Revision ed9a1bf5

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drivers/MPU6050/v1/alld_MPU6050.c
1 1 
/*
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 * sd_hal_mpu6050.c
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 *
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 *  Created on: Feb 19, 2016
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 *      Author: Sina Darvishi
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 *  Edited on: Jan 15, 2019
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 *      Editor: Simon Welzel
8 
 */
2 
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
3 
Copyright (C) 2016..2020  Thomas Schöpping et al.
9 4 

  		




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/**


  		




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 * |----------------------------------------------------------------------


  		




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 * | Copyright (C) Sina Darvishi,2016


  		




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 * |


  		




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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 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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 * | any later version.


  		




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 * |


  		




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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 General Public License for more details.


  		




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 * |


  		




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 * | You should have received a copy of the GNU 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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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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#include <alld_MPU6050.h>


  		




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#include <string.h>


  		




  
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/******************************************************************************/


  		




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/* LOCAL DEFINITIONS                                                          */


  		




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/******************************************************************************/


  		




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/* EXPORTED FUNCTIONS                                                         */


  		




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/******************************************************************************/


  		




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// from alld_ina219.c


  		




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/**


  		




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 * @brief Read the value of one or more of the registers.


  		




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 * @param[in]   i2cd        i2c driver


  		




  ......




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 * @param[in]   timeout     timeout


  		




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 * @return                  An indicator whether the call was successfull


  		




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 */


  		




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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_read_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout)


  		




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{


  		




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  apalDbgAssert(mpu6050 != 0);


  		




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  apalDbgAssert(mpu6050->i2cd != 0);


  		




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  apalDbgAssert(data != 0);


  		




  
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  apalDbgAssert(mpu6050 != NULL);


  		




  
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  apalDbgAssert(mpu6050->i2cd != NULL);


  		




  
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  apalDbgAssert(data != NULL || num == 0);


  		




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


  		




  
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  return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), (uint8_t*)&addr, 1, data, num, timeout);


  		




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}


  		




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/**


  		




  ......




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 * @param[in]   timeout     timeout


  		




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 * @return                  An indicator whether the call was successfull


  		




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 */


  		




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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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apalExitStatus_t mpu6050_lld_write_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout)


  		




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{


  		




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  apalDbgAssert(mpu6050 != 0);


  		




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  apalDbgAssert(mpu6050->i2cd != 0);


  		




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  apalDbgAssert(data != 0);


  		




  
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  apalDbgAssert(mpu6050 != NULL);


  		




  
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  apalDbgAssert(mpu6050->i2cd != NULL);


  		




  
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  apalDbgAssert(data != NULL || num == 0);


  		




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  uint8_t buffer[1+num];


  		




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  buffer[0] = addr;


  		




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  for (uint8_t dataIdx = 0; dataIdx < num; dataIdx++) {


  		




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    buffer[dataIdx+1] = data[dataIdx];


  		




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  }


  		




  
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  memcpy(&buffer[1], data, num);


  		




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  return apalI2CMasterTransmit(mpu6050->i2cd, (MPU6050_LLD_I2C_ADDR_FIXED | mpu6050->addr), buffer, 1+num, NULL, 0, timeout);


  		




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}


  		












  

    
      drivers/MPU6050/v1/alld_MPU6050.h
    
  





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/******************************************************************************/


  		




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/**


  		




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 * @brief Maximum I2C frequency.


  		




  
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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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#define MPU6050_LLD_I2C_MAXFREQUENCY            400000


  		




  
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/**


  		




  
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 * @brief   Default I2C address


  		




  
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 */


  		




  
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#define MPU6050_LLD_I2C_ADDR_FIXED              0x68


  		




  
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/**


  		




  
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 * @brief   Optional I2C address mask, if AD0 is high.


  		




  
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 */


  		




  
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#define MPU6050_LLD_I2C_ADDR_AD0                0x01


  		




  
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/**


  		




  
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 * @brief   Constant value of the WHO_AM_I register.


  		




  
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 */


  		




  
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#define MPU6050_LLD_WHO_AM_I                    0x68


  		




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/******************************************************************************/


  		




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/* SETTINGS                                                                   */


  		




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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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 * @brief   Register map.


  		




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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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/**


  		




  157
  
  
    
 * @brief  Interrupts union and structure


  		




  158
  
  
    
 */


  		




  159
  
  
    
typedef union {


  		




  160
  
  
    
	struct {


  		




  161
  
  
    
		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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  MPU6050_LLD_REGISTER_SELF_TEST_X        = 0x0D,


  		




  
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  MPU6050_LLD_REGISTER_SELF_TEST_Y        = 0x0E,


  		




  
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  MPU6050_LLD_REGISTER_SELF_TEST_Z        = 0x0F,


  		




  
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  MPU6050_LLD_REGISTER_SELF_TEST_A        = 0x10,


  		




  
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  MPU6050_LLD_REGISTER_SMPLRT_DIV         = 0x19,


  		




  
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  MPU6050_LLD_REGISTER_CONFIG             = 0x1A,


  		




  
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  MPU6050_LLD_REGISTER_GYRO_CONFIG        = 0x1B,


  		




  
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  MPU6050_LLD_REGISTER_ACCEL_CONFIG       = 0x1C,


  		




  
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  MPU6050_LLD_REGISTER_FIFO_EN            = 0x23,


  		




  
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  MPU6050_LLD_REGISTER_I2C_MST_CTRL       = 0x24,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV0_ADDR      = 0x25,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV0_REG       = 0x26,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV0_CTRL      = 0x27,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV1_ADDR      = 0x28,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV1_REG       = 0x29,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV1_CTRL      = 0x2A,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV2_ADDR      = 0x2B,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV2_REG       = 0x2C,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV2_CTRL      = 0x2D,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV3_ADDR      = 0x2E,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV3_REG       = 0x2F,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV3_CTRL      = 0x30,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV4_ADDR      = 0x31,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV4_REG       = 0x32,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV4_DO        = 0x33,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV4_CTRL      = 0x34,


  		




  
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  MPU6050_LLD_REGISTER_I2C_SLV4_DI        = 0x35,


  		




  
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  MPU6050_LLD_REGISTER_I2C_MST_STATUS     = 0x36,


  		




  
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  MPU6050_LLD_REGISTER_INT_PIN_CFG        = 0x37,


  		




  
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  MPU6050_LLD_REGISTER_INT_ENABLE         = 0x38,


  		




  
  102
  
    
  MPU6050_LLD_REGISTER_INT_STATUS         = 0x3A,


  		




  
  103
  
    
  MPU6050_LLD_REGISTER_ACCEL_XOUT_H       = 0x3B,


  		




  
  104
  
    
  MPU6050_LLD_REGISTER_ACCEL_XOUT_L       = 0x3C,


  		




  
  105
  
    
  MPU6050_LLD_REGISTER_ACCEL_YOUT_H       = 0x3D,


  		




  
  106
  
    
  MPU6050_LLD_REGISTER_ACCEL_YOUT_L       = 0x3E,


  		




  
  107
  
    
  MPU6050_LLD_REGISTER_ACCEL_ZOUT_H       = 0x3F,


  		




  
  108
  
    
  MPU6050_LLD_REGISTER_ACCEL_ZOUT_L       = 0x40,


  		




  
  109
  
    
  MPU6050_LLD_REGISTER_TEMP_OUT_H         = 0x41,


  		




  
  110
  
    
  MPU6050_LLD_REGISTER_TEMP_OUT_L         = 0x42,


  		




  
  111
  
    
  MPU6050_LLD_REGISTER_GYRO_XOUT_H        = 0x43,


  		




  
  112
  
    
  MPU6050_LLD_REGISTER_GYRO_XOUT_L        = 0x44,


  		




  
  113
  
    
  MPU6050_LLD_REGISTER_GYRO_YOUT_H        = 0x45,


  		




  
  114
  
    
  MPU6050_LLD_REGISTER_GYRO_YOUT_L        = 0x46,


  		




  
  115
  
    
  MPU6050_LLD_REGISTER_GYRO_ZOUT_H        = 0x47,


  		




  
  116
  
    
  MPU6050_LLD_REGISTER_GYRO_ZOUT_L        = 0x48,


  		




  
  117
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_00   = 0x49,


  		




  
  118
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_01   = 0x4A,


  		




  
  119
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_02   = 0x4B,


  		




  
  120
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_03   = 0x4C,


  		




  
  121
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_04   = 0x4D,


  		




  
  122
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_05   = 0x4E,


  		




  
  123
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_06   = 0x4F,


  		




  
  124
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_07   = 0x50,


  		




  
  125
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_08   = 0x51,


  		




  
  126
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_09   = 0x52,


  		




  
  127
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_10   = 0x53,


  		




  
  128
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_11   = 0x54,


  		




  
  129
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_12   = 0x55,


  		




  
  130
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_13   = 0x56,


  		




  
  131
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_14   = 0x57,


  		




  
  132
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_15   = 0x58,


  		




  
  133
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_16   = 0x59,


  		




  
  134
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_17   = 0x5A,


  		




  
  135
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_18   = 0x5B,


  		




  
  136
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_19   = 0x5C,


  		




  
  137
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_20   = 0x5D,


  		




  
  138
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_21   = 0x5E,


  		




  
  139
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_22   = 0x5F,


  		




  
  140
  
    
  MPU6050_LLD_REGISTER_EXT_SENS_DATA_23   = 0x60,


  		




  
  141
  
    
  MPU6050_LLD_REGISTER_I2C_SLV0_DO        = 0x63,


  		




  
  142
  
    
  MPU6050_LLD_REGISTER_I2C_SLV1_DO        = 0x64,


  		




  
  143
  
    
  MPU6050_LLD_REGISTER_I2C_SLV2_DO        = 0x65,


  		




  
  144
  
    
  MPU6050_LLD_REGISTER_I2C_SLV3_DO        = 0x66,


  		




  
  145
  
    
  MPU6050_LLD_REGISTER_I2C_MST_DELAY_CTRL = 0x67,


  		




  
  146
  
    
  MPU6050_LLD_REGISTER_SIGNAL_PATH_RESET  = 0x68,


  		




  
  147
  
    
  MPU6050_LLD_REGISTER_USER_CTRL          = 0x6A,


  		




  
  148
  
    
  MPU6050_LLD_REGISTER_PWR_MGMT_1         = 0x6B,


  		




  
  149
  
    
  MPU6050_LLD_REGISTER_PWR_MGMT_2         = 0x6C,


  		




  
  150
  
    
  MPU6050_LLD_REGISTER_FIFO_COUNTH        = 0x72,


  		




  
  151
  
    
  MPU6050_LLD_REGISTER_FIFO_COUNTL        = 0x73,


  		




  
  152
  
    
  MPU6050_LLD_REGISTER_FIFO_R_W           = 0x74,


  		




  
  153
  
    
  MPU6050_LLD_REGISTER_WHO_AM_I           = 0x75,


  		




  
  154
  
    
} mpu6050_lld_register_t;


  		




  171
  155
  
    

  		




  172
  156
  
    
/**


  		




  173
  
  
    
 * @brief Config register.


  		




  174
  
  
    
 */


  		




  175
  
  
    
typedef union {


  		




  176
  
  
    
  uint16_t data;


  		




  177
  
  
    
  struct {


  		




  178
  
  
    
    /**


  		




  179
  
  
    
    ina219_lld_mode_t mode : 3;


  		




  180
  
  
    
    ina219_lld_adc_t sadc : 4;


  		




  181
  
  
    
    ina219_lld_adc_t badc : 4;


  		




  182
  
  
    
    ina219_lld_gain_t gain : 2;


  		




  183
  
  
    
    ina219_lld_brng_t brng : 1;


  		




  184
  
  
    
    */


  		




  185
  
  
    
    uint8_t zero : 1;


  		




  186
  
  
    
    uint8_t reset : 1;


  		




  187
  
  
    
  } options;


  		




  188
  
  
    
} mpu6050_lld_cfg_t;


  		




  189
  
  
    

  		




  190
  
  
    

  		




  191
  
  
    
/**


  		




  192
  
  
    
 * @brief The MPU6050 struct.


  		




  
  157
  
    
 * @brief The MPU6050Driver struct.


  		




  193
  158
  
    
 */


  		




  194
  159
  
    
typedef struct {


  		




  195
  
  
    
  apalI2CDriver_t* i2cd;


  		




  196
  
  
    
  apalI2Caddr_t addr;   /**<The address of the module for I2C communication */


  		




  
  160
  
    
  apalI2CDriver_t* i2cd;  /**< Pointer to the connected I2C driver. */


  		




  
  161
  
    
  apalI2Caddr_t addr;     /**< The address of the module for I2C communication. */


  		




  197
  162
  
    
} MPU6050Driver;


  		




  198
  163
  
    

  		




  199
  164
  
    
/******************************************************************************/


  		




  ......




  207
  172
  
    
#ifdef __cplusplus


  		




  208
  173
  
    
extern "C" {


  		




  209
  174
  
    
#endif


  		




  210
  
  
    
  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);


  		




  211
  
  
    
  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);


  		




  
  175
  
    
  apalExitStatus_t mpu6050_lld_read_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, uint8_t* const data, const uint8_t num, const apalTime_t timeout);


  		




  
  176
  
    
  apalExitStatus_t mpu6050_lld_write_register(const MPU6050Driver* const mpu6050, const mpu6050_lld_register_t addr, const uint8_t* const data, const uint8_t num, const apalTime_t timeout);


  		




  212
  177
  
    
#ifdef __cplusplus


  		




  213
  178
  
    
}


  		




  214
  179
  
    
#endif


  		




  ......




  219
  184
  
    

  		




  220
  185
  
    
#endif /* AMIROLLD_MPU6050_H */


  		




  221
  186
  
    

  		




  222
  
  
    

  		




  223
  187
  
    
/** @} */


  		




  224
  
  
    

  		












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