amiro-lld / drivers / MPU6050 / v1 / alld_MPU6050.c @ 9466e34d
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1 | 5d4d14a3 | Thomas Schöpping | /*
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2 | * sd_hal_mpu6050.c
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3 | *
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4 | * Created on: Feb 19, 2016
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5 | * Author: Sina Darvishi
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6 | * Edited on: Jan 15, 2019
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7 | * Editor: Simon Welzel
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8 | */
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9 | |||
10 | /**
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11 | * |----------------------------------------------------------------------
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12 | * | Copyright (C) Sina Darvishi,2016
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13 | * |
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14 | * | This program is free software: you can redistribute it and/or modify
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15 | * | it under the terms of the GNU General Public License as published by
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16 | * | the Free Software Foundation, either version 3 of the License, or
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17 | * | any later version.
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18 | * |
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19 | * | This program is distributed in the hope that it will be useful,
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20 | * | but WITHOUT ANY WARRANTY; without even the implied warranty of
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21 | * | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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22 | * | GNU General Public License for more details.
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23 | * |
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24 | * | You should have received a copy of the GNU General Public License
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25 | * | along with this program. If not, see <http://www.gnu.org/licenses/>.
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26 | * |----------------------------------------------------------------------
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27 | */
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28 | |||
29 | #include <alld_MPU6050.h> |
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30 | |||
31 | /******************************************************************************/
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32 | /* LOCAL DEFINITIONS */
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33 | /******************************************************************************/
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34 | |||
35 | /******************************************************************************/
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36 | /* EXPORTED VARIABLES */
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37 | /******************************************************************************/
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38 | |||
39 | /******************************************************************************/
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40 | /* LOCAL TYPES */
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41 | /******************************************************************************/
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42 | |||
43 | /******************************************************************************/
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44 | /* LOCAL VARIABLES */
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45 | /******************************************************************************/
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46 | |||
47 | /******************************************************************************/
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48 | /* LOCAL FUNCTIONS */
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49 | /******************************************************************************/
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50 | |||
51 | /******************************************************************************/
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52 | /* EXPORTED FUNCTIONS */
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53 | /******************************************************************************/
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54 | |||
55 | // from alld_ina219.c
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56 | /**
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57 | * @brief Read the value of one or more of the registers.
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58 | * @param[in] i2cd i2c driver
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59 | * @param[in] inad ina219 driver
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60 | * @param[in] addr register address
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61 | * @param[out] data register content
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62 | * @param[in] num number of subsequent registers to read
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63 | * @param[in] timeout timeout
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64 | * @return An indicator whether the call was successfull
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65 | */
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66 | b6364b51 | Thomas Schöpping | apalExitStatus_t mpu6050_lld_read_register(const MPU6050Driver* const mpu6050, const uint8_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
67 | 5d4d14a3 | Thomas Schöpping | { |
68 | apalDbgAssert(mpu6050 != 0);
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69 | apalDbgAssert(mpu6050->i2cd != 0);
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70 | apalDbgAssert(data != 0);
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71 | |||
72 | b6364b51 | Thomas Schöpping | return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), &addr, 1, data, num, timeout); |
73 | 5d4d14a3 | Thomas Schöpping | } |
74 | |||
75 | /**
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76 | * @brief Write the value of one or more of the registers.
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77 | * @param[in] i2cd i2c driver
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78 | * @param[in] inad ina219 driver
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79 | * @param[in] addr register address
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80 | * @param[in] data data to write
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81 | * @param[in] num number of subsequent registers to read
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82 | * @param[in] timeout timeout
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83 | * @return An indicator whether the call was successfull
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84 | */
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85 | b6364b51 | Thomas Schöpping | apalExitStatus_t mpu6050_lld_write_register(const MPU6050Driver* const mpu6050, const uint8_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout) |
86 | 5d4d14a3 | Thomas Schöpping | { |
87 | apalDbgAssert(mpu6050 != 0);
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88 | apalDbgAssert(mpu6050->i2cd != 0);
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89 | apalDbgAssert(data != 0);
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90 | |||
91 | b6364b51 | Thomas Schöpping | uint8_t buffer[1+num];
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92 | 5d4d14a3 | Thomas Schöpping | buffer[0] = addr;
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93 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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94 | b6364b51 | Thomas Schöpping | buffer[dataIdx+1] = data[dataIdx];
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95 | 5d4d14a3 | Thomas Schöpping | } |
96 | b6364b51 | Thomas Schöpping | return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+num, NULL, 0, timeout); |
97 | 5d4d14a3 | Thomas Schöpping | } |