driver_mpu9250_interface_template.c

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/* Includes */
#include "driver_mpu9250_interface.h"
 
#include "stm32f1xx_hal.h"
#include "main.h"
#include <stdio.h>
#include <stdarg.h>
 
/* Defines */
#define MPU9250_CS_LOW()  HAL_GPIO_WritePin(SPI2_CS_GPIO_Port, SPI2_CS_Pin, 0)
#define MPU9250_CS_HIGH() HAL_GPIO_WritePin(SPI2_CS_GPIO_Port, SPI2_CS_Pin, 1)
 
/* Extern global variables */
extern SPI_HandleTypeDef hspi2;
 
uint8_t mpu9250_interface_iic_init(void)
{
    return 0;
}
 
uint8_t mpu9250_interface_iic_deinit(void)
{
    return 0;
}
 
uint8_t mpu9250_interface_iic_read(uint8_t addr, uint8_t reg, uint8_t *buf, uint16_t len)
{
    return 0;
}
 
uint8_t mpu9250_interface_iic_write(uint8_t addr, uint8_t reg, uint8_t *buf, uint16_t len)
{
    return 0;
}
 
uint8_t mpu9250_interface_spi_init(void)
{
    /* SPI is inicialized in main.c. Here only setting CS pin. */
    MPU9250_CS_HIGH();
    return 0;
}
 
uint8_t mpu9250_interface_spi_deinit(void)
{   
    return 0;
}
 
uint8_t mpu9250_interface_spi_read(uint8_t reg, uint8_t *buf, uint16_t len)
{
    /* MSB is set because I want to read */
    uint8_t tx_reg = reg | 0x80;
 
    MPU9250_CS_LOW();
 
    /* Send request */
    if (HAL_SPI_Transmit(&hspi2, &tx_reg, 1, 1000) != HAL_OK)
    {
        MPU9250_CS_HIGH();
        return 1;
    }
 
    /*  Read data */
    if (HAL_SPI_Receive(&hspi2, buf, len, 1000) != HAL_OK)
    {
        MPU9250_CS_HIGH();
        return 1;
    }
 
    MPU9250_CS_HIGH();
    return 0;
}
 
uint8_t mpu9250_interface_spi_write(uint8_t reg, uint8_t *buf, uint16_t len)
{
    /* MSB is clear because I want to write */
        uint8_t tx_reg = reg & 0x7F;
 
        MPU9250_CS_LOW();
 
        /* Send address selected register */
        if (HAL_SPI_Transmit(&hspi2, &tx_reg, 1, 1000) != HAL_OK)
        {
            MPU9250_CS_HIGH();
            return 1;
        }
 
        /* Input data to selected register */
        if (HAL_SPI_Transmit(&hspi2, buf, len, 1000) != HAL_OK)
        {
            MPU9250_CS_HIGH();
            return 1;
        }
 
        MPU9250_CS_HIGH();
        return 0;
}
 
void mpu9250_interface_delay_ms(uint32_t ms)
{
    HAL_Delay(ms);
}
 
void mpu9250_interface_debug_print(const char *const fmt, ...)
{
    va_list args;
 
    /* Process printf with variable number of arguments */
    va_start(args, fmt);
    vprintf(fmt, args);
    va_end(args);
}
 
void mpu9250_interface_receive_callback(uint8_t type)
{
    switch (type)
    {
    case MPU9250_INTERRUPT_MOTION :
    {
        mpu9250_interface_debug_print("mpu9250: irq motion.\n");
 
        break;
    }
    case MPU9250_INTERRUPT_FIFO_OVERFLOW :
    {
        mpu9250_interface_debug_print("mpu9250: irq fifo overflow.\n");
 
        break;
    }
    case MPU9250_INTERRUPT_FSYNC_INT :
    {
        mpu9250_interface_debug_print("mpu9250: irq fsync int.\n");
 
        break;
    }
    case MPU9250_INTERRUPT_DMP :
    {
        mpu9250_interface_debug_print("mpu9250: irq dmp\n");
 
        break;
    }
    case MPU9250_INTERRUPT_DATA_READY :
    {
        mpu9250_interface_debug_print("mpu9250: irq data ready\n");
 
        break;
    }
    default :
    {
        mpu9250_interface_debug_print("mpu9250: irq unknown code.\n");
 
        break;
    }
    }
}
 
void mpu9250_interface_dmp_tap_callback(uint8_t count, uint8_t direction)
{
    switch (direction)
    {
    case MPU9250_DMP_TAP_X_UP :
    {
        mpu9250_interface_debug_print("mpu9250: tap irq x up with %d.\n", count);
 
        break;
    }
    case MPU9250_DMP_TAP_X_DOWN :
    {
        mpu9250_interface_debug_print("mpu9250: tap irq x down with %d.\n", count);
 
        break;
    }
    case MPU9250_DMP_TAP_Y_UP :
    {
        mpu9250_interface_debug_print("mpu9250: tap irq y up with %d.\n", count);
 
        break;
    }
    case MPU9250_DMP_TAP_Y_DOWN :
    {
        mpu9250_interface_debug_print("mpu9250: tap irq y down with %d.\n", count);
 
        break;
    }
    case MPU9250_DMP_TAP_Z_UP :
    {
        mpu9250_interface_debug_print("mpu9250: tap irq z up with %d.\n", count);
 
        break;
    }
    case MPU9250_DMP_TAP_Z_DOWN :
    {
        mpu9250_interface_debug_print("mpu9250: tap irq z down with %d.\n", count);
 
        break;
    }
    default :
    {
        mpu9250_interface_debug_print("mpu9250: tap irq unknown code.\n");
 
        break;
    }
    }
}
 
void mpu9250_interface_dmp_orient_callback(uint8_t orientation)
{
    switch (orientation)
    {
    case MPU9250_DMP_ORIENT_PORTRAIT :
    {
        mpu9250_interface_debug_print("mpu9250: orient irq portrait.\n");
 
        break;
    }
    case MPU9250_DMP_ORIENT_LANDSCAPE :
    {
        mpu9250_interface_debug_print("mpu9250: orient irq landscape.\n");
 
        break;
    }
    case MPU9250_DMP_ORIENT_REVERSE_PORTRAIT :
    {
        mpu9250_interface_debug_print("mpu9250: orient irq reverse portrait.\n");
 
        break;
    }
    case MPU9250_DMP_ORIENT_REVERSE_LANDSCAPE :
    {
        mpu9250_interface_debug_print("mpu9250: orient irq reverse landscape.\n");
 
        break;
    }
    default :
    {
        mpu9250_interface_debug_print("mpu9250: orient irq unknown code.\n");
 
        break;
    }
    }
}