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

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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..2019  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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/**
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 * @file    alld_MPU6050.h
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 * @brief   Gyro & Accelerometer macros and structures.
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 *
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 * @addtogroup lld_mems
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 * @{
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 */
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#ifndef AMIROLLD_MPU6050_H
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#define AMIROLLD_MPU6050_H
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#include <amiro-lld.h>
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/******************************************************************************/
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/* CONSTANTS                                                                  */
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/******************************************************************************/
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/**
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 * @brief Maximum I2C frequency.
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 */
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#define MPU6050_LLD_I2C_MAXFREQUENCY    400000
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/* Default I2C address */
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#define MPU6050_LLD_I2C_ADDR_FIXED      0x68
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#define MPU6050_LLD_I2C_ADDR_AD0        0x01
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/* MPU6050 registers */
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#define MPU6050_LLD_AUX_VDDIO   0x01
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#define MPU6050_LLD_SMPLRT_DIV   0x19
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#define MPU6050_LLD_CONFIG    0x1A
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#define MPU6050_LLD_GYRO_CONFIG   0x1B
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#define MPU6050_LLD_ACCEL_CONFIG  0x1C
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#define MPU6050_LLD_MOTION_THRESH  0x1F
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#define MPU6050_LLD_INT_PIN_CFG   0x37
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#define MPU6050_LLD_INT_ENABLE   0x38
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#define MPU6050_LLD_INT_STATUS   0x3A
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#define MPU6050_LLD_ACCEL_XOUT_H  0x3B
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#define MPU6050_LLD_ACCEL_XOUT_L  0x3C
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#define MPU6050_LLD_ACCEL_YOUT_H  0x3D
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#define MPU6050_LLD_ACCEL_YOUT_L  0x3E
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#define MPU6050_LLD_ACCEL_ZOUT_H  0x3F
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#define MPU6050_LLD_ACCEL_ZOUT_L  0x40
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#define MPU6050_LLD_TEMP_OUT_H   0x41
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#define MPU6050_LLD_TEMP_OUT_L   0x42
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#define MPU6050_LLD_GYRO_XOUT_H   0x43
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#define MPU6050_LLD_GYRO_XOUT_L   0x44
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#define MPU6050_LLD_GYRO_YOUT_H   0x45
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#define MPU6050_LLD_GYRO_YOUT_L   0x46
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#define MPU6050_LLD_GYRO_ZOUT_H   0x47
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#define MPU6050_LLD_GYRO_ZOUT_L   0x48
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#define MPU6050_LLD_MOT_DETECT_STATUS 0x61
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#define MPU6050_LLD_SIGNAL_PATH_RESET 0x68
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#define MPU6050_LLD_MOT_DETECT_CTRL  0x69
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#define MPU6050_LLD_USER_CTRL   0x6A
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#define MPU6050_LLD_PWR_MGMT_1   0x6B
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#define MPU6050_LLD_PWR_MGMT_2   0x6C
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#define MPU6050_LLD_FIFO_COUNTH   0x72
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#define MPU6050_LLD_FIFO_COUNTL   0x73
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#define MPU6050_LLD_FIFO_R_W   0x74
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#define MPU6050_LLD_WHO_AM_I   0x75
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#define MPU6050_LLD_DataRate_8KHz        0   /**< Sample rate set to 8 kHz */
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#define MPU6050_LLD_DataRate_4KHz        1   /**< Sample rate set to 4 kHz */
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#define MPU6050_LLD_DataRate_2KHz        3   /**< Sample rate set to 2 kHz */
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#define MPU6050_LLD_DataRate_1KHz        7   /**< Sample rate set to 1 kHz */
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#define MPU6050_LLD_DataRate_500Hz       15  /**< Sample rate set to 500 Hz */
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#define MPU6050_LLD_DataRate_250Hz       31  /**< Sample rate set to 250 Hz */
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#define MPU6050_LLD_DataRate_125Hz       63  /**< Sample rate set to 125 Hz */
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#define MPU6050_LLD_DataRate_100Hz       79  /**< Sample rate set to 100 Hz */
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/* Who I am register value */
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#define MPU6050_I_AM    MPU6050_LLD_I2C_ADDR_FIXED
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/* Gyro sensitivities in degrees/s */
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#define MPU6050_LLD_GYRO_SENS_250  ((float) 131)
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#define MPU6050_LLD_GYRO_SENS_500  ((float) 65.5)
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#define MPU6050_LLD_GYRO_SENS_1000  ((float) 32.8)
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#define MPU6050_LLD_GYRO_SENS_2000  ((float) 16.4)
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/* Acce sensitivities in g/s */
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#define MPU6050_LLD_ACCE_SENS_2   ((float) 16384)
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#define MPU6050_LLD_ACCE_SENS_4   ((float) 8192)
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#define MPU6050_LLD_ACCE_SENS_8   ((float) 4096)
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#define MPU6050_LLD_ACCE_SENS_16  ((float) 2048)
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/******************************************************************************/
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/* SETTINGS                                                                   */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* DATA STRUCTURES AND TYPES                                                  */
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/******************************************************************************/
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/**
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 * @brief  MPU6050 can have 2 different slave addresses, depends on it's input AD0 pin
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 *         This feature allows you to use 2 different sensors with this library at the same time
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 */
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typedef enum  {
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        SD_MPU6050_Device_0 = 0x00, /*!< AD0 pin is set to low */
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        SD_MPU6050_Device_1 = 0x02  /*!< AD0 pin is set to high */
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} SD_MPU6050_Device;
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/**
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 * @brief  MPU6050 result enumeration
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 */
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typedef enum  {
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        SD_MPU6050_Result_Ok = 0x00,          /*!< Everything OK */
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        SD_MPU6050_Result_Error,              /*!< Unknown error */
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        SD_MPU6050_Result_DeviceNotConnected, /*!< There is no device with valid slave address */
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        SD_MPU6050_Result_DeviceInvalid       /*!< Connected device with address is not MPU6050 */
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} SD_MPU6050_Result;
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/**
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 * @brief  Parameters for accelerometer range
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 */
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typedef enum  {
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        SD_MPU6050_Accelerometer_2G = 0x00, /*!< Range is +- 2G */
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        SD_MPU6050_Accelerometer_4G = 0x01, /*!< Range is +- 4G */
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        SD_MPU6050_Accelerometer_8G = 0x02, /*!< Range is +- 8G */
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        SD_MPU6050_Accelerometer_16G = 0x03 /*!< Range is +- 16G */
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} SD_MPU6050_Accelerometer;
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/**
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 * @brief  Parameters for gyroscope range
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 */
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typedef enum {
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        SD_MPU6050_Gyroscope_250s = 0x00,  /*!< Range is +- 250 degrees/s */
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        SD_MPU6050_Gyroscope_500s = 0x01,  /*!< Range is +- 500 degrees/s */
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        SD_MPU6050_Gyroscope_1000s = 0x02, /*!< Range is +- 1000 degrees/s */
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        SD_MPU6050_Gyroscope_2000s = 0x03  /*!< Range is +- 2000 degrees/s */
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} SD_MPU6050_Gyroscope;
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/**
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 * @brief  Interrupts union and structure
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 */
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typedef union {
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        struct {
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                uint8_t DataReady:1;       /*!< Data ready interrupt */
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                uint8_t reserved2:2;       /*!< Reserved bits */
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                uint8_t Master:1;          /*!< Master interrupt. Not enabled with library */
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                uint8_t FifoOverflow:1;    /*!< FIFO overflow interrupt. Not enabled with library */
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                uint8_t reserved1:1;       /*!< Reserved bit */
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                uint8_t MotionDetection:1; /*!< Motion detected interrupt */
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                uint8_t reserved0:1;       /*!< Reserved bit */
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        } F;
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        uint8_t Status;
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} SD_MPU6050_Interrupt;
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/**
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 * @brief Config register.
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 */
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typedef union {
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  uint16_t data;
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  struct {
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    /**
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    ina219_lld_mode_t mode : 3;
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    ina219_lld_adc_t sadc : 4;
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    ina219_lld_adc_t badc : 4;
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    ina219_lld_gain_t gain : 2;
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    ina219_lld_brng_t brng : 1;
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    */
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    uint8_t zero : 1;
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    uint8_t reset : 1;
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  } options;
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} mpu6050_lld_cfg_t;
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/**
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 * @brief The MPU6050 struct.
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 */
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typedef struct {
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  apalI2CDriver_t* i2cd;
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  apalI2Caddr_t addr;   /**<The address of the module for I2C communication */
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} MPU6050Driver;
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/******************************************************************************/
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/* MACROS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS                                                        */
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/******************************************************************************/
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#ifdef __cplusplus
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extern "C" {
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#endif
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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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  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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#ifdef __cplusplus
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}
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#endif
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/******************************************************************************/
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/* INLINE FUNCTIONS                                                           */
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/******************************************************************************/
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#endif /* AMIROLLD_MPU6050_H */
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/** @} */
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