amiro-lld / drivers / MPU6050 / v1 / alld_MPU6050.c @ 14c96f7f
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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program 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 Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <alld_MPU6050.h> |
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#include <string.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Read the value of one or more of the registers.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[in] addr register address
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* @param[out] data register content
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* @param[in] num number of subsequent registers to read
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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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) |
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{
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apalDbgAssert(mpu6050 != NULL);
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apalDbgAssert(mpu6050->i2cd != NULL);
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apalDbgAssert(data != NULL || num == 0); |
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return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), (uint8_t*)&addr, 1, data, num, timeout); |
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} |
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/**
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* @brief Write the value of one or more of the registers.
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* @param[in] i2cd i2c driver
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* @param[in] inad ina219 driver
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* @param[in] addr register address
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* @param[in] data data to write
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* @param[in] num number of subsequent registers to read
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* @param[in] timeout timeout
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* @return An indicator whether the call was successfull
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*/
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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) |
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{
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apalDbgAssert(mpu6050 != NULL);
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apalDbgAssert(mpu6050->i2cd != NULL);
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apalDbgAssert(data != NULL || num == 0); |
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uint8_t buffer[1+num];
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buffer[0] = addr;
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memcpy(&buffer[1], data, num);
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return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+num, NULL, 0, timeout); |
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} |