diff options
Diffstat (limited to 'thirdparty/nRF5_SDK_15.0.0_a53641a/components/drivers_ext/mpu6050/mpu6050.c')
-rw-r--r-- | thirdparty/nRF5_SDK_15.0.0_a53641a/components/drivers_ext/mpu6050/mpu6050.c | 108 |
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, ®ister_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" */ |