mirror of
https://github.com/jam422470459/EPD-nRF52-hema213.git
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move components to SDK dir
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Shuanglei Tao
109
SDK/12.3.0_d7731ad/components/drivers_ext/mpu6050/mpu6050.c
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109
SDK/12.3.0_d7731ad/components/drivers_ext/mpu6050/mpu6050.c
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/**
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* Copyright (c) 2009 - 2017, Nordic Semiconductor ASA
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into a Nordic
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* Semiconductor ASA integrated circuit in a product or a software update for
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* such product, must reproduce the above copyright notice, this list of
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* conditions and the following disclaimer in the documentation and/or other
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* materials provided with the distribution.
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*
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* 3. Neither the name of Nordic Semiconductor ASA nor the names of its
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* contributors may be used to endorse or promote products derived from this
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* software without specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* Nordic Semiconductor ASA integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be reverse
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* engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
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* OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
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* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include "twi_master.h"
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#include "mpu6050.h"
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/*lint ++flb "Enter library region" */
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#define ADDRESS_WHO_AM_I (0x75U) // !< WHO_AM_I register identifies the device. Expected value is 0x68.
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#define ADDRESS_SIGNAL_PATH_RESET (0x68U) // !<
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static const uint8_t expected_who_am_i = 0x68U; // !< Expected value to get from WHO_AM_I register.
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static uint8_t m_device_address; // !< Device address in bits [7:1]
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bool mpu6050_init(uint8_t device_address)
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{
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bool transfer_succeeded = true;
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m_device_address = (uint8_t)(device_address << 1);
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// Do a reset on signal paths
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uint8_t reset_value = 0x04U | 0x02U | 0x01U; // Resets gyro, accelerometer and temperature sensor signal paths.
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transfer_succeeded &= mpu6050_register_write(ADDRESS_SIGNAL_PATH_RESET, reset_value);
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// Read and verify product ID
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transfer_succeeded &= mpu6050_verify_product_id();
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return transfer_succeeded;
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}
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bool mpu6050_verify_product_id(void)
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{
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uint8_t who_am_i;
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if (mpu6050_register_read(ADDRESS_WHO_AM_I, &who_am_i, 1))
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{
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if (who_am_i != expected_who_am_i)
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{
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return false;
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}
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else
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{
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return true;
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}
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}
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else
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{
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return false;
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}
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}
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bool mpu6050_register_write(uint8_t register_address, uint8_t value)
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{
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uint8_t w2_data[2];
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w2_data[0] = register_address;
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w2_data[1] = value;
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return twi_master_transfer(m_device_address, w2_data, 2, TWI_ISSUE_STOP);
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}
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bool mpu6050_register_read(uint8_t register_address, uint8_t * destination, uint8_t number_of_bytes)
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{
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bool transfer_succeeded;
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transfer_succeeded = twi_master_transfer(m_device_address, ®ister_address, 1, TWI_DONT_ISSUE_STOP);
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transfer_succeeded &= twi_master_transfer(m_device_address|TWI_READ_BIT, destination, number_of_bytes, TWI_ISSUE_STOP);
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return transfer_succeeded;
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}
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/*lint --flb "Leave library region" */
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111
SDK/12.3.0_d7731ad/components/drivers_ext/mpu6050/mpu6050.h
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111
SDK/12.3.0_d7731ad/components/drivers_ext/mpu6050/mpu6050.h
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@@ -0,0 +1,111 @@
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/**
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* Copyright (c) 2009 - 2017, Nordic Semiconductor ASA
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form, except as embedded into a Nordic
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* Semiconductor ASA integrated circuit in a product or a software update for
|
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* such product, must reproduce the above copyright notice, this list of
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* conditions and the following disclaimer in the documentation and/or other
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* materials provided with the distribution.
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*
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* 3. Neither the name of Nordic Semiconductor ASA nor the names of its
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* contributors may be used to endorse or promote products derived from this
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* software without specific prior written permission.
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*
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* 4. This software, with or without modification, must only be used with a
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* Nordic Semiconductor ASA integrated circuit.
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*
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* 5. Any software provided in binary form under this license must not be reverse
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* engineered, decompiled, modified and/or disassembled.
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*
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* THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
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* OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
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* DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
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* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef MPU6050_H
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#define MPU6050_H
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/*lint ++flb "Enter library region" */
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#include <stdbool.h>
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** @file
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* @brief MPU6050 gyro/accelerometer driver.
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*
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*
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* @defgroup nrf_drivers_mpu6050 MPU6050 gyro/accelerometer driver
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* @{
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* @ingroup ext_drivers
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* @brief MPU6050 gyro/accelerometer driver.
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*/
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/**
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* @brief Function for initializing MPU6050 and verifies it's on the bus.
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*
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* @param device_address Device TWI address in bits [6:0].
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* @return
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* @retval true MPU6050 found on the bus and ready for operation.
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* @retval false MPU6050 not found on the bus or communication failure.
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*/
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bool mpu6050_init(uint8_t device_address);
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/**
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@brief Function for writing a MPU6050 register contents over TWI.
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@param[in] register_address Register address to start writing to
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@param[in] value Value to write to register
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@retval true Register write succeeded
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@retval false Register write failed
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*/
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bool mpu6050_register_write(uint8_t register_address, const uint8_t value);
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/**
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@brief Function for reading MPU6050 register contents over TWI.
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Reads one or more consecutive registers.
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@param[in] register_address Register address to start reading from
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@param[in] number_of_bytes Number of bytes to read
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@param[out] destination Pointer to a data buffer where read data will be stored
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@retval true Register read succeeded
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@retval false Register read failed
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*/
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bool mpu6050_register_read(uint8_t register_address, uint8_t *destination, uint8_t number_of_bytes);
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/**
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@brief Function for reading and verifying MPU6050 product ID.
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@retval true Product ID is what was expected
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@retval false Product ID was not what was expected
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*/
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bool mpu6050_verify_product_id(void);
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/**
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*@}
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**/
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/*lint --flb "Leave library region" */
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#ifdef __cplusplus
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}
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#endif
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#endif /* MPU6050_H */
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