mirror of
https://github.com/paparazzi/paparazzi.git
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standalone driver for itg3200 using I2C
This commit is contained in:
Gautier Hattenberger
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/*
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*
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* Copyright (C) 2011 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/* Driver for ITG3200
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*/
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#include "peripherals/itg3200.extra.h"
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#include "std.h"
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#define ITG_CONF_UNINIT 0
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#define ITG_CONF_SD 1
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#define ITG_CONF_DF 2
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#define ITG_CONF_INT 3
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#define ITG_CONF_PWR 4
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#define ITG_CONF_DONE 5
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// Data ready flag
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volatile bool_t itg3200_data_available;
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// Data vector
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struct Int32Rates itg3200_data;
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// I2C transaction structure
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struct i2c_transaction itg3200_i2c_trans;
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// Init flag
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bool_t itg3200_initialized;
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uint8_t itg3200_init_status;
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// TODO IRQ handling
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void itg3200_init(void)
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{
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itg3200_i2c_trans.status = I2CTransDone;
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itg3200_i2c_trans.slave_addr = ITG3200_ADDR;
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itg3200_initialized = FALSE;
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itg3200_init_status = ITG_CONF_UNINIT;
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}
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// Configuration function called once before normal use
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static void itg3200_send_config(void)
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{
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switch (itg3200_init_status) {
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case ITG_CONF_SD:
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itg3200_i2c_trans.buf[0] = ITG3200_REG_SMPLRT_DIV;
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itg3200_i2c_trans.buf[1] = ITG3200_SMPLRT_DIV;
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I2CTransmit(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 2);
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break;
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case ITG_CONF_DF:
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itg3200_i2c_trans.buf[0] = ITG3200_REG_DLPF_FS;
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itg3200_i2c_trans.buf[1] = ITG3200_DLPF_FS;
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I2CTransmit(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 2);
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break;
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case ITG_CONF_INT:
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itg3200_i2c_trans.buf[0] = ITG3200_REG_INT_CFG;
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itg3200_i2c_trans.buf[1] = ITG3200_INT_CFG;
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I2CTransmit(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 2);
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break;
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case ITG_CONF_PWR:
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itg3200_i2c_trans.buf[0] = ITG3200_REG_PWR_MGM;
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itg3200_i2c_trans.buf[1] = ITG3200_PWR_MGM;
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I2CTransmit(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 2);
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break;
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case ITG_CONF_DONE:
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itg3200_initialized = TRUE;
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itg3200_i2c_trans.status = I2CTransDone;
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break;
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default:
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break;
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}
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}
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void itg3200_periodic(void)
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{
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if (!itg3200_initialized) {
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// Configure
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if (itg3200_i2c_trans.status == I2CTransSuccess || itg3200_i2c_trans.status == I2CTransDone) {
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itg3200_init_status++;
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itg3200_send_config();
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}
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if (itg3200_i2c_trans.status == I2CTransFailed) {
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itg3200_send_config(); // Retry config
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}
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}
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else {
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// Normal reading
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if (itg3200_i2c_trans.status == I2CTransDone) {
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itg3200_i2c_trans.buf[0] = ITG3200_REG_INT_STATUS;
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I2CTransceive(ITG3200_I2C_DEVICE, itg3200_i2c_trans, ITG3200_I2C_ADDR, 1, 9);
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}
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}
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}
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#define Int16FromBuf(_buf,_idx) ((int16_t)((_buf[_idx]<<8) | _buf[_idx+1]))
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void itg3200_event(void)
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{
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if (itg3200_initialized) {
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if (itg3200_i2c_trans.status == I2CTransFailed) {
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itg3200_i2c_trans.status = I2CTransDone;
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}
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else if (itg3200_i2c_trans.status == I2CTransSuccess) {
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// Successfull reading and new data available
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if (itg3200_i2c_trans.buf[0] & 0x01) {
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// New data available
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itg3200_data.p = Int16FromBuf(itg3200_i2c_trans.buf,3);
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itg3200_data.q = Int16FromBuf(itg3200_i2c_trans.buf,5);
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itg3200_data.r = Int16FromBuf(itg3200_i2c_trans.buf,7);
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itg3200_data_available = TRUE;
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}
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itg3200_i2c_trans.status = I2CTransDone;
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}
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}
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}
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@@ -0,0 +1,88 @@
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/*
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* Copyright (C) 2011 Gautier Hattenberger
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/* driver for the gyro ITG3200 from InvenSense
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* this extra header allows standalone operation of the ITG3200
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*/
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#ifndef ITG3200_EXTRA_H
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#define ITG3200_EXTRA_H
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#include "std.h"
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#include "math/pprz_algebra_int.h"
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#include "mcu_periph/i2c.h"
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/* Include address and register definition */
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#include "peripherals/itg3200.h"
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/* Default conf */
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#ifndef ITG3200_SMPLRT_DIV
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#define ITG3200_SMPLRT_DIV 0x00 // Sample rate divider
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#endif
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#ifndef ITG3200_FS_SEL
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#define ITG3200_FS_SEL 0x3 // Full scale range +- 2000°/s
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#endif
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#ifndef ITG3200_DLPF_CFG
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#define ITG3200_DLPF_CFG 0x3 // Internal sampling (1kHz, 42Hz LP Bandwidth)
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#endif
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#ifndef ITG3200_INT_CFG
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#define ITG3200_INT_CFG 0x00 // No interrupt
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#endif
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#ifndef ITG3200_CLK_SEL
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#define ITG3200_CLK_SEL 0x1 // PLL with X gyro reference
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#endif
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#define ITG3200_DLPF_FS ((ITG3200_FS_SEL<<3)|(ITG3200_DLPF_CFG))
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#define ITG3200_PWR_MGM (ITG3200_CLK_SEL)
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/* Default I2C address */
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#ifndef ITG3200_I2C_ADDR
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#define ITG3200_I2C_ADDR ITG3200_ADDR
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#endif
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/* Default I2C device */
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#ifndef ITG3200_I2C_DEVICE
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#define ITG3200_I2C_DEVICE i2c1
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#endif
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// Data ready flag
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extern volatile bool_t itg3200_data_available;
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// Data vector
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extern struct Int32Rates itg3200_data;
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// I2C transaction structure
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extern struct i2c_transaction itg3200_trans;
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// TODO IRQ handling
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// Functions
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extern void itg3200_init(void);
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extern void itg3200_periodic(void);
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extern void itg3200_event(void);
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#define GyroEvent(_handler) { \
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itg3200_event(); \
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if (itg3200_data_available) { \
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_handler(); \
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} \
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}
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#endif // ITG3200_EXTRA_H
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