1 files changed, 108 insertions, 0 deletions
diff --git a/thirdparty/nRF5_SDK_15.0.0_a53641a/components/drivers_ext/mpu6050/mpu6050.c b/thirdparty/nRF5_SDK_15.0.0_a53641a/components/drivers_ext/mpu6050/mpu6050.c
new file mode 100644
index 0000000..17ff011
--- /dev/null
+++ b/thirdparty/nRF5_SDK_15.0.0_a53641a/components/drivers_ext/mpu6050/mpu6050.c
@@ -0,0 +1,108 @@
+/**
+ * Copyright (c) 2009 - 2018, Nordic Semiconductor ASA
+ * 
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ * 
+ * 2. Redistributions in binary form, except as embedded into a Nordic
+ *    Semiconductor ASA integrated circuit in a product or a software update for
+ *    such product, must reproduce the above copyright notice, this list of
+ *    conditions and the following disclaimer in the documentation and/or other
+ *    materials provided with the distribution.
+ * 
+ * 3. Neither the name of Nordic Semiconductor ASA nor the names of its
+ *    contributors may be used to endorse or promote products derived from this
+ *    software without specific prior written permission.
+ * 
+ * 4. This software, with or without modification, must only be used with a
+ *    Nordic Semiconductor ASA integrated circuit.
+ * 
+ * 5. Any software provided in binary form under this license must not be reverse
+ *    engineered, decompiled, modified and/or disassembled.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
+ * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
+ * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ * 
+ */
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "twi_master.h"
+#include "mpu6050.h"
+
+/*lint ++flb "Enter library region" */
+
+#define ADDRESS_WHO_AM_I          (0x75U) // !< WHO_AM_I register identifies the device. Expected value is 0x68.
+#define ADDRESS_SIGNAL_PATH_RESET (0x68U) // !<
+
+static const uint8_t expected_who_am_i = 0x68U; // !< Expected value to get from WHO_AM_I register.
+static uint8_t       m_device_address;          // !< Device address in bits [7:1]
+
+bool mpu6050_init(uint8_t device_address)
+{
+    bool transfer_succeeded = true;
+
+    m_device_address = (uint8_t)(device_address << 1);
+
+    // Do a reset on signal paths
+    uint8_t reset_value = 0x04U | 0x02U | 0x01U; // Resets gyro, accelerometer and temperature sensor signal paths.
+    transfer_succeeded &= mpu6050_register_write(ADDRESS_SIGNAL_PATH_RESET, reset_value);
+
+    // Read and verify product ID
+    transfer_succeeded &= mpu6050_verify_product_id();
+
+    return transfer_succeeded;
+}
+
+bool mpu6050_verify_product_id(void)
+{
+    uint8_t who_am_i;
+
+    if (mpu6050_register_read(ADDRESS_WHO_AM_I, &who_am_i, 1))
+    {
+        if (who_am_i != expected_who_am_i)
+        {
+            return false;
+        }
+        else
+        {
+            return true;
+        }
+    }
+    else
+    {
+        return false;
+    }
+}
+
+bool mpu6050_register_write(uint8_t register_address, uint8_t value)
+{
+    uint8_t w2_data[2];
+
+    w2_data[0] = register_address;
+    w2_data[1] = value;
+    return twi_master_transfer(m_device_address, w2_data, 2, TWI_ISSUE_STOP);
+}
+
+bool mpu6050_register_read(uint8_t register_address, uint8_t * destination, uint8_t number_of_bytes)
+{
+    bool transfer_succeeded;
+    transfer_succeeded  = twi_master_transfer(m_device_address, &register_address, 1, TWI_DONT_ISSUE_STOP);
+    transfer_succeeded &= twi_master_transfer(m_device_address|TWI_READ_BIT, destination, number_of_bytes, TWI_ISSUE_STOP);
+    return transfer_succeeded;
+}
+
+/*lint --flb "Leave library region" */