amiro-lld / drivers / MPU6050 / v1 / alld_MPU6050.c @ 14c96f7f
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| 1 | 5d4d14a3 | Thomas Schöpping | /*
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| 2 | ed9a1bf5 | Thomas Schöpping | AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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| 3 | Copyright (C) 2016..2020 Thomas Schöpping et al.
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| 4 | 5d4d14a3 | Thomas Schöpping | |
| 5 | ed9a1bf5 | Thomas Schöpping | This program is free software: you can redistribute it and/or modify
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| 6 | it under the terms of the GNU Lesser General Public License as published by
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| 7 | the Free Software Foundation, either version 3 of the License, or
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| 8 | (at your option) any later version.
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful,
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 13 | GNU Lesser General Public License for more details.
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| 14 | |||
| 15 | You should have received a copy of the GNU Lesser General Public License
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 | 5d4d14a3 | Thomas Schöpping | |
| 19 | #include <alld_MPU6050.h> |
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| 21 | ed9a1bf5 | Thomas Schöpping | #include <string.h> |
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| 23 | 5d4d14a3 | Thomas Schöpping | /******************************************************************************/
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| 24 | /* LOCAL DEFINITIONS */
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| 25 | /******************************************************************************/
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| 26 | |||
| 27 | /******************************************************************************/
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| 28 | /* EXPORTED VARIABLES */
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| 29 | /******************************************************************************/
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| 30 | |||
| 31 | /******************************************************************************/
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| 32 | /* LOCAL TYPES */
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| 33 | /******************************************************************************/
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| 34 | |||
| 35 | /******************************************************************************/
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| 36 | /* LOCAL VARIABLES */
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| 37 | /******************************************************************************/
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| 38 | |||
| 39 | /******************************************************************************/
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| 40 | /* LOCAL FUNCTIONS */
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| 41 | /******************************************************************************/
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| 42 | |||
| 43 | /******************************************************************************/
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| 44 | /* EXPORTED FUNCTIONS */
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| 45 | /******************************************************************************/
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| 46 | |||
| 47 | /**
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| 48 | * @brief Read the value of one or more of the registers.
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| 49 | * @param[in] i2cd i2c driver
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| 50 | * @param[in] inad ina219 driver
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| 51 | * @param[in] addr register address
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| 52 | * @param[out] data register content
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| 53 | * @param[in] num number of subsequent registers to read
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| 54 | * @param[in] timeout timeout
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| 55 | * @return An indicator whether the call was successfull
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| 56 | */
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| 57 | ed9a1bf5 | Thomas Schöpping | apalExitStatus_t mpu6050_lld_read_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
| 58 | 5d4d14a3 | Thomas Schöpping | {
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| 59 | ed9a1bf5 | Thomas Schöpping | apalDbgAssert(mpu6050 != NULL);
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| 60 | apalDbgAssert(mpu6050->i2cd != NULL);
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| 61 | apalDbgAssert(data != NULL || num == 0); |
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| 62 | 5d4d14a3 | Thomas Schöpping | |
| 63 | ed9a1bf5 | Thomas Schöpping | return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), (uint8_t*)&addr, 1, data, num, timeout); |
| 64 | 5d4d14a3 | Thomas Schöpping | } |
| 65 | |||
| 66 | /**
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| 67 | * @brief Write the value of one or more of the registers.
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| 68 | * @param[in] i2cd i2c driver
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| 69 | * @param[in] inad ina219 driver
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| 70 | * @param[in] addr register address
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| 71 | * @param[in] data data to write
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| 72 | * @param[in] num number of subsequent registers to read
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| 73 | * @param[in] timeout timeout
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| 74 | * @return An indicator whether the call was successfull
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| 75 | */
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| 76 | ed9a1bf5 | Thomas Schöpping | apalExitStatus_t mpu6050_lld_write_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
| 77 | 5d4d14a3 | Thomas Schöpping | {
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| 78 | ed9a1bf5 | Thomas Schöpping | apalDbgAssert(mpu6050 != NULL);
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| 79 | apalDbgAssert(mpu6050->i2cd != NULL);
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| 80 | apalDbgAssert(data != NULL || num == 0); |
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| 81 | 5d4d14a3 | Thomas Schöpping | |
| 82 | b6364b51 | Thomas Schöpping | uint8_t buffer[1+num];
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| 83 | 5d4d14a3 | Thomas Schöpping | buffer[0] = addr;
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| 84 | ed9a1bf5 | Thomas Schöpping | memcpy(&buffer[1], data, num);
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| 85 | b6364b51 | Thomas Schöpping | return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+num, NULL, 0, timeout); |
| 86 | 5d4d14a3 | Thomas Schöpping | } |