amiro-lld / include / MPU6050 / v1 / alld_MPU6050_v1.h @ c4db2363
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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_v1.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_V1_H
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#define AMIROLLD_MPU6050_V1_H
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#include <amiro-lld.h> |
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#if (defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1)) || defined(__DOXYGEN__) |
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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 /* defined(AMIROLLD_CFG_MPU6050) && (AMIROLLD_CFG_MPU6050 == 1) */ |
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#endif /* AMIROLLD_MPU6050_V1_H */ |
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