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https://github.com/paparazzi/paparazzi.git
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Gautier Hattenberger
73 lines
2.4 KiB
C
73 lines
2.4 KiB
C
/*
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* Copyright (C) 2013 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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* @file peripherals/mpu60x0_spi.h
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*
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* Driver for the MPU-60X0 using SPI.
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*/
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#ifndef MPU60X0_SPI_H
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#define MPU60X0_SPI_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/spi.h"
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/* Include common MPU60X0 options and definitions */
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#include "peripherals/mpu60x0.h"
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#define MPU60X0_BUFFER_LEN 32
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struct Mpu60x0_Spi {
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struct spi_periph *spi_p;
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struct spi_transaction spi_trans;
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volatile uint8_t tx_buf[MPU60X0_BUFFER_LEN]; // FIXME correct length
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volatile uint8_t rx_buf[MPU60X0_BUFFER_LEN]; // FIXME idem
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volatile bool_t data_available; ///< data ready flag
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union {
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struct Int16Vect3 vect; ///< accel data vector in accel coordinate system
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int16_t value[3]; ///< accel data values accessible by channel index
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} data_accel;
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union {
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struct Int16Rates rates; ///< rates data as angular rates in gyro coordinate system
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int16_t value[3]; ///< rates data values accessible by channel index
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} data_rates;
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struct Mpu60x0Config config;
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};
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// Functions
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extern void mpu60x0_spi_init(struct Mpu60x0_Spi *mpu, struct spi_periph *spi_p, uint8_t addr);
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extern void mpu60x0_spi_start_configure(struct Mpu60x0_Spi *mpu);
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extern void mpu60x0_spi_read(struct Mpu60x0_Spi *mpu);
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extern void mpu60x0_spi_event(struct Mpu60x0_Spi *mpu);
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/// convenience function: read or start configuration if not already initialized
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static inline void mpu60x0_spi_periodic(struct Mpu60x0_Spi *mpu) {
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if (mpu->config.initialized)
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mpu60x0_spi_read(mpu);
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else
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mpu60x0_spi_start_configure(mpu);
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}
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#endif // MPU60X0_SPI_H
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