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amiro-lld / drivers / MPU6050 / v1 / alld_MPU6050.c @ 9466e34d

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1 5d4d14a3 Thomas Schöpping
/*
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 * sd_hal_mpu6050.c
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 *
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 *  Created on: Feb 19, 2016
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 *      Author: Sina Darvishi
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 *  Edited on: Jan 15, 2019
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 *      Editor: Simon Welzel
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 */
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/**
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 * |----------------------------------------------------------------------
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 * | Copyright (C) Sina Darvishi,2016
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 * |
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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 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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 * | any later version.
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 * |
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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 General Public License for more details.
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 * |
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 * | You should have received a copy of the GNU 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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 */
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#include <alld_MPU6050.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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// from alld_ina219.c
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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 uint8_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout)
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{
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  apalDbgAssert(mpu6050 != 0);
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  apalDbgAssert(mpu6050->i2cd != 0);
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  apalDbgAssert(data != 0);
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  return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), &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 uint8_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 != 0);
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  apalDbgAssert(mpu6050->i2cd != 0);
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  apalDbgAssert(data != 0);
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  uint8_t buffer[1+num];
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  buffer[0] = addr;
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  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
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    buffer[dataIdx+1] = data[dataIdx];
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  }
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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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}