Quadrotor from scratch
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/* mpl3115a2.c */
#include "sensors.h"
#include "mpl3115a2.h"
#include "i2c.h"
#include "event.h"
#include "log.h"
#include "uart.h"
bool mpl3115a2_state;
i2c_result mpl3115a2_result;
unsigned char mpl3115a2_sample_data[5];
#define LOG_SIGNATURE_ALTIMETER 0xDA7AAA70
unsigned char mpl3115a2_start_command[] = {0x26, 0x82};
unsigned char mpl3115a2_read_address[] = {0x01};
struct i2c_transaction mpl3115a2_start_transaction = {
(0x60 << 1) + 0, /* write */
sizeof(mpl3115a2_start_command),
mpl3115a2_start_command,
&mpl3115a2_result,
EVENT_MPL3115A2_I2C_COMPLETE,
NULL
};
struct i2c_transaction mpl3115a2_sample_transaction2;
struct i2c_transaction mpl3115a2_sample_transaction = {
(0x60 << 1) + 0, /* write */
sizeof(mpl3115a2_read_address),
mpl3115a2_read_address,
&mpl3115a2_result,
EVENT_MPL3115A2_I2C_COMPLETE,
&mpl3115a2_sample_transaction2
};
struct i2c_transaction mpl3115a2_sample_transaction2 = {
(0x60 << 1) + 1, /* read */
5,
mpl3115a2_sample_data,
&mpl3115a2_result,
EVENT_MPL3115A2_I2C_COMPLETE,
NULL
};
void mpl3115a2_event_handler(void);
bool mpl3115a2_init(void)
{
event_register(EVENT_MPL3115A2_I2C_COMPLETE, mpl3115a2_event_handler);
mpl3115a2_state = 0;
return TRUE;
}
bool mpl3115a2_start_sample(void)
{
mpl3115a2_state = !mpl3115a2_state;
if (mpl3115a2_state)
return i2c_start_transaction(&mpl3115a2_start_transaction);
else
return i2c_start_transaction(&mpl3115a2_sample_transaction);
}
void mpl3115a2_event_handler(void)
{
if (mpl3115a2_result != I2C_SUCCESS)
return;
mpl3115a2_result = I2C_IN_PROGRESS;
sensors_sample_done();
/* If we just started a conversion, our job is done for now */
if (mpl3115a2_state)
return;
log_put_uint(LOG_SIGNATURE_ALTIMETER);
log_put_array((char *)mpl3115a2_sample_data, 5);
}