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mpu9250_i2c.h
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mpu9250_i2c.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/mpu9250_i2c.h
*
* Driver for the MPU-9250 using I2C.
*/
#ifndef MPU9250_I2C_H
#define MPU9250_I2C_H
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/i2c.h"
/* Include common MPU9250 options and definitions */
#include "peripherals/mpu9250.h"
#include "peripherals/ak8963.h"
#define MPU9250_BUFFER_EXT_LEN 16
enum Mpu9250I2cSlaveInitStatus {
MPU9250_I2C_CONF_UNINIT,
MPU9250_I2C_CONF_I2C_MST_DIS,
MPU9250_I2C_CONF_I2C_BYPASS_EN,
MPU9250_I2C_CONF_SLAVES_CONFIGURE,
MPU9250_I2C_CONF_I2C_BYPASS_DIS,
MPU9250_I2C_CONF_I2C_MST_CLK,
MPU9250_I2C_CONF_I2C_MST_DELAY,
MPU9250_I2C_CONF_I2C_SMPLRT,
MPU9250_I2C_CONF_I2C_MST_EN,
MPU9250_I2C_CONF_DONE
};
struct Mpu9250_I2c {
struct i2c_periph *i2c_p;
struct i2c_transaction i2c_trans;
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;
uint8_t data_ext[MPU9250_BUFFER_EXT_LEN];
struct Mpu9250Config config;
enum Mpu9250I2cSlaveInitStatus slave_init_status;
struct Ak8963 akm; ///< "internal" magnetometer
};
// Functions
extern void mpu9250_i2c_init(struct Mpu9250_I2c *mpu, struct i2c_periph *i2c_p, uint8_t addr);
extern void mpu9250_i2c_start_configure(struct Mpu9250_I2c *mpu);
extern void mpu9250_i2c_read(struct Mpu9250_I2c *mpu);
extern void mpu9250_i2c_event(struct Mpu9250_I2c *mpu);
/// convenience function: read or start configuration if not already initialized
static inline void mpu9250_i2c_periodic(struct Mpu9250_I2c *mpu) {
if (mpu->config.initialized)
mpu9250_i2c_read(mpu);
else
mpu9250_i2c_start_configure(mpu);
}
#endif // MPU9250_I2C_H