amiro-lld / source / MPU6050 / v1 / alld_MPU6050_v1.c @ c4db2363
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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 | #if (defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1)) || defined(__DOXYGEN__) |
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| 32 | |||
| 33 | /******************************************************************************/
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| 34 | /* LOCAL DEFINITIONS */
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| 35 | /******************************************************************************/
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| 36 | |||
| 37 | /******************************************************************************/
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| 38 | /* EXPORTED VARIABLES */
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| 39 | /******************************************************************************/
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| 40 | |||
| 41 | /******************************************************************************/
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| 42 | /* LOCAL TYPES */
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| 43 | /******************************************************************************/
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| 44 | |||
| 45 | /******************************************************************************/
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| 46 | /* LOCAL VARIABLES */
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| 47 | /******************************************************************************/
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| 48 | |||
| 49 | /******************************************************************************/
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| 50 | /* LOCAL FUNCTIONS */
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| 51 | /******************************************************************************/
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| 52 | |||
| 53 | /******************************************************************************/
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| 54 | /* EXPORTED FUNCTIONS */
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| 55 | /******************************************************************************/
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| 56 | |||
| 57 | // from alld_ina219.c
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| 58 | /**
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| 59 | * @brief Read the value of one or more of the registers.
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| 60 | * @param[in] i2cd i2c driver
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| 61 | * @param[in] inad ina219 driver
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| 62 | * @param[in] addr register address
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| 63 | * @param[out] data register content
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| 64 | * @param[in] num number of subsequent registers to read
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| 65 | * @param[in] timeout timeout
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| 66 | * @return An indicator whether the call was successfull
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| 67 | */
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| 68 | 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) |
| 69 | 5d4d14a3 | Thomas Schöpping | {
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| 70 | apalDbgAssert(mpu6050 != 0);
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| 71 | apalDbgAssert(mpu6050->i2cd != 0);
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| 72 | apalDbgAssert(data != 0);
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| 73 | |||
| 74 | b6364b51 | Thomas Schöpping | return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), &addr, 1, data, num, timeout); |
| 75 | 5d4d14a3 | Thomas Schöpping | } |
| 76 | |||
| 77 | /**
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| 78 | * @brief Write the value of one or more of the registers.
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| 79 | * @param[in] i2cd i2c driver
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| 80 | * @param[in] inad ina219 driver
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| 81 | * @param[in] addr register address
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| 82 | * @param[in] data data to write
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| 83 | * @param[in] num number of subsequent registers to read
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| 84 | * @param[in] timeout timeout
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| 85 | * @return An indicator whether the call was successfull
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| 86 | */
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| 87 | 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) |
| 88 | 5d4d14a3 | Thomas Schöpping | {
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| 89 | apalDbgAssert(mpu6050 != 0);
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| 90 | apalDbgAssert(mpu6050->i2cd != 0);
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| 91 | apalDbgAssert(data != 0);
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| 92 | |||
| 93 | b6364b51 | Thomas Schöpping | uint8_t buffer[1+num];
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| 94 | 5d4d14a3 | Thomas Schöpping | buffer[0] = addr;
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| 95 | for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) { |
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| 96 | b6364b51 | Thomas Schöpping | buffer[dataIdx+1] = data[dataIdx];
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| 97 | 5d4d14a3 | Thomas Schöpping | } |
| 98 | b6364b51 | Thomas Schöpping | return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+num, NULL, 0, timeout); |
| 99 | 5d4d14a3 | Thomas Schöpping | } |
| 100 | |||
| 101 | #endif /* defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */ |