Statistics
| Branch: | Tag: | Revision:

amiro-lld / source / MPU6050 / v1 / alld_MPU6050_v1.c @ b6364b51

History | View | Annotate | Download (4.34 KB)

1
/*
2
 * sd_hal_mpu6050.c
3
 *
4
 *  Created on: Feb 19, 2016
5
 *      Author: Sina Darvishi
6
 *  Edited on: Jan 15, 2019
7
 *      Editor: Simon Welzel
8
 */
9

    
10
/**
11
 * |----------------------------------------------------------------------
12
 * | Copyright (C) Sina Darvishi,2016
13
 * |
14
 * | This program is free software: you can redistribute it and/or modify
15
 * | it under the terms of the GNU General Public License as published by
16
 * | the Free Software Foundation, either version 3 of the License, or
17
 * | any later version.
18
 * |
19
 * | This program is distributed in the hope that it will be useful,
20
 * | but WITHOUT ANY WARRANTY; without even the implied warranty of
21
 * | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
22
 * | GNU General Public License for more details.
23
 * |
24
 * | You should have received a copy of the GNU General Public License
25
 * | along with this program.  If not, see <http://www.gnu.org/licenses/>.
26
 * |----------------------------------------------------------------------
27
 */
28

    
29
#include <alld_MPU6050.h>
30

    
31
#if (defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1)) || defined(__DOXYGEN__)
32

    
33
/******************************************************************************/
34
/* LOCAL DEFINITIONS                                                          */
35
/******************************************************************************/
36

    
37
/******************************************************************************/
38
/* EXPORTED VARIABLES                                                         */
39
/******************************************************************************/
40

    
41
/******************************************************************************/
42
/* LOCAL TYPES                                                                */
43
/******************************************************************************/
44

    
45
/******************************************************************************/
46
/* LOCAL VARIABLES                                                            */
47
/******************************************************************************/
48

    
49
/******************************************************************************/
50
/* LOCAL FUNCTIONS                                                            */
51
/******************************************************************************/
52

    
53
/******************************************************************************/
54
/* EXPORTED FUNCTIONS                                                         */
55
/******************************************************************************/
56

    
57
// from alld_ina219.c
58
/**
59
 * @brief Read the value of one or more of the registers.
60
 * @param[in]   i2cd        i2c driver
61
 * @param[in]   inad        ina219 driver
62
 * @param[in]   addr        register address
63
 * @param[out]  data        register content
64
 * @param[in]   num         number of subsequent registers to read
65
 * @param[in]   timeout     timeout
66
 * @return                  An indicator whether the call was successfull
67
 */
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)
69
{
70
  apalDbgAssert(mpu6050 != 0);
71
  apalDbgAssert(mpu6050->i2cd != 0);
72
  apalDbgAssert(data != 0);
73

    
74
  return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), &addr, 1, data, num, timeout);
75
}
76

    
77
/**
78
 * @brief Write the value of one or more of the registers.
79
 * @param[in]   i2cd        i2c driver
80
 * @param[in]   inad        ina219 driver
81
 * @param[in]   addr        register address
82
 * @param[in]   data        data to write
83
 * @param[in]   num         number of subsequent registers to read
84
 * @param[in]   timeout     timeout
85
 * @return                  An indicator whether the call was successfull
86
 */
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)
88
{
89
  apalDbgAssert(mpu6050 != 0);
90
  apalDbgAssert(mpu6050->i2cd != 0);
91
  apalDbgAssert(data != 0);
92

    
93
  uint8_t buffer[1+num];
94
  buffer[0] = addr;
95
  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {
96
    buffer[dataIdx+1] = data[dataIdx];
97
  }
98
  return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+num, NULL, 0, timeout);
99
}
100

    
101
#endif /* defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */
102