Revision ed9a1bf5 drivers/MPU6050/v1/alld_MPU6050.c
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/* |
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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 |
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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..2020 Thomas Schöpping et al. |
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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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} |
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