Revision b6364b51
| include/MPU6050/v1/alld_MPU6050_v1.h | ||
|---|---|---|
| 40 | 40 |
*/ |
| 41 | 41 |
#define MPU6050_LLD_I2C_MAXFREQUENCY 400000 |
| 42 | 42 |
|
| 43 |
#define SD_MPU6050_DataRate_8KHz 0 /**< Sample rate set to 8 kHz */ |
|
| 44 |
#define SD_MPU6050_DataRate_4KHz 1 /**< Sample rate set to 4 kHz */ |
|
| 45 |
#define SD_MPU6050_DataRate_2KHz 3 /**< Sample rate set to 2 kHz */ |
|
| 46 |
#define SD_MPU6050_DataRate_1KHz 7 /**< Sample rate set to 1 kHz */ |
|
| 47 |
#define SD_MPU6050_DataRate_500Hz 15 /**< Sample rate set to 500 Hz */ |
|
| 48 |
#define SD_MPU6050_DataRate_250Hz 31 /**< Sample rate set to 250 Hz */ |
|
| 49 |
#define SD_MPU6050_DataRate_125Hz 63 /**< Sample rate set to 125 Hz */ |
|
| 50 |
#define SD_MPU6050_DataRate_100Hz 79 /**< Sample rate set to 100 Hz */ |
|
| 43 |
/* Default I2C address */ |
|
| 44 |
#define MPU6050_LLD_I2C_ADDR_FIXED 0x68 |
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| 45 |
#define MPU6050_LLD_I2C_ADDR_AD0 0x01 |
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| 46 |
|
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| 47 |
/* MPU6050 registers */ |
|
| 48 |
#define MPU6050_LLD_AUX_VDDIO 0x01 |
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| 49 |
#define MPU6050_LLD_SMPLRT_DIV 0x19 |
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| 50 |
#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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| 57 |
#define MPU6050_LLD_ACCEL_XOUT_H 0x3B |
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#define MPU6050_LLD_ACCEL_XOUT_L 0x3C |
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| 59 |
#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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| 62 |
#define MPU6050_LLD_ACCEL_ZOUT_L 0x40 |
|
| 63 |
#define MPU6050_LLD_TEMP_OUT_H 0x41 |
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| 64 |
#define MPU6050_LLD_TEMP_OUT_L 0x42 |
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#define MPU6050_LLD_GYRO_XOUT_H 0x43 |
|
| 66 |
#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 |
|
| 69 |
#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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|
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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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|
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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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|
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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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|
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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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/******************************************************************************/ |
| 53 | 107 |
/* SETTINGS */ |
| ... | ... | |
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/******************************************************************************/ |
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|
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/** |
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* @brief I2C address masks. TODO: Set to MPU6050 adresses! |
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*/ |
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enum {
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MPU6050_LLD_I2C_ADDR_FIXED = 0x0040u, |
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MPU6050_LLD_I2C_ADDR_A0 = 0x0001u, |
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MPU6050_LLD_I2C_ADDR_A1 = 0x0004u, |
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}; |
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|
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/** |
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* @brief Registers. TODO: Adjust to MPU6050 registers |
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*/ |
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typedef enum {
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MPU6050_LLD_REGISTER_CONFIGURATION = 0x00, |
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MPU6050_LLD_REGISTER_SHUNT_VOLTAGE = 0x01, |
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MPU6050_LLD_REGISTER_BUS_VOLTAGE = 0x02, |
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MPU6050_LLD_REGISTER_POWER = 0x03, |
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MPU6050_LLD_REGISTER_CURRENT = 0x04, |
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MPU6050_LLD_REGISTER_CALIBRATION = 0x05, |
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} mpu6050_lld_register_t; |
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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 |
| 88 | 121 |
*/ |
| ... | ... | |
| 163 | 196 |
typedef struct {
|
| 164 | 197 |
apalI2CDriver_t* i2cd; |
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apalI2Caddr_t addr; /**<The address of the module for I2C communication */ |
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uint16_t current_lsb_uA; |
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mpu6050_lld_cfg_t *config; |
|
| 168 | 199 |
} MPU6050Driver; |
| 169 | 200 |
|
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/******************************************************************************/ |
| ... | ... | |
| 178 | 209 |
#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 mpu6050_lld_register_t addr, uint16_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 mpu6050_lld_register_t addr, const uint16_t* const data, const uint8_t num, const apalTime_t timeout);
|
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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);
|
|
| 183 | 214 |
#ifdef __cplusplus |
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} |
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#endif |
| source/MPU6050/v1/alld_MPU6050_v1.c | ||
|---|---|---|
| 34 | 34 |
/* LOCAL DEFINITIONS */ |
| 35 | 35 |
/******************************************************************************/ |
| 36 | 36 |
|
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/* Default I2C address */ |
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#define MPU6050_I2C_ADDR 0xD0 |
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|
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/* Who I am register value */ |
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#define MPU6050_I_AM 0x68 |
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|
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/* MPU6050 registers */ |
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#define MPU6050_AUX_VDDIO 0x01 |
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#define MPU6050_SMPLRT_DIV 0x19 |
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#define MPU6050_CONFIG 0x1A |
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#define MPU6050_GYRO_CONFIG 0x1B |
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#define MPU6050_ACCEL_CONFIG 0x1C |
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#define MPU6050_MOTION_THRESH 0x1F |
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#define MPU6050_INT_PIN_CFG 0x37 |
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#define MPU6050_INT_ENABLE 0x38 |
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#define MPU6050_INT_STATUS 0x3A |
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#define MPU6050_ACCEL_XOUT_H 0x3B |
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#define MPU6050_ACCEL_XOUT_L 0x3C |
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#define MPU6050_ACCEL_YOUT_H 0x3D |
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#define MPU6050_ACCEL_YOUT_L 0x3E |
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#define MPU6050_ACCEL_ZOUT_H 0x3F |
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#define MPU6050_ACCEL_ZOUT_L 0x40 |
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#define MPU6050_TEMP_OUT_H 0x41 |
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#define MPU6050_TEMP_OUT_L 0x42 |
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#define MPU6050_GYRO_XOUT_H 0x43 |
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#define MPU6050_GYRO_XOUT_L 0x44 |
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#define MPU6050_GYRO_YOUT_H 0x45 |
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#define MPU6050_GYRO_YOUT_L 0x46 |
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#define MPU6050_GYRO_ZOUT_H 0x47 |
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#define MPU6050_GYRO_ZOUT_L 0x48 |
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#define MPU6050_MOT_DETECT_STATUS 0x61 |
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#define MPU6050_SIGNAL_PATH_RESET 0x68 |
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#define MPU6050_MOT_DETECT_CTRL 0x69 |
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#define MPU6050_USER_CTRL 0x6A |
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#define MPU6050_PWR_MGMT_1 0x6B |
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#define MPU6050_PWR_MGMT_2 0x6C |
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#define MPU6050_FIFO_COUNTH 0x72 |
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#define MPU6050_FIFO_COUNTL 0x73 |
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#define MPU6050_FIFO_R_W 0x74 |
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#define MPU6050_WHO_AM_I 0x75 |
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|
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/* Gyro sensitivities in degrees/s */ |
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#define MPU6050_GYRO_SENS_250 ((float) 131) |
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#define MPU6050_GYRO_SENS_500 ((float) 65.5) |
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#define MPU6050_GYRO_SENS_1000 ((float) 32.8) |
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#define MPU6050_GYRO_SENS_2000 ((float) 16.4) |
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| 83 |
|
|
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/* Acce sensitivities in g/s */ |
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#define MPU6050_ACCE_SENS_2 ((float) 16384) |
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#define MPU6050_ACCE_SENS_4 ((float) 8192) |
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#define MPU6050_ACCE_SENS_8 ((float) 4096) |
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#define MPU6050_ACCE_SENS_16 ((float) 2048) |
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|
|
| 90 | 37 |
/******************************************************************************/ |
| 91 | 38 |
/* EXPORTED VARIABLES */ |
| 92 | 39 |
/******************************************************************************/ |
| ... | ... | |
| 118 | 65 |
* @param[in] timeout timeout |
| 119 | 66 |
* @return An indicator whether the call was successfull |
| 120 | 67 |
*/ |
| 121 |
apalExitStatus_t mpu6050_lld_read_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, uint16_t* const data, const uint8_t num, const apalTime_t timeout)
|
|
| 68 |
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)
|
|
| 122 | 69 |
{
|
| 123 | 70 |
apalDbgAssert(mpu6050 != 0); |
| 124 | 71 |
apalDbgAssert(mpu6050->i2cd != 0); |
| 125 | 72 |
apalDbgAssert(data != 0); |
| 126 | 73 |
|
| 127 |
uint8_t buffer[num*2]; |
|
| 128 |
apalExitStatus_t status = apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), (uint8_t*)&addr, 1, buffer, 2*num, timeout); |
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for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
|
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| 130 |
data[dataIdx] = (buffer[2*dataIdx] << 8) | buffer[2*dataIdx+1]; |
|
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} |
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return status; |
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return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), &addr, 1, data, num, timeout); |
|
| 133 | 75 |
} |
| 134 | 76 |
|
| 135 | 77 |
/** |
| ... | ... | |
| 142 | 84 |
* @param[in] timeout timeout |
| 143 | 85 |
* @return An indicator whether the call was successfull |
| 144 | 86 |
*/ |
| 145 |
apalExitStatus_t mpu6050_lld_write_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, const uint16_t* const data, const uint8_t num, const apalTime_t timeout)
|
|
| 87 |
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)
|
|
| 146 | 88 |
{
|
| 147 | 89 |
apalDbgAssert(mpu6050 != 0); |
| 148 | 90 |
apalDbgAssert(mpu6050->i2cd != 0); |
| 149 | 91 |
apalDbgAssert(data != 0); |
| 150 | 92 |
|
| 151 |
uint8_t buffer[1+2*num];
|
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| 93 |
uint8_t buffer[1+num]; |
|
| 152 | 94 |
buffer[0] = addr; |
| 153 | 95 |
for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
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| 154 |
buffer[dataIdx*2+1] = data[dataIdx] >> 8; |
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buffer[dataIdx*2+2] = data[dataIdx] & (0x00FFu); |
|
| 96 |
buffer[dataIdx+1] = data[dataIdx]; |
|
| 156 | 97 |
} |
| 157 |
return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+2*num, NULL, 0, timeout);
|
|
| 98 |
return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+num, NULL, 0, timeout); |
|
| 158 | 99 |
} |
| 159 | 100 |
|
| 160 | 101 |
#endif /* defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */ |
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