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[peripheral] start mpu driver

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This commit is contained in:
Gautier Hattenberger
2013-03-12 18:13:00 +01:00
committed by Felix Ruess
parent d89e21542b
commit 27f28a2228
4 changed files with 475 additions and 88 deletions
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sw/airborne/peripherals/mpu60X0.h
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@@ -1,97 +1,82 @@
#ifndef MPU60X0
#define MPU60X0
/*
* 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.
*/
/* default I2C address */
#define MPU60X0_ADDR 0xD0
#define MPU60X0_ADDR_ALT 0xD2
/**
* @file peripherals/mpu60x0.h
*
* MPU-60X0 driver common interface (I2C and SPI).
*/
#define MPU60X0_SPI_READ 0x80
#ifndef MPU60X0_H
#define MPU60X0_H
// Power and Interface
#define MPU60X0_REG_AUX_VDDIO 0x01 // Must be set to 0 on MPU6000
#define MPU60X0_REG_USER_CTRL 0x6A
#define MPU60X0_REG_PWR_MGMT_1 0x6B
#define MPU60X0_REG_PWR_MGMT_2 0x6C
#include "std.h"
// FIFO
#define MPU60X0_REG_FIFO_EN 0X23
#define MPU60X0_REG_FIFO_COUNT_H 0x72
#define MPU60X0_REG_FIFO_COUNT_L 0x73
#define MPU60X0_REG_FIFO_R_W 0x74
/* Include address and register definition */
#include "peripherals/mpu60x0_regs.h"
// Measurement Settings
#define MPU60X0_REG_SMPLRT_DIV 0X19
#define MPU60X0_REG_CONFIG 0X1A
#define MPU60X0_REG_GYRO_CONFIG 0X1B
#define MPU60X0_REG_ACCEL_CONFIG 0X1C
/// Default sample rate divider
#define MPU60X0_DEFAULT_SMPLRT_DIV 0
/// Default gyro full scale range +- 2000°/s
#define MPU60X0_DEFAULT_FS_SEL MPU60X0_GYRO_RANGE_2000
/// Default accel full scale range +- 16g
#define MPU60X0_DEFAULT_AFS_SEL MPU60X0_ACCEL_RANGE_16G
/// Default internal sampling (1kHz, 42Hz LP Bandwidth)
#define MPU60X0_DEFAULT_DLPF_CFG MPU60X0_DLPF_42HZ
/// Default interrupt config: RAW_RDY_EN
#define MPU60X0_DEFAULT_INT_CFG 1
/// Default clock: PLL with X gyro reference
#define MPU60X0_DEFAULT_CLK_SEL 1
// I2C Slave settings
#define MPU60X0_REG_I2C_MST_CTRL 0X24
#define MPU60X0_REG_I2C_MST_STATUS 0X36
#define MPU60X0_REG_I2C_MST_DELAY 0X67
// Slave 0
#define MPU60X0_REG_I2C_SLV0_ADDR 0X25 // i2c addr
#define MPU60X0_REG_I2C_SLV0_REG 0X26 // slave reg
#define MPU60X0_REG_I2C_SLV0_CTRL 0X27 // set-bits
#define MPU60X0_REG_I2C_SLV0_DO 0X63 // DO
// Slave 1
#define MPU60X0_REG_I2C_SLV1_ADDR 0X28 // i2c addr
#define MPU60X0_REG_I2C_SLV1_REG 0X29 // slave reg
#define MPU60X0_REG_I2C_SLV1_CTRL 0X2A // set-bits
#define MPU60X0_REG_I2C_SLV1_DO 0X64 // DO
// Slave 2
#define MPU60X0_REG_I2C_SLV2_ADDR 0X2B // i2c addr
#define MPU60X0_REG_I2C_SLV2_REG 0X2C // slave reg
#define MPU60X0_REG_I2C_SLV2_CTRL 0X2D // set-bits
#define MPU60X0_REG_I2C_SLV2_DO 0X65 // DO
// Slave 3
#define MPU60X0_REG_I2C_SLV3_ADDR 0X2E // i2c addr
#define MPU60X0_REG_I2C_SLV3_REG 0X2F // slave reg
#define MPU60X0_REG_I2C_SLV3_CTRL 0X30 // set-bits
#define MPU60X0_REG_I2C_SLV3_DO 0X66 // DO
// Slave 4 - special
#define MPU60X0_REG_I2C_SLV4_ADDR 0X31 // i2c addr
#define MPU60X0_REG_I2C_SLV4_REG 0X32 // slave reg
#define MPU60X0_REG_I2C_SLV4_DO 0X33 // DO
#define MPU60X0_REG_I2C_SLV4_CTRL 0X34 // set-bits
#define MPU60X0_REG_I2C_SLV4_DI 0X35 // DI
enum Mpu60x0ConfStatus {
MPU60X0_CONF_UNINIT,
MPU60X0_CONF_SD,
MPU60X0_CONF_CONFIG,
MPU60X0_CONF_GYRO,
MPU60X0_CONF_ACCEL,
MPU60X0_CONF_INT_PIN,
MPU60X0_CONF_INT_ENABLE,
MPU60X0_CONF_PWR,
MPU60X0_CONF_DONE
};
// Interrupt
#define MPU60X0_REG_INT_PIN_CFG 0X37
#define MPU60X0_REG_INT_ENABLE 0X38
#define MPU60X0_REG_INT_STATUS 0X3A
struct Mpu60x0Config {
uint8_t smplrt_div; ///< Sample rate divider
enum Mpu60x0DLPF dlpf_cfg; ///< Digital Low Pass Filter
enum Adxl345GyroRanges gyro_range; ///< deg/s Range
enum Adxl345AccelRanges accel_range; ///< g Range
bool_t i2c_bypass; ///< bypass mpu i2c
bool_t drdy_int_enable; ///< Enable Data Ready Interrupt
uint8_t clk_sel; ///< Clock select
};
// Accelero
#define MPU60X0_REG_ACCEL_XOUT_H 0X3B
#define MPU60X0_REG_ACCEL_XOUT_L 0X3C
#define MPU60X0_REG_ACCEL_YOUT_H 0X3D
#define MPU60X0_REG_ACCEL_YOUT_L 0X3E
#define MPU60X0_REG_ACCEL_ZOUT_H 0X3F
#define MPU60X0_REG_ACCEL_ZOUT_L 0X40
static inline void mpu60X0_set_default_config(struct Mpu60x0Config *c)
{
c->smplrt_div = MPU60X0_DEFAULT_SMPLRT_DIV;
c->dlpf_cfg = MPU60X0_DEFAULT_DLPF_CFG;
c->gyro_range = MPU60X0_DEFAULT_FS_SEL;
c->accel_range = MPU60X0_DEFAULT_AFS_SEL;
c->i2c_bypass = TRUE;
c->drdy_int_enable = FALSE;
c->clk_sel = MPU60X0_DEFAULT_CLK_SEL;
}
// Temperature
#define MPU60X0_REG_TEMP_OUT_H 0X41
#define MPU60X0_REG_TEMP_OUT_L 0X42
// Gyro
#define MPU60X0_REG_GYRO_XOUT_H 0X43
#define MPU60X0_REG_GYRO_XOUT_L 0X44
#define MPU60X0_REG_GYRO_YOUT_H 0X45
#define MPU60X0_REG_GYRO_YOUT_L 0X46
#define MPU60X0_REG_GYRO_ZOUT_H 0X47
#define MPU60X0_REG_GYRO_ZOUT_L 0X48
// External Sensor Data
#define MPU60X0_EXT_SENS_DATA 0X49
#define MPU60X0_EXT_SENS_DATA_SIZE 24
/////////////////////////////////////////////////
// MPU60X0 Definitions
#define MPU60X0_REG_WHO_AM_I 0X75
#define MPU60X0_WHOAMI_REPLY 0x68
#endif /* MPU60X0 */
#endif // MPU60X0_H
sw/airborne/peripherals/mpu60X0_regs.h
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/*
* Copyright (C) 2010-2013 The Paparazzi Team
*
* 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.
*/
/**
* @file peripherals/mpu60x0_regs.h
*
* Register and address definitions for MPU-6000 and MPU-6050.
*/
#ifndef MPU60X0_REGS_H
#define MPU60X0_REGS_H
/* default I2C address */
#define MPU60X0_ADDR 0xD0
#define MPU60X0_ADDR_ALT 0xD2
#define MPU60X0_SPI_READ 0x80
// Power and Interface
#define MPU60X0_REG_AUX_VDDIO 0x01 // Must be set to 0 on MPU6000
#define MPU60X0_REG_USER_CTRL 0x6A
#define MPU60X0_REG_PWR_MGMT_1 0x6B
#define MPU60X0_REG_PWR_MGMT_2 0x6C
// FIFO
#define MPU60X0_REG_FIFO_EN 0X23
#define MPU60X0_REG_FIFO_COUNT_H 0x72
#define MPU60X0_REG_FIFO_COUNT_L 0x73
#define MPU60X0_REG_FIFO_R_W 0x74
// Measurement Settings
#define MPU60X0_REG_SMPLRT_DIV 0X19
#define MPU60X0_REG_CONFIG 0X1A
#define MPU60X0_REG_GYRO_CONFIG 0X1B
#define MPU60X0_REG_ACCEL_CONFIG 0X1C
// I2C Slave settings
#define MPU60X0_REG_I2C_MST_CTRL 0X24
#define MPU60X0_REG_I2C_MST_STATUS 0X36
#define MPU60X0_REG_I2C_MST_DELAY 0X67
// Slave 0
#define MPU60X0_REG_I2C_SLV0_ADDR 0X25 // i2c addr
#define MPU60X0_REG_I2C_SLV0_REG 0X26 // slave reg
#define MPU60X0_REG_I2C_SLV0_CTRL 0X27 // set-bits
#define MPU60X0_REG_I2C_SLV0_DO 0X63 // DO
// Slave 1
#define MPU60X0_REG_I2C_SLV1_ADDR 0X28 // i2c addr
#define MPU60X0_REG_I2C_SLV1_REG 0X29 // slave reg
#define MPU60X0_REG_I2C_SLV1_CTRL 0X2A // set-bits
#define MPU60X0_REG_I2C_SLV1_DO 0X64 // DO
// Slave 2
#define MPU60X0_REG_I2C_SLV2_ADDR 0X2B // i2c addr
#define MPU60X0_REG_I2C_SLV2_REG 0X2C // slave reg
#define MPU60X0_REG_I2C_SLV2_CTRL 0X2D // set-bits
#define MPU60X0_REG_I2C_SLV2_DO 0X65 // DO
// Slave 3
#define MPU60X0_REG_I2C_SLV3_ADDR 0X2E // i2c addr
#define MPU60X0_REG_I2C_SLV3_REG 0X2F // slave reg
#define MPU60X0_REG_I2C_SLV3_CTRL 0X30 // set-bits
#define MPU60X0_REG_I2C_SLV3_DO 0X66 // DO
// Slave 4 - special
#define MPU60X0_REG_I2C_SLV4_ADDR 0X31 // i2c addr
#define MPU60X0_REG_I2C_SLV4_REG 0X32 // slave reg
#define MPU60X0_REG_I2C_SLV4_DO 0X33 // DO
#define MPU60X0_REG_I2C_SLV4_CTRL 0X34 // set-bits
#define MPU60X0_REG_I2C_SLV4_DI 0X35 // DI
// Interrupt
#define MPU60X0_REG_INT_PIN_CFG 0X37
#define MPU60X0_REG_INT_ENABLE 0X38
#define MPU60X0_REG_INT_STATUS 0X3A
// Accelero
#define MPU60X0_REG_ACCEL_XOUT_H 0X3B
#define MPU60X0_REG_ACCEL_XOUT_L 0X3C
#define MPU60X0_REG_ACCEL_YOUT_H 0X3D
#define MPU60X0_REG_ACCEL_YOUT_L 0X3E
#define MPU60X0_REG_ACCEL_ZOUT_H 0X3F
#define MPU60X0_REG_ACCEL_ZOUT_L 0X40
// Temperature
#define MPU60X0_REG_TEMP_OUT_H 0X41
#define MPU60X0_REG_TEMP_OUT_L 0X42
// Gyro
#define MPU60X0_REG_GYRO_XOUT_H 0X43
#define MPU60X0_REG_GYRO_XOUT_L 0X44
#define MPU60X0_REG_GYRO_YOUT_H 0X45
#define MPU60X0_REG_GYRO_YOUT_L 0X46
#define MPU60X0_REG_GYRO_ZOUT_H 0X47
#define MPU60X0_REG_GYRO_ZOUT_L 0X48
// External Sensor Data
#define MPU60X0_EXT_SENS_DATA 0X49
#define MPU60X0_EXT_SENS_DATA_SIZE 24
/////////////////////////////////////////////////
// MPU60X0 Definitions
#define MPU60X0_REG_WHO_AM_I 0X75
#define MPU60X0_WHOAMI_REPLY 0x68
/** Digital Low Pass Filter Options
* DLFP is affecting both gyro and accels,
* with slightly different bandwidth
*/
enum Mpu60x0DLPF {
MPU60X0_DLPF_256HZ = 0x0, // internal sampling rate 8kHz
MPU60X0_DLPF_188HZ = 0x1, // internal sampling rate 1kHz
MPU60X0_DLPF_98HZ = 0x2,
MPU60X0_DLPF_42HZ = 0x3,
MPU60X0_DLPF_20HZ = 0x4,
MPU60X0_DLPF_10HZ = 0x5,
MPU60X0_DLPF_05HZ = 0x6
};
/**
* Selectable gyro range
*/
enum Mpu60x0GyroRanges {
MPU60X0_GYRO_RANGE_250 = 0x00,
MPU60X0_GYRO_RANGE_500 = 0x01,
MPU60X0_GYRO_RANGE_1000 = 0x02,
MPU60X0_GYRO_RANGE_2000 = 0x03
};
/**
* Selectable accel range
*/
enum Mpu60x0AccelRanges {
MPU60X0_ACCEL_RANGE_2G = 0x00,
MPU60X0_ACCEL_RANGE_4G = 0x01,
MPU60X0_ACCEL_RANGE_8G = 0x02,
MPU60X0_ACCEL_RANGE_16G = 0x03
};
#endif /* MPU60X0_REGS_H */
sw/airborne/peripherals/mpu60X0_spi.c
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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.
*/
/**
* @file peripherals/mpu60x0_spi.c
*
* Driver for the MPU-60X0 using SPI.
*
*/
#include "peripherals/mpu60x0_spi.h"
static void trans_cb( struct spi_transaction *trans );
void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t slave_idx)
{
/* set spi_peripheral */
mpu->spi_p = spi_p;
/* configure spi transaction */
mpu->spi_trans.cpol = SPICpolIdleHigh;
mpu->spi_trans.cpha = SPICphaEdge2;
mpu->spi_trans.dss = SPIDss8bit;
mpu->spi_trans.bitorder = SPIMSBFirst;
mpu->spi_trans.cdiv = SPIDiv64;
mpu->spi_trans.select = SPISelectUnselect;
mpu->spi_trans.slave_idx = slave_idx;
mpu->spi_trans.output_length = MPU60X0_BUFFER_LEN; //FIXME
mpu->spi_trans.input_length = MPU60X0_BUFFER_LEN;
mpu->spi_trans.before_cb = NULL;
mpu->spi_trans.after_cb = trans_cb;
mpu->spi_trans.input_buf = &(mpu->rx_buf[0]);
mpu->spi_trans.output_buf = &(mpu->tx_buf[0]);
/* set inital status: Success or Done */
mpu->spi_trans.status = SPITransDone;
/* set default MPU60X0 config options */
mpu60x0_set_default_config(&(mpu->config));
mpu->initialized = FALSE;
mpu->data_available = FALSE;
mpu->init_status = MPU60X0_CONF_UNINIT;
}
static void mpu60x0_spi_write_to_reg(struct Mpu60x0_Spi *mpu, uint8_t _reg, uint8_t _val) {
mpu->spi_trans.output_length = 2;
mpu->spi_trans.input_length = 0;
mpu->tx_buf[0] = _reg;
mpu->tx_buf[1] = _val;
spi_submit(mpu->spi_p, &(mpu->spi_trans));
}
// Configuration function called once before normal use
static void mpu60x0_spi_send_config(struct Mpu60x0_Spi *mpu)
{
switch (mpu->init_status) {
case MPU60X0_CONF_SD:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_SMPLRT_DIV, mpu->config.smplrt_div);
mpu->init_status++;
break;
case MPU60X0_CONF_CONFIG:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_CONFIG, mpu->config.dlpf_cfg);
mpu->init_status++;
break;
case MPU60X0_CONF_GYRO:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_GYRO_CONFIG, (mpu->config.gyro_range<<3));
mpu->init_status++;
break;
case MPU60X0_CONF_ACCEL:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_ACCEL_CONFIG, (mpu->config.accel_range<<3));
mpu->init_status++;
break;
case MPU60X0_CONF_INT_PIN:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_INT_PIN_CFG, (mpu->config.i2c_bypass<<1));
mpu->init_status++;
break;
case MPU60X0_CONF_INT_ENABLE:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_INT_ENABLE, (mpu->config.drdy_int_enable<<0));
mpu->init_status++;
break;
case MPU60X0_CONF_PWR:
mpu60x0_spi_write_to_reg(mpu, MPU60X0_REG_PWR_MGMT_1, ((mpu->config.clk_sel)|(0<<6));
mpu->init_status++;
break;
case MPU60X0_CONF_DONE:
mpu->initialized = TRUE;
mpu->spi_trans.status = SPITransDone;
break;
default:
break;
}
}
void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu)
{
if (mpu->init_status == MPU60X0_CONF_UNINIT) {
mpu->init_status++;
if (mpu->spi_trans.status == SPITransSuccess || mpu->spi_trans.status == SPITransDone) {
mpu60x0_spi_send_config(mpu);
}
}
}
void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu)
{
if (mpu->initialized && mpu->spi_trans.status == SPITransDone) {
mpu->spi_trans.output_length = 1;
mpu->spi_trans.input_length = 15; // FIXME external data
/* set read bit and multiple byte bit, then address */
mpu->tx_buf[0] = MPU60X0_REG_INT_STATUS + MPU60X0_SPI_READ;
spi_submit(mpu->spi_p, &(mpu->spi_trans));
}
}
#define Int16FromBuf(_buf,_idx) ((int16_t)((_buf[_idx]<<8) | _buf[_idx+1]))
void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu)
{
if (mpu->initialized) {
if (mpu->spi_trans.status == SPITransFailed) {
mpu->spi_trans.status = SPITransDone;
}
else if (mpu->spi_trans.status == SPITransSuccess) {
// Successfull reading
if (bit_is_set(mpu->rx_buf,0)) {
// new data
mpu->data_accel.vect.x = Int16FromBuf(mpu->rx_buf,1);
mpu->data_accel.vect.y = Int16FromBuf(mpu->rx_buf,3);
mpu->data_accel.vect.z = Int16FromBuf(mpu->rx_buf,5);
mpu->data_rates.rates.p = Int16FromBuf(mpu->rx_buf,9);
mpu->data_rates.rates.q = Int16FromBuf(mpu->rx_buf,11);
mpu->data_rates.rates.r = Int16FromBuf(mpu->rx_buf,13);
mpu->data_available = TRUE;
}
mpu->spi_trans.status = SPITransDone;
}
}
else if (mpu->init_status != MPU60X0_CONF_UNINIT) { // Configuring but not yet initialized
switch (mpu->spi_trans.status) {
case SPITransFailed:
mpu->init_status--; // Retry config (TODO max retry)
case SPITransSuccess:
case SPITransDone:
mpu->spi_trans.status = SPITransDone;
mpu60x0_spi_send_config(mpu);
break;
default:
break;
}
}
}
sw/airborne/peripherals/mpu60X0_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.
*/
/**
* @file peripherals/mpu60x0_spi.h
*
* Driver for the MPU-60X0 using SPI.
*/
#ifndef MPU60X0_SPI_H
#define MPU60X0_SPI_H
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/spi.h"
/* Include common MPU60X0 options and definitions */
#include "peripherals/mpu60x0.h"
#define MPU60X0_BUFFER_LEN 32
struct Mpu60x0_Spi {
struct spi_periph *spi_p;
struct spi_transaction spi_trans;
volatile uint8_t tx_buf[MPU60X0_BUFFER_LEN]; // FIXME correct length
volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]; // FIXME idem
enum Mpu60x0ConfStatus init_status; ///< init status
bool_t initialized; ///< config done flag
volatile bool_t data_available; ///< data ready flag
union {
struct Int16Vect3 vect; ///< accel data vector in accel coordinate system
int16_t value[3]; ///< accel data values accessible by channel index
} data_accel;
union {
struct Int16Rates rates; ///< rates data as angular rates in gyro coordinate system
int16_t value[3]; ///< rates data values accessible by channel index
} data_rates;
struct Mpu60x0Config config;
};
// Functions
extern void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t addr);
extern void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu);
extern void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu);
extern void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu);
/// convenience function: read or start configuration if not already initialized
static inline void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu) {
if (mpu->initialized)
mpu60x0_spi_read(mpu);
else
mpu60x0_spi_start_configure(mpu);
}
#endif // MPU60X0_SPI_H