2c_trans)); i2c_transceive(mpu->i2c_p, &(mpu->i2c_trans), mpu->i2c_trans.slave_addr, 1, 15);
} }
} }
sw/airborne/peripherals/mpu60x0_regs.h
+24 -24
View File
@@ -43,8 +43,8 @@
// FIFO // FIFO
#define MPU60X0_REG_FIFO_EN 0X23 #define MPU60X0_REG_FIFO_EN 0X23
#define MPU60X0_REG_FIFO_COUNT_H 0x72 #define MPU60X0_REG_FIFO_COUNT_H 0x72
#define MPU60X0_REG_FIFO_COUNT_L 0x73 #define MPU60X0_REG_FIFO_COUNT_L 0x73
#define MPU60X0_REG_FIFO_R_W 0x74 #define MPU60X0_REG_FIFO_R_W 0x74
// Measurement Settings // Measurement Settings
#define MPU60X0_REG_SMPLRT_DIV 0X19 #define MPU60X0_REG_SMPLRT_DIV 0X19
@@ -57,31 +57,31 @@
#define MPU60X0_REG_I2C_MST_STATUS 0X36 #define MPU60X0_REG_I2C_MST_STATUS 0X36
#define MPU60X0_REG_I2C_MST_DELAY 0X67 #define MPU60X0_REG_I2C_MST_DELAY 0X67
// Slave 0 // Slave 0
#define MPU60X0_REG_I2C_SLV0_ADDR 0X25 // i2c addr #define MPU60X0_REG_I2C_SLV0_ADDR 0X25 // i2c addr
#define MPU60X0_REG_I2C_SLV0_REG 0X26 // slave reg #define MPU60X0_REG_I2C_SLV0_REG 0X26 // slave reg
#define MPU60X0_REG_I2C_SLV0_CTRL 0X27 // set-bits #define MPU60X0_REG_I2C_SLV0_CTRL 0X27 // set-bits
#define MPU60X0_REG_I2C_SLV0_DO 0X63 // DO #define MPU60X0_REG_I2C_SLV0_DO 0X63 // DO
// Slave 1 // Slave 1
#define MPU60X0_REG_I2C_SLV1_ADDR 0X28 // i2c addr #define MPU60X0_REG_I2C_SLV1_ADDR 0X28 // i2c addr
#define MPU60X0_REG_I2C_SLV1_REG 0X29 // slave reg #define MPU60X0_REG_I2C_SLV1_REG 0X29 // slave reg
#define MPU60X0_REG_I2C_SLV1_CTRL 0X2A // set-bits #define MPU60X0_REG_I2C_SLV1_CTRL 0X2A // set-bits
#define MPU60X0_REG_I2C_SLV1_DO 0X64 // DO #define MPU60X0_REG_I2C_SLV1_DO 0X64 // DO
// Slave 2 // Slave 2
#define MPU60X0_REG_I2C_SLV2_ADDR 0X2B // i2c addr #define MPU60X0_REG_I2C_SLV2_ADDR 0X2B // i2c addr
#define MPU60X0_REG_I2C_SLV2_REG 0X2C // slave reg #define MPU60X0_REG_I2C_SLV2_REG 0X2C // slave reg
#define MPU60X0_REG_I2C_SLV2_CTRL 0X2D // set-bits #define MPU60X0_REG_I2C_SLV2_CTRL 0X2D // set-bits
#define MPU60X0_REG_I2C_SLV2_DO 0X65 // DO #define MPU60X0_REG_I2C_SLV2_DO 0X65 // DO
// Slave 3 // Slave 3
#define MPU60X0_REG_I2C_SLV3_ADDR 0X2E // i2c addr #define MPU60X0_REG_I2C_SLV3_ADDR 0X2E // i2c addr
#define MPU60X0_REG_I2C_SLV3_REG 0X2F // slave reg #define MPU60X0_REG_I2C_SLV3_REG 0X2F // slave reg
#define MPU60X0_REG_I2C_SLV3_CTRL 0X30 // set-bits #define MPU60X0_REG_I2C_SLV3_CTRL 0X30 // set-bits
#define MPU60X0_REG_I2C_SLV3_DO 0X66 // DO #define MPU60X0_REG_I2C_SLV3_DO 0X66 // DO
// Slave 4 - special // Slave 4 - special
#define MPU60X0_REG_I2C_SLV4_ADDR 0X31 // i2c addr #define MPU60X0_REG_I2C_SLV4_ADDR 0X31 // i2c addr
#define MPU60X0_REG_I2C_SLV4_REG 0X32 // slave reg #define MPU60X0_REG_I2C_SLV4_REG 0X32 // slave reg
#define MPU60X0_REG_I2C_SLV4_DO 0X33 // DO #define MPU60X0_REG_I2C_SLV4_DO 0X33 // DO
#define MPU60X0_REG_I2C_SLV4_CTRL 0X34 // set-bits #define MPU60X0_REG_I2C_SLV4_CTRL 0X34 // set-bits
#define MPU60X0_REG_I2C_SLV4_DI 0X35 // DI #define MPU60X0_REG_I2C_SLV4_DI 0X35 // DI
// Interrupt // Interrupt
#define MPU60X0_REG_INT_PIN_CFG 0X37 #define MPU60X0_REG_INT_PIN_CFG 0X37
@@ -117,7 +117,7 @@
// MPU60X0 Definitions // MPU60X0 Definitions
#define MPU60X0_REG_WHO_AM_I 0X75 #define MPU60X0_REG_WHO_AM_I 0X75
#define MPU60X0_WHOAMI_REPLY 0x68 #define MPU60X0_WHOAMI_REPLY 0x68
/** Digital Low Pass Filter Options /** Digital Low Pass Filter Options
* DLFP is affecting both gyro and accels, * DLFP is affecting both gyro and accels,