diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/motors.c b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/motors.c
index 24bccfb7349e8a532374994104dc5438ace968cd..ea2712d948022198930dd865fd868ee27260a055 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/motors.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/motors.c
@@ -67,22 +67,22 @@ static bool isInit = false;
static uint16_t motorsBLConvBitsTo16(uint16_t bits)
{
- return (0xFFFF * (bits - MOTORS_BL_PWM_CNT_FOR_HIGH) / MOTORS_BL_PWM_CNT_FOR_HIGH);
+ // return (0xFFFF * (bits - MOTORS_BL_PWM_CNT_FOR_HIGH) / MOTORS_BL_PWM_CNT_FOR_HIGH);
}
static uint16_t motorsBLConv16ToBits(uint16_t bits)
{
- return (MOTORS_BL_PWM_CNT_FOR_HIGH + ((bits * MOTORS_BL_PWM_CNT_FOR_HIGH) / 0xFFFF));
+ // return (MOTORS_BL_PWM_CNT_FOR_HIGH + ((bits * MOTORS_BL_PWM_CNT_FOR_HIGH) / 0xFFFF));
}
static uint16_t motorsConvBitsTo16(uint16_t bits)
{
- return ((bits) << (16 - MOTORS_PWM_BITS));
+ // return ((bits) << (16 - MOTORS_PWM_BITS));
}
static uint16_t motorsConv16ToBits(uint16_t bits)
{
- return ((bits) >> (16 - MOTORS_PWM_BITS) & ((1 << MOTORS_PWM_BITS) - 1));
+ // return ((bits) >> (16 - MOTORS_PWM_BITS) & ((1 << MOTORS_PWM_BITS) - 1));
}
// We have data that maps PWM to thrust at different supply voltage levels.
@@ -130,12 +130,12 @@ static uint16_t motorsConv16ToBits(uint16_t bits)
// Voltage needed with the Supply voltage.
static uint16_t motorsCompensateBatteryVoltage(uint16_t ithrust)
{
- float thrust = ((float) ithrust / 65536.0f) * 60;
- float volts = -0.0006239f * thrust * thrust + 0.088f * thrust;
- float supply_voltage = pmGetBatteryVoltage();
- float percentage = volts / supply_voltage;
- percentage = percentage > 1.0f ? 1.0f : percentage;
- return percentage * UINT16_MAX;
+ // float thrust = ((float) ithrust / 65536.0f) * 60;
+ // float volts = -0.0006239f * thrust * thrust + 0.088f * thrust;
+ // float supply_voltage = pmGetBatteryVoltage();
+ // float percentage = volts / supply_voltage;
+ // percentage = percentage > 1.0f ? 1.0f : percentage;
+ // return percentage * UINT16_MAX;
}
/* Public functions */
@@ -143,83 +143,83 @@ static uint16_t motorsCompensateBatteryVoltage(uint16_t ithrust)
//Initialization. Will set all motors ratio to 0%
void motorsInit(const MotorPerifDef** motorMapSelect)
{
- int i;
- //Init structures
- GPIO_InitTypeDef GPIO_InitStructure;
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_OCInitTypeDef TIM_OCInitStructure;
-
- if (isInit)
- {
- // First to init will configure it
- return;
- }
-
- motorMap = motorMapSelect;
-
- DEBUG_PRINT("Using %s motor driver\n", motorMap[0]->drvType == BRUSHED ? "brushed" : "brushless");
-
- for (i = 0; i < NBR_OF_MOTORS; i++)
- {
- //Clock the gpio and the timers
- MOTORS_RCC_GPIO_CMD(motorMap[i]->gpioPerif, ENABLE);
- MOTORS_RCC_GPIO_CMD(motorMap[i]->gpioPowerswitchPerif, ENABLE);
- MOTORS_RCC_TIM_CMD(motorMap[i]->timPerif, ENABLE);
-
- // If there is a power switch, as on Bolt, enable power to ESC by
- // switching on mosfet.
- if (motorMap[i]->gpioPowerswitchPin != 0)
- {
- GPIO_StructInit(&GPIO_InitStructure);
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_Pin = motorMap[i]->gpioPowerswitchPin;
- GPIO_Init(motorMap[i]->gpioPowerswitchPort, &GPIO_InitStructure);
- GPIO_WriteBit(motorMap[i]->gpioPowerswitchPort, motorMap[i]->gpioPowerswitchPin, 1);
- }
-
- // Configure the GPIO for the timer output
- GPIO_StructInit(&GPIO_InitStructure);
- GPIO_InitStructure.GPIO_Mode = MOTORS_GPIO_MODE;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_InitStructure.GPIO_OType = motorMap[i]->gpioOType;
- GPIO_InitStructure.GPIO_Pin = motorMap[i]->gpioPin;
- GPIO_Init(motorMap[i]->gpioPort, &GPIO_InitStructure);
-
- //Map timers to alternate functions
- MOTORS_GPIO_AF_CFG(motorMap[i]->gpioPort, motorMap[i]->gpioPinSource, motorMap[i]->gpioAF);
-
- //Timer configuration
- TIM_TimeBaseStructure.TIM_Period = motorMap[i]->timPeriod;
- TIM_TimeBaseStructure.TIM_Prescaler = motorMap[i]->timPrescaler;
- TIM_TimeBaseStructure.TIM_ClockDivision = 0;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
- TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
- TIM_TimeBaseInit(motorMap[i]->tim, &TIM_TimeBaseStructure);
-
- // PWM channels configuration (All identical!)
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_Pulse = 0;
- TIM_OCInitStructure.TIM_OCPolarity = motorMap[i]->timPolarity;
- TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
-
- // Configure Output Compare for PWM
- motorMap[i]->ocInit(motorMap[i]->tim, &TIM_OCInitStructure);
- motorMap[i]->preloadConfig(motorMap[i]->tim, TIM_OCPreload_Enable);
-
- MOTORS_TIM_DBG_CFG(motorMap[i]->timDbgStop, ENABLE);
- //Enable the timer PWM outputs
- TIM_CtrlPWMOutputs(motorMap[i]->tim, ENABLE);
- }
-
- // Start the timers
- for (i = 0; i < NBR_OF_MOTORS; i++)
- {
- TIM_Cmd(motorMap[i]->tim, ENABLE);
- }
-
- isInit = true;
+ // int i;
+ // //Init structures
+ // GPIO_InitTypeDef GPIO_InitStructure;
+ // TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+ // TIM_OCInitTypeDef TIM_OCInitStructure;
+
+ // if (isInit)
+ // {
+ // // First to init will configure it
+ // // return;
+ // }
+
+ // // motorMap = motorMapSelect;
+
+ // DEBUG_PRINT("Using %s motor driver\n", motorMap[0]->drvType == BRUSHED ? "brushed" : "brushless");
+
+ // for (i = 0; i < NBR_OF_MOTORS; i++)
+ // {
+ // // //Clock the gpio and the timers
+ // // MOTORS_RCC_GPIO_CMD(motorMap[i]->gpioPerif, ENABLE);
+ // // MOTORS_RCC_GPIO_CMD(motorMap[i]->gpioPowerswitchPerif, ENABLE);
+ // // MOTORS_RCC_TIM_CMD(motorMap[i]->timPerif, ENABLE);
+
+ // // If there is a power switch, as on Bolt, enable power to ESC by
+ // // switching on mosfet.
+ // if (motorMap[i]->gpioPowerswitchPin != 0)
+ // {
+ // // GPIO_StructInit(&GPIO_InitStructure);
+ // // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+ // // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // // GPIO_InitStructure.GPIO_Pin = motorMap[i]->gpioPowerswitchPin;
+ // // GPIO_Init(motorMap[i]->gpioPowerswitchPort, &GPIO_InitStructure);
+ // // GPIO_WriteBit(motorMap[i]->gpioPowerswitchPort, motorMap[i]->gpioPowerswitchPin, 1);
+ // }
+
+ // // Configure the GPIO for the timer output
+ // GPIO_StructInit(&GPIO_InitStructure);
+ // GPIO_InitStructure.GPIO_Mode = MOTORS_GPIO_MODE;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ // GPIO_InitStructure.GPIO_OType = motorMap[i]->gpioOType;
+ // GPIO_InitStructure.GPIO_Pin = motorMap[i]->gpioPin;
+ // GPIO_Init(motorMap[i]->gpioPort, &GPIO_InitStructure);
+
+ // //Map timers to alternate functions
+ // MOTORS_GPIO_AF_CFG(motorMap[i]->gpioPort, motorMap[i]->gpioPinSource, motorMap[i]->gpioAF);
+
+ // //Timer configuration
+ // TIM_TimeBaseStructure.TIM_Period = motorMap[i]->timPeriod;
+ // TIM_TimeBaseStructure.TIM_Prescaler = motorMap[i]->timPrescaler;
+ // TIM_TimeBaseStructure.TIM_ClockDivision = 0;
+ // TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+ // TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
+ // TIM_TimeBaseInit(motorMap[i]->tim, &TIM_TimeBaseStructure);
+
+ // // PWM channels configuration (All identical!)
+ // TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
+ // TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
+ // TIM_OCInitStructure.TIM_Pulse = 0;
+ // TIM_OCInitStructure.TIM_OCPolarity = motorMap[i]->timPolarity;
+ // TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
+
+ // // Configure Output Compare for PWM
+ // motorMap[i]->ocInit(motorMap[i]->tim, &TIM_OCInitStructure);
+ // motorMap[i]->preloadConfig(motorMap[i]->tim, TIM_OCPreload_Enable);
+
+ // MOTORS_TIM_DBG_CFG(motorMap[i]->timDbgStop, ENABLE);
+ // //Enable the timer PWM outputs
+ // TIM_CtrlPWMOutputs(motorMap[i]->tim, ENABLE);
+ // }
+
+ // // Start the timers
+ // for (i = 0; i < NBR_OF_MOTORS; i++)
+ // {
+ // TIM_Cmd(motorMap[i]->tim, ENABLE);
+ // }
+
+ // isInit = true;
// Output zero power
motorsSetRatio(MOTOR_M1, 0);
@@ -230,149 +230,149 @@ void motorsInit(const MotorPerifDef** motorMapSelect)
void motorsDeInit(const MotorPerifDef** motorMapSelect)
{
- int i;
- GPIO_InitTypeDef GPIO_InitStructure;
-
- for (i = 0; i < NBR_OF_MOTORS; i++)
- {
- // Configure default
- GPIO_StructInit(&GPIO_InitStructure);
- GPIO_InitStructure.GPIO_Pin = motorMap[i]->gpioPin;
- GPIO_Init(motorMap[i]->gpioPort, &GPIO_InitStructure);
-
- //Map timers to alternate functions
- GPIO_PinAFConfig(motorMap[i]->gpioPort, motorMap[i]->gpioPinSource, 0x00);
-
- //Deinit timer
- TIM_DeInit(motorMap[i]->tim);
- }
+ // int i;
+ // GPIO_InitTypeDef GPIO_InitStructure;
+
+ // for (i = 0; i < NBR_OF_MOTORS; i++)
+ // {
+ // // Configure default
+ // GPIO_StructInit(&GPIO_InitStructure);
+ // GPIO_InitStructure.GPIO_Pin = motorMap[i]->gpioPin;
+ // GPIO_Init(motorMap[i]->gpioPort, &GPIO_InitStructure);
+
+ // //Map timers to alternate functions
+ // GPIO_PinAFConfig(motorMap[i]->gpioPort, motorMap[i]->gpioPinSource, 0x00);
+
+ // //Deinit timer
+ // TIM_DeInit(motorMap[i]->tim);
+ // }
}
bool motorsTest(void)
{
- int i;
-
- for (i = 0; i < sizeof(MOTORS) / sizeof(*MOTORS); i++)
- {
- if (motorMap[i]->drvType == BRUSHED)
- {
-#ifdef ACTIVATE_STARTUP_SOUND
- motorsBeep(MOTORS[i], true, testsound[i], (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / A4)/ 20);
- vTaskDelay(M2T(MOTORS_TEST_ON_TIME_MS));
- motorsBeep(MOTORS[i], false, 0, 0);
- vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));
-#else
- motorsSetRatio(MOTORS[i], MOTORS_TEST_RATIO);
- vTaskDelay(M2T(MOTORS_TEST_ON_TIME_MS));
- motorsSetRatio(MOTORS[i], 0);
- vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));
-#endif
- }
- }
-
- return isInit;
+// int i;
+
+// for (i = 0; i < sizeof(MOTORS) / sizeof(*MOTORS); i++)
+// {
+// if (motorMap[i]->drvType == BRUSHED)
+// {
+// #ifdef ACTIVATE_STARTUP_SOUND
+// motorsBeep(MOTORS[i], true, testsound[i], (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / A4)/ 20);
+// vTaskDelay(M2T(MOTORS_TEST_ON_TIME_MS));
+// motorsBeep(MOTORS[i], false, 0, 0);
+// vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));
+// #else
+// motorsSetRatio(MOTORS[i], MOTORS_TEST_RATIO);
+// vTaskDelay(M2T(MOTORS_TEST_ON_TIME_MS));
+// motorsSetRatio(MOTORS[i], 0);
+// vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));
+// #endif
+// }
+// }
+
+// return isInit;
}
// Ithrust is thrust mapped for 65536 <==> 60 grams
void motorsSetRatio(uint32_t id, uint16_t ithrust)
{
- if (isInit) {
- uint16_t ratio;
-
- ASSERT(id < NBR_OF_MOTORS);
-
- ratio = ithrust;
-
-#ifdef ENABLE_THRUST_BAT_COMPENSATED
- if (motorMap[id]->drvType == BRUSHED)
- {
- // To make sure we provide the correct PWM given current supply voltage
- // from the battery, we do calculations based on measurements of PWM,
- // voltage and thrust. See comment at function definition for details.
- ratio = motorsCompensateBatteryVoltage(ithrust);
- motor_ratios[id] = ratio;
- }
-#endif
- if (motorMap[id]->drvType == BRUSHLESS)
- {
- motorMap[id]->setCompare(motorMap[id]->tim, motorsBLConv16ToBits(ratio));
- }
- else
- {
- motorMap[id]->setCompare(motorMap[id]->tim, motorsConv16ToBits(ratio));
- }
- }
+// if (isInit) {
+// uint16_t ratio;
+
+// ASSERT(id < NBR_OF_MOTORS);
+
+// ratio = ithrust;
+
+// #ifdef ENABLE_THRUST_BAT_COMPENSATED
+// if (motorMap[id]->drvType == BRUSHED)
+// {
+// // To make sure we provide the correct PWM given current supply voltage
+// // from the battery, we do calculations based on measurements of PWM,
+// // voltage and thrust. See comment at function definition for details.
+// ratio = motorsCompensateBatteryVoltage(ithrust);
+// motor_ratios[id] = ratio;
+// }
+// #endif
+// if (motorMap[id]->drvType == BRUSHLESS)
+// {
+// motorMap[id]->setCompare(motorMap[id]->tim, motorsBLConv16ToBits(ratio));
+// }
+// else
+// {
+// motorMap[id]->setCompare(motorMap[id]->tim, motorsConv16ToBits(ratio));
+// }
+// }
}
int motorsGetRatio(uint32_t id)
{
- int ratio;
-
- ASSERT(id < NBR_OF_MOTORS);
- if (motorMap[id]->drvType == BRUSHLESS)
- {
- ratio = motorsBLConvBitsTo16(motorMap[id]->getCompare(motorMap[id]->tim));
- }
- else
- {
- ratio = motorsConvBitsTo16(motorMap[id]->getCompare(motorMap[id]->tim));
- }
-
- return ratio;
+ // int ratio;
+
+ // ASSERT(id < NBR_OF_MOTORS);
+ // if (motorMap[id]->drvType == BRUSHLESS)
+ // {
+ // ratio = motorsBLConvBitsTo16(motorMap[id]->getCompare(motorMap[id]->tim));
+ // }
+ // else
+ // {
+ // ratio = motorsConvBitsTo16(motorMap[id]->getCompare(motorMap[id]->tim));
+ // }
+
+ // return ratio;
}
void motorsBeep(int id, bool enable, uint16_t frequency, uint16_t ratio)
{
- TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
-
- ASSERT(id < NBR_OF_MOTORS);
-
- TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
-
- if (enable)
- {
- TIM_TimeBaseStructure.TIM_Prescaler = (5 - 1);
- TIM_TimeBaseStructure.TIM_Period = (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency);
- }
- else
- {
- TIM_TimeBaseStructure.TIM_Period = motorMap[id]->timPeriod;
- TIM_TimeBaseStructure.TIM_Prescaler = motorMap[id]->timPrescaler;
- }
-
- // Timer configuration
- TIM_TimeBaseInit(motorMap[id]->tim, &TIM_TimeBaseStructure);
- motorMap[id]->setCompare(motorMap[id]->tim, ratio);
+ // TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
+
+ // ASSERT(id < NBR_OF_MOTORS);
+
+ // TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
+
+ // if (enable)
+ // {
+ // TIM_TimeBaseStructure.TIM_Prescaler = (5 - 1);
+ // TIM_TimeBaseStructure.TIM_Period = (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency);
+ // }
+ // else
+ // {
+ // TIM_TimeBaseStructure.TIM_Period = motorMap[id]->timPeriod;
+ // TIM_TimeBaseStructure.TIM_Prescaler = motorMap[id]->timPrescaler;
+ // }
+
+ // // Timer configuration
+ // TIM_TimeBaseInit(motorMap[id]->tim, &TIM_TimeBaseStructure);
+ // motorMap[id]->setCompare(motorMap[id]->tim, ratio);
}
// Play a tone with a given frequency and a specific duration in milliseconds (ms)
void motorsPlayTone(uint16_t frequency, uint16_t duration_msec)
{
- motorsBeep(MOTOR_M1, true, frequency, (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency)/ 20);
- motorsBeep(MOTOR_M2, true, frequency, (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency)/ 20);
- motorsBeep(MOTOR_M3, true, frequency, (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency)/ 20);
- motorsBeep(MOTOR_M4, true, frequency, (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency)/ 20);
- vTaskDelay(M2T(duration_msec));
- motorsBeep(MOTOR_M1, false, frequency, 0);
- motorsBeep(MOTOR_M2, false, frequency, 0);
- motorsBeep(MOTOR_M3, false, frequency, 0);
- motorsBeep(MOTOR_M4, false, frequency, 0);
+ // motorsBeep(MOTOR_M1, true, frequency, (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency)/ 20);
+ // motorsBeep(MOTOR_M2, true, frequency, (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency)/ 20);
+ // motorsBeep(MOTOR_M3, true, frequency, (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency)/ 20);
+ // motorsBeep(MOTOR_M4, true, frequency, (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / frequency)/ 20);
+ // vTaskDelay(M2T(duration_msec));
+ // motorsBeep(MOTOR_M1, false, frequency, 0);
+ // motorsBeep(MOTOR_M2, false, frequency, 0);
+ // motorsBeep(MOTOR_M3, false, frequency, 0);
+ // motorsBeep(MOTOR_M4, false, frequency, 0);
}
// Plays a melody from a note array
void motorsPlayMelody(uint16_t *notes)
{
- int i = 0;
- uint16_t note; // Note in hz
- uint16_t duration; // Duration in ms
-
- do
- {
- note = notes[i++];
- duration = notes[i++];
- motorsPlayTone(note, duration);
- } while (duration != 0);
+ // int i = 0;
+ // uint16_t note; // Note in hz
+ // uint16_t duration; // Duration in ms
+
+ // do
+ // {
+ // note = notes[i++];
+ // duration = notes[i++];
+ // motorsPlayTone(note, duration);
+ // } while (duration != 0);
}
/**
* Logging variables of the motors PWM output
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/mpu6050.c b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/mpu6050.c
index ba0aa1a148ff5104df6fd8d1e95d1c22ebaf6900..fd3ae6282c2e5429e078069fa78b5fd4a3c727d0 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/mpu6050.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/mpu6050.c
@@ -50,24 +50,25 @@ static bool isInit;
*/
void mpu6050Init(I2C_Dev *i2cPort)
{
- if (isInit)
- return;
+// if (isInit)
+// return;
- I2Cx = i2cPort;
- devAddr = MPU6050_ADDRESS_AD0_HIGH;
-//FIXME devAddr = MPU6050_ADDRESS_AD0_LOW;
+// I2Cx = i2cPort;
+// devAddr = MPU6050_ADDRESS_AD0_HIGH;
+// //FIXME devAddr = MPU6050_ADDRESS_AD0_LOW;
isInit = true;
}
bool mpu6050Test(void)
{
- bool testStatus;
+ // bool testStatus;
+ bool testStatus = true;
- if (!isInit)
- return false;
+ // if (!isInit)
+ // return false;
- testStatus = mpu6050TestConnection();
+ // testStatus = mpu6050TestConnection();
return testStatus;
}
@@ -78,7 +79,7 @@ bool mpu6050Test(void)
*/
bool mpu6050TestConnection()
{
- return mpu6050GetDeviceID() == 0b110100;
+ // return mpu6050GetDeviceID() == 0b110100;
}
/** Do a MPU6050 self test.
@@ -86,99 +87,100 @@ bool mpu6050TestConnection()
*/
bool mpu6050SelfTest()
{
- bool testStatus = true;
- int16_t axi16, ayi16, azi16;
- int16_t gxi16, gyi16, gzi16;
-// int8_t axfi8, ayfi8, azfi8;
-// int8_t gxfi8, gyfi8, gzfi8;
- float axf, ayf, azf;
- float gxf, gyf, gzf;
- float axfTst, ayfTst, azfTst;
- float gxfTst, gyfTst, gzfTst;
- float axfDiff, ayfDiff, azfDiff;
- float gxfDiff, gyfDiff, gzfDiff;
- float gRange, aRange;
- uint32_t scrap;
-
- aRange = mpu6050GetFullScaleAccelGPL();
- gRange = mpu6050GetFullScaleGyroDPL();
-
- // First values after startup can be read as zero. Scrap a couple to be sure.
- for (scrap = 0; scrap < 20; scrap++)
- {
- mpu6050GetMotion6(&axi16, &ayi16, &azi16, &gxi16, &gyi16, &gzi16);
- vTaskDelay(M2T(2));
- }
- // First measurement
- gxf = gxi16 * gRange;
- gyf = gyi16 * gRange;
- gzf = gzi16 * gRange;
- axf = axi16 * aRange;
- ayf = ayi16 * aRange;
- azf = azi16 * aRange;
-
- // Enable self test
- mpu6050SetGyroXSelfTest(true);
- mpu6050SetGyroYSelfTest(true);
- mpu6050SetGyroZSelfTest(true);
- mpu6050SetAccelXSelfTest(true);
- mpu6050SetAccelYSelfTest(true);
- mpu6050SetAccelZSelfTest(true);
-
- // Wait for self test to take effect
- vTaskDelay(M2T(MPU6050_SELF_TEST_DELAY_MS));
- // Take second measurement
- mpu6050GetMotion6(&axi16, &ayi16, &azi16, &gxi16, &gyi16, &gzi16);
- gxfTst = gxi16 * gRange;
- gyfTst = gyi16 * gRange;
- gzfTst = gzi16 * gRange;
- axfTst = axi16 * aRange;
- ayfTst = ayi16 * aRange;
- azfTst = azi16 * aRange;
-
- // Disable self test
- mpu6050SetGyroXSelfTest(false);
- mpu6050SetGyroYSelfTest(false);
- mpu6050SetGyroZSelfTest(false);
- mpu6050SetAccelXSelfTest(false);
- mpu6050SetAccelYSelfTest(false);
- mpu6050SetAccelZSelfTest(false);
-
-// // Read factory values
-// i2cdevReadByte(I2Cx, devAddr, 0x00, (uint8_t *)&gxfi8);
-// i2cdevReadByte(I2Cx, devAddr, 0x01, (uint8_t *)&gyfi8);
-// i2cdevReadByte(I2Cx, devAddr, 0x02, (uint8_t *)&gzfi8);
-// i2cdevReadByte(I2Cx, devAddr, 0x0D, (uint8_t *)&axfi8);
-// i2cdevReadByte(I2Cx, devAddr, 0x0E, (uint8_t *)&ayfi8);
-// i2cdevReadByte(I2Cx, devAddr, 0x0F, (uint8_t *)&azfi8);
-//
-// DEBUG_PRINT("gxf:%i, gyf:%i, gzf:%i, axf:%i, ayf:%i, azf:%i\n",
-// (int)gxfi8, (int)gyfi8, (int)gzfi8, (int)axfi8, (int)ayfi8, (int)azfi8);
-
- // Calculate difference
- gxfDiff = gxfTst - gxf;
- gyfDiff = gyfTst - gyf;
- gzfDiff = gzfTst - gzf;
- axfDiff = axfTst - axf;
- ayfDiff = ayfTst - ayf;
- azfDiff = azfTst - azf;
-
- // Check result
- if (mpu6050EvaluateSelfTest(MPU6050_ST_GYRO_LOW, MPU6050_ST_GYRO_HIGH, gxfDiff, "gyro X") &&
- mpu6050EvaluateSelfTest(-MPU6050_ST_GYRO_HIGH, -MPU6050_ST_GYRO_LOW, gyfDiff, "gyro Y") &&
- mpu6050EvaluateSelfTest(MPU6050_ST_GYRO_LOW, MPU6050_ST_GYRO_HIGH, gzfDiff, "gyro Z") &&
- mpu6050EvaluateSelfTest(MPU6050_ST_ACCEL_LOW, MPU6050_ST_ACCEL_HIGH, axfDiff, "acc X") &&
- mpu6050EvaluateSelfTest(MPU6050_ST_ACCEL_LOW, MPU6050_ST_ACCEL_HIGH, ayfDiff, "acc Y") &&
- mpu6050EvaluateSelfTest(MPU6050_ST_ACCEL_LOW, MPU6050_ST_ACCEL_HIGH, azfDiff, "acc Z"))
- {
- DEBUG_PRINT("Self test [OK].\n");
- }
- else
- {
- testStatus = false;
- }
-
- return testStatus;
+// bool testStatus = true;
+// int16_t axi16, ayi16, azi16;
+// int16_t gxi16, gyi16, gzi16;
+// // int8_t axfi8, ayfi8, azfi8;
+// // int8_t gxfi8, gyfi8, gzfi8;
+// float axf, ayf, azf;
+// float gxf, gyf, gzf;
+// float axfTst, ayfTst, azfTst;
+// float gxfTst, gyfTst, gzfTst;
+// float axfDiff, ayfDiff, azfDiff;
+// float gxfDiff, gyfDiff, gzfDiff;
+// float gRange, aRange;
+// uint32_t scrap;
+
+// aRange = mpu6050GetFullScaleAccelGPL();
+// gRange = mpu6050GetFullScaleGyroDPL();
+
+// // First values after startup can be read as zero. Scrap a couple to be sure.
+// for (scrap = 0; scrap < 20; scrap++)
+// {
+// mpu6050GetMotion6(&axi16, &ayi16, &azi16, &gxi16, &gyi16, &gzi16);
+// vTaskDelay(M2T(2));
+// }
+// // First measurement
+// gxf = gxi16 * gRange;
+// gyf = gyi16 * gRange;
+// gzf = gzi16 * gRange;
+// axf = axi16 * aRange;
+// ayf = ayi16 * aRange;
+// azf = azi16 * aRange;
+
+// // Enable self test
+// mpu6050SetGyroXSelfTest(true);
+// mpu6050SetGyroYSelfTest(true);
+// mpu6050SetGyroZSelfTest(true);
+// mpu6050SetAccelXSelfTest(true);
+// mpu6050SetAccelYSelfTest(true);
+// mpu6050SetAccelZSelfTest(true);
+
+// // Wait for self test to take effect
+// vTaskDelay(M2T(MPU6050_SELF_TEST_DELAY_MS));
+// // Take second measurement
+// mpu6050GetMotion6(&axi16, &ayi16, &azi16, &gxi16, &gyi16, &gzi16);
+// gxfTst = gxi16 * gRange;
+// gyfTst = gyi16 * gRange;
+// gzfTst = gzi16 * gRange;
+// axfTst = axi16 * aRange;
+// ayfTst = ayi16 * aRange;
+// azfTst = azi16 * aRange;
+
+// // Disable self test
+// mpu6050SetGyroXSelfTest(false);
+// mpu6050SetGyroYSelfTest(false);
+// mpu6050SetGyroZSelfTest(false);
+// mpu6050SetAccelXSelfTest(false);
+// mpu6050SetAccelYSelfTest(false);
+// mpu6050SetAccelZSelfTest(false);
+
+// // // Read factory values
+// // i2cdevReadByte(I2Cx, devAddr, 0x00, (uint8_t *)&gxfi8);
+// // i2cdevReadByte(I2Cx, devAddr, 0x01, (uint8_t *)&gyfi8);
+// // i2cdevReadByte(I2Cx, devAddr, 0x02, (uint8_t *)&gzfi8);
+// // i2cdevReadByte(I2Cx, devAddr, 0x0D, (uint8_t *)&axfi8);
+// // i2cdevReadByte(I2Cx, devAddr, 0x0E, (uint8_t *)&ayfi8);
+// // i2cdevReadByte(I2Cx, devAddr, 0x0F, (uint8_t *)&azfi8);
+// //
+// // DEBUG_PRINT("gxf:%i, gyf:%i, gzf:%i, axf:%i, ayf:%i, azf:%i\n",
+// // (int)gxfi8, (int)gyfi8, (int)gzfi8, (int)axfi8, (int)ayfi8, (int)azfi8);
+
+// // Calculate difference
+// gxfDiff = gxfTst - gxf;
+// gyfDiff = gyfTst - gyf;
+// gzfDiff = gzfTst - gzf;
+// axfDiff = axfTst - axf;
+// ayfDiff = ayfTst - ayf;
+// azfDiff = azfTst - azf;
+
+// // Check result
+// if (mpu6050EvaluateSelfTest(MPU6050_ST_GYRO_LOW, MPU6050_ST_GYRO_HIGH, gxfDiff, "gyro X") &&
+// mpu6050EvaluateSelfTest(-MPU6050_ST_GYRO_HIGH, -MPU6050_ST_GYRO_LOW, gyfDiff, "gyro Y") &&
+// mpu6050EvaluateSelfTest(MPU6050_ST_GYRO_LOW, MPU6050_ST_GYRO_HIGH, gzfDiff, "gyro Z") &&
+// mpu6050EvaluateSelfTest(MPU6050_ST_ACCEL_LOW, MPU6050_ST_ACCEL_HIGH, axfDiff, "acc X") &&
+// mpu6050EvaluateSelfTest(MPU6050_ST_ACCEL_LOW, MPU6050_ST_ACCEL_HIGH, ayfDiff, "acc Y") &&
+// mpu6050EvaluateSelfTest(MPU6050_ST_ACCEL_LOW, MPU6050_ST_ACCEL_HIGH, azfDiff, "acc Z"))
+// {
+// DEBUG_PRINT("Self test [OK].\n");
+// }
+// else
+// {
+// testStatus = false;
+// }
+
+ // return testStatus;
+ return false;
}
/** Evaluate the values from a MPU6050 self test.
@@ -190,12 +192,12 @@ bool mpu6050SelfTest()
*/
bool mpu6050EvaluateSelfTest(float low, float high, float value, char* string)
{
- if (value < low || value > high)
- {
- DEBUG_PRINT("Self test %s [FAIL]. low: %0.2f, high: %0.2f, measured: %0.2f\n",
- string, (double)low, (double)high, (double)value);
- return false;
- }
+ // if (value < low || value > high)
+ // {
+ // DEBUG_PRINT("Self test %s [FAIL]. low: %0.2f, high: %0.2f, measured: %0.2f\n",
+ // string, (double)low, (double)high, (double)value);
+ // return false;
+ // }
return true;
}
@@ -209,7 +211,7 @@ bool mpu6050EvaluateSelfTest(float low, float high, float value, char* string)
*/
uint8_t mpu6050GetAuxVDDIOLevel()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, buffer);
return buffer[0];
}
/** Set the auxiliary I2C supply voltage level.
@@ -220,7 +222,7 @@ uint8_t mpu6050GetAuxVDDIOLevel()
*/
void mpu6050SetAuxVDDIOLevel(uint8_t level)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_PWR_MODE_BIT, level);
}
// SMPLRT_DIV register
@@ -248,7 +250,7 @@ void mpu6050SetAuxVDDIOLevel(uint8_t level)
*/
uint8_t mpu6050GetRate()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_SMPLRT_DIV, buffer);
return buffer[0];
}
/** Set gyroscope sample rate divider.
@@ -258,7 +260,7 @@ uint8_t mpu6050GetRate()
*/
void mpu6050SetRate(uint8_t rate)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_SMPLRT_DIV, rate);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_SMPLRT_DIV, rate);
}
// CONFIG register
@@ -292,8 +294,8 @@ void mpu6050SetRate(uint8_t rate)
*/
uint8_t mpu6050GetExternalFrameSync()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT,
- MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT,
+ // MPU6050_CFG_EXT_SYNC_SET_LENGTH, buffer);
return buffer[0];
}
/** Set external FSYNC configuration.
@@ -303,8 +305,8 @@ uint8_t mpu6050GetExternalFrameSync()
*/
void mpu6050SetExternalFrameSync(uint8_t sync)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT,
- MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_EXT_SYNC_SET_BIT,
+ // MPU6050_CFG_EXT_SYNC_SET_LENGTH, sync);
}
/** Get digital low-pass filter configuration.
* The DLPF_CFG parameter sets the digital low pass filter configuration. It
@@ -336,8 +338,8 @@ void mpu6050SetExternalFrameSync(uint8_t sync)
*/
uint8_t mpu6050GetDLPFMode()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT,
- MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT,
+ // MPU6050_CFG_DLPF_CFG_LENGTH, buffer);
return buffer[0];
}
/** Set digital low-pass filter configuration.
@@ -350,8 +352,8 @@ uint8_t mpu6050GetDLPFMode()
*/
void mpu6050SetDLPFMode(uint8_t mode)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT,
- MPU6050_CFG_DLPF_CFG_LENGTH, mode);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_CONFIG, MPU6050_CFG_DLPF_CFG_BIT,
+ // MPU6050_CFG_DLPF_CFG_LENGTH, mode);
}
// GYRO_CONFIG register
@@ -375,8 +377,8 @@ void mpu6050SetDLPFMode(uint8_t mode)
*/
uint8_t mpu6050GetFullScaleGyroRangeId()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT,
- MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT,
+ // MPU6050_GCONFIG_FS_SEL_LENGTH, buffer);
return buffer[0];
}
@@ -390,28 +392,30 @@ uint8_t mpu6050GetFullScaleGyroRangeId()
*/
float mpu6050GetFullScaleGyroDPL()
{
- int32_t rangeId;
- float range;
-
- rangeId = mpu6050GetFullScaleGyroRangeId();
- switch (rangeId)
- {
- case MPU6050_GYRO_FS_250:
- range = MPU6050_DEG_PER_LSB_250;
- break;
- case MPU6050_GYRO_FS_500:
- range = MPU6050_DEG_PER_LSB_500;
- break;
- case MPU6050_GYRO_FS_1000:
- range = MPU6050_DEG_PER_LSB_1000;
- break;
- case MPU6050_GYRO_FS_2000:
- range = MPU6050_DEG_PER_LSB_2000;
- break;
- default:
- range = MPU6050_DEG_PER_LSB_1000;
- break;
- }
+ float range = 1.0;
+
+ // int32_t rangeId;
+ // float range;
+
+ // rangeId = mpu6050GetFullScaleGyroRangeId();
+ // switch (rangeId)
+ // {
+ // case MPU6050_GYRO_FS_250:
+ // range = MPU6050_DEG_PER_LSB_250;
+ // break;
+ // case MPU6050_GYRO_FS_500:
+ // range = MPU6050_DEG_PER_LSB_500;
+ // break;
+ // case MPU6050_GYRO_FS_1000:
+ // range = MPU6050_DEG_PER_LSB_1000;
+ // break;
+ // case MPU6050_GYRO_FS_2000:
+ // range = MPU6050_DEG_PER_LSB_2000;
+ // break;
+ // default:
+ // range = MPU6050_DEG_PER_LSB_1000;
+ // break;
+ // }
return range;
}
@@ -426,23 +430,23 @@ float mpu6050GetFullScaleGyroDPL()
*/
void mpu6050SetFullScaleGyroRange(uint8_t range)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT,
- MPU6050_GCONFIG_FS_SEL_LENGTH, range);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT,
+ // MPU6050_GCONFIG_FS_SEL_LENGTH, range);
}
void mpu6050SetGyroXSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_XG_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_XG_ST_BIT, enabled);
}
void mpu6050SetGyroYSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_YG_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_YG_ST_BIT, enabled);
}
void mpu6050SetGyroZSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_ZG_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_ZG_ST_BIT, enabled);
}
// ACCEL_CONFIG register
@@ -453,7 +457,7 @@ void mpu6050SetGyroZSelfTest(bool enabled)
*/
bool mpu6050GetAccelXSelfTest()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled setting for accelerometer X axis.
@@ -462,7 +466,7 @@ bool mpu6050GetAccelXSelfTest()
*/
void mpu6050SetAccelXSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_XA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Y axis.
* @return Self-test enabled value
@@ -470,7 +474,7 @@ void mpu6050SetAccelXSelfTest(bool enabled)
*/
bool mpu6050GetAccelYSelfTest()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled value for accelerometer Y axis.
@@ -479,7 +483,7 @@ bool mpu6050GetAccelYSelfTest()
*/
void mpu6050SetAccelYSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_YA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Z axis.
* @return Self-test enabled value
@@ -487,7 +491,7 @@ void mpu6050SetAccelYSelfTest(bool enabled)
*/
bool mpu6050GetAccelZSelfTest()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, buffer);
return buffer[0];
}
/** Set self-test enabled value for accelerometer Z axis.
@@ -496,7 +500,7 @@ bool mpu6050GetAccelZSelfTest()
*/
void mpu6050SetAccelZSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ZA_ST_BIT, enabled);
}
/** Get full-scale accelerometer range.
* The FS_SEL parameter allows setting the full-scale range of the accelerometer
@@ -517,8 +521,8 @@ void mpu6050SetAccelZSelfTest(bool enabled)
*/
uint8_t mpu6050GetFullScaleAccelRangeId()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT,
- MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT,
+ // MPU6050_ACONFIG_AFS_SEL_LENGTH, buffer);
return buffer[0];
}
@@ -532,28 +536,30 @@ uint8_t mpu6050GetFullScaleAccelRangeId()
*/
float mpu6050GetFullScaleAccelGPL()
{
- int32_t rangeId;
- float range;
-
- rangeId = mpu6050GetFullScaleAccelRangeId();
- switch (rangeId)
- {
- case MPU6050_ACCEL_FS_2:
- range = MPU6050_G_PER_LSB_2;
- break;
- case MPU6050_ACCEL_FS_4:
- range = MPU6050_G_PER_LSB_4;
- break;
- case MPU6050_ACCEL_FS_8:
- range = MPU6050_G_PER_LSB_8;
- break;
- case MPU6050_ACCEL_FS_16:
- range = MPU6050_G_PER_LSB_16;
- break;
- default:
- range = MPU6050_DEG_PER_LSB_1000;
- break;
- }
+ float range = 1.0;
+
+ // int32_t rangeId;
+ // float range;
+
+ // rangeId = mpu6050GetFullScaleAccelRangeId();
+ // switch (rangeId)
+ // {
+ // case MPU6050_ACCEL_FS_2:
+ // range = MPU6050_G_PER_LSB_2;
+ // break;
+ // case MPU6050_ACCEL_FS_4:
+ // range = MPU6050_G_PER_LSB_4;
+ // break;
+ // case MPU6050_ACCEL_FS_8:
+ // range = MPU6050_G_PER_LSB_8;
+ // break;
+ // case MPU6050_ACCEL_FS_16:
+ // range = MPU6050_G_PER_LSB_16;
+ // break;
+ // default:
+ // range = MPU6050_DEG_PER_LSB_1000;
+ // break;
+ // }
return range;
}
@@ -564,7 +570,7 @@ float mpu6050GetFullScaleAccelGPL()
*/
void mpu6050SetFullScaleAccelRange(uint8_t range)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT,
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT,
MPU6050_ACONFIG_AFS_SEL_LENGTH, range);
}
/** Get the high-pass filter configuration.
@@ -604,8 +610,8 @@ void mpu6050SetFullScaleAccelRange(uint8_t range)
*/
uint8_t mpu6050GetDHPFMode()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT,
- MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT,
+ // MPU6050_ACONFIG_ACCEL_HPF_LENGTH, buffer);
return buffer[0];
}
/** Set the high-pass filter configuration.
@@ -616,8 +622,8 @@ uint8_t mpu6050GetDHPFMode()
*/
void mpu6050SetDHPFMode(uint8_t bandwidth)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT,
- MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_ACCEL_HPF_BIT,
+ // MPU6050_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
}
// FF_THR register
@@ -639,7 +645,7 @@ void mpu6050SetDHPFMode(uint8_t bandwidth)
*/
uint8_t mpu6050GetFreefallDetectionThreshold()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_FF_THR, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_FF_THR, buffer);
return buffer[0];
}
/** Get free-fall event acceleration threshold.
@@ -649,7 +655,7 @@ uint8_t mpu6050GetFreefallDetectionThreshold()
*/
void mpu6050SetFreefallDetectionThreshold(uint8_t threshold)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_FF_THR, threshold);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_FF_THR, threshold);
}
// FF_DUR register
@@ -673,7 +679,7 @@ void mpu6050SetFreefallDetectionThreshold(uint8_t threshold)
*/
uint8_t mpu6050GetFreefallDetectionDuration()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_FF_DUR, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_FF_DUR, buffer);
return buffer[0];
}
/** Get free-fall event duration threshold.
@@ -683,7 +689,7 @@ uint8_t mpu6050GetFreefallDetectionDuration()
*/
void mpu6050SetFreefallDetectionDuration(uint8_t duration)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_FF_DUR, duration);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_FF_DUR, duration);
}
// MOT_THR register
@@ -709,7 +715,7 @@ void mpu6050SetFreefallDetectionDuration(uint8_t duration)
*/
uint8_t mpu6050GetMotionDetectionThreshold()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_MOT_THR, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_MOT_THR, buffer);
return buffer[0];
}
/** Set free-fall event acceleration threshold.
@@ -719,7 +725,7 @@ uint8_t mpu6050GetMotionDetectionThreshold()
*/
void mpu6050SetMotionDetectionThreshold(uint8_t threshold)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_MOT_THR, threshold);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_MOT_THR, threshold);
}
// MOT_DUR register
@@ -741,7 +747,7 @@ void mpu6050SetMotionDetectionThreshold(uint8_t threshold)
*/
uint8_t mpu6050GetMotionDetectionDuration()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_MOT_DUR, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_MOT_DUR, buffer);
return buffer[0];
}
/** Set motion detection event duration threshold.
@@ -751,7 +757,7 @@ uint8_t mpu6050GetMotionDetectionDuration()
*/
void mpu6050SetMotionDetectionDuration(uint8_t duration)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_MOT_DUR, duration);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_MOT_DUR, duration);
}
// ZRMOT_THR register
@@ -783,7 +789,7 @@ void mpu6050SetMotionDetectionDuration(uint8_t duration)
*/
uint8_t mpu6050GetZeroMotionDetectionThreshold()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_ZRMOT_THR, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_ZRMOT_THR, buffer);
return buffer[0];
}
/** Set zero motion detection event acceleration threshold.
@@ -793,7 +799,7 @@ uint8_t mpu6050GetZeroMotionDetectionThreshold()
*/
void mpu6050SetZeroMotionDetectionThreshold(uint8_t threshold)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_ZRMOT_THR, threshold);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_ZRMOT_THR, threshold);
}
// ZRMOT_DUR register
@@ -816,7 +822,7 @@ void mpu6050SetZeroMotionDetectionThreshold(uint8_t threshold)
*/
uint8_t mpu6050GetZeroMotionDetectionDuration()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_ZRMOT_DUR, buffer);
return buffer[0];
}
/** Set zero motion detection event duration threshold.
@@ -826,7 +832,7 @@ uint8_t mpu6050GetZeroMotionDetectionDuration()
*/
void mpu6050SetZeroMotionDetectionDuration(uint8_t duration)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_ZRMOT_DUR, duration);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_ZRMOT_DUR, duration);
}
// FIFO_EN register
@@ -839,7 +845,7 @@ void mpu6050SetZeroMotionDetectionDuration(uint8_t duration)
*/
bool mpu6050GetTempFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set temperature FIFO enabled value.
@@ -849,7 +855,7 @@ bool mpu6050GetTempFIFOEnabled()
*/
void mpu6050SetTempFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_TEMP_FIFO_EN_BIT, enabled);
}
/** Get gyroscope X-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
@@ -859,7 +865,7 @@ void mpu6050SetTempFIFOEnabled(bool enabled)
*/
bool mpu6050GetXGyroFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope X-axis FIFO enabled value.
@@ -869,7 +875,7 @@ bool mpu6050GetXGyroFIFOEnabled()
*/
void mpu6050SetXGyroFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_XG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Y-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
@@ -879,7 +885,7 @@ void mpu6050SetXGyroFIFOEnabled(bool enabled)
*/
bool mpu6050GetYGyroFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Y-axis FIFO enabled value.
@@ -889,7 +895,7 @@ bool mpu6050GetYGyroFIFOEnabled()
*/
void mpu6050SetYGyroFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_YG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Z-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
@@ -899,7 +905,7 @@ void mpu6050SetYGyroFIFOEnabled(bool enabled)
*/
bool mpu6050GetZGyroFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Z-axis FIFO enabled value.
@@ -909,7 +915,7 @@ bool mpu6050GetZGyroFIFOEnabled()
*/
void mpu6050SetZGyroFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_ZG_FIFO_EN_BIT, enabled);
}
/** Get accelerometer FIFO enabled value.
* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
@@ -920,7 +926,7 @@ void mpu6050SetZGyroFIFOEnabled(bool enabled)
*/
bool mpu6050GetAccelFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_ACCEL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set accelerometer FIFO enabled value.
@@ -940,7 +946,7 @@ void mpu6050SetAccelFIFOEnabled(bool enabled)
*/
bool mpu6050GetSlave2FIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV2_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 2 FIFO enabled value.
@@ -960,7 +966,7 @@ void mpu6050SetSlave2FIFOEnabled(bool enabled)
*/
bool mpu6050GetSlave1FIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 1 FIFO enabled value.
@@ -970,7 +976,7 @@ bool mpu6050GetSlave1FIFOEnabled()
*/
void mpu6050SetSlave1FIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV1_FIFO_EN_BIT, enabled);
}
/** Get Slave 0 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -980,7 +986,7 @@ void mpu6050SetSlave1FIFOEnabled(bool enabled)
*/
bool mpu6050GetSlave0FIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 0 FIFO enabled value.
@@ -990,7 +996,7 @@ bool mpu6050GetSlave0FIFOEnabled()
*/
void mpu6050SetSlave0FIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_FIFO_EN, MPU6050_SLV0_FIFO_EN_BIT, enabled);
}
// I2C_MST_CTRL register
@@ -1012,7 +1018,7 @@ void mpu6050SetSlave0FIFOEnabled(bool enabled)
*/
bool mpu6050GetMultiMasterEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set multi-master enabled value.
@@ -1022,7 +1028,7 @@ bool mpu6050GetMultiMasterEnabled()
*/
void mpu6050SetMultiMasterEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_MULT_MST_EN_BIT, enabled);
}
/** Get wait-for-external-sensor-data enabled value.
* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
@@ -1037,7 +1043,7 @@ void mpu6050SetMultiMasterEnabled(bool enabled)
*/
bool mpu6050GetWaitForExternalSensorEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, buffer);
return buffer[0];
}
/** Set wait-for-external-sensor-data enabled value.
@@ -1047,7 +1053,7 @@ bool mpu6050GetWaitForExternalSensorEnabled()
*/
void mpu6050SetWaitForExternalSensorEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_WAIT_FOR_ES_BIT, enabled);
}
/** Get Slave 3 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -1057,7 +1063,7 @@ void mpu6050SetWaitForExternalSensorEnabled(bool enabled)
*/
bool mpu6050GetSlave3FIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 3 FIFO enabled value.
@@ -1067,7 +1073,7 @@ bool mpu6050GetSlave3FIFOEnabled()
*/
void mpu6050SetSlave3FIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_SLV_3_FIFO_EN_BIT, enabled);
}
/** Get slave read/write transition enabled value.
* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
@@ -1081,7 +1087,7 @@ void mpu6050SetSlave3FIFOEnabled(bool enabled)
*/
bool mpu6050GetSlaveReadWriteTransitionEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_P_NSR_BIT, buffer);
return buffer[0];
}
/** Set slave read/write transition enabled value.
@@ -1124,8 +1130,8 @@ void mpu6050SetSlaveReadWriteTransitionEnabled(bool enabled)
*/
uint8_t mpu6050GetMasterClockSpeed()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT,
- MPU6050_I2C_MST_CLK_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT,
+ // MPU6050_I2C_MST_CLK_LENGTH, buffer);
return buffer[0];
}
/** Set I2C master clock speed.
@@ -1134,8 +1140,8 @@ uint8_t mpu6050GetMasterClockSpeed()
*/
void mpu6050SetMasterClockSpeed(uint8_t speed)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT,
- MPU6050_I2C_MST_CLK_LENGTH, speed);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_I2C_MST_CTRL, MPU6050_I2C_MST_CLK_BIT,
+ // MPU6050_I2C_MST_CLK_LENGTH, speed);
}
// I2C_SLV* registers (Slave 0-3)
@@ -1183,9 +1189,9 @@ void mpu6050SetMasterClockSpeed(uint8_t speed)
*/
uint8_t mpu6050GetSlaveAddress(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, buffer);
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, buffer);
return buffer[0];
}
/** Set the I2C address of the specified slave (0-3).
@@ -1196,9 +1202,9 @@ uint8_t mpu6050GetSlaveAddress(uint8_t num)
*/
void mpu6050SetSlaveAddress(uint8_t num, uint8_t address)
{
- if (num > 3)
- return;
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, address);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_ADDR + num * 3, address);
}
/** Get the active internal register for the specified slave (0-3).
* Read/write operations for this slave will be done to whatever internal
@@ -1213,9 +1219,9 @@ void mpu6050SetSlaveAddress(uint8_t num, uint8_t address)
*/
uint8_t mpu6050GetSlaveRegister(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, buffer);
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, buffer);
return buffer[0];
}
/** Set the active internal register for the specified slave (0-3).
@@ -1226,9 +1232,9 @@ uint8_t mpu6050GetSlaveRegister(uint8_t num)
*/
void mpu6050SetSlaveRegister(uint8_t num, uint8_t reg)
{
- if (num > 3)
- return;
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, reg);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_REG + num * 3, reg);
}
/** Get the enabled value for the specified slave (0-3).
* When set to 1, this bit enables Slave 0 for data transfer operations. When
@@ -1239,10 +1245,11 @@ void mpu6050SetSlaveRegister(uint8_t num, uint8_t reg)
*/
bool mpu6050GetSlaveEnabled(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT, buffer);
- return buffer[0];
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set the enabled value for the specified slave (0-3).
* @param num Slave number (0-3)
@@ -1252,10 +1259,10 @@ bool mpu6050GetSlaveEnabled(uint8_t num)
*/
void mpu6050SetSlaveEnabled(uint8_t num, bool enabled)
{
- if (num > 3)
- return;
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT,
- enabled);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_EN_BIT,
+ // enabled);
}
/** Get word pair byte-swapping enabled for the specified slave (0-3).
* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
@@ -1270,11 +1277,12 @@ void mpu6050SetSlaveEnabled(uint8_t num, bool enabled)
*/
bool mpu6050GetSlaveWordByteSwap(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT,
- buffer);
- return buffer[0];
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT,
+ // buffer);
+ // return buffer[0];
+ return true;
}
/** Set word pair byte-swapping enabled for the specified slave (0-3).
* @param num Slave number (0-3)
@@ -1284,10 +1292,10 @@ bool mpu6050GetSlaveWordByteSwap(uint8_t num)
*/
void mpu6050SetSlaveWordByteSwap(uint8_t num, bool enabled)
{
- if (num > 3)
- return;
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT,
- enabled);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_BYTE_SW_BIT,
+ // enabled);
}
/** Get write mode for the specified slave (0-3).
* When set to 1, the transaction will read or write data only. When cleared to
@@ -1301,11 +1309,12 @@ void mpu6050SetSlaveWordByteSwap(uint8_t num, bool enabled)
*/
bool mpu6050GetSlaveWriteMode(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT,
- buffer);
- return buffer[0];
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT,
+ // buffer);
+ // return buffer[0];
+ return true;
}
/** Set write mode for the specified slave (0-3).
* @param num Slave number (0-3)
@@ -1315,10 +1324,11 @@ bool mpu6050GetSlaveWriteMode(uint8_t num)
*/
void mpu6050SetSlaveWriteMode(uint8_t num, bool mode)
{
- if (num > 3)
- return;
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT,
- mode);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_REG_DIS_BIT,
+ // mode);
+
}
/** Get word pair grouping order offset for the specified slave (0-3).
* This sets specifies the grouping order of word pairs received from registers.
@@ -1333,10 +1343,11 @@ void mpu6050SetSlaveWriteMode(uint8_t num, bool mode)
*/
bool mpu6050GetSlaveWordGroupOffset(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT, buffer);
- return buffer[0];
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set word pair grouping order offset for the specified slave (0-3).
* @param num Slave number (0-3)
@@ -1346,10 +1357,10 @@ bool mpu6050GetSlaveWordGroupOffset(uint8_t num)
*/
void mpu6050SetSlaveWordGroupOffset(uint8_t num, bool enabled)
{
- if (num > 3)
- return;
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT,
- enabled);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_GRP_BIT,
+ // enabled);
}
/** Get number of bytes to read for the specified slave (0-3).
* Specifies the number of bytes transferred to and from Slave 0. Clearing this
@@ -1360,11 +1371,12 @@ void mpu6050SetSlaveWordGroupOffset(uint8_t num, bool enabled)
*/
uint8_t mpu6050GetSlaveDataLength(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT,
- MPU6050_I2C_SLV_LEN_LENGTH, buffer);
- return buffer[0];
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT,
+ // MPU6050_I2C_SLV_LEN_LENGTH, buffer);
+ // return buffer[0];
+ return 1;
}
/** Set number of bytes to read for the specified slave (0-3).
* @param num Slave number (0-3)
@@ -1374,10 +1386,10 @@ uint8_t mpu6050GetSlaveDataLength(uint8_t num)
*/
void mpu6050SetSlaveDataLength(uint8_t num, uint8_t length)
{
- if (num > 3)
- return;
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT,
- MPU6050_I2C_SLV_LEN_LENGTH, length);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_CTRL + num * 3, MPU6050_I2C_SLV_LEN_BIT,
+ // MPU6050_I2C_SLV_LEN_LENGTH, length);
}
// I2C_SLV* registers (Slave 4)
@@ -1393,8 +1405,10 @@ void mpu6050SetSlaveDataLength(uint8_t num, uint8_t length)
*/
uint8_t mpu6050GetSlave4Address()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
- return buffer[0];
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_ADDR, buffer);
+ // return buffer[0];
+
+ return 1;
}
/** Set the I2C address of Slave 4.
* @param address New address for Slave 4
@@ -1424,7 +1438,7 @@ uint8_t mpu6050GetSlave4Register()
*/
void mpu6050SetSlave4Register(uint8_t reg)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_REG, reg);
}
/** Set new byte to write to Slave 4.
* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
@@ -1434,7 +1448,7 @@ void mpu6050SetSlave4Register(uint8_t reg)
*/
void mpu6050SetSlave4OutputByte(uint8_t data)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_DO, data);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_DO, data);
}
/** Get the enabled value for the Slave 4.
* When set to 1, this bit enables Slave 4 for data transfer operations. When
@@ -1444,8 +1458,9 @@ void mpu6050SetSlave4OutputByte(uint8_t data)
*/
bool mpu6050GetSlave4Enabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set the enabled value for Slave 4.
* @param enabled New enabled value for Slave 4
@@ -1454,7 +1469,7 @@ bool mpu6050GetSlave4Enabled()
*/
void mpu6050SetSlave4Enabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_EN_BIT, enabled);
}
/** Get the enabled value for Slave 4 transaction interrupts.
* When set to 1, this bit enables the generation of an interrupt signal upon
@@ -1467,8 +1482,9 @@ void mpu6050SetSlave4Enabled(bool enabled)
*/
bool mpu6050GetSlave4InterruptEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set the enabled value for Slave 4 transaction interrupts.
* @param enabled New enabled value for Slave 4 transaction interrupts.
@@ -1477,7 +1493,7 @@ bool mpu6050GetSlave4InterruptEnabled()
*/
void mpu6050SetSlave4InterruptEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_INT_EN_BIT, enabled);
}
/** Get write mode for Slave 4.
* When set to 1, the transaction will read or write data only. When cleared to
@@ -1490,8 +1506,9 @@ void mpu6050SetSlave4InterruptEnabled(bool enabled)
*/
bool mpu6050GetSlave4WriteMode()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set write mode for the Slave 4.
* @param mode New write mode for Slave 4 (0 = register address + data, 1 = data only)
@@ -1500,7 +1517,7 @@ bool mpu6050GetSlave4WriteMode()
*/
void mpu6050SetSlave4WriteMode(bool mode)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_REG_DIS_BIT, mode);
}
/** Get Slave 4 master delay value.
* This configures the reduced access rate of I2C slaves relative to the Sample
@@ -1519,9 +1536,10 @@ void mpu6050SetSlave4WriteMode(bool mode)
*/
uint8_t mpu6050GetSlave4MasterDelay()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT,
- MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
- return buffer[0];
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT,
+ // MPU6050_I2C_SLV4_MST_DLY_LENGTH, buffer);
+ // return buffer[0];
+ return 1;
}
/** Set Slave 4 master delay value.
* @param delay New Slave 4 master delay value
@@ -1530,8 +1548,8 @@ uint8_t mpu6050GetSlave4MasterDelay()
*/
void mpu6050SetSlave4MasterDelay(uint8_t delay)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT,
- MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_CTRL, MPU6050_I2C_SLV4_MST_DLY_BIT,
+ // MPU6050_I2C_SLV4_MST_DLY_LENGTH, delay);
}
/** Get last available byte read from Slave 4.
* This register stores the data read from Slave 4. This field is populated
@@ -1541,8 +1559,9 @@ void mpu6050SetSlave4MasterDelay(uint8_t delay)
*/
uint8_t mpu6050GetSlate4InputByte()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
- return buffer[0];
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV4_DI, buffer);
+ // return buffer[0];
+ return 1;
}
// I2C_MST_STATUS register
@@ -1558,8 +1577,9 @@ uint8_t mpu6050GetSlate4InputByte()
*/
bool mpu6050GetPassthroughStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_PASS_THROUGH_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Get Slave 4 transaction done status.
* Automatically sets to 1 when a Slave 4 transaction has completed. This
@@ -1571,8 +1591,9 @@ bool mpu6050GetPassthroughStatus()
*/
bool mpu6050GetSlave4IsDone()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_DONE_BIT, buffer);
+ // return buffer[0];
+ return 1;
}
/** Get master arbitration lost status.
* This bit automatically sets to 1 when the I2C Master has lost arbitration of
@@ -1583,8 +1604,9 @@ bool mpu6050GetSlave4IsDone()
*/
bool mpu6050GetLostArbitration()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_LOST_ARB_BIT, buffer);
+ // return buffer[0];
+ return 1;
}
/** Get Slave 4 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
@@ -1595,8 +1617,9 @@ bool mpu6050GetLostArbitration()
*/
bool mpu6050GetSlave4Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV4_NACK_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Get Slave 3 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
@@ -1607,8 +1630,9 @@ bool mpu6050GetSlave4Nack()
*/
bool mpu6050GetSlave3Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV3_NACK_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Get Slave 2 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
@@ -1619,8 +1643,9 @@ bool mpu6050GetSlave3Nack()
*/
bool mpu6050GetSlave2Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV2_NACK_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Get Slave 1 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
@@ -1631,8 +1656,9 @@ bool mpu6050GetSlave2Nack()
*/
bool mpu6050GetSlave1Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV1_NACK_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Get Slave 0 NACK status.
* This bit automatically sets to 1 when the I2C Master receives a NACK in a
@@ -1643,8 +1669,9 @@ bool mpu6050GetSlave1Nack()
*/
bool mpu6050GetSlave0Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_STATUS, MPU6050_MST_I2C_SLV0_NACK_BIT, buffer);
+ // return buffer[0];
+ return true;
}
// INT_PIN_CFG register
@@ -1657,8 +1684,9 @@ bool mpu6050GetSlave0Nack()
*/
bool mpu6050GetInterruptMode()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set interrupt logic level mode.
* @param mode New interrupt mode (0=active-high, 1=active-low)
@@ -1668,7 +1696,7 @@ bool mpu6050GetInterruptMode()
*/
void mpu6050SetInterruptMode(bool mode)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_LEVEL_BIT, mode);
}
/** Get interrupt drive mode.
* Will be set 0 for push-pull, 1 for open-drain.
@@ -1678,8 +1706,9 @@ void mpu6050SetInterruptMode(bool mode)
*/
bool mpu6050GetInterruptDrive()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set interrupt drive mode.
* @param drive New interrupt drive mode (0=push-pull, 1=open-drain)
@@ -1689,7 +1718,7 @@ bool mpu6050GetInterruptDrive()
*/
void mpu6050SetInterruptDrive(bool drive)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_OPEN_BIT, drive);
}
/** Get interrupt latch mode.
* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
@@ -1699,8 +1728,9 @@ void mpu6050SetInterruptDrive(bool drive)
*/
bool mpu6050GetInterruptLatch()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set interrupt latch mode.
* @param latch New latch mode (0=50us-pulse, 1=latch-until-int-cleared)
@@ -1710,7 +1740,7 @@ bool mpu6050GetInterruptLatch()
*/
void mpu6050SetInterruptLatch(bool latch)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_LATCH_INT_EN_BIT, latch);
}
/** Get interrupt latch clear mode.
* Will be set 0 for status-read-only, 1 for any-register-read.
@@ -1720,8 +1750,9 @@ void mpu6050SetInterruptLatch(bool latch)
*/
bool mpu6050GetInterruptLatchClear()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set interrupt latch clear mode.
* @param clear New latch clear mode (0=status-read-only, 1=any-register-read)
@@ -1731,7 +1762,7 @@ bool mpu6050GetInterruptLatchClear()
*/
void mpu6050SetInterruptLatchClear(bool clear)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_INT_RD_CLEAR_BIT, clear);
}
/** Get FSYNC interrupt logic level mode.
* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
@@ -1741,8 +1772,9 @@ void mpu6050SetInterruptLatchClear(bool clear)
*/
bool mpu6050GetFSyncInterruptLevel()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set FSYNC interrupt logic level mode.
* @param mode New FSYNC interrupt mode (0=active-high, 1=active-low)
@@ -1752,7 +1784,7 @@ bool mpu6050GetFSyncInterruptLevel()
*/
void mpu6050SetFSyncInterruptLevel(bool level)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT, level);
}
/** Get FSYNC pin interrupt enabled setting.
* Will be set 0 for disabled, 1 for enabled.
@@ -1762,8 +1794,9 @@ void mpu6050SetFSyncInterruptLevel(bool level)
*/
bool mpu6050GetFSyncInterruptEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set FSYNC pin interrupt enabled setting.
* @param enabled New FSYNC pin interrupt enabled setting
@@ -1773,7 +1806,7 @@ bool mpu6050GetFSyncInterruptEnabled()
*/
void mpu6050SetFSyncInterruptEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_FSYNC_INT_EN_BIT, enabled);
}
/** Get I2C bypass enabled status.
* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
@@ -1788,8 +1821,9 @@ void mpu6050SetFSyncInterruptEnabled(bool enabled)
*/
bool mpu6050GetI2CBypassEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set I2C bypass enabled status.
* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
@@ -1804,7 +1838,7 @@ bool mpu6050GetI2CBypassEnabled()
*/
void mpu6050SetI2CBypassEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled);
}
/** Get reference clock output enabled status.
* When this bit is equal to 1, a reference clock output is provided at the
@@ -1817,8 +1851,9 @@ void mpu6050SetI2CBypassEnabled(bool enabled)
*/
bool mpu6050GetClockOutputEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set reference clock output enabled status.
* When this bit is equal to 1, a reference clock output is provided at the
@@ -1831,7 +1866,7 @@ bool mpu6050GetClockOutputEnabled()
*/
void mpu6050SetClockOutputEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_CLKOUT_EN_BIT, enabled);
}
// INT_ENABLE register
@@ -1845,8 +1880,9 @@ void mpu6050SetClockOutputEnabled(bool enabled)
**/
uint8_t mpu6050GetIntEnabled()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, buffer);
- return buffer[0];
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, buffer);
+ // return buffer[0];
+ return 1;
}
/** Set full interrupt enabled status.
* Full register byte for all interrupts, for quick reading. Each bit should be
@@ -1858,7 +1894,7 @@ uint8_t mpu6050GetIntEnabled()
**/
void mpu6050SetIntEnabled(uint8_t enabled)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, enabled);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, enabled);
}
/** Get Free Fall interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1868,8 +1904,9 @@ void mpu6050SetIntEnabled(uint8_t enabled)
**/
bool mpu6050GetIntFreefallEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
- return buffer[0];
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FF_BIT, buffer);
+ // return buffer[0];
+ return true;
}
/** Set Free Fall interrupt enabled status.
* @param enabled New interrupt enabled status
@@ -1889,7 +1926,7 @@ void mpu6050SetIntFreefallEnabled(bool enabled)
**/
bool mpu6050GetIntMotionEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Set Motion Detection interrupt enabled status.
@@ -1900,7 +1937,7 @@ bool mpu6050GetIntMotionEnabled()
**/
void mpu6050SetIntMotionEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_MOT_BIT, enabled);
}
/** Get Zero Motion Detection interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1910,7 +1947,7 @@ void mpu6050SetIntMotionEnabled(bool enabled)
**/
bool mpu6050GetIntZeroMotionEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Set Zero Motion Detection interrupt enabled status.
@@ -1921,7 +1958,7 @@ bool mpu6050GetIntZeroMotionEnabled()
**/
void mpu6050SetIntZeroMotionEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_ZMOT_BIT, enabled);
}
/** Get FIFO Buffer Overflow interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1931,7 +1968,7 @@ void mpu6050SetIntZeroMotionEnabled(bool enabled)
**/
bool mpu6050GetIntFIFOBufferOverflowEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Set FIFO Buffer Overflow interrupt enabled status.
@@ -1942,7 +1979,7 @@ bool mpu6050GetIntFIFOBufferOverflowEnabled()
**/
void mpu6050SetIntFIFOBufferOverflowEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, enabled);
}
/** Get I2C Master interrupt enabled status.
* This enables any of the I2C Master interrupt sources to generate an
@@ -1953,7 +1990,7 @@ void mpu6050SetIntFIFOBufferOverflowEnabled(bool enabled)
**/
bool mpu6050GetIntI2CMasterEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Set I2C Master interrupt enabled status.
@@ -1964,7 +2001,7 @@ bool mpu6050GetIntI2CMasterEnabled()
**/
void mpu6050SetIntI2CMasterEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_I2C_MST_INT_BIT, enabled);
}
/** Get Data Ready interrupt enabled setting.
* This event occurs each time a write operation to all of the sensor registers
@@ -1975,7 +2012,7 @@ void mpu6050SetIntI2CMasterEnabled(bool enabled)
*/
bool mpu6050GetIntDataReadyEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
/** Set Data Ready interrupt enabled status.
@@ -1986,7 +2023,7 @@ bool mpu6050GetIntDataReadyEnabled()
*/
void mpu6050SetIntDataReadyEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DATA_RDY_BIT, enabled);
}
// INT_STATUS register
@@ -2000,7 +2037,7 @@ void mpu6050SetIntDataReadyEnabled(bool enabled)
*/
uint8_t mpu6050GetIntStatus()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_INT_STATUS, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_INT_STATUS, buffer);
return buffer[0];
}
/** Get Free Fall interrupt status.
@@ -2012,7 +2049,7 @@ uint8_t mpu6050GetIntStatus()
*/
bool mpu6050GetIntFreefallStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Get Motion Detection interrupt status.
@@ -2024,7 +2061,7 @@ bool mpu6050GetIntFreefallStatus()
*/
bool mpu6050GetIntMotionStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Get Zero Motion Detection interrupt status.
@@ -2036,7 +2073,7 @@ bool mpu6050GetIntMotionStatus()
*/
bool mpu6050GetIntZeroMotionStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Get FIFO Buffer Overflow interrupt status.
@@ -2048,7 +2085,7 @@ bool mpu6050GetIntZeroMotionStatus()
*/
bool mpu6050GetIntFIFOBufferOverflowStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Get I2C Master interrupt status.
@@ -2061,7 +2098,7 @@ bool mpu6050GetIntFIFOBufferOverflowStatus()
*/
bool mpu6050GetIntI2CMasterStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Get Data Ready interrupt status.
@@ -2073,7 +2110,7 @@ bool mpu6050GetIntI2CMasterStatus()
*/
bool mpu6050GetIntDataReadyStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
@@ -2098,7 +2135,7 @@ bool mpu6050GetIntDataReadyStatus()
void mpu6050GetMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz,
int16_t* mx, int16_t* my, int16_t* mz)
{
- mpu6050GetMotion6(ax, ay, az, gx, gy, gz);
+ // mpu6050GetMotion6(ax, ay, az, gx, gy, gz);
// TODO: magnetometer integration
}
/** Get raw 6-axis motion sensor readings (accel/gyro).
@@ -2115,13 +2152,13 @@ void mpu6050GetMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16
*/
void mpu6050GetMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
- *ax = (((int16_t) buffer[0]) << 8) | buffer[1];
- *ay = (((int16_t) buffer[2]) << 8) | buffer[3];
- *az = (((int16_t) buffer[4]) << 8) | buffer[5];
- *gx = (((int16_t) buffer[8]) << 8) | buffer[9];
- *gy = (((int16_t) buffer[10]) << 8) | buffer[11];
- *gz = (((int16_t) buffer[12]) << 8) | buffer[13];
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
+ // *ax = (((int16_t) buffer[0]) << 8) | buffer[1];
+ // *ay = (((int16_t) buffer[2]) << 8) | buffer[3];
+ // *az = (((int16_t) buffer[4]) << 8) | buffer[5];
+ // *gx = (((int16_t) buffer[8]) << 8) | buffer[9];
+ // *gy = (((int16_t) buffer[10]) << 8) | buffer[11];
+ // *gz = (((int16_t) buffer[12]) << 8) | buffer[13];
}
/** Get 3-axis accelerometer readings.
* These registers store the most recent accelerometer measurements.
@@ -2161,10 +2198,10 @@ void mpu6050GetMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16
*/
void mpu6050GetAcceleration(int16_t* x, int16_t* y, int16_t* z)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
- *x = (((int16_t) buffer[0]) << 8) | buffer[1];
- *y = (((int16_t) buffer[2]) << 8) | buffer[3];
- *z = (((int16_t) buffer[4]) << 8) | buffer[5];
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_XOUT_H, 6, buffer);
+ // *x = (((int16_t) buffer[0]) << 8) | buffer[1];
+ // *y = (((int16_t) buffer[2]) << 8) | buffer[3];
+ // *z = (((int16_t) buffer[4]) << 8) | buffer[5];
}
/** Get X-axis accelerometer reading.
* @return X-axis acceleration measurement in 16-bit 2's complement format
@@ -2173,7 +2210,7 @@ void mpu6050GetAcceleration(int16_t* x, int16_t* y, int16_t* z)
*/
int16_t mpu6050GetAccelerationX()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_XOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis accelerometer reading.
@@ -2183,7 +2220,7 @@ int16_t mpu6050GetAccelerationX()
*/
int16_t mpu6050GetAccelerationY()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_YOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis accelerometer reading.
@@ -2193,7 +2230,7 @@ int16_t mpu6050GetAccelerationY()
*/
int16_t mpu6050GetAccelerationZ()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ACCEL_ZOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
@@ -2205,7 +2242,7 @@ int16_t mpu6050GetAccelerationZ()
*/
int16_t mpu6050GetTemperature()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_TEMP_OUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
@@ -2245,10 +2282,10 @@ int16_t mpu6050GetTemperature()
*/
void mpu6050GetRotation(int16_t* x, int16_t* y, int16_t* z)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
- *x = (((int16_t) buffer[0]) << 8) | buffer[1];
- *y = (((int16_t) buffer[2]) << 8) | buffer[3];
- *z = (((int16_t) buffer[4]) << 8) | buffer[5];
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_GYRO_XOUT_H, 6, buffer);
+ // *x = (((int16_t) buffer[0]) << 8) | buffer[1];
+ // *y = (((int16_t) buffer[2]) << 8) | buffer[3];
+ // *z = (((int16_t) buffer[4]) << 8) | buffer[5];
}
/** Get X-axis gyroscope reading.
* @return X-axis rotation measurement in 16-bit 2's complement format
@@ -2257,7 +2294,7 @@ void mpu6050GetRotation(int16_t* x, int16_t* y, int16_t* z)
*/
int16_t mpu6050GetRotationX()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_GYRO_XOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis gyroscope reading.
@@ -2267,7 +2304,7 @@ int16_t mpu6050GetRotationX()
*/
int16_t mpu6050GetRotationY()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_GYRO_YOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis gyroscope reading.
@@ -2277,7 +2314,7 @@ int16_t mpu6050GetRotationY()
*/
int16_t mpu6050GetRotationZ()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_GYRO_ZOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
@@ -2359,7 +2396,7 @@ int16_t mpu6050GetRotationZ()
*/
uint8_t mpu6050GetExternalSensorByte(int position)
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, buffer);
return buffer[0];
}
/** Read word (2 bytes) from external sensor data registers.
@@ -2369,7 +2406,7 @@ uint8_t mpu6050GetExternalSensorByte(int position)
*/
uint16_t mpu6050GetExternalSensorWord(int position)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 2, buffer);
return (((uint16_t) buffer[0]) << 8) | buffer[1];
}
/** Read double word (4 bytes) from external sensor data registers.
@@ -2379,7 +2416,7 @@ uint16_t mpu6050GetExternalSensorWord(int position)
*/
uint32_t mpu6050GetExternalSensorDWord(int position)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_EXT_SENS_DATA_00 + position, 4, buffer);
return (((uint32_t) buffer[0]) << 24) | (((uint32_t) buffer[1]) << 16)
| (((uint16_t) buffer[2]) << 8) | buffer[3];
}
@@ -2393,7 +2430,7 @@ uint32_t mpu6050GetExternalSensorDWord(int position)
*/
bool mpu6050GetXNegMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XNEG_BIT, buffer);
return buffer[0];
}
/** Get X-axis positive motion detection interrupt status.
@@ -2403,7 +2440,7 @@ bool mpu6050GetXNegMotionDetected()
*/
bool mpu6050GetXPosMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_XPOS_BIT, buffer);
return buffer[0];
}
/** Get Y-axis negative motion detection interrupt status.
@@ -2413,7 +2450,7 @@ bool mpu6050GetXPosMotionDetected()
*/
bool mpu6050GetYNegMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YNEG_BIT, buffer);
return buffer[0];
}
/** Get Y-axis positive motion detection interrupt status.
@@ -2423,7 +2460,7 @@ bool mpu6050GetYNegMotionDetected()
*/
bool mpu6050GetYPosMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_YPOS_BIT, buffer);
return buffer[0];
}
/** Get Z-axis negative motion detection interrupt status.
@@ -2433,7 +2470,7 @@ bool mpu6050GetYPosMotionDetected()
*/
bool mpu6050GetZNegMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZNEG_BIT, buffer);
return buffer[0];
}
/** Get Z-axis positive motion detection interrupt status.
@@ -2443,7 +2480,7 @@ bool mpu6050GetZNegMotionDetected()
*/
bool mpu6050GetZPosMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZPOS_BIT, buffer);
return buffer[0];
}
/** Get zero motion detection interrupt status.
@@ -2453,7 +2490,7 @@ bool mpu6050GetZPosMotionDetected()
*/
bool mpu6050GetZeroMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_STATUS, MPU6050_MOTION_MOT_ZRMOT_BIT, buffer);
return buffer[0];
}
@@ -2469,9 +2506,9 @@ bool mpu6050GetZeroMotionDetected()
*/
void mpu6050SetSlaveOutputByte(uint8_t num, uint8_t data)
{
- if (num > 3)
- return;
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_I2C_SLV0_DO + num, data);
}
// I2C_MST_DELAY_CTRL register
@@ -2486,8 +2523,8 @@ void mpu6050SetSlaveOutputByte(uint8_t num, uint8_t data)
*/
bool mpu6050GetExternalShadowDelayEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT,
- buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT,
+ // buffer);
return buffer[0];
}
/** Set external data shadow delay enabled status.
@@ -2498,8 +2535,8 @@ bool mpu6050GetExternalShadowDelayEnabled()
*/
void mpu6050SetExternalShadowDelayEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL,
- MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL,
+ // MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
}
/** Get slave delay enabled status.
* When a particular slave delay is enabled, the rate of access for the that
@@ -2524,7 +2561,7 @@ bool mpu6050GetSlaveDelayEnabled(uint8_t num)
// MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
if (num > 4)
return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, buffer);
return buffer[0];
}
/** Set slave delay enabled status.
@@ -2535,7 +2572,7 @@ bool mpu6050GetSlaveDelayEnabled(uint8_t num)
*/
void mpu6050SetSlaveDelayEnabled(uint8_t num, bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
}
// SIGNAL_PATH_RESET register
@@ -2548,7 +2585,7 @@ void mpu6050SetSlaveDelayEnabled(uint8_t num, bool enabled)
*/
void mpu6050ResetGyroscopePath()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_GYRO_RESET_BIT, 1);
}
/** Reset accelerometer signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2558,7 +2595,7 @@ void mpu6050ResetGyroscopePath()
*/
void mpu6050ResetAccelerometerPath()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_ACCEL_RESET_BIT, 1);
}
/** Reset temperature sensor signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2568,7 +2605,7 @@ void mpu6050ResetAccelerometerPath()
*/
void mpu6050ResetTemperaturePath()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_SIGNAL_PATH_RESET, MPU6050_PATHRESET_TEMP_RESET_BIT, 1);
}
// MOT_DETECT_CTRL register
@@ -2589,8 +2626,8 @@ void mpu6050ResetTemperaturePath()
*/
uint8_t mpu6050GetAccelerometerPowerOnDelay()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
- MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
+ // MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
return buffer[0];
}
/** Set accelerometer power-on delay.
@@ -2601,8 +2638,8 @@ uint8_t mpu6050GetAccelerometerPowerOnDelay()
*/
void mpu6050SetAccelerometerPowerOnDelay(uint8_t delay)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
- MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_ACCEL_ON_DELAY_BIT,
+ // MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
}
/** Get Free Fall detection counter decrement configuration.
* Detection is registered by the Free Fall detection module after accelerometer
@@ -2632,8 +2669,8 @@ void mpu6050SetAccelerometerPowerOnDelay(uint8_t delay)
*/
uint8_t mpu6050GetFreefallDetectionCounterDecrement()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT,
- MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT,
+ // MPU6050_DETECT_FF_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Free Fall detection counter decrement configuration.
@@ -2644,8 +2681,8 @@ uint8_t mpu6050GetFreefallDetectionCounterDecrement()
*/
void mpu6050SetFreefallDetectionCounterDecrement(uint8_t decrement)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT,
- MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_FF_COUNT_BIT,
+ // MPU6050_DETECT_FF_COUNT_LENGTH, decrement);
}
/** Get Motion detection counter decrement configuration.
* Detection is registered by the Motion detection module after accelerometer
@@ -2672,8 +2709,8 @@ void mpu6050SetFreefallDetectionCounterDecrement(uint8_t decrement)
*/
uint8_t mpu6050GetMotionDetectionCounterDecrement()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT,
- MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT,
+ // MPU6050_DETECT_MOT_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Motion detection counter decrement configuration.
@@ -2684,8 +2721,8 @@ uint8_t mpu6050GetMotionDetectionCounterDecrement()
*/
void mpu6050SetMotionDetectionCounterDecrement(uint8_t decrement)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT,
- MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_MOT_DETECT_CTRL, MPU6050_DETECT_MOT_COUNT_BIT,
+ // MPU6050_DETECT_MOT_COUNT_LENGTH, decrement);
}
// USER_CTRL register
@@ -2700,7 +2737,7 @@ void mpu6050SetMotionDetectionCounterDecrement(uint8_t decrement)
*/
bool mpu6050GetFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set FIFO enabled status.
@@ -2711,7 +2748,7 @@ bool mpu6050GetFIFOEnabled()
*/
void mpu6050SetFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_EN_BIT, enabled);
}
/** Get I2C Master Mode enabled status.
* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
@@ -2726,7 +2763,7 @@ void mpu6050SetFIFOEnabled(bool enabled)
*/
bool mpu6050GetI2CMasterModeEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C Master Mode enabled status.
@@ -2737,7 +2774,7 @@ bool mpu6050GetI2CMasterModeEnabled()
*/
void mpu6050SetI2CMasterModeEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled);
}
/** Switch from I2C to SPI mode (MPU-6000 only)
* If this is set, the primary SPI interface will be enabled in place of the
@@ -2745,7 +2782,7 @@ void mpu6050SetI2CMasterModeEnabled(bool enabled)
*/
void mpu6050SwitchSPIEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_IF_DIS_BIT, enabled);
}
/** Reset the FIFO.
* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
@@ -2755,7 +2792,7 @@ void mpu6050SwitchSPIEnabled(bool enabled)
*/
void mpu6050ResetFIFO()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_FIFO_RESET_BIT, 1);
}
/** Reset the I2C Master.
* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
@@ -2765,7 +2802,7 @@ void mpu6050ResetFIFO()
*/
void mpu6050ResetI2CMaster()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_RESET_BIT, 1);
}
/** Reset all sensor registers and signal paths.
* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
@@ -2781,7 +2818,7 @@ void mpu6050ResetI2CMaster()
*/
void mpu6050ResetSensors()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_SIG_COND_RESET_BIT, 1);
}
// PWR_MGMT_1 register
@@ -2793,7 +2830,7 @@ void mpu6050ResetSensors()
*/
void mpu6050Reset()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_DEVICE_RESET_BIT, 1);
}
/** Get sleep mode status.
* Setting the SLEEP bit in the register puts the device into very low power
@@ -2808,7 +2845,7 @@ void mpu6050Reset()
*/
bool mpu6050GetSleepEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, buffer);
return buffer[0];
}
/** Set sleep mode status.
@@ -2819,7 +2856,7 @@ bool mpu6050GetSleepEnabled()
*/
void mpu6050SetSleepEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled);
}
/** Get wake cycle enabled status.
* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
@@ -2831,7 +2868,7 @@ void mpu6050SetSleepEnabled(bool enabled)
*/
bool mpu6050GetWakeCycleEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, buffer);
return buffer[0];
}
/** Set wake cycle enabled status.
@@ -2842,7 +2879,7 @@ bool mpu6050GetWakeCycleEnabled()
*/
void mpu6050SetWakeCycleEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CYCLE_BIT, enabled);
}
/** Get temperature sensor enabled status.
* Control the usage of the internal temperature sensor.
@@ -2857,7 +2894,7 @@ void mpu6050SetWakeCycleEnabled(bool enabled)
*/
bool mpu6050GetTempSensorEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, buffer);
return buffer[0] == 0; // 1 is actually disabled here
}
/** Set temperature sensor enabled status.
@@ -2873,7 +2910,7 @@ bool mpu6050GetTempSensorEnabled()
void mpu6050SetTempSensorEnabled(bool enabled)
{
// 1 is actually disabled here
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_TEMP_DIS_BIT, !enabled);
}
/** Get clock source setting.
* @return Current clock source setting
@@ -2883,8 +2920,8 @@ void mpu6050SetTempSensorEnabled(bool enabled)
*/
uint8_t mpu6050GetClockSource()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT,
- MPU6050_PWR1_CLKSEL_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT,
+ // MPU6050_PWR1_CLKSEL_LENGTH, buffer);
return buffer[0];
}
/** Set clock source setting.
@@ -2919,8 +2956,8 @@ uint8_t mpu6050GetClockSource()
*/
void mpu6050SetClockSource(uint8_t source)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT,
- MPU6050_PWR1_CLKSEL_LENGTH, source);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT,
+ // MPU6050_PWR1_CLKSEL_LENGTH, source);
}
// PWR_MGMT_2 register
@@ -2950,8 +2987,8 @@ void mpu6050SetClockSource(uint8_t source)
*/
uint8_t mpu6050GetWakeFrequency()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT,
- MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT,
+ // MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
return buffer[0];
}
/** Set wake frequency in Accel-Only Low Power Mode.
@@ -2960,8 +2997,8 @@ uint8_t mpu6050GetWakeFrequency()
*/
void mpu6050SetWakeFrequency(uint8_t frequency)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT,
- MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_LP_WAKE_CTRL_BIT,
+ // MPU6050_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
}
/** Get X-axis accelerometer standby enabled status.
@@ -2972,7 +3009,7 @@ void mpu6050SetWakeFrequency(uint8_t frequency)
*/
bool mpu6050GetStandbyXAccelEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, buffer);
return buffer[0];
}
/** Set X-axis accelerometer standby enabled status.
@@ -2983,7 +3020,7 @@ bool mpu6050GetStandbyXAccelEnabled()
*/
void mpu6050SetStandbyXAccelEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XA_BIT, enabled);
}
/** Get Y-axis accelerometer standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -2993,7 +3030,7 @@ void mpu6050SetStandbyXAccelEnabled(bool enabled)
*/
bool mpu6050GetStandbyYAccelEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, buffer);
return buffer[0];
}
/** Set Y-axis accelerometer standby enabled status.
@@ -3004,7 +3041,7 @@ bool mpu6050GetStandbyYAccelEnabled()
*/
void mpu6050SetStandbyYAccelEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YA_BIT, enabled);
}
/** Get Z-axis accelerometer standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -3014,7 +3051,7 @@ void mpu6050SetStandbyYAccelEnabled(bool enabled)
*/
bool mpu6050GetStandbyZAccelEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, buffer);
return buffer[0];
}
/** Set Z-axis accelerometer standby enabled status.
@@ -3025,7 +3062,7 @@ bool mpu6050GetStandbyZAccelEnabled()
*/
void mpu6050SetStandbyZAccelEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZA_BIT, enabled);
}
/** Get X-axis gyroscope standby enabled status.
* If enabled, the X-axis will not gather or report data (or use power).
@@ -3035,7 +3072,7 @@ void mpu6050SetStandbyZAccelEnabled(bool enabled)
*/
bool mpu6050GetStandbyXGyroEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, buffer);
return buffer[0];
}
/** Set X-axis gyroscope standby enabled status.
@@ -3046,7 +3083,7 @@ bool mpu6050GetStandbyXGyroEnabled()
*/
void mpu6050SetStandbyXGyroEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_XG_BIT, enabled);
}
/** Get Y-axis gyroscope standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -3056,7 +3093,7 @@ void mpu6050SetStandbyXGyroEnabled(bool enabled)
*/
bool mpu6050GetStandbyYGyroEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, buffer);
return buffer[0];
}
/** Set Y-axis gyroscope standby enabled status.
@@ -3067,7 +3104,7 @@ bool mpu6050GetStandbyYGyroEnabled()
*/
void mpu6050SetStandbyYGyroEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_YG_BIT, enabled);
}
/** Get Z-axis gyroscope standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -3077,7 +3114,7 @@ void mpu6050SetStandbyYGyroEnabled(bool enabled)
*/
bool mpu6050GetStandbyZGyroEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, buffer);
return buffer[0];
}
/** Set Z-axis gyroscope standby enabled status.
@@ -3088,7 +3125,7 @@ bool mpu6050GetStandbyZGyroEnabled()
*/
void mpu6050SetStandbyZGyroEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_PWR_MGMT_2, MPU6050_PWR2_STBY_ZG_BIT, enabled);
}
// FIFO_COUNT* registers
@@ -3102,7 +3139,7 @@ void mpu6050SetStandbyZGyroEnabled(bool enabled)
*/
uint16_t mpu6050GetFIFOCount()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
return (((uint16_t) buffer[0]) << 8) | buffer[1];
}
@@ -3135,12 +3172,12 @@ uint16_t mpu6050GetFIFOCount()
*/
uint8_t mpu6050GetFIFOByte()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_FIFO_R_W, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_FIFO_R_W, buffer);
return buffer[0];
}
void mpu6050GetFIFOBytes(uint8_t *data, uint8_t length)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_FIFO_R_W, length, data);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_FIFO_R_W, length, data);
}
/** Write byte to FIFO buffer.
* @see getFIFOByte()
@@ -3148,7 +3185,7 @@ void mpu6050GetFIFOBytes(uint8_t *data, uint8_t length)
*/
void mpu6050SetFIFOByte(uint8_t data)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_FIFO_R_W, data);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_FIFO_R_W, data);
}
// WHO_AM_I register
@@ -3162,8 +3199,8 @@ void mpu6050SetFIFOByte(uint8_t data)
*/
uint8_t mpu6050GetDeviceID()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH,
- buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH,
+ // buffer);
return buffer[0];
}
/** Set Device ID.
@@ -3177,8 +3214,8 @@ uint8_t mpu6050GetDeviceID()
*/
void mpu6050SetDeviceID(uint8_t id)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH,
- id);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_WHO_AM_I, MPU6050_WHO_AM_I_BIT, MPU6050_WHO_AM_I_LENGTH,
+ // id);
}
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
@@ -3187,212 +3224,212 @@ void mpu6050SetDeviceID(uint8_t id)
uint8_t mpu6050GetOTPBankValid()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, buffer);
return buffer[0];
}
void mpu6050SetOTPBankValid(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OTP_BNK_VLD_BIT, enabled);
}
int8_t mpu6050GetXGyroOffset()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
- MPU6050_TC_OFFSET_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
+ // MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
void mpu6050SetXGyroOffset(int8_t offset)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
- MPU6050_TC_OFFSET_LENGTH, offset);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_XG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
+ // MPU6050_TC_OFFSET_LENGTH, offset);
}
// YG_OFFS_TC register
int8_t mpu6050GetYGyroOffset()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
- MPU6050_TC_OFFSET_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
+ // MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
void mpu6050SetYGyroOffset(int8_t offset)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
- MPU6050_TC_OFFSET_LENGTH, offset);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_YG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
+ // MPU6050_TC_OFFSET_LENGTH, offset);
}
// ZG_OFFS_TC register
int8_t mpu6050GetZGyroOffset()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
- MPU6050_TC_OFFSET_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
+ // MPU6050_TC_OFFSET_LENGTH, buffer);
return buffer[0];
}
void mpu6050SetZGyroOffset(int8_t offset)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
- MPU6050_TC_OFFSET_LENGTH, offset);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6050_RA_ZG_OFFS_TC, MPU6050_TC_OFFSET_BIT,
+ // MPU6050_TC_OFFSET_LENGTH, offset);
}
// X_FINE_GAIN register
int8_t mpu6050GetXFineGain()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_X_FINE_GAIN, buffer);
return buffer[0];
}
void mpu6050SetXFineGain(int8_t gain)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_X_FINE_GAIN, gain);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_X_FINE_GAIN, gain);
}
// Y_FINE_GAIN register
int8_t mpu6050GetYFineGain()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_Y_FINE_GAIN, buffer);
return buffer[0];
}
void mpu6050SetYFineGain(int8_t gain)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_Y_FINE_GAIN, gain);
}
// Z_FINE_GAIN register
int8_t mpu6050GetZFineGain()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_Z_FINE_GAIN, buffer);
return buffer[0];
}
void mpu6050SetZFineGain(int8_t gain)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_Z_FINE_GAIN, gain);
}
// XA_OFFS_* registers
int16_t mpu6050GetXAccelOffset()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_XA_OFFS_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
void mpu6050SetXAccelOffset(int16_t offset)
{
- i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_XA_OFFS_H, 2, (uint8_t *)&offset);
+ // i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_XA_OFFS_H, 2, (uint8_t *)&offset);
}
// YA_OFFS_* register
int16_t mpu6050GetYAccelOffset()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_YA_OFFS_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
void mpu6050SetYAccelOffset(int16_t offset)
{
- i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_YA_OFFS_H, 2, (uint8_t *)&offset);
+ // i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_YA_OFFS_H, 2, (uint8_t *)&offset);
}
// ZA_OFFS_* register
int16_t mpu6050GetZAccelOffset()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ZA_OFFS_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
void mpu6050SetZAccelOffset(int16_t offset)
{
- i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_ZA_OFFS_H, 2, (uint8_t *)&offset);
+ // i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_ZA_OFFS_H, 2, (uint8_t *)&offset);
}
// XG_OFFS_USR* registers
int16_t mpu6050GetXGyroOffsetUser()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_XG_OFFS_USRH, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
void mpu6050SetXGyroOffsetUser(int16_t offset)
{
- i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_XG_OFFS_USRH, 2, (uint8_t *)&offset);
+ // i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_XG_OFFS_USRH, 2, (uint8_t *)&offset);
}
// YG_OFFS_USR* register
int16_t mpu6050GetYGyroOffsetUser()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_YG_OFFS_USRH, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
void mpu6050SetYGyroOffsetUser(int16_t offset)
{
- i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_YG_OFFS_USRH, 2, (uint8_t *)&offset);
+ // i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_YG_OFFS_USRH, 2, (uint8_t *)&offset);
}
// ZG_OFFS_USR* register
int16_t mpu6050GetZGyroOffsetUser()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
void mpu6050SetZGyroOffsetUser(int16_t offset)
{
- i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, (uint8_t *)&offset);
+ // i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_ZG_OFFS_USRH, 2, (uint8_t *)&offset);
}
// INT_ENABLE register (DMP functions)
bool mpu6050GetIntPLLReadyEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
void mpu6050SetIntPLLReadyEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, enabled);
}
bool mpu6050GetIntDMPEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
void mpu6050SetIntDMPEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, MPU6050_INTERRUPT_DMP_INT_BIT, enabled);
}
// DMP_INT_STATUS
bool mpu6050GetDMPInt5Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_5_BIT, buffer);
return buffer[0];
}
bool mpu6050GetDMPInt4Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_4_BIT, buffer);
return buffer[0];
}
bool mpu6050GetDMPInt3Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_3_BIT, buffer);
return buffer[0];
}
bool mpu6050GetDMPInt2Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_2_BIT, buffer);
return buffer[0];
}
bool mpu6050GetDMPInt1Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_1_BIT, buffer);
return buffer[0];
}
bool mpu6050GetDMPInt0Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_DMP_INT_STATUS, MPU6050_DMPINT_0_BIT, buffer);
return buffer[0];
}
@@ -3400,12 +3437,12 @@ bool mpu6050GetDMPInt0Status()
bool mpu6050GetIntPLLReadyStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
bool mpu6050GetIntDMPStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_INT_STATUS, MPU6050_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
@@ -3413,165 +3450,165 @@ bool mpu6050GetIntDMPStatus()
bool mpu6050GetDMPEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, buffer);
return buffer[0];
}
void mpu6050SetDMPEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_EN_BIT, enabled);
}
void mpu6050ResetDMP()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_DMP_RESET_BIT, 1);
}
// BANK_SEL register
void mpu6050SetMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
{
- bank &= 0x1F;
- if (userBank)
- bank |= 0x20;
- if (prefetchEnabled)
- bank |= 0x40;
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_BANK_SEL, bank);
+ // bank &= 0x1F;
+ // if (userBank)
+ // bank |= 0x20;
+ // if (prefetchEnabled)
+ // bank |= 0x40;
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_BANK_SEL, bank);
}
// MEM_START_ADDR register
void mpu6050SetMemoryStartAddress(uint8_t address)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_MEM_START_ADDR, address);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_MEM_START_ADDR, address);
}
// MEM_R_W register
uint8_t mpu6050ReadMemoryByte()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_MEM_R_W, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_MEM_R_W, buffer);
return buffer[0];
}
void mpu6050WriteMemoryByte(uint8_t data)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_MEM_R_W, data);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_MEM_R_W, data);
}
void mpu6050ReadMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
{
- mpu6050SetMemoryBank(bank, true, true);
- mpu6050SetMemoryStartAddress(address);
- uint8_t chunkSize;
- uint16_t i;
+ // mpu6050SetMemoryBank(bank, true, true);
+ // mpu6050SetMemoryStartAddress(address);
+ // uint8_t chunkSize;
+ // uint16_t i;
- for (i = 0; i < dataSize;)
- {
- // determine correct chunk size according to bank position and data size
- chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+ // for (i = 0; i < dataSize;)
+ // {
+ // // determine correct chunk size according to bank position and data size
+ // chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
- // make sure we don't go past the data size
- if (i + chunkSize > dataSize)
- chunkSize = dataSize - i;
+ // // make sure we don't go past the data size
+ // if (i + chunkSize > dataSize)
+ // chunkSize = dataSize - i;
- // make sure this chunk doesn't go past the bank boundary (256 bytes)
- if (chunkSize > 256 - address)
- chunkSize = 256 - address;
+ // // make sure this chunk doesn't go past the bank boundary (256 bytes)
+ // if (chunkSize > 256 - address)
+ // chunkSize = 256 - address;
- // read the chunk of data as specified
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
+ // // read the chunk of data as specified
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_MEM_R_W, chunkSize, data + i);
- // increase byte index by [chunkSize]
- i += chunkSize;
+ // // increase byte index by [chunkSize]
+ // i += chunkSize;
- // uint8_t automatically wraps to 0 at 256
- address += chunkSize;
+ // // uint8_t automatically wraps to 0 at 256
+ // address += chunkSize;
- // if we aren't done, update bank (if necessary) and address
- if (i < dataSize)
- {
- if (address == 0)
- bank++;
- mpu6050SetMemoryBank(bank, true, true);
- mpu6050SetMemoryStartAddress(address);
- }
- }
+ // // if we aren't done, update bank (if necessary) and address
+ // if (i < dataSize)
+ // {
+ // if (address == 0)
+ // bank++;
+ // mpu6050SetMemoryBank(bank, true, true);
+ // mpu6050SetMemoryStartAddress(address);
+ // }
+ // }
}
bool mpu6050WriteMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address,
bool verify)
{
- static uint8_t verifyBuffer[MPU6050_DMP_MEMORY_CHUNK_SIZE];
- uint8_t chunkSize;
- uint8_t *progBuffer;
- uint16_t i;
-
- mpu6050SetMemoryBank(bank, true, true);
- mpu6050SetMemoryStartAddress(address);
-
- for (i = 0; i < dataSize;)
- {
- // determine correct chunk size according to bank position and data size
- chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
-
- // make sure we don't go past the data size
- if (i + chunkSize > dataSize)
- chunkSize = dataSize - i;
-
- // make sure this chunk doesn't go past the bank boundary (256 bytes)
- if (chunkSize > 256 - address)
- chunkSize = 256 - address;
-
- // write the chunk of data as specified
- progBuffer = (uint8_t *) data + i;
-
- i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
-
- // verify data if needed
- if (verify)
- {
- uint32_t j;
- mpu6050SetMemoryBank(bank, true, true);
- mpu6050SetMemoryStartAddress(address);
- i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
-
- for (j = 0; j < chunkSize; j++)
- {
- if (progBuffer[j] != verifyBuffer[j])
- {
- /*Serial.print("Block write verification error, bank ");
- Serial.print(bank, DEC);
- Serial.print(", address ");
- Serial.print(address, DEC);
- Serial.print("!\nExpected:");
- for (j = 0; j < chunkSize; j++) {
- Serial.print(" 0x");
- if (progBuffer[j] < 16) Serial.print("0");
- Serial.print(progBuffer[j], HEX);
- }
- Serial.print("\nReceived:");
- for (uint8_t j = 0; j < chunkSize; j++) {
- Serial.print(" 0x");
- if (verifyBuffer[i + j] < 16) Serial.print("0");
- Serial.print(verifyBuffer[i + j], HEX);
- }
- Serial.print("\n");*/
- return false;
- }
- }
- }
-
- // increase byte index by [chunkSize]
- i += chunkSize;
-
- // uint8_t automatically wraps to 0 at 256
- address += chunkSize;
-
- // if we aren't done, update bank (if necessary) and address
- if (i < dataSize)
- {
- if (address == 0)
- bank++;
- mpu6050SetMemoryBank(bank, true, true);
- mpu6050SetMemoryStartAddress(address);
- }
- }
+ // static uint8_t verifyBuffer[MPU6050_DMP_MEMORY_CHUNK_SIZE];
+ // uint8_t chunkSize;
+ // uint8_t *progBuffer;
+ // uint16_t i;
+
+ // mpu6050SetMemoryBank(bank, true, true);
+ // mpu6050SetMemoryStartAddress(address);
+
+ // for (i = 0; i < dataSize;)
+ // {
+ // // determine correct chunk size according to bank position and data size
+ // chunkSize = MPU6050_DMP_MEMORY_CHUNK_SIZE;
+
+ // // make sure we don't go past the data size
+ // if (i + chunkSize > dataSize)
+ // chunkSize = dataSize - i;
+
+ // // make sure this chunk doesn't go past the bank boundary (256 bytes)
+ // if (chunkSize > 256 - address)
+ // chunkSize = 256 - address;
+
+ // // write the chunk of data as specified
+ // progBuffer = (uint8_t *) data + i;
+
+ // i2cdevWriteReg8(I2Cx, devAddr, MPU6050_RA_MEM_R_W, chunkSize, progBuffer);
+
+ // // verify data if needed
+ // if (verify)
+ // {
+ // uint32_t j;
+ // mpu6050SetMemoryBank(bank, true, true);
+ // mpu6050SetMemoryStartAddress(address);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6050_RA_MEM_R_W, chunkSize, verifyBuffer);
+
+ // for (j = 0; j < chunkSize; j++)
+ // {
+ // if (progBuffer[j] != verifyBuffer[j])
+ // {
+ // /*Serial.print("Block write verification error, bank ");
+ // Serial.print(bank, DEC);
+ // Serial.print(", address ");
+ // Serial.print(address, DEC);
+ // Serial.print("!\nExpected:");
+ // for (j = 0; j < chunkSize; j++) {
+ // Serial.print(" 0x");
+ // if (progBuffer[j] < 16) Serial.print("0");
+ // Serial.print(progBuffer[j], HEX);
+ // }
+ // Serial.print("\nReceived:");
+ // for (uint8_t j = 0; j < chunkSize; j++) {
+ // Serial.print(" 0x");
+ // if (verifyBuffer[i + j] < 16) Serial.print("0");
+ // Serial.print(verifyBuffer[i + j], HEX);
+ // }
+ // Serial.print("\n");*/
+ // return false;
+ // }
+ // }
+ // }
+
+ // // increase byte index by [chunkSize]
+ // i += chunkSize;
+
+ // // uint8_t automatically wraps to 0 at 256
+ // address += chunkSize;
+
+ // // if we aren't done, update bank (if necessary) and address
+ // if (i < dataSize)
+ // {
+ // if (address == 0)
+ // bank++;
+ // mpu6050SetMemoryBank(bank, true, true);
+ // mpu6050SetMemoryStartAddress(address);
+ // }
+ // }
return true;
}
bool mpu6050WriteProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank,
@@ -3582,66 +3619,66 @@ bool mpu6050WriteProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t
#define MPU6050_DMP_CONFIG_BLOCK_SIZE 6
bool mpu6050WriteDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
{
- uint8_t *progBuffer, success, special;
- uint16_t i;
-
- // config set data is a long string of blocks with the following structure:
- // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
- uint8_t bank=0;
- uint8_t offset=0;
- uint8_t length=0;
- for (i = 0; i < dataSize;)
- {
- bank = data[i++];
- offset = data[i++];
- length = data[i++];
- }
-
- // write data or perform special action
- if (length > 0)
- {
- // regular block of data to write
- /*Serial.print("Writing config block to bank ");
- Serial.print(bank);
- Serial.print(", offset ");
- Serial.print(offset);
- Serial.print(", length=");
- Serial.println(length);*/
- progBuffer = (uint8_t *) data + i;
- success = mpu6050WriteMemoryBlock(progBuffer, length, bank, offset, true);
- i += length;
- }
- else
- {
- // special instruction
- // NOTE: this kind of behavior (what and when to do certain things)
- // is totally undocumented. This code is in here based on observed
- // behavior only, and exactly why (or even whether) it has to be here
- // is anybody's guess for now.
- special = data[i++];
- /*Serial.print("Special command code ");
- Serial.print(special, HEX);
- Serial.println(" found...");*/
- if (special == 0x01)
- {
- // enable DMP-related interrupts
- mpu6050SetIntZeroMotionEnabled(true);
- mpu6050SetIntFIFOBufferOverflowEnabled(true);
- mpu6050SetIntDMPEnabled(true);
- //i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, 0x32);
- success = true;
- }
- else
- {
- // unknown special command
- success = false;
- }
- }
-
- if (!success)
- {
- return false; // uh oh
- }
+ // uint8_t *progBuffer, success, special;
+ // uint16_t i;
+
+ // // config set data is a long string of blocks with the following structure:
+ // // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
+ // uint8_t bank=0;
+ // uint8_t offset=0;
+ // uint8_t length=0;
+ // for (i = 0; i < dataSize;)
+ // {
+ // bank = data[i++];
+ // offset = data[i++];
+ // length = data[i++];
+ // }
+
+ // // write data or perform special action
+ // if (length > 0)
+ // {
+ // // regular block of data to write
+ // /*Serial.print("Writing config block to bank ");
+ // Serial.print(bank);
+ // Serial.print(", offset ");
+ // Serial.print(offset);
+ // Serial.print(", length=");
+ // Serial.println(length);*/
+ // progBuffer = (uint8_t *) data + i;
+ // success = mpu6050WriteMemoryBlock(progBuffer, length, bank, offset, true);
+ // i += length;
+ // }
+ // else
+ // {
+ // // special instruction
+ // // NOTE: this kind of behavior (what and when to do certain things)
+ // // is totally undocumented. This code is in here based on observed
+ // // behavior only, and exactly why (or even whether) it has to be here
+ // // is anybody's guess for now.
+ // special = data[i++];
+ // /*Serial.print("Special command code ");
+ // Serial.print(special, HEX);
+ // Serial.println(" found...");*/
+ // if (special == 0x01)
+ // {
+ // // enable DMP-related interrupts
+ // mpu6050SetIntZeroMotionEnabled(true);
+ // mpu6050SetIntFIFOBufferOverflowEnabled(true);
+ // mpu6050SetIntDMPEnabled(true);
+ // //i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_INT_ENABLE, 0x32);
+ // success = true;
+ // }
+ // else
+ // {
+ // // unknown special command
+ // success = false;
+ // }
+ // }
+
+ // if (!success)
+ // {
+ // return false; // uh oh
+ // }
return true;
}
@@ -3654,22 +3691,22 @@ bool mpu6050WriteProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
uint8_t mpu6050GetDMPConfig1()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_DMP_CFG_1, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_DMP_CFG_1, buffer);
return buffer[0];
}
void mpu6050SetDMPConfig1(uint8_t config)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_DMP_CFG_1, config);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_DMP_CFG_1, config);
}
// DMP_CFG_2 register
uint8_t mpu6050GetDMPConfig2()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_DMP_CFG_2, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6050_RA_DMP_CFG_2, buffer);
return buffer[0];
}
void mpu6050SetDMPConfig2(uint8_t config)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_DMP_CFG_2, config);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6050_RA_DMP_CFG_2, config);
}
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/mpu6500.c b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/mpu6500.c
index e54b85c9597a84ac62e99cbb4d658f1e0f767421..9a29f793058d1f5e0bd07f289bdc43b2d6c5bbfe 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/mpu6500.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/mpu6500.c
@@ -121,129 +121,131 @@ bool mpu6500TestConnection()
*/
bool mpu6500SelfTest()
{
- uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
- uint8_t saveReg[5];
- uint8_t selfTest[6];
- int32_t gAvg[3]={0}, aAvg[3]={0}, aSTAvg[3]={0}, gSTAvg[3]={0};
- int32_t factoryTrim[6];
- float aDiff[3], gDiff[3];
- uint8_t FS = 0;
- int i;
-
- // Save old configuration
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, &saveReg[0]);
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_CONFIG, &saveReg[1]);
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, &saveReg[2]);
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, &saveReg[3]);
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, &saveReg[4]);
- // Write test configuration
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
-
- for(i = 0; i < 200; i++)
- {
- // get average current values of gyro and acclerometer
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
- aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
- aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
- aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
-
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
- gAvg[0] += (int16_t)((int16_t)rawData[0] << 8) | rawData[1]; // Turn the MSB and LSB into a signed 16-bit value
- gAvg[1] += (int16_t)((int16_t)rawData[2] << 8) | rawData[3];
- gAvg[2] += (int16_t)((int16_t)rawData[4] << 8) | rawData[5];
- }
-
- for (i = 0; i < 3; i++)
- { // Get average of 200 values and store as average current readings
- aAvg[i] /= 200;
- gAvg[i] /= 200;
- }
-
- // Configure the accelerometer for self-test
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
- vTaskDelay(M2T(25)); // Delay a while to let the device stabilize
-
- for(i = 0; i < 200; i++)
- {
- // get average self-test values of gyro and acclerometer
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
- aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
- aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
- aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
-
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
- gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
- gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
- gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
- }
-
- for (i =0; i < 3; i++)
- { // Get average of 200 values and store as average self-test readings
- aSTAvg[i] /= 200;
- gSTAvg[i] /= 200;
- }
-
- // Configure the gyro and accelerometer for normal operation
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 0x00);
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 0x00);
- vTaskDelay(M2T(25)); // Delay a while to let the device stabilize
-
- // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_X_ACCEL, &selfTest[0]); // X-axis accel self-test results
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Y_ACCEL, &selfTest[1]); // Y-axis accel self-test results
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Z_ACCEL, &selfTest[2]); // Z-axis accel self-test results
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_X_GYRO, &selfTest[3]); // X-axis gyro self-test results
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Y_GYRO, &selfTest[4]); // Y-axis gyro self-test results
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Z_GYRO, &selfTest[5]); // Z-axis gyro self-test results
-
- for (i = 0; i < 6; i++)
- {
- if (selfTest[i] != 0)
- {
- factoryTrim[i] = mpu6500StTb[selfTest[i] - 1];
- }
- else
- {
- factoryTrim[i] = 0;
- }
- }
-
- // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
- // To get percent, must multiply by 100
- for (i = 0; i < 3; i++)
- {
- aDiff[i] = 100.0f*((float)((aSTAvg[i] - aAvg[i]) - factoryTrim[i]))/factoryTrim[i]; // Report percent differences
- gDiff[i] = 100.0f*((float)((gSTAvg[i] - gAvg[i]) - factoryTrim[i+3]))/factoryTrim[i+3]; // Report percent differences
-// DEBUG_PRINT("a[%d] Avg:%d, StAvg:%d, Shift:%d, FT:%d, Diff:%0.2f\n", i, aAvg[i], aSTAvg[i], aSTAvg[i] - aAvg[i], factoryTrim[i], aDiff[i]);
-// DEBUG_PRINT("g[%d] Avg:%d, StAvg:%d, Shift:%d, FT:%d, Diff:%0.2f\n", i, gAvg[i], gSTAvg[i], gSTAvg[i] - gAvg[i], factoryTrim[i+3], gDiff[i]);
- }
-
- // Restore old configuration
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, saveReg[0]);
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_CONFIG, saveReg[1]);
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, saveReg[2]);
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, saveReg[3]);
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, saveReg[4]);
-
- // Check result
- if (mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[0], "gyro X") &&
- mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[1], "gyro Y") &&
- mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[2], "gyro Z") &&
- mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[0], "acc X") &&
- mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[1], "acc Y") &&
- mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[2], "acc Z"))
- {
- return true;
- }
- else
- {
- return false;
- }
+// uint8_t rawData[6] = {0, 0, 0, 0, 0, 0};
+// uint8_t saveReg[5];
+// uint8_t selfTest[6];
+// int32_t gAvg[3]={0}, aAvg[3]={0}, aSTAvg[3]={0}, gSTAvg[3]={0};
+// int32_t factoryTrim[6];
+// float aDiff[3], gDiff[3];
+// uint8_t FS = 0;
+// int i;
+
+// // Save old configuration
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, &saveReg[0]);
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_CONFIG, &saveReg[1]);
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, &saveReg[2]);
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, &saveReg[3]);
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, &saveReg[4]);
+// // Write test configuration
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, 0x00); // Set gyro sample rate to 1 kHz
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_CONFIG, 0x02); // Set gyro sample rate to 1 kHz and DLPF to 92 Hz
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 1<<FS); // Set full scale range for the gyro to 250 dps
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, 0x02); // Set accelerometer rate to 1 kHz and bandwidth to 92 Hz
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 1<<FS); // Set full scale range for the accelerometer to 2 g
+
+// for(i = 0; i < 200; i++)
+// {
+// // get average current values of gyro and acclerometer
+// i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
+// aAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+// aAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+// aAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+
+// i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
+// gAvg[0] += (int16_t)((int16_t)rawData[0] << 8) | rawData[1]; // Turn the MSB and LSB into a signed 16-bit value
+// gAvg[1] += (int16_t)((int16_t)rawData[2] << 8) | rawData[3];
+// gAvg[2] += (int16_t)((int16_t)rawData[4] << 8) | rawData[5];
+// }
+
+// for (i = 0; i < 3; i++)
+// { // Get average of 200 values and store as average current readings
+// aAvg[i] /= 200;
+// gAvg[i] /= 200;
+// }
+
+// // Configure the accelerometer for self-test
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 0xE0); // Enable self test on all three axes and set accelerometer range to +/- 2 g
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 0xE0); // Enable self test on all three axes and set gyro range to +/- 250 degrees/s
+// vTaskDelay(M2T(25)); // Delay a while to let the device stabilize
+
+// for(i = 0; i < 200; i++)
+// {
+// // get average self-test values of gyro and acclerometer
+// i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, &rawData[0]); // Read the six raw data registers into data array
+// aSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+// aSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+// aSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+
+// i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, &rawData[0]); // Read the six raw data registers sequentially into data array
+// gSTAvg[0] += (int16_t)(((int16_t)rawData[0] << 8) | rawData[1]) ; // Turn the MSB and LSB into a signed 16-bit value
+// gSTAvg[1] += (int16_t)(((int16_t)rawData[2] << 8) | rawData[3]) ;
+// gSTAvg[2] += (int16_t)(((int16_t)rawData[4] << 8) | rawData[5]) ;
+// }
+
+// for (i =0; i < 3; i++)
+// { // Get average of 200 values and store as average self-test readings
+// aSTAvg[i] /= 200;
+// gSTAvg[i] /= 200;
+// }
+
+// // Configure the gyro and accelerometer for normal operation
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, 0x00);
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, 0x00);
+// vTaskDelay(M2T(25)); // Delay a while to let the device stabilize
+
+// // Retrieve accelerometer and gyro factory Self-Test Code from USR_Reg
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_X_ACCEL, &selfTest[0]); // X-axis accel self-test results
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Y_ACCEL, &selfTest[1]); // Y-axis accel self-test results
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Z_ACCEL, &selfTest[2]); // Z-axis accel self-test results
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_X_GYRO, &selfTest[3]); // X-axis gyro self-test results
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Y_GYRO, &selfTest[4]); // Y-axis gyro self-test results
+// i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_ST_Z_GYRO, &selfTest[5]); // Z-axis gyro self-test results
+
+// for (i = 0; i < 6; i++)
+// {
+// if (selfTest[i] != 0)
+// {
+// factoryTrim[i] = mpu6500StTb[selfTest[i] - 1];
+// }
+// else
+// {
+// factoryTrim[i] = 0;
+// }
+// }
+
+// // Report results as a ratio of (STR - FT)/FT; the change from Factory Trim of the Self-Test Response
+// // To get percent, must multiply by 100
+// for (i = 0; i < 3; i++)
+// {
+// aDiff[i] = 100.0f*((float)((aSTAvg[i] - aAvg[i]) - factoryTrim[i]))/factoryTrim[i]; // Report percent differences
+// gDiff[i] = 100.0f*((float)((gSTAvg[i] - gAvg[i]) - factoryTrim[i+3]))/factoryTrim[i+3]; // Report percent differences
+// // DEBUG_PRINT("a[%d] Avg:%d, StAvg:%d, Shift:%d, FT:%d, Diff:%0.2f\n", i, aAvg[i], aSTAvg[i], aSTAvg[i] - aAvg[i], factoryTrim[i], aDiff[i]);
+// // DEBUG_PRINT("g[%d] Avg:%d, StAvg:%d, Shift:%d, FT:%d, Diff:%0.2f\n", i, gAvg[i], gSTAvg[i], gSTAvg[i] - gAvg[i], factoryTrim[i+3], gDiff[i]);
+// }
+
+// // Restore old configuration
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, saveReg[0]);
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_CONFIG, saveReg[1]);
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, saveReg[2]);
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, saveReg[3]);
+// i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, saveReg[4]);
+
+// // Check result
+// if (mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[0], "gyro X") &&
+// mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[1], "gyro Y") &&
+// mpu6500EvaluateSelfTest(MPU6500_ST_GYRO_LOW, MPU6500_ST_GYRO_HIGH, gDiff[2], "gyro Z") &&
+// mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[0], "acc X") &&
+// mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[1], "acc Y") &&
+// mpu6500EvaluateSelfTest(MPU6500_ST_ACCEL_LOW, MPU6500_ST_ACCEL_HIGH, aDiff[2], "acc Z"))
+// {
+// return true;
+// }
+// else
+// {
+// return false;
+// }
+
+return true;
}
/** Evaluate the values from a MPU6500 self test.
@@ -255,12 +257,12 @@ bool mpu6500SelfTest()
*/
bool mpu6500EvaluateSelfTest(float low, float high, float value, char* string)
{
- if (value < low || value > high)
- {
- DEBUG_PRINT("Self test %s [FAIL]. low: %0.2f, high: %0.2f, measured: %0.2f\n",
- string, (double)low, (double)high, (double)value);
- return false;
- }
+ // if (value < low || value > high)
+ // {
+ // DEBUG_PRINT("Self test %s [FAIL]. low: %0.2f, high: %0.2f, measured: %0.2f\n",
+ // string, (double)low, (double)high, (double)value);
+ // return false;
+ // }
return true;
}
@@ -289,7 +291,7 @@ bool mpu6500EvaluateSelfTest(float low, float high, float value, char* string)
*/
uint8_t mpu6500GetRate()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, buffer);
return buffer[0];
}
/** Set gyroscope sample rate divider.
@@ -299,7 +301,7 @@ uint8_t mpu6500GetRate()
*/
void mpu6500SetRate(uint8_t rate)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, rate);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_SMPLRT_DIV, rate);
}
// CONFIG register
@@ -333,8 +335,8 @@ void mpu6500SetRate(uint8_t rate)
*/
uint8_t mpu6500GetExternalFrameSync()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_EXT_SYNC_SET_BIT,
- MPU6500_CFG_EXT_SYNC_SET_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_EXT_SYNC_SET_BIT,
+ // MPU6500_CFG_EXT_SYNC_SET_LENGTH, buffer);
return buffer[0];
}
/** Set external FSYNC configuration.
@@ -344,8 +346,8 @@ uint8_t mpu6500GetExternalFrameSync()
*/
void mpu6500SetExternalFrameSync(uint8_t sync)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_EXT_SYNC_SET_BIT,
- MPU6500_CFG_EXT_SYNC_SET_LENGTH, sync);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_EXT_SYNC_SET_BIT,
+ // MPU6500_CFG_EXT_SYNC_SET_LENGTH, sync);
}
/** Get digital low-pass filter configuration.
* The DLPF_CFG parameter sets the digital low pass filter configuration. It
@@ -377,8 +379,8 @@ void mpu6500SetExternalFrameSync(uint8_t sync)
*/
uint8_t mpu6500GetDLPFMode()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_DLPF_CFG_BIT,
- MPU6500_CFG_DLPF_CFG_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_DLPF_CFG_BIT,
+ // MPU6500_CFG_DLPF_CFG_LENGTH, buffer);
return buffer[0];
}
/** Set digital low-pass filter configuration.
@@ -391,8 +393,8 @@ uint8_t mpu6500GetDLPFMode()
*/
void mpu6500SetDLPFMode(uint8_t mode)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_DLPF_CFG_BIT,
- MPU6500_CFG_DLPF_CFG_LENGTH, mode);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_CONFIG, MPU6500_CFG_DLPF_CFG_BIT,
+ // MPU6500_CFG_DLPF_CFG_LENGTH, mode);
}
// GYRO_CONFIG register
@@ -416,8 +418,8 @@ void mpu6500SetDLPFMode(uint8_t mode)
*/
uint8_t mpu6500GetFullScaleGyroRangeId()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_FS_SEL_BIT,
- MPU6500_GCONFIG_FS_SEL_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_FS_SEL_BIT,
+ // MPU6500_GCONFIG_FS_SEL_LENGTH, buffer);
return buffer[0];
}
@@ -434,25 +436,25 @@ float mpu6500GetFullScaleGyroDPL()
int32_t rangeId;
float range;
- rangeId = mpu6500GetFullScaleGyroRangeId();
- switch (rangeId)
- {
- case MPU6500_GYRO_FS_250:
- range = MPU6500_DEG_PER_LSB_250;
- break;
- case MPU6500_GYRO_FS_500:
- range = MPU6500_DEG_PER_LSB_500;
- break;
- case MPU6500_GYRO_FS_1000:
- range = MPU6500_DEG_PER_LSB_1000;
- break;
- case MPU6500_GYRO_FS_2000:
- range = MPU6500_DEG_PER_LSB_2000;
- break;
- default:
- range = MPU6500_DEG_PER_LSB_1000;
- break;
- }
+ // rangeId = mpu6500GetFullScaleGyroRangeId();
+ // switch (rangeId)
+ // {
+ // case MPU6500_GYRO_FS_250:
+ // range = MPU6500_DEG_PER_LSB_250;
+ // break;
+ // case MPU6500_GYRO_FS_500:
+ // range = MPU6500_DEG_PER_LSB_500;
+ // break;
+ // case MPU6500_GYRO_FS_1000:
+ // range = MPU6500_DEG_PER_LSB_1000;
+ // break;
+ // case MPU6500_GYRO_FS_2000:
+ // range = MPU6500_DEG_PER_LSB_2000;
+ // break;
+ // default:
+ // range = MPU6500_DEG_PER_LSB_1000;
+ // break;
+ // }
return range;
}
@@ -467,23 +469,23 @@ float mpu6500GetFullScaleGyroDPL()
*/
void mpu6500SetFullScaleGyroRange(uint8_t range)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_FS_SEL_BIT,
- MPU6500_GCONFIG_FS_SEL_LENGTH, range);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_FS_SEL_BIT,
+ // MPU6500_GCONFIG_FS_SEL_LENGTH, range);
}
void mpu6500SetGyroXSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_XG_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_XG_ST_BIT, enabled);
}
void mpu6500SetGyroYSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_YG_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_YG_ST_BIT, enabled);
}
void mpu6500SetGyroZSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_ZG_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_GYRO_CONFIG, MPU6500_GCONFIG_ZG_ST_BIT, enabled);
}
// ACCEL_CONFIG register
@@ -494,7 +496,7 @@ void mpu6500SetGyroZSelfTest(bool enabled)
*/
bool mpu6500GetAccelXSelfTest()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_XA_ST_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_XA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled setting for accelerometer X axis.
@@ -503,7 +505,7 @@ bool mpu6500GetAccelXSelfTest()
*/
void mpu6500SetAccelXSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_XA_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_XA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Y axis.
* @return Self-test enabled value
@@ -511,7 +513,7 @@ void mpu6500SetAccelXSelfTest(bool enabled)
*/
bool mpu6500GetAccelYSelfTest()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_YA_ST_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_YA_ST_BIT, buffer);
return buffer[0];
}
/** Get self-test enabled value for accelerometer Y axis.
@@ -520,7 +522,7 @@ bool mpu6500GetAccelYSelfTest()
*/
void mpu6500SetAccelYSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_YA_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_YA_ST_BIT, enabled);
}
/** Get self-test enabled value for accelerometer Z axis.
* @return Self-test enabled value
@@ -528,7 +530,7 @@ void mpu6500SetAccelYSelfTest(bool enabled)
*/
bool mpu6500GetAccelZSelfTest()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ZA_ST_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ZA_ST_BIT, buffer);
return buffer[0];
}
/** Set self-test enabled value for accelerometer Z axis.
@@ -537,7 +539,7 @@ bool mpu6500GetAccelZSelfTest()
*/
void mpu6500SetAccelZSelfTest(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ZA_ST_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ZA_ST_BIT, enabled);
}
/** Get full-scale accelerometer range.
* The FS_SEL parameter allows setting the full-scale range of the accelerometer
@@ -558,8 +560,8 @@ void mpu6500SetAccelZSelfTest(bool enabled)
*/
uint8_t mpu6500GetFullScaleAccelRangeId()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_AFS_SEL_BIT,
- MPU6500_ACONFIG_AFS_SEL_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_AFS_SEL_BIT,
+ // MPU6500_ACONFIG_AFS_SEL_LENGTH, buffer);
return buffer[0];
}
@@ -576,25 +578,25 @@ float mpu6500GetFullScaleAccelGPL()
int32_t rangeId;
float range;
- rangeId = mpu6500GetFullScaleAccelRangeId();
- switch (rangeId)
- {
- case MPU6500_ACCEL_FS_2:
- range = MPU6500_G_PER_LSB_2;
- break;
- case MPU6500_ACCEL_FS_4:
- range = MPU6500_G_PER_LSB_4;
- break;
- case MPU6500_ACCEL_FS_8:
- range = MPU6500_G_PER_LSB_8;
- break;
- case MPU6500_ACCEL_FS_16:
- range = MPU6500_G_PER_LSB_16;
- break;
- default:
- range = MPU6500_DEG_PER_LSB_1000;
- break;
- }
+ // rangeId = mpu6500GetFullScaleAccelRangeId();
+ // switch (rangeId)
+ // {
+ // case MPU6500_ACCEL_FS_2:
+ // range = MPU6500_G_PER_LSB_2;
+ // break;
+ // case MPU6500_ACCEL_FS_4:
+ // range = MPU6500_G_PER_LSB_4;
+ // break;
+ // case MPU6500_ACCEL_FS_8:
+ // range = MPU6500_G_PER_LSB_8;
+ // break;
+ // case MPU6500_ACCEL_FS_16:
+ // range = MPU6500_G_PER_LSB_16;
+ // break;
+ // default:
+ // range = MPU6500_DEG_PER_LSB_1000;
+ // break;
+ // }
return range;
}
@@ -605,8 +607,8 @@ float mpu6500GetFullScaleAccelGPL()
*/
void mpu6500SetFullScaleAccelRange(uint8_t range)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_AFS_SEL_BIT,
- MPU6500_ACONFIG_AFS_SEL_LENGTH, range);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_AFS_SEL_BIT,
+ // MPU6500_ACONFIG_AFS_SEL_LENGTH, range);
}
/** Set accelerometer digital low pass filter.
@@ -621,8 +623,8 @@ void mpu6500SetFullScaleAccelRange(uint8_t range)
*/
void mpu6500SetAccelDLPF(uint8_t range)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, MPU6500_ACONFIG2_DLPF_BIT,
- MPU6500_ACONFIG2_DLPF_LENGTH, range);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG_2, MPU6500_ACONFIG2_DLPF_BIT,
+ // MPU6500_ACONFIG2_DLPF_LENGTH, range);
}
/** Get the high-pass filter configuration.
@@ -662,8 +664,8 @@ void mpu6500SetAccelDLPF(uint8_t range)
*/
uint8_t mpu6500GetDHPFMode()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ACCEL_HPF_BIT,
- MPU6500_ACONFIG_ACCEL_HPF_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ACCEL_HPF_BIT,
+ // MPU6500_ACONFIG_ACCEL_HPF_LENGTH, buffer);
return buffer[0];
}
/** Set the high-pass filter configuration.
@@ -674,8 +676,8 @@ uint8_t mpu6500GetDHPFMode()
*/
void mpu6500SetDHPFMode(uint8_t bandwidth)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ACCEL_HPF_BIT,
- MPU6500_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_ACCEL_CONFIG, MPU6500_ACONFIG_ACCEL_HPF_BIT,
+ // MPU6500_ACONFIG_ACCEL_HPF_LENGTH, bandwidth);
}
// FIFO_EN register
@@ -688,7 +690,7 @@ void mpu6500SetDHPFMode(uint8_t bandwidth)
*/
bool mpu6500GetTempFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_TEMP_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_TEMP_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set temperature FIFO enabled value.
@@ -698,7 +700,7 @@ bool mpu6500GetTempFIFOEnabled()
*/
void mpu6500SetTempFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_TEMP_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_TEMP_FIFO_EN_BIT, enabled);
}
/** Get gyroscope X-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_XOUT_H and GYRO_XOUT_L (Registers 67 and
@@ -708,7 +710,7 @@ void mpu6500SetTempFIFOEnabled(bool enabled)
*/
bool mpu6500GetXGyroFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_XG_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_XG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope X-axis FIFO enabled value.
@@ -718,7 +720,7 @@ bool mpu6500GetXGyroFIFOEnabled()
*/
void mpu6500SetXGyroFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_XG_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_XG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Y-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_YOUT_H and GYRO_YOUT_L (Registers 69 and
@@ -728,7 +730,7 @@ void mpu6500SetXGyroFIFOEnabled(bool enabled)
*/
bool mpu6500GetYGyroFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_YG_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_YG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Y-axis FIFO enabled value.
@@ -738,7 +740,7 @@ bool mpu6500GetYGyroFIFOEnabled()
*/
void mpu6500SetYGyroFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_YG_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_YG_FIFO_EN_BIT, enabled);
}
/** Get gyroscope Z-axis FIFO enabled value.
* When set to 1, this bit enables GYRO_ZOUT_H and GYRO_ZOUT_L (Registers 71 and
@@ -748,7 +750,7 @@ void mpu6500SetYGyroFIFOEnabled(bool enabled)
*/
bool mpu6500GetZGyroFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ZG_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ZG_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set gyroscope Z-axis FIFO enabled value.
@@ -758,7 +760,7 @@ bool mpu6500GetZGyroFIFOEnabled()
*/
void mpu6500SetZGyroFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ZG_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ZG_FIFO_EN_BIT, enabled);
}
/** Get accelerometer FIFO enabled value.
* When set to 1, this bit enables ACCEL_XOUT_H, ACCEL_XOUT_L, ACCEL_YOUT_H,
@@ -769,7 +771,7 @@ void mpu6500SetZGyroFIFOEnabled(bool enabled)
*/
bool mpu6500GetAccelFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ACCEL_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ACCEL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set accelerometer FIFO enabled value.
@@ -779,7 +781,7 @@ bool mpu6500GetAccelFIFOEnabled()
*/
void mpu6500SetAccelFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ACCEL_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_ACCEL_FIFO_EN_BIT, enabled);
}
/** Get Slave 2 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -789,7 +791,7 @@ void mpu6500SetAccelFIFOEnabled(bool enabled)
*/
bool mpu6500GetSlave2FIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV2_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV2_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 2 FIFO enabled value.
@@ -799,7 +801,7 @@ bool mpu6500GetSlave2FIFOEnabled()
*/
void mpu6500SetSlave2FIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV2_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV2_FIFO_EN_BIT, enabled);
}
/** Get Slave 1 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -809,7 +811,7 @@ void mpu6500SetSlave2FIFOEnabled(bool enabled)
*/
bool mpu6500GetSlave1FIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV1_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV1_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 1 FIFO enabled value.
@@ -819,7 +821,7 @@ bool mpu6500GetSlave1FIFOEnabled()
*/
void mpu6500SetSlave1FIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV1_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV1_FIFO_EN_BIT, enabled);
}
/** Get Slave 0 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -829,7 +831,7 @@ void mpu6500SetSlave1FIFOEnabled(bool enabled)
*/
bool mpu6500GetSlave0FIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV0_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV0_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 0 FIFO enabled value.
@@ -839,7 +841,7 @@ bool mpu6500GetSlave0FIFOEnabled()
*/
void mpu6500SetSlave0FIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV0_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_FIFO_EN, MPU6500_SLV0_FIFO_EN_BIT, enabled);
}
// I2C_MST_CTRL register
@@ -861,7 +863,7 @@ void mpu6500SetSlave0FIFOEnabled(bool enabled)
*/
bool mpu6500GetMultiMasterEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_MULT_MST_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_MULT_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set multi-master enabled value.
@@ -871,7 +873,7 @@ bool mpu6500GetMultiMasterEnabled()
*/
void mpu6500SetMultiMasterEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_MULT_MST_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_MULT_MST_EN_BIT, enabled);
}
/** Get wait-for-external-sensor-data enabled value.
* When the WAIT_FOR_ES bit is set to 1, the Data Ready interrupt will be
@@ -886,7 +888,7 @@ void mpu6500SetMultiMasterEnabled(bool enabled)
*/
bool mpu6500GetWaitForExternalSensorEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_WAIT_FOR_ES_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_WAIT_FOR_ES_BIT, buffer);
return buffer[0];
}
/** Set wait-for-external-sensor-data enabled value.
@@ -896,7 +898,7 @@ bool mpu6500GetWaitForExternalSensorEnabled()
*/
void mpu6500SetWaitForExternalSensorEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_WAIT_FOR_ES_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_WAIT_FOR_ES_BIT, enabled);
}
/** Get Slave 3 FIFO enabled value.
* When set to 1, this bit enables EXT_SENS_DATA registers (Registers 73 to 96)
@@ -906,7 +908,7 @@ void mpu6500SetWaitForExternalSensorEnabled(bool enabled)
*/
bool mpu6500GetSlave3FIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_SLV_3_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_SLV_3_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set Slave 3 FIFO enabled value.
@@ -916,7 +918,7 @@ bool mpu6500GetSlave3FIFOEnabled()
*/
void mpu6500SetSlave3FIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_SLV_3_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_SLV_3_FIFO_EN_BIT, enabled);
}
/** Get slave read/write transition enabled value.
* The I2C_MST_P_NSR bit configures the I2C Master's transition from one slave
@@ -930,7 +932,7 @@ void mpu6500SetSlave3FIFOEnabled(bool enabled)
*/
bool mpu6500GetSlaveReadWriteTransitionEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_P_NSR_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_P_NSR_BIT, buffer);
return buffer[0];
}
/** Set slave read/write transition enabled value.
@@ -940,7 +942,7 @@ bool mpu6500GetSlaveReadWriteTransitionEnabled()
*/
void mpu6500SetSlaveReadWriteTransitionEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_P_NSR_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_P_NSR_BIT, enabled);
}
/** Get I2C master clock speed.
* I2C_MST_CLK is a 4 bit unsigned value which configures a divider on the
@@ -973,8 +975,8 @@ void mpu6500SetSlaveReadWriteTransitionEnabled(bool enabled)
*/
uint8_t mpu6500GetMasterClockSpeed()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_CLK_BIT,
- MPU6500_I2C_MST_CLK_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_CLK_BIT,
+ // MPU6500_I2C_MST_CLK_LENGTH, buffer);
return buffer[0];
}
/** Set I2C master clock speed.
@@ -983,8 +985,8 @@ uint8_t mpu6500GetMasterClockSpeed()
*/
void mpu6500SetMasterClockSpeed(uint8_t speed)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_CLK_BIT,
- MPU6500_I2C_MST_CLK_LENGTH, speed);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_MST_CTRL, MPU6500_I2C_MST_CLK_BIT,
+ // MPU6500_I2C_MST_CLK_LENGTH, speed);
}
// I2C_SLV* registers (Slave 0-3)
@@ -1032,9 +1034,9 @@ void mpu6500SetMasterClockSpeed(uint8_t speed)
*/
uint8_t mpu6500GetSlaveAddress(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_ADDR + num * 3, buffer);
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_ADDR + num * 3, buffer);
return buffer[0];
}
/** Set the I2C address of the specified slave (0-3).
@@ -1045,9 +1047,9 @@ uint8_t mpu6500GetSlaveAddress(uint8_t num)
*/
void mpu6500SetSlaveAddress(uint8_t num, uint8_t address)
{
- if (num > 3)
- return;
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_ADDR + num * 3, address);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_ADDR + num * 3, address);
}
/** Get the active internal register for the specified slave (0-3).
* Read/write operations for this slave will be done to whatever internal
@@ -1062,9 +1064,9 @@ void mpu6500SetSlaveAddress(uint8_t num, uint8_t address)
*/
uint8_t mpu6500GetSlaveRegister(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_REG + num * 3, buffer);
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_REG + num * 3, buffer);
return buffer[0];
}
/** Set the active internal register for the specified slave (0-3).
@@ -1075,9 +1077,9 @@ uint8_t mpu6500GetSlaveRegister(uint8_t num)
*/
void mpu6500SetSlaveRegister(uint8_t num, uint8_t reg)
{
- if (num > 3)
- return;
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_REG + num * 3, reg);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_REG + num * 3, reg);
}
/** Get the enabled value for the specified slave (0-3).
* When set to 1, this bit enables Slave 0 for data transfer operations. When
@@ -1088,9 +1090,9 @@ void mpu6500SetSlaveRegister(uint8_t num, uint8_t reg)
*/
bool mpu6500GetSlaveEnabled(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_EN_BIT, buffer);
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for the specified slave (0-3).
@@ -1101,10 +1103,10 @@ bool mpu6500GetSlaveEnabled(uint8_t num)
*/
void mpu6500SetSlaveEnabled(uint8_t num, bool enabled)
{
- if (num > 3)
- return;
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_EN_BIT,
- enabled);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_EN_BIT,
+ // enabled);
}
/** Get word pair byte-swapping enabled for the specified slave (0-3).
* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
@@ -1119,10 +1121,10 @@ void mpu6500SetSlaveEnabled(uint8_t num, bool enabled)
*/
bool mpu6500GetSlaveWordByteSwap(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_BYTE_SW_BIT,
- buffer);
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_BYTE_SW_BIT,
+ // buffer);
return buffer[0];
}
/** Set word pair byte-swapping enabled for the specified slave (0-3).
@@ -1133,10 +1135,10 @@ bool mpu6500GetSlaveWordByteSwap(uint8_t num)
*/
void mpu6500SetSlaveWordByteSwap(uint8_t num, bool enabled)
{
- if (num > 3)
- return;
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_BYTE_SW_BIT,
- enabled);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_BYTE_SW_BIT,
+ // enabled);
}
/** Get write mode for the specified slave (0-3).
* When set to 1, the transaction will read or write data only. When cleared to
@@ -1150,10 +1152,10 @@ void mpu6500SetSlaveWordByteSwap(uint8_t num, bool enabled)
*/
bool mpu6500GetSlaveWriteMode(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_REG_DIS_BIT,
- buffer);
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_REG_DIS_BIT,
+ // buffer);
return buffer[0];
}
/** Set write mode for the specified slave (0-3).
@@ -1164,10 +1166,10 @@ bool mpu6500GetSlaveWriteMode(uint8_t num)
*/
void mpu6500SetSlaveWriteMode(uint8_t num, bool mode)
{
- if (num > 3)
- return;
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_REG_DIS_BIT,
- mode);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_REG_DIS_BIT,
+ // mode);
}
/** Get word pair grouping order offset for the specified slave (0-3).
* This sets specifies the grouping order of word pairs received from registers.
@@ -1182,9 +1184,9 @@ void mpu6500SetSlaveWriteMode(uint8_t num, bool mode)
*/
bool mpu6500GetSlaveWordGroupOffset(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_GRP_BIT, buffer);
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_GRP_BIT, buffer);
return buffer[0];
}
/** Set word pair grouping order offset for the specified slave (0-3).
@@ -1195,10 +1197,10 @@ bool mpu6500GetSlaveWordGroupOffset(uint8_t num)
*/
void mpu6500SetSlaveWordGroupOffset(uint8_t num, bool enabled)
{
- if (num > 3)
- return;
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_GRP_BIT,
- enabled);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_GRP_BIT,
+ // enabled);
}
/** Get number of bytes to read for the specified slave (0-3).
* Specifies the number of bytes transferred to and from Slave 0. Clearing this
@@ -1209,10 +1211,10 @@ void mpu6500SetSlaveWordGroupOffset(uint8_t num, bool enabled)
*/
uint8_t mpu6500GetSlaveDataLength(uint8_t num)
{
- if (num > 3)
- return 0;
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_LEN_BIT,
- MPU6500_I2C_SLV_LEN_LENGTH, buffer);
+ // if (num > 3)
+ // return 0;
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_LEN_BIT,
+ // MPU6500_I2C_SLV_LEN_LENGTH, buffer);
return buffer[0];
}
/** Set number of bytes to read for the specified slave (0-3).
@@ -1223,10 +1225,10 @@ uint8_t mpu6500GetSlaveDataLength(uint8_t num)
*/
void mpu6500SetSlaveDataLength(uint8_t num, uint8_t length)
{
- if (num > 3)
- return;
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_LEN_BIT,
- MPU6500_I2C_SLV_LEN_LENGTH, length);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_CTRL + num * 3, MPU6500_I2C_SLV_LEN_BIT,
+ // MPU6500_I2C_SLV_LEN_LENGTH, length);
}
// I2C_SLV* registers (Slave 4)
@@ -1242,7 +1244,7 @@ void mpu6500SetSlaveDataLength(uint8_t num, uint8_t length)
*/
uint8_t mpu6500GetSlave4Address()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_ADDR, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_ADDR, buffer);
return buffer[0];
}
/** Set the I2C address of Slave 4.
@@ -1252,7 +1254,7 @@ uint8_t mpu6500GetSlave4Address()
*/
void mpu6500SetSlave4Address(uint8_t address)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_ADDR, address);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_ADDR, address);
}
/** Get the active internal register for the Slave 4.
* Read/write operations for this slave will be done to whatever internal
@@ -1263,7 +1265,7 @@ void mpu6500SetSlave4Address(uint8_t address)
*/
uint8_t mpu6500GetSlave4Register()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_REG, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_REG, buffer);
return buffer[0];
}
/** Set the active internal register for Slave 4.
@@ -1273,7 +1275,7 @@ uint8_t mpu6500GetSlave4Register()
*/
void mpu6500SetSlave4Register(uint8_t reg)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_REG, reg);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_REG, reg);
}
/** Set new byte to write to Slave 4.
* This register stores the data to be written into the Slave 4. If I2C_SLV4_RW
@@ -1283,7 +1285,7 @@ void mpu6500SetSlave4Register(uint8_t reg)
*/
void mpu6500SetSlave4OutputByte(uint8_t data)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_DO, data);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_DO, data);
}
/** Get the enabled value for the Slave 4.
* When set to 1, this bit enables Slave 4 for data transfer operations. When
@@ -1293,7 +1295,7 @@ void mpu6500SetSlave4OutputByte(uint8_t data)
*/
bool mpu6500GetSlave4Enabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4.
@@ -1303,7 +1305,7 @@ bool mpu6500GetSlave4Enabled()
*/
void mpu6500SetSlave4Enabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_EN_BIT, enabled);
}
/** Get the enabled value for Slave 4 transaction interrupts.
* When set to 1, this bit enables the generation of an interrupt signal upon
@@ -1316,7 +1318,7 @@ void mpu6500SetSlave4Enabled(bool enabled)
*/
bool mpu6500GetSlave4InterruptEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_INT_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set the enabled value for Slave 4 transaction interrupts.
@@ -1326,7 +1328,7 @@ bool mpu6500GetSlave4InterruptEnabled()
*/
void mpu6500SetSlave4InterruptEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_INT_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_INT_EN_BIT, enabled);
}
/** Get write mode for Slave 4.
* When set to 1, the transaction will read or write data only. When cleared to
@@ -1339,7 +1341,7 @@ void mpu6500SetSlave4InterruptEnabled(bool enabled)
*/
bool mpu6500GetSlave4WriteMode()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_REG_DIS_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_REG_DIS_BIT, buffer);
return buffer[0];
}
/** Set write mode for the Slave 4.
@@ -1349,7 +1351,7 @@ bool mpu6500GetSlave4WriteMode()
*/
void mpu6500SetSlave4WriteMode(bool mode)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_REG_DIS_BIT, mode);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_REG_DIS_BIT, mode);
}
/** Get Slave 4 master delay value.
* This configures the reduced access rate of I2C slaves relative to the Sample
@@ -1368,8 +1370,8 @@ void mpu6500SetSlave4WriteMode(bool mode)
*/
uint8_t mpu6500GetSlave4MasterDelay()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_MST_DLY_BIT,
- MPU6500_I2C_SLV4_MST_DLY_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_MST_DLY_BIT,
+ // MPU6500_I2C_SLV4_MST_DLY_LENGTH, buffer);
return buffer[0];
}
/** Set Slave 4 master delay value.
@@ -1379,8 +1381,8 @@ uint8_t mpu6500GetSlave4MasterDelay()
*/
void mpu6500SetSlave4MasterDelay(uint8_t delay)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_MST_DLY_BIT,
- MPU6500_I2C_SLV4_MST_DLY_LENGTH, delay);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_CTRL, MPU6500_I2C_SLV4_MST_DLY_BIT,
+ // MPU6500_I2C_SLV4_MST_DLY_LENGTH, delay);
}
/** Get last available byte read from Slave 4.
* This register stores the data read from Slave 4. This field is populated
@@ -1390,7 +1392,7 @@ void mpu6500SetSlave4MasterDelay(uint8_t delay)
*/
uint8_t mpu6500GetSlate4InputByte()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_DI, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV4_DI, buffer);
return buffer[0];
}
@@ -1407,7 +1409,7 @@ uint8_t mpu6500GetSlate4InputByte()
*/
bool mpu6500GetPassthroughStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_PASS_THROUGH_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_PASS_THROUGH_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 transaction done status.
@@ -1420,7 +1422,7 @@ bool mpu6500GetPassthroughStatus()
*/
bool mpu6500GetSlave4IsDone()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV4_DONE_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV4_DONE_BIT, buffer);
return buffer[0];
}
/** Get master arbitration lost status.
@@ -1432,7 +1434,7 @@ bool mpu6500GetSlave4IsDone()
*/
bool mpu6500GetLostArbitration()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_LOST_ARB_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_LOST_ARB_BIT, buffer);
return buffer[0];
}
/** Get Slave 4 NACK status.
@@ -1444,7 +1446,7 @@ bool mpu6500GetLostArbitration()
*/
bool mpu6500GetSlave4Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV4_NACK_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV4_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 3 NACK status.
@@ -1456,7 +1458,7 @@ bool mpu6500GetSlave4Nack()
*/
bool mpu6500GetSlave3Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV3_NACK_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV3_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 2 NACK status.
@@ -1468,7 +1470,7 @@ bool mpu6500GetSlave3Nack()
*/
bool mpu6500GetSlave2Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV2_NACK_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV2_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 1 NACK status.
@@ -1480,7 +1482,7 @@ bool mpu6500GetSlave2Nack()
*/
bool mpu6500GetSlave1Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV1_NACK_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV1_NACK_BIT, buffer);
return buffer[0];
}
/** Get Slave 0 NACK status.
@@ -1492,7 +1494,7 @@ bool mpu6500GetSlave1Nack()
*/
bool mpu6500GetSlave0Nack()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV0_NACK_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_STATUS, MPU6500_MST_I2C_SLV0_NACK_BIT, buffer);
return buffer[0];
}
@@ -1506,7 +1508,7 @@ bool mpu6500GetSlave0Nack()
*/
bool mpu6500GetInterruptMode()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_LEVEL_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set interrupt logic level mode.
@@ -1517,7 +1519,7 @@ bool mpu6500GetInterruptMode()
*/
void mpu6500SetInterruptMode(bool mode)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_LEVEL_BIT, mode);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_LEVEL_BIT, mode);
}
/** Get interrupt drive mode.
* Will be set 0 for push-pull, 1 for open-drain.
@@ -1527,7 +1529,7 @@ void mpu6500SetInterruptMode(bool mode)
*/
bool mpu6500GetInterruptDrive()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_OPEN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_OPEN_BIT, buffer);
return buffer[0];
}
/** Set interrupt drive mode.
@@ -1538,7 +1540,7 @@ bool mpu6500GetInterruptDrive()
*/
void mpu6500SetInterruptDrive(bool drive)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_OPEN_BIT, drive);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_OPEN_BIT, drive);
}
/** Get interrupt latch mode.
* Will be set 0 for 50us-pulse, 1 for latch-until-int-cleared.
@@ -1548,7 +1550,7 @@ void mpu6500SetInterruptDrive(bool drive)
*/
bool mpu6500GetInterruptLatch()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_LATCH_INT_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_LATCH_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch mode.
@@ -1559,7 +1561,7 @@ bool mpu6500GetInterruptLatch()
*/
void mpu6500SetInterruptLatch(bool latch)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_LATCH_INT_EN_BIT, latch);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_LATCH_INT_EN_BIT, latch);
}
/** Get interrupt latch clear mode.
* Will be set 0 for status-read-only, 1 for any-register-read.
@@ -1569,7 +1571,7 @@ void mpu6500SetInterruptLatch(bool latch)
*/
bool mpu6500GetInterruptLatchClear()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_RD_CLEAR_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_RD_CLEAR_BIT, buffer);
return buffer[0];
}
/** Set interrupt latch clear mode.
@@ -1580,7 +1582,7 @@ bool mpu6500GetInterruptLatchClear()
*/
void mpu6500SetInterruptLatchClear(bool clear)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_RD_CLEAR_BIT, clear);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_INT_RD_CLEAR_BIT, clear);
}
/** Get FSYNC interrupt logic level mode.
* @return Current FSYNC interrupt mode (0=active-high, 1=active-low)
@@ -1590,7 +1592,7 @@ void mpu6500SetInterruptLatchClear(bool clear)
*/
bool mpu6500GetFSyncInterruptLevel()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT, buffer);
return buffer[0];
}
/** Set FSYNC interrupt logic level mode.
@@ -1601,7 +1603,7 @@ bool mpu6500GetFSyncInterruptLevel()
*/
void mpu6500SetFSyncInterruptLevel(bool level)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT, level);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_LEVEL_BIT, level);
}
/** Get FSYNC pin interrupt enabled setting.
* Will be set 0 for disabled, 1 for enabled.
@@ -1611,7 +1613,7 @@ void mpu6500SetFSyncInterruptLevel(bool level)
*/
bool mpu6500GetFSyncInterruptEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_EN_BIT, buffer);
return buffer[0];
}
/** Set FSYNC pin interrupt enabled setting.
@@ -1622,7 +1624,7 @@ bool mpu6500GetFSyncInterruptEnabled()
*/
void mpu6500SetFSyncInterruptEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_FSYNC_INT_EN_BIT, enabled);
}
/** Get I2C bypass enabled status.
* When this bit is equal to 1 and I2C_MST_EN (Register 106 bit[5]) is equal to
@@ -1637,7 +1639,7 @@ void mpu6500SetFSyncInterruptEnabled(bool enabled)
*/
bool mpu6500GetI2CBypassEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_I2C_BYPASS_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_I2C_BYPASS_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C bypass enabled status.
@@ -1653,7 +1655,7 @@ bool mpu6500GetI2CBypassEnabled()
*/
void mpu6500SetI2CBypassEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_I2C_BYPASS_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_I2C_BYPASS_EN_BIT, enabled);
}
/** Get reference clock output enabled status.
* When this bit is equal to 1, a reference clock output is provided at the
@@ -1666,7 +1668,7 @@ void mpu6500SetI2CBypassEnabled(bool enabled)
*/
bool mpu6500GetClockOutputEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_CLKOUT_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_CLKOUT_EN_BIT, buffer);
return buffer[0];
}
/** Set reference clock output enabled status.
@@ -1680,7 +1682,7 @@ bool mpu6500GetClockOutputEnabled()
*/
void mpu6500SetClockOutputEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_CLKOUT_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_PIN_CFG, MPU6500_INTCFG_CLKOUT_EN_BIT, enabled);
}
// INT_ENABLE register
@@ -1694,7 +1696,7 @@ void mpu6500SetClockOutputEnabled(bool enabled)
**/
uint8_t mpu6500GetIntEnabled()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, buffer);
return buffer[0];
}
/** Set full interrupt enabled status.
@@ -1707,7 +1709,7 @@ uint8_t mpu6500GetIntEnabled()
**/
void mpu6500SetIntEnabled(uint8_t enabled)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, enabled);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, enabled);
}
/** Get Free Fall interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1717,7 +1719,7 @@ void mpu6500SetIntEnabled(uint8_t enabled)
**/
bool mpu6500GetIntFreefallEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FF_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Set Free Fall interrupt enabled status.
@@ -1738,7 +1740,7 @@ void mpu6500SetIntFreefallEnabled(bool enabled)
**/
bool mpu6500GetIntMotionEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_MOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Set Motion Detection interrupt enabled status.
@@ -1749,7 +1751,7 @@ bool mpu6500GetIntMotionEnabled()
**/
void mpu6500SetIntMotionEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_MOT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_MOT_BIT, enabled);
}
/** Get Zero Motion Detection interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1759,7 +1761,7 @@ void mpu6500SetIntMotionEnabled(bool enabled)
**/
bool mpu6500GetIntZeroMotionEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_ZMOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Set Zero Motion Detection interrupt enabled status.
@@ -1770,7 +1772,7 @@ bool mpu6500GetIntZeroMotionEnabled()
**/
void mpu6500SetIntZeroMotionEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_ZMOT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_ZMOT_BIT, enabled);
}
/** Get FIFO Buffer Overflow interrupt enabled status.
* Will be set 0 for disabled, 1 for enabled.
@@ -1780,7 +1782,7 @@ void mpu6500SetIntZeroMotionEnabled(bool enabled)
**/
bool mpu6500GetIntFIFOBufferOverflowEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Set FIFO Buffer Overflow interrupt enabled status.
@@ -1791,7 +1793,7 @@ bool mpu6500GetIntFIFOBufferOverflowEnabled()
**/
void mpu6500SetIntFIFOBufferOverflowEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, enabled);
}
/** Get I2C Master interrupt enabled status.
* This enables any of the I2C Master interrupt sources to generate an
@@ -1802,7 +1804,7 @@ void mpu6500SetIntFIFOBufferOverflowEnabled(bool enabled)
**/
bool mpu6500GetIntI2CMasterEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_I2C_MST_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Set I2C Master interrupt enabled status.
@@ -1813,7 +1815,7 @@ bool mpu6500GetIntI2CMasterEnabled()
**/
void mpu6500SetIntI2CMasterEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_I2C_MST_INT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_I2C_MST_INT_BIT, enabled);
}
/** Get Data Ready interrupt enabled setting.
* This event occurs each time a write operation to all of the sensor registers
@@ -1824,7 +1826,7 @@ void mpu6500SetIntI2CMasterEnabled(bool enabled)
*/
bool mpu6500GetIntDataReadyEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DATA_RDY_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
/** Set Data Ready interrupt enabled status.
@@ -1835,7 +1837,7 @@ bool mpu6500GetIntDataReadyEnabled()
*/
void mpu6500SetIntDataReadyEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DATA_RDY_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DATA_RDY_BIT, enabled);
}
// INT_STATUS register
@@ -1849,7 +1851,7 @@ void mpu6500SetIntDataReadyEnabled(bool enabled)
*/
uint8_t mpu6500GetIntStatus()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_INT_STATUS, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_INT_STATUS, buffer);
return buffer[0];
}
/** Get Free Fall interrupt status.
@@ -1861,7 +1863,7 @@ uint8_t mpu6500GetIntStatus()
*/
bool mpu6500GetIntFreefallStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_FF_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_FF_BIT, buffer);
return buffer[0];
}
/** Get Motion Detection interrupt status.
@@ -1873,7 +1875,7 @@ bool mpu6500GetIntFreefallStatus()
*/
bool mpu6500GetIntMotionStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_MOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_MOT_BIT, buffer);
return buffer[0];
}
/** Get Zero Motion Detection interrupt status.
@@ -1885,7 +1887,7 @@ bool mpu6500GetIntMotionStatus()
*/
bool mpu6500GetIntZeroMotionStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_ZMOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_ZMOT_BIT, buffer);
return buffer[0];
}
/** Get FIFO Buffer Overflow interrupt status.
@@ -1897,7 +1899,7 @@ bool mpu6500GetIntZeroMotionStatus()
*/
bool mpu6500GetIntFIFOBufferOverflowStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_FIFO_OFLOW_BIT, buffer);
return buffer[0];
}
/** Get I2C Master interrupt status.
@@ -1910,7 +1912,7 @@ bool mpu6500GetIntFIFOBufferOverflowStatus()
*/
bool mpu6500GetIntI2CMasterStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_I2C_MST_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_I2C_MST_INT_BIT, buffer);
return buffer[0];
}
/** Get Data Ready interrupt status.
@@ -1922,7 +1924,7 @@ bool mpu6500GetIntI2CMasterStatus()
*/
bool mpu6500GetIntDataReadyStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_DATA_RDY_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_DATA_RDY_BIT, buffer);
return buffer[0];
}
@@ -1964,13 +1966,13 @@ void mpu6500GetMotion9(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16
*/
void mpu6500GetMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 14, buffer);
- *ax = (((int16_t) buffer[0]) << 8) | buffer[1];
- *ay = (((int16_t) buffer[2]) << 8) | buffer[3];
- *az = (((int16_t) buffer[4]) << 8) | buffer[5];
- *gx = (((int16_t) buffer[8]) << 8) | buffer[9];
- *gy = (((int16_t) buffer[10]) << 8) | buffer[11];
- *gz = (((int16_t) buffer[12]) << 8) | buffer[13];
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 14, buffer);
+ // *ax = (((int16_t) buffer[0]) << 8) | buffer[1];
+ // *ay = (((int16_t) buffer[2]) << 8) | buffer[3];
+ // *az = (((int16_t) buffer[4]) << 8) | buffer[5];
+ // *gx = (((int16_t) buffer[8]) << 8) | buffer[9];
+ // *gy = (((int16_t) buffer[10]) << 8) | buffer[11];
+ // *gz = (((int16_t) buffer[12]) << 8) | buffer[13];
}
/** Get 3-axis accelerometer readings.
* These registers store the most recent accelerometer measurements.
@@ -2010,10 +2012,10 @@ void mpu6500GetMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16
*/
void mpu6500GetAcceleration(int16_t* x, int16_t* y, int16_t* z)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, buffer);
- *x = (((int16_t) buffer[0]) << 8) | buffer[1];
- *y = (((int16_t) buffer[2]) << 8) | buffer[3];
- *z = (((int16_t) buffer[4]) << 8) | buffer[5];
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 6, buffer);
+ // *x = (((int16_t) buffer[0]) << 8) | buffer[1];
+ // *y = (((int16_t) buffer[2]) << 8) | buffer[3];
+ // *z = (((int16_t) buffer[4]) << 8) | buffer[5];
}
/** Get X-axis accelerometer reading.
* @return X-axis acceleration measurement in 16-bit 2's complement format
@@ -2022,7 +2024,7 @@ void mpu6500GetAcceleration(int16_t* x, int16_t* y, int16_t* z)
*/
int16_t mpu6500GetAccelerationX()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_XOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis accelerometer reading.
@@ -2032,7 +2034,7 @@ int16_t mpu6500GetAccelerationX()
*/
int16_t mpu6500GetAccelerationY()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_YOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_YOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis accelerometer reading.
@@ -2042,7 +2044,7 @@ int16_t mpu6500GetAccelerationY()
*/
int16_t mpu6500GetAccelerationZ()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_ZOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_ACCEL_ZOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
@@ -2054,7 +2056,7 @@ int16_t mpu6500GetAccelerationZ()
*/
int16_t mpu6500GetTemperature()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_TEMP_OUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_TEMP_OUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
@@ -2094,10 +2096,10 @@ int16_t mpu6500GetTemperature()
*/
void mpu6500GetRotation(int16_t* x, int16_t* y, int16_t* z)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, buffer);
- *x = (((int16_t) buffer[0]) << 8) | buffer[1];
- *y = (((int16_t) buffer[2]) << 8) | buffer[3];
- *z = (((int16_t) buffer[4]) << 8) | buffer[5];
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 6, buffer);
+ // *x = (((int16_t) buffer[0]) << 8) | buffer[1];
+ // *y = (((int16_t) buffer[2]) << 8) | buffer[3];
+ // *z = (((int16_t) buffer[4]) << 8) | buffer[5];
}
/** Get X-axis gyroscope reading.
* @return X-axis rotation measurement in 16-bit 2's complement format
@@ -2106,7 +2108,7 @@ void mpu6500GetRotation(int16_t* x, int16_t* y, int16_t* z)
*/
int16_t mpu6500GetRotationX()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_XOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Y-axis gyroscope reading.
@@ -2116,7 +2118,7 @@ int16_t mpu6500GetRotationX()
*/
int16_t mpu6500GetRotationY()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_YOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_YOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
/** Get Z-axis gyroscope reading.
@@ -2126,7 +2128,7 @@ int16_t mpu6500GetRotationY()
*/
int16_t mpu6500GetRotationZ()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_ZOUT_H, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_GYRO_ZOUT_H, 2, buffer);
return (((int16_t) buffer[0]) << 8) | buffer[1];
}
@@ -2208,7 +2210,7 @@ int16_t mpu6500GetRotationZ()
*/
uint8_t mpu6500GetExternalSensorByte(int position)
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, buffer);
return buffer[0];
}
/** Read word (2 bytes) from external sensor data registers.
@@ -2218,7 +2220,7 @@ uint8_t mpu6500GetExternalSensorByte(int position)
*/
uint16_t mpu6500GetExternalSensorWord(int position)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, 2, buffer);
return (((uint16_t) buffer[0]) << 8) | buffer[1];
}
/** Read double word (4 bytes) from external sensor data registers.
@@ -2228,7 +2230,7 @@ uint16_t mpu6500GetExternalSensorWord(int position)
*/
uint32_t mpu6500GetExternalSensorDWord(int position)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, 4, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_EXT_SENS_DATA_00 + position, 4, buffer);
return (((uint32_t) buffer[0]) << 24) | (((uint32_t) buffer[1]) << 16)
| (((uint16_t) buffer[2]) << 8) | buffer[3];
}
@@ -2242,7 +2244,7 @@ uint32_t mpu6500GetExternalSensorDWord(int position)
*/
bool mpu6500GetXNegMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_XNEG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_XNEG_BIT, buffer);
return buffer[0];
}
/** Get X-axis positive motion detection interrupt status.
@@ -2252,7 +2254,7 @@ bool mpu6500GetXNegMotionDetected()
*/
bool mpu6500GetXPosMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_XPOS_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_XPOS_BIT, buffer);
return buffer[0];
}
/** Get Y-axis negative motion detection interrupt status.
@@ -2262,7 +2264,7 @@ bool mpu6500GetXPosMotionDetected()
*/
bool mpu6500GetYNegMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_YNEG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_YNEG_BIT, buffer);
return buffer[0];
}
/** Get Y-axis positive motion detection interrupt status.
@@ -2272,7 +2274,7 @@ bool mpu6500GetYNegMotionDetected()
*/
bool mpu6500GetYPosMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_YPOS_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_YPOS_BIT, buffer);
return buffer[0];
}
/** Get Z-axis negative motion detection interrupt status.
@@ -2282,7 +2284,7 @@ bool mpu6500GetYPosMotionDetected()
*/
bool mpu6500GetZNegMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZNEG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZNEG_BIT, buffer);
return buffer[0];
}
/** Get Z-axis positive motion detection interrupt status.
@@ -2292,7 +2294,7 @@ bool mpu6500GetZNegMotionDetected()
*/
bool mpu6500GetZPosMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZPOS_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZPOS_BIT, buffer);
return buffer[0];
}
/** Get zero motion detection interrupt status.
@@ -2302,7 +2304,7 @@ bool mpu6500GetZPosMotionDetected()
*/
bool mpu6500GetZeroMotionDetected()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZRMOT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_STATUS, MPU6500_MOTION_MOT_ZRMOT_BIT, buffer);
return buffer[0];
}
@@ -2318,9 +2320,9 @@ bool mpu6500GetZeroMotionDetected()
*/
void mpu6500SetSlaveOutputByte(uint8_t num, uint8_t data)
{
- if (num > 3)
- return;
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_DO + num, data);
+ // if (num > 3)
+ // return;
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_I2C_SLV0_DO + num, data);
}
// I2C_MST_DELAY_CTRL register
@@ -2335,8 +2337,8 @@ void mpu6500SetSlaveOutputByte(uint8_t num, uint8_t data)
*/
bool mpu6500GetExternalShadowDelayEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT,
- buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT,
+ // buffer);
return buffer[0];
}
/** Set external data shadow delay enabled status.
@@ -2347,8 +2349,8 @@ bool mpu6500GetExternalShadowDelayEnabled()
*/
void mpu6500SetExternalShadowDelayEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL,
- MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL,
+ // MPU6500_DELAYCTRL_DELAY_ES_SHADOW_BIT, enabled);
}
/** Get slave delay enabled status.
* When a particular slave delay is enabled, the rate of access for the that
@@ -2371,9 +2373,9 @@ void mpu6500SetExternalShadowDelayEnabled(bool enabled)
bool mpu6500GetSlaveDelayEnabled(uint8_t num)
{
// MPU6500_DELAYCTRL_I2C_SLV4_DLY_EN_BIT is 4, SLV3 is 3, etc.
- if (num > 4)
- return 0;
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, num, buffer);
+ // if (num > 4)
+ // return 0;
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, num, buffer);
return buffer[0];
}
/** Set slave delay enabled status.
@@ -2384,7 +2386,7 @@ bool mpu6500GetSlaveDelayEnabled(uint8_t num)
*/
void mpu6500SetSlaveDelayEnabled(uint8_t num, bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, num, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_I2C_MST_DELAY_CTRL, num, enabled);
}
// SIGNAL_PATH_RESET register
@@ -2397,7 +2399,7 @@ void mpu6500SetSlaveDelayEnabled(uint8_t num, bool enabled)
*/
void mpu6500ResetGyroscopePath()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_GYRO_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_GYRO_RESET_BIT, 1);
}
/** Reset accelerometer signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2407,7 +2409,7 @@ void mpu6500ResetGyroscopePath()
*/
void mpu6500ResetAccelerometerPath()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_ACCEL_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_ACCEL_RESET_BIT, 1);
}
/** Reset temperature sensor signal path.
* The reset will revert the signal path analog to digital converters and
@@ -2417,7 +2419,7 @@ void mpu6500ResetAccelerometerPath()
*/
void mpu6500ResetTemperaturePath()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_TEMP_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_SIGNAL_PATH_RESET, MPU6500_PATHRESET_TEMP_RESET_BIT, 1);
}
// MOT_DETECT_CTRL register
@@ -2438,8 +2440,8 @@ void mpu6500ResetTemperaturePath()
*/
uint8_t mpu6500GetAccelerometerPowerOnDelay()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_ACCEL_ON_DELAY_BIT,
- MPU6500_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_ACCEL_ON_DELAY_BIT,
+ // MPU6500_DETECT_ACCEL_ON_DELAY_LENGTH, buffer);
return buffer[0];
}
/** Set accelerometer power-on delay.
@@ -2450,8 +2452,8 @@ uint8_t mpu6500GetAccelerometerPowerOnDelay()
*/
void mpu6500SetAccelerometerPowerOnDelay(uint8_t delay)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_ACCEL_ON_DELAY_BIT,
- MPU6500_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_ACCEL_ON_DELAY_BIT,
+ // MPU6500_DETECT_ACCEL_ON_DELAY_LENGTH, delay);
}
/** Get Free Fall detection counter decrement configuration.
* Detection is registered by the Free Fall detection module after accelerometer
@@ -2481,8 +2483,8 @@ void mpu6500SetAccelerometerPowerOnDelay(uint8_t delay)
*/
uint8_t mpu6500GetFreefallDetectionCounterDecrement()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_FF_COUNT_BIT,
- MPU6500_DETECT_FF_COUNT_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_FF_COUNT_BIT,
+ // MPU6500_DETECT_FF_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Free Fall detection counter decrement configuration.
@@ -2493,8 +2495,8 @@ uint8_t mpu6500GetFreefallDetectionCounterDecrement()
*/
void mpu6500SetFreefallDetectionCounterDecrement(uint8_t decrement)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_FF_COUNT_BIT,
- MPU6500_DETECT_FF_COUNT_LENGTH, decrement);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_FF_COUNT_BIT,
+ // MPU6500_DETECT_FF_COUNT_LENGTH, decrement);
}
/** Get Motion detection counter decrement configuration.
* Detection is registered by the Motion detection module after accelerometer
@@ -2521,8 +2523,8 @@ void mpu6500SetFreefallDetectionCounterDecrement(uint8_t decrement)
*/
uint8_t mpu6500GetMotionDetectionCounterDecrement()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_MOT_COUNT_BIT,
- MPU6500_DETECT_MOT_COUNT_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_MOT_COUNT_BIT,
+ // MPU6500_DETECT_MOT_COUNT_LENGTH, buffer);
return buffer[0];
}
/** Set Motion detection counter decrement configuration.
@@ -2533,8 +2535,8 @@ uint8_t mpu6500GetMotionDetectionCounterDecrement()
*/
void mpu6500SetMotionDetectionCounterDecrement(uint8_t decrement)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_MOT_COUNT_BIT,
- MPU6500_DETECT_MOT_COUNT_LENGTH, decrement);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_MOT_DETECT_CTRL, MPU6500_DETECT_MOT_COUNT_BIT,
+ // MPU6500_DETECT_MOT_COUNT_LENGTH, decrement);
}
// USER_CTRL register
@@ -2549,7 +2551,7 @@ void mpu6500SetMotionDetectionCounterDecrement(uint8_t decrement)
*/
bool mpu6500GetFIFOEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_EN_BIT, buffer);
return buffer[0];
}
/** Set FIFO enabled status.
@@ -2560,7 +2562,7 @@ bool mpu6500GetFIFOEnabled()
*/
void mpu6500SetFIFOEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_EN_BIT, enabled);
}
/** Get I2C Master Mode enabled status.
* When this mode is enabled, the MPU-60X0 acts as the I2C Master to the
@@ -2575,7 +2577,7 @@ void mpu6500SetFIFOEnabled(bool enabled)
*/
bool mpu6500GetI2CMasterModeEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_EN_BIT, buffer);
return buffer[0];
}
/** Set I2C Master Mode enabled status.
@@ -2586,7 +2588,7 @@ bool mpu6500GetI2CMasterModeEnabled()
*/
void mpu6500SetI2CMasterModeEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_EN_BIT, enabled);
}
/** Switch from I2C to SPI mode (MPU-6000 only)
* If this is set, the primary SPI interface will be enabled in place of the
@@ -2594,7 +2596,7 @@ void mpu6500SetI2CMasterModeEnabled(bool enabled)
*/
void mpu6500SwitchSPIEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_IF_DIS_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_IF_DIS_BIT, enabled);
}
/** Reset the FIFO.
* This bit resets the FIFO buffer when set to 1 while FIFO_EN equals 0. This
@@ -2604,7 +2606,7 @@ void mpu6500SwitchSPIEnabled(bool enabled)
*/
void mpu6500ResetFIFO()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_FIFO_RESET_BIT, 1);
}
/** Reset the I2C Master.
* This bit resets the I2C Master when set to 1 while I2C_MST_EN equals 0.
@@ -2614,7 +2616,7 @@ void mpu6500ResetFIFO()
*/
void mpu6500ResetI2CMaster()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_I2C_MST_RESET_BIT, 1);
}
/** Reset all sensor registers and signal paths.
* When set to 1, this bit resets the signal paths for all sensors (gyroscopes,
@@ -2630,7 +2632,7 @@ void mpu6500ResetI2CMaster()
*/
void mpu6500ResetSensors()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_SIG_COND_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_SIG_COND_RESET_BIT, 1);
}
// PWR_MGMT_1 register
@@ -2642,7 +2644,7 @@ void mpu6500ResetSensors()
*/
void mpu6500Reset()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_DEVICE_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_DEVICE_RESET_BIT, 1);
}
/** Get sleep mode status.
* Setting the SLEEP bit in the register puts the device into very low power
@@ -2657,7 +2659,7 @@ void mpu6500Reset()
*/
bool mpu6500GetSleepEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_SLEEP_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_SLEEP_BIT, buffer);
return buffer[0];
}
/** Set sleep mode status.
@@ -2668,7 +2670,7 @@ bool mpu6500GetSleepEnabled()
*/
void mpu6500SetSleepEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_SLEEP_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_SLEEP_BIT, enabled);
}
/** Get wake cycle enabled status.
* When this bit is set to 1 and SLEEP is disabled, the MPU-60X0 will cycle
@@ -2680,7 +2682,7 @@ void mpu6500SetSleepEnabled(bool enabled)
*/
bool mpu6500GetWakeCycleEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CYCLE_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CYCLE_BIT, buffer);
return buffer[0];
}
/** Set wake cycle enabled status.
@@ -2691,7 +2693,7 @@ bool mpu6500GetWakeCycleEnabled()
*/
void mpu6500SetWakeCycleEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CYCLE_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CYCLE_BIT, enabled);
}
/** Get temperature sensor enabled status.
* Control the usage of the internal temperature sensor.
@@ -2706,7 +2708,7 @@ void mpu6500SetWakeCycleEnabled(bool enabled)
*/
bool mpu6500GetTempSensorEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_TEMP_DIS_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_TEMP_DIS_BIT, buffer);
return buffer[0] == 0; // 1 is actually disabled here
}
/** Set temperature sensor enabled status.
@@ -2722,7 +2724,7 @@ bool mpu6500GetTempSensorEnabled()
void mpu6500SetTempSensorEnabled(bool enabled)
{
// 1 is actually disabled here
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_TEMP_DIS_BIT, !enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_TEMP_DIS_BIT, !enabled);
}
/** Get clock source setting.
* @return Current clock source setting
@@ -2732,8 +2734,8 @@ void mpu6500SetTempSensorEnabled(bool enabled)
*/
uint8_t mpu6500GetClockSource()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CLKSEL_BIT,
- MPU6500_PWR1_CLKSEL_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CLKSEL_BIT,
+ // MPU6500_PWR1_CLKSEL_LENGTH, buffer);
return buffer[0];
}
/** Set clock source setting.
@@ -2768,8 +2770,8 @@ uint8_t mpu6500GetClockSource()
*/
void mpu6500SetClockSource(uint8_t source)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CLKSEL_BIT,
- MPU6500_PWR1_CLKSEL_LENGTH, source);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_1, MPU6500_PWR1_CLKSEL_BIT,
+ // MPU6500_PWR1_CLKSEL_LENGTH, source);
}
// PWR_MGMT_2 register
@@ -2799,8 +2801,8 @@ void mpu6500SetClockSource(uint8_t source)
*/
uint8_t mpu6500GetWakeFrequency()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_LP_WAKE_CTRL_BIT,
- MPU6500_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_LP_WAKE_CTRL_BIT,
+ // MPU6500_PWR2_LP_WAKE_CTRL_LENGTH, buffer);
return buffer[0];
}
/** Set wake frequency in Accel-Only Low Power Mode.
@@ -2809,8 +2811,8 @@ uint8_t mpu6500GetWakeFrequency()
*/
void mpu6500SetWakeFrequency(uint8_t frequency)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_LP_WAKE_CTRL_BIT,
- MPU6500_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_LP_WAKE_CTRL_BIT,
+ // MPU6500_PWR2_LP_WAKE_CTRL_LENGTH, frequency);
}
/** Get X-axis accelerometer standby enabled status.
@@ -2821,7 +2823,7 @@ void mpu6500SetWakeFrequency(uint8_t frequency)
*/
bool mpu6500GetStandbyXAccelEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XA_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XA_BIT, buffer);
return buffer[0];
}
/** Set X-axis accelerometer standby enabled status.
@@ -2832,7 +2834,7 @@ bool mpu6500GetStandbyXAccelEnabled()
*/
void mpu6500SetStandbyXAccelEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XA_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XA_BIT, enabled);
}
/** Get Y-axis accelerometer standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -2842,7 +2844,7 @@ void mpu6500SetStandbyXAccelEnabled(bool enabled)
*/
bool mpu6500GetStandbyYAccelEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YA_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YA_BIT, buffer);
return buffer[0];
}
/** Set Y-axis accelerometer standby enabled status.
@@ -2853,7 +2855,7 @@ bool mpu6500GetStandbyYAccelEnabled()
*/
void mpu6500SetStandbyYAccelEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YA_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YA_BIT, enabled);
}
/** Get Z-axis accelerometer standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -2863,7 +2865,7 @@ void mpu6500SetStandbyYAccelEnabled(bool enabled)
*/
bool mpu6500GetStandbyZAccelEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZA_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZA_BIT, buffer);
return buffer[0];
}
/** Set Z-axis accelerometer standby enabled status.
@@ -2874,7 +2876,7 @@ bool mpu6500GetStandbyZAccelEnabled()
*/
void mpu6500SetStandbyZAccelEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZA_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZA_BIT, enabled);
}
/** Get X-axis gyroscope standby enabled status.
* If enabled, the X-axis will not gather or report data (or use power).
@@ -2884,7 +2886,7 @@ void mpu6500SetStandbyZAccelEnabled(bool enabled)
*/
bool mpu6500GetStandbyXGyroEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XG_BIT, buffer);
return buffer[0];
}
/** Set X-axis gyroscope standby enabled status.
@@ -2895,7 +2897,7 @@ bool mpu6500GetStandbyXGyroEnabled()
*/
void mpu6500SetStandbyXGyroEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XG_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_XG_BIT, enabled);
}
/** Get Y-axis gyroscope standby enabled status.
* If enabled, the Y-axis will not gather or report data (or use power).
@@ -2905,7 +2907,7 @@ void mpu6500SetStandbyXGyroEnabled(bool enabled)
*/
bool mpu6500GetStandbyYGyroEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YG_BIT, buffer);
return buffer[0];
}
/** Set Y-axis gyroscope standby enabled status.
@@ -2916,7 +2918,7 @@ bool mpu6500GetStandbyYGyroEnabled()
*/
void mpu6500SetStandbyYGyroEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YG_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_YG_BIT, enabled);
}
/** Get Z-axis gyroscope standby enabled status.
* If enabled, the Z-axis will not gather or report data (or use power).
@@ -2926,7 +2928,7 @@ void mpu6500SetStandbyYGyroEnabled(bool enabled)
*/
bool mpu6500GetStandbyZGyroEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZG_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZG_BIT, buffer);
return buffer[0];
}
/** Set Z-axis gyroscope standby enabled status.
@@ -2937,7 +2939,7 @@ bool mpu6500GetStandbyZGyroEnabled()
*/
void mpu6500SetStandbyZGyroEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZG_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_PWR_MGMT_2, MPU6500_PWR2_STBY_ZG_BIT, enabled);
}
// FIFO_COUNT* registers
@@ -2951,7 +2953,7 @@ void mpu6500SetStandbyZGyroEnabled(bool enabled)
*/
uint16_t mpu6500GetFIFOCount()
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_FIFO_COUNTH, 2, buffer);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_FIFO_COUNTH, 2, buffer);
return (((uint16_t) buffer[0]) << 8) | buffer[1];
}
@@ -2984,12 +2986,12 @@ uint16_t mpu6500GetFIFOCount()
*/
uint8_t mpu6500GetFIFOByte()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, buffer);
return buffer[0];
}
void mpu6500GetFIFOBytes(uint8_t *data, uint8_t length)
{
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, length, data);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, length, data);
}
/** Write byte to FIFO buffer.
* @see getFIFOByte()
@@ -2997,7 +2999,7 @@ void mpu6500GetFIFOBytes(uint8_t *data, uint8_t length)
*/
void mpu6500SetFIFOByte(uint8_t data)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, data);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_FIFO_R_W, data);
}
// WHO_AM_I register
@@ -3011,8 +3013,8 @@ void mpu6500SetFIFOByte(uint8_t data)
*/
uint8_t mpu6500GetDeviceID()
{
- i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_WHO_AM_I, MPU6500_WHO_AM_I_BIT, MPU6500_WHO_AM_I_LENGTH,
- buffer);
+ // i2cdevReadBits(I2Cx, devAddr, MPU6500_RA_WHO_AM_I, MPU6500_WHO_AM_I_BIT, MPU6500_WHO_AM_I_LENGTH,
+ // buffer);
return buffer[0];
}
/** Set Device ID.
@@ -3026,8 +3028,8 @@ uint8_t mpu6500GetDeviceID()
*/
void mpu6500SetDeviceID(uint8_t id)
{
- i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_WHO_AM_I, MPU6500_WHO_AM_I_BIT, MPU6500_WHO_AM_I_LENGTH,
- id);
+ // i2cdevWriteBits(I2Cx, devAddr, MPU6500_RA_WHO_AM_I, MPU6500_WHO_AM_I_BIT, MPU6500_WHO_AM_I_LENGTH,
+ // id);
}
// ======== UNDOCUMENTED/DMP REGISTERS/METHODS ========
@@ -3038,53 +3040,53 @@ void mpu6500SetDeviceID(uint8_t id)
bool mpu6500GetIntPLLReadyEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
void mpu6500SetIntPLLReadyEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, enabled);
}
bool mpu6500GetIntDMPEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DMP_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
void mpu6500SetIntDMPEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DMP_INT_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, MPU6500_INTERRUPT_DMP_INT_BIT, enabled);
}
// DMP_INT_STATUS
bool mpu6500GetDMPInt5Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_5_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_5_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt4Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_4_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_4_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt3Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_3_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_3_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt2Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_2_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_2_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt1Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_1_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_1_BIT, buffer);
return buffer[0];
}
bool mpu6500GetDMPInt0Status()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_0_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_DMP_INT_STATUS, MPU6500_DMPINT_0_BIT, buffer);
return buffer[0];
}
@@ -3092,12 +3094,12 @@ bool mpu6500GetDMPInt0Status()
bool mpu6500GetIntPLLReadyStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_PLL_RDY_INT_BIT, buffer);
return buffer[0];
}
bool mpu6500GetIntDMPStatus()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_DMP_INT_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_INT_STATUS, MPU6500_INTERRUPT_DMP_INT_BIT, buffer);
return buffer[0];
}
@@ -3105,47 +3107,47 @@ bool mpu6500GetIntDMPStatus()
bool mpu6500GetDMPEnabled()
{
- i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_EN_BIT, buffer);
+ // i2cdevReadBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_EN_BIT, buffer);
return buffer[0];
}
void mpu6500SetDMPEnabled(bool enabled)
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_EN_BIT, enabled);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_EN_BIT, enabled);
}
void mpu6500ResetDMP()
{
- i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_RESET_BIT, 1);
+ // i2cdevWriteBit(I2Cx, devAddr, MPU6500_RA_USER_CTRL, MPU6500_USERCTRL_DMP_RESET_BIT, 1);
}
// BANK_SEL register
void mpu6500SetMemoryBank(uint8_t bank, bool prefetchEnabled, bool userBank)
{
- bank &= 0x1F;
- if (userBank)
- bank |= 0x20;
- if (prefetchEnabled)
- bank |= 0x40;
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_BANK_SEL, bank);
+ // bank &= 0x1F;
+ // if (userBank)
+ // bank |= 0x20;
+ // if (prefetchEnabled)
+ // bank |= 0x40;
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_BANK_SEL, bank);
}
// MEM_START_ADDR register
void mpu6500SetMemoryStartAddress(uint8_t address)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_MEM_START_ADDR, address);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_MEM_START_ADDR, address);
}
// MEM_R_W register
uint8_t mpu6500ReadMemoryByte()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_MEM_R_W, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_MEM_R_W, buffer);
return buffer[0];
}
void mpu6500WriteMemoryByte(uint8_t data)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_MEM_R_W, data);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_MEM_R_W, data);
}
void mpu6500ReadMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
{
@@ -3154,37 +3156,37 @@ void mpu6500ReadMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint
uint8_t chunkSize;
uint16_t i;
- for (i = 0; i < dataSize;)
- {
- // determine correct chunk size according to bank position and data size
- chunkSize = MPU6500_DMP_MEMORY_CHUNK_SIZE;
+ // for (i = 0; i < dataSize;)
+ // {
+ // // determine correct chunk size according to bank position and data size
+ // chunkSize = MPU6500_DMP_MEMORY_CHUNK_SIZE;
- // make sure we don't go past the data size
- if (i + chunkSize > dataSize)
- chunkSize = dataSize - i;
+ // // make sure we don't go past the data size
+ // if (i + chunkSize > dataSize)
+ // chunkSize = dataSize - i;
- // make sure this chunk doesn't go past the bank boundary (256 bytes)
- if (chunkSize > 256 - address)
- chunkSize = 256 - address;
+ // // make sure this chunk doesn't go past the bank boundary (256 bytes)
+ // if (chunkSize > 256 - address)
+ // chunkSize = 256 - address;
- // read the chunk of data as specified
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, data + i);
+ // // read the chunk of data as specified
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, data + i);
- // increase byte index by [chunkSize]
- i += chunkSize;
+ // // increase byte index by [chunkSize]
+ // i += chunkSize;
- // uint8_t automatically wraps to 0 at 256
- address += chunkSize;
+ // // uint8_t automatically wraps to 0 at 256
+ // address += chunkSize;
- // if we aren't done, update bank (if necessary) and address
- if (i < dataSize)
- {
- if (address == 0)
- bank++;
- mpu6500SetMemoryBank(bank, true, true);
- mpu6500SetMemoryStartAddress(address);
- }
- }
+ // // if we aren't done, update bank (if necessary) and address
+ // if (i < dataSize)
+ // {
+ // if (address == 0)
+ // bank++;
+ // mpu6500SetMemoryBank(bank, true, true);
+ // mpu6500SetMemoryStartAddress(address);
+ // }
+ // }
}
bool mpu6500WriteMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address,
bool verify)
@@ -3194,76 +3196,76 @@ bool mpu6500WriteMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t ban
uint8_t *progBuffer;
uint16_t i;
- mpu6500SetMemoryBank(bank, true, true);
- mpu6500SetMemoryStartAddress(address);
-
- for (i = 0; i < dataSize;)
- {
- // determine correct chunk size according to bank position and data size
- chunkSize = MPU6500_DMP_MEMORY_CHUNK_SIZE;
-
- // make sure we don't go past the data size
- if (i + chunkSize > dataSize)
- chunkSize = dataSize - i;
-
- // make sure this chunk doesn't go past the bank boundary (256 bytes)
- if (chunkSize > 256 - address)
- chunkSize = 256 - address;
-
- // write the chunk of data as specified
- progBuffer = (uint8_t *) data + i;
-
- i2cdevWriteReg8(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, progBuffer);
-
- // verify data if needed
- if (verify)
- {
- uint32_t j;
- mpu6500SetMemoryBank(bank, true, true);
- mpu6500SetMemoryStartAddress(address);
- i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, verifyBuffer);
-
- for (j = 0; j < chunkSize; j++)
- {
- if (progBuffer[j] != verifyBuffer[j])
- {
- /*Serial.print("Block write verification error, bank ");
- Serial.print(bank, DEC);
- Serial.print(", address ");
- Serial.print(address, DEC);
- Serial.print("!\nExpected:");
- for (j = 0; j < chunkSize; j++) {
- Serial.print(" 0x");
- if (progBuffer[j] < 16) Serial.print("0");
- Serial.print(progBuffer[j], HEX);
- }
- Serial.print("\nReceived:");
- for (uint8_t j = 0; j < chunkSize; j++) {
- Serial.print(" 0x");
- if (verifyBuffer[i + j] < 16) Serial.print("0");
- Serial.print(verifyBuffer[i + j], HEX);
- }
- Serial.print("\n");*/
- return false;
- }
- }
- }
-
- // increase byte index by [chunkSize]
- i += chunkSize;
-
- // uint8_t automatically wraps to 0 at 256
- address += chunkSize;
-
- // if we aren't done, update bank (if necessary) and address
- if (i < dataSize)
- {
- if (address == 0)
- bank++;
- mpu6500SetMemoryBank(bank, true, true);
- mpu6500SetMemoryStartAddress(address);
- }
- }
+ // mpu6500SetMemoryBank(bank, true, true);
+ // mpu6500SetMemoryStartAddress(address);
+
+ // for (i = 0; i < dataSize;)
+ // {
+ // // determine correct chunk size according to bank position and data size
+ // chunkSize = MPU6500_DMP_MEMORY_CHUNK_SIZE;
+
+ // // make sure we don't go past the data size
+ // if (i + chunkSize > dataSize)
+ // chunkSize = dataSize - i;
+
+ // // make sure this chunk doesn't go past the bank boundary (256 bytes)
+ // if (chunkSize > 256 - address)
+ // chunkSize = 256 - address;
+
+ // // write the chunk of data as specified
+ // progBuffer = (uint8_t *) data + i;
+
+ // i2cdevWriteReg8(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, progBuffer);
+
+ // // verify data if needed
+ // if (verify)
+ // {
+ // uint32_t j;
+ // mpu6500SetMemoryBank(bank, true, true);
+ // mpu6500SetMemoryStartAddress(address);
+ // i2cdevReadReg8(I2Cx, devAddr, MPU6500_RA_MEM_R_W, chunkSize, verifyBuffer);
+
+ // for (j = 0; j < chunkSize; j++)
+ // {
+ // if (progBuffer[j] != verifyBuffer[j])
+ // {
+ // /*Serial.print("Block write verification error, bank ");
+ // Serial.print(bank, DEC);
+ // Serial.print(", address ");
+ // Serial.print(address, DEC);
+ // Serial.print("!\nExpected:");
+ // for (j = 0; j < chunkSize; j++) {
+ // Serial.print(" 0x");
+ // if (progBuffer[j] < 16) Serial.print("0");
+ // Serial.print(progBuffer[j], HEX);
+ // }
+ // Serial.print("\nReceived:");
+ // for (uint8_t j = 0; j < chunkSize; j++) {
+ // Serial.print(" 0x");
+ // if (verifyBuffer[i + j] < 16) Serial.print("0");
+ // Serial.print(verifyBuffer[i + j], HEX);
+ // }
+ // Serial.print("\n");*/
+ // return false;
+ // }
+ // }
+ // }
+
+ // // increase byte index by [chunkSize]
+ // i += chunkSize;
+
+ // // uint8_t automatically wraps to 0 at 256
+ // address += chunkSize;
+
+ // // if we aren't done, update bank (if necessary) and address
+ // if (i < dataSize)
+ // {
+ // if (address == 0)
+ // bank++;
+ // mpu6500SetMemoryBank(bank, true, true);
+ // mpu6500SetMemoryStartAddress(address);
+ // }
+ // }
return true;
}
bool mpu6500WriteProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank,
@@ -3274,66 +3276,66 @@ bool mpu6500WriteProgMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t
#define MPU6500_DMP_CONFIG_BLOCK_SIZE 6
bool mpu6500WriteDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
{
- uint8_t *progBuffer, success, special;
- uint16_t i;
-
- // config set data is a long string of blocks with the following structure:
- // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
- uint8_t bank=0;
- uint8_t offset=0;
- uint8_t length=0;
- for (i = 0; i < dataSize;)
- {
- bank = data[i++];
- offset = data[i++];
- length = data[i++];
- }
-
- // write data or perform special action
- if (length > 0)
- {
- // regular block of data to write
- /*Serial.print("Writing config block to bank ");
- Serial.print(bank);
- Serial.print(", offset ");
- Serial.print(offset);
- Serial.print(", length=");
- Serial.println(length);*/
- progBuffer = (uint8_t *) data + i;
- success = mpu6500WriteMemoryBlock(progBuffer, length, bank, offset, true);
- i += length;
- }
- else
- {
- // special instruction
- // NOTE: this kind of behavior (what and when to do certain things)
- // is totally undocumented. This code is in here based on observed
- // behavior only, and exactly why (or even whether) it has to be here
- // is anybody's guess for now.
- special = data[i++];
- /*Serial.print("Special command code ");
- Serial.print(special, HEX);
- Serial.println(" found...");*/
- if (special == 0x01)
- {
- // enable DMP-related interrupts
- mpu6500SetIntZeroMotionEnabled(true);
- mpu6500SetIntFIFOBufferOverflowEnabled(true);
- mpu6500SetIntDMPEnabled(true);
- //i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, 0x32);
- success = true;
- }
- else
- {
- // unknown special command
- success = false;
- }
- }
-
- if (!success)
- {
- return false; // uh oh
- }
+ // uint8_t *progBuffer, success, special;
+ // uint16_t i;
+
+ // // config set data is a long string of blocks with the following structure:
+ // // [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
+ // uint8_t bank=0;
+ // uint8_t offset=0;
+ // uint8_t length=0;
+ // for (i = 0; i < dataSize;)
+ // {
+ // bank = data[i++];
+ // offset = data[i++];
+ // length = data[i++];
+ // }
+
+ // // write data or perform special action
+ // if (length > 0)
+ // {
+ // // regular block of data to write
+ // /*Serial.print("Writing config block to bank ");
+ // Serial.print(bank);
+ // Serial.print(", offset ");
+ // Serial.print(offset);
+ // Serial.print(", length=");
+ // Serial.println(length);*/
+ // progBuffer = (uint8_t *) data + i;
+ // success = mpu6500WriteMemoryBlock(progBuffer, length, bank, offset, true);
+ // i += length;
+ // }
+ // else
+ // {
+ // // special instruction
+ // // NOTE: this kind of behavior (what and when to do certain things)
+ // // is totally undocumented. This code is in here based on observed
+ // // behavior only, and exactly why (or even whether) it has to be here
+ // // is anybody's guess for now.
+ // special = data[i++];
+ // /*Serial.print("Special command code ");
+ // Serial.print(special, HEX);
+ // Serial.println(" found...");*/
+ // if (special == 0x01)
+ // {
+ // // enable DMP-related interrupts
+ // mpu6500SetIntZeroMotionEnabled(true);
+ // mpu6500SetIntFIFOBufferOverflowEnabled(true);
+ // mpu6500SetIntDMPEnabled(true);
+ // //i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_INT_ENABLE, 0x32);
+ // success = true;
+ // }
+ // else
+ // {
+ // // unknown special command
+ // success = false;
+ // }
+ // }
+
+ // if (!success)
+ // {
+ // return false; // uh oh
+ // }
return true;
}
@@ -3346,22 +3348,22 @@ bool mpu6500WriteProgDMPConfigurationSet(const uint8_t *data, uint16_t dataSize)
uint8_t mpu6500GetDMPConfig1()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_1, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_1, buffer);
return buffer[0];
}
void mpu6500SetDMPConfig1(uint8_t config)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_1, config);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_1, config);
}
// DMP_CFG_2 register
uint8_t mpu6500GetDMPConfig2()
{
- i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_2, buffer);
+ // i2cdevReadByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_2, buffer);
return buffer[0];
}
void mpu6500SetDMPConfig2(uint8_t config)
{
- i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_2, config);
+ // i2cdevWriteByte(I2Cx, devAddr, MPU6500_RA_DMP_CFG_2, config);
}
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/ms5611.c b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/ms5611.c
index 33dabcffea2b1be7321361e17744f65a929601b1..129c1b0560171d12e55bbbb15467deb9a3d595c3 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/ms5611.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/ms5611.c
@@ -70,106 +70,109 @@ static int32_t tempDeltaT;
bool ms5611Init(I2C_Dev *i2cPort)
{
- if (isInit)
- return true;
+ // if (isInit)
+ // return true;
- I2Cx = i2cPort;
- devAddr = MS5611_ADDR_CSB_LOW;
+ // I2Cx = i2cPort;
+ // devAddr = MS5611_ADDR_CSB_LOW;
- ms5611Reset(); // reset the device to populate its internal PROM registers
- vTaskDelay(M2T(5));
- if (ms5611ReadPROM() == false) // reads the PROM into object variables for later use
- {
- return false;
- }
+ // ms5611Reset(); // reset the device to populate its internal PROM registers
+ // vTaskDelay(M2T(5));
+ // if (ms5611ReadPROM() == false) // reads the PROM into object variables for later use
+ // {
+ // return false;
+ // }
- isInit = true;
+ // isInit = true;
return true;
}
bool ms5611SelfTest(void)
{
- bool testStatus = true;
- int32_t rawPress;
- int32_t rawTemp;
- int32_t deltaT;
- float pressure;
- float temperature;
-
- if (!isInit)
- return false;
-
- ms5611StartConversion(MS5611_D1 + MS5611_OSR_4096);
- vTaskDelay(M2T(CONVERSION_TIME_MS));
- rawPress = ms5611GetConversion(MS5611_D1 + MS5611_OSR_4096);
-
- ms5611StartConversion(MS5611_D2 + MS5611_OSR_4096);
- vTaskDelay(M2T(CONVERSION_TIME_MS));
- rawTemp = ms5611GetConversion(MS5611_D2 + MS5611_OSR_4096);
-
- deltaT = ms5611CalcDeltaTemp(rawTemp);
- temperature = ms5611CalcTemp(deltaT);
- pressure = ms5611CalcPressure(rawPress, deltaT);
-
- if (ms5611EvaluateSelfTest(MS5611_ST_PRESS_MIN, MS5611_ST_PRESS_MAX, pressure, "pressure") &&
- ms5611EvaluateSelfTest(MS5611_ST_TEMP_MIN, MS5611_ST_TEMP_MAX, temperature, "temperature"))
- {
- DEBUG_PRINT("Self test [OK].\n");
- }
- else
- {
- testStatus = false;
- }
-
- return testStatus;
+ // bool testStatus = true;
+ // int32_t rawPress;
+ // int32_t rawTemp;
+ // int32_t deltaT;
+ // float pressure;
+ // float temperature;
+
+ // if (!isInit)
+ // return false;
+
+ // ms5611StartConversion(MS5611_D1 + MS5611_OSR_4096);
+ // vTaskDelay(M2T(CONVERSION_TIME_MS));
+ // rawPress = ms5611GetConversion(MS5611_D1 + MS5611_OSR_4096);
+
+ // ms5611StartConversion(MS5611_D2 + MS5611_OSR_4096);
+ // vTaskDelay(M2T(CONVERSION_TIME_MS));
+ // rawTemp = ms5611GetConversion(MS5611_D2 + MS5611_OSR_4096);
+
+ // deltaT = ms5611CalcDeltaTemp(rawTemp);
+ // temperature = ms5611CalcTemp(deltaT);
+ // pressure = ms5611CalcPressure(rawPress, deltaT);
+
+ // if (ms5611EvaluateSelfTest(MS5611_ST_PRESS_MIN, MS5611_ST_PRESS_MAX, pressure, "pressure") &&
+ // ms5611EvaluateSelfTest(MS5611_ST_TEMP_MIN, MS5611_ST_TEMP_MAX, temperature, "temperature"))
+ // {
+ // DEBUG_PRINT("Self test [OK].\n");
+ // }
+ // else
+ // {
+ // testStatus = false;
+ // }
+
+ // return testStatus;
+ return true;
}
bool ms5611EvaluateSelfTest(float min, float max, float value, char* string)
{
- if (value < min || value > max)
- {
- DEBUG_PRINT("Self test %s [FAIL]. low: %0.2f, high: %0.2f, measured: %0.2f\n",
- string, (double)min, (double)max, (double)value);
- return false;
- }
+ // if (value < min || value > max)
+ // {
+ // DEBUG_PRINT("Self test %s [FAIL]. low: %0.2f, high: %0.2f, measured: %0.2f\n",
+ // string, (double)min, (double)max, (double)value);
+ // return false;
+ // }
return true;
}
float ms5611GetPressure(uint8_t osr)
{
- // see datasheet page 7 for formulas
- int32_t rawPress = ms5611RawPressure(osr);
- int64_t dT = (int64_t)ms5611GetDeltaTemp(osr);
- if (dT == 0)
- {
- return 0;
- }
- int64_t off = (((int64_t)calReg.off) << 16) + ((calReg.tco * dT) >> 7);
- int64_t sens = (((int64_t)calReg.psens) << 15) + ((calReg.tcs * dT) >> 8);
- if (rawPress != 0)
- {
- return ((((rawPress * sens) >> 21) - off) >> (15 - EXTRA_PRECISION))
- / ((1 << EXTRA_PRECISION) * 100.0);
- }
- else
- {
- return 0;
- }
+ // // see datasheet page 7 for formulas
+ // int32_t rawPress = ms5611RawPressure(osr);
+ // int64_t dT = (int64_t)ms5611GetDeltaTemp(osr);
+ // if (dT == 0)
+ // {
+ // return 0;
+ // }
+ // int64_t off = (((int64_t)calReg.off) << 16) + ((calReg.tco * dT) >> 7);
+ // int64_t sens = (((int64_t)calReg.psens) << 15) + ((calReg.tcs * dT) >> 8);
+ // if (rawPress != 0)
+ // {
+ // return ((((rawPress * sens) >> 21) - off) >> (15 - EXTRA_PRECISION))
+ // / ((1 << EXTRA_PRECISION) * 100.0);
+ // }
+ // else
+ // {
+ // return 0;
+ // }
+
+ return 1.0;
}
float ms5611CalcPressure(int32_t rawPress, int32_t dT)
{
- int64_t off;
- int64_t sens;
+ // int64_t off;
+ // int64_t sens;
- if (rawPress == 0 || dT == 0)
- {
- return 0;
- }
+ // if (rawPress == 0 || dT == 0)
+ // {
+ // return 0;
+ // }
- off = (((int64_t)calReg.off) << 16) + ((calReg.tco * (int64_t)dT) >> 7);
- sens = (((int64_t)calReg.psens) << 15) + ((calReg.tcs * (int64_t)dT) >> 8);
+ // off = (((int64_t)calReg.off) << 16) + ((calReg.tco * (int64_t)dT) >> 7);
+ // sens = (((int64_t)calReg.psens) << 15) + ((calReg.tcs * (int64_t)dT) >> 8);
return ((((rawPress * sens) >> 21) - off) >> (15 - EXTRA_PRECISION))
/ ((1 << EXTRA_PRECISION) * 100.0);
@@ -177,10 +180,10 @@ float ms5611CalcPressure(int32_t rawPress, int32_t dT)
float ms5611GetTemperature(uint8_t osr)
{
- // see datasheet page 7 for formulas
- int32_t dT;
+ // // see datasheet page 7 for formulas
+ // int32_t dT;
- dT = ms5611GetDeltaTemp(osr);
+ // dT = ms5611GetDeltaTemp(osr);
if (dT != 0)
{
return ms5611CalcTemp(dT);
@@ -193,7 +196,7 @@ float ms5611GetTemperature(uint8_t osr)
int32_t ms5611GetDeltaTemp(uint8_t osr)
{
- int32_t rawTemp = ms5611RawTemperature(osr);
+ // int32_t rawTemp = ms5611RawTemperature(osr);
if (rawTemp != 0)
{
return ms5611CalcDeltaTemp(rawTemp);
@@ -206,87 +209,92 @@ int32_t ms5611GetDeltaTemp(uint8_t osr)
float ms5611CalcTemp(int32_t deltaT)
{
- if (deltaT == 0)
- {
- return 0;
- }
- else
- {
- return (float)(((1 << EXTRA_PRECISION) * 2000)
- + (((int64_t)deltaT * calReg.tsens) >> (23 - EXTRA_PRECISION)))
- / ((1 << EXTRA_PRECISION)* 100.0f);
- }
+ // if (deltaT == 0)
+ // {
+ // return 0;
+ // }
+ // else
+ // {
+ // return (float)(((1 << EXTRA_PRECISION) * 2000)
+ // + (((int64_t)deltaT * calReg.tsens) >> (23 - EXTRA_PRECISION)))
+ // / ((1 << EXTRA_PRECISION)* 100.0f);
+ // }
+ return 1.0;
}
int32_t ms5611CalcDeltaTemp(int32_t rawTemp)
{
- if (rawTemp == 0)
- {
- return 0;
- }
- else
- {
- return rawTemp - (((int32_t)calReg.tref) << 8);
- }
+ // if (rawTemp == 0)
+ // {
+ // return 0;
+ // }
+ // else
+ // {
+ // return rawTemp - (((int32_t)calReg.tref) << 8);
+ // }
+ return 1.0;
}
int32_t ms5611RawPressure(uint8_t osr)
{
- uint32_t now = xTaskGetTickCount();
- if (lastPresConv != 0 && (now - lastPresConv) >= CONVERSION_TIME_MS)
- {
- lastPresConv = 0;
- return ms5611GetConversion(MS5611_D1 + osr);
- }
- else
- {
- if (lastPresConv == 0 && lastTempConv == 0)
- {
- ms5611StartConversion(MS5611_D1 + osr);
- lastPresConv = now;
- }
- return 0;
- }
+ // uint32_t now = xTaskGetTickCount();
+ // if (lastPresConv != 0 && (now - lastPresConv) >= CONVERSION_TIME_MS)
+ // {
+ // lastPresConv = 0;
+ // return ms5611GetConversion(MS5611_D1 + osr);
+ // }
+ // else
+ // {
+ // if (lastPresConv == 0 && lastTempConv == 0)
+ // {
+ // ms5611StartConversion(MS5611_D1 + osr);
+ // lastPresConv = now;
+ // }
+ // return 0;
+ // }
+ return 1.0;
}
int32_t ms5611RawTemperature(uint8_t osr)
{
- uint32_t now = xTaskGetTickCount();
- if (lastTempConv != 0 && (now - lastTempConv) >= CONVERSION_TIME_MS)
- {
- lastTempConv = 0;
- tempCache = ms5611GetConversion(MS5611_D2 + osr);
- return tempCache;
- }
- else
- {
- if (lastTempConv == 0 && lastPresConv == 0)
- {
- ms5611StartConversion(MS5611_D2 + osr);
- lastTempConv = now;
- }
- return tempCache;
- }
+ // uint32_t now = xTaskGetTickCount();
+ // if (lastTempConv != 0 && (now - lastTempConv) >= CONVERSION_TIME_MS)
+ // {
+ // lastTempConv = 0;
+ // tempCache = ms5611GetConversion(MS5611_D2 + osr);
+ // return tempCache;
+ // }
+ // else
+ // {
+ // if (lastTempConv == 0 && lastPresConv == 0)
+ // {
+ // ms5611StartConversion(MS5611_D2 + osr);
+ // lastTempConv = now;
+ // }
+ // return tempCache;
+ // }
+ return 1;
+
}
// see page 11 of the datasheet
void ms5611StartConversion(uint8_t command)
{
// initialize pressure conversion
- i2cdevWriteByte(I2Cx, devAddr, I2CDEV_NO_MEM_ADDR, command);
+ // i2cdevWriteByte(I2Cx, devAddr, I2CDEV_NO_MEM_ADDR, command);
}
int32_t ms5611GetConversion(uint8_t command)
{
- int32_t conversion = 0;
- uint8_t buffer[MS5611_D1D2_SIZE];
+ // int32_t conversion = 0;
+ // uint8_t buffer[MS5611_D1D2_SIZE];
- // start read sequence
- i2cdevWriteByte(I2Cx, devAddr, I2CDEV_NO_MEM_ADDR, 0);
- // Read conversion
- i2cdevRead(I2Cx, devAddr, MS5611_D1D2_SIZE, buffer);
- conversion = ((int32_t)buffer[0] << 16) |
- ((int32_t)buffer[1] << 8) | buffer[2];
+ // // start read sequence
+ // i2cdevWriteByte(I2Cx, devAddr, I2CDEV_NO_MEM_ADDR, 0);
+ // // Read conversion
+ // i2cdevRead(I2Cx, devAddr, MS5611_D1D2_SIZE, buffer);
+ // conversion = ((int32_t)buffer[0] << 16) |
+ // ((int32_t)buffer[1] << 8) | buffer[2];
return conversion;
}
@@ -296,23 +304,23 @@ int32_t ms5611GetConversion(uint8_t command)
*/
bool ms5611ReadPROM()
{
- uint8_t buffer[MS5611_PROM_REG_SIZE];
- uint16_t* pCalRegU16 = (uint16_t*)&calReg;
- int32_t i = 0;
- bool status = false;
-
- for (i = 0; i < MS5611_PROM_REG_COUNT; i++)
- {
- // start read sequence
- status = i2cdevWriteByte(I2Cx, devAddr, I2CDEV_NO_MEM_ADDR,
- MS5611_PROM_BASE_ADDR + (i * MS5611_PROM_REG_SIZE));
- // Read conversion
- if (status)
- {
- status = i2cdevRead(I2Cx, devAddr, MS5611_PROM_REG_SIZE, buffer);
- pCalRegU16[i] = ((uint16_t)buffer[0] << 8) | buffer[1];
- }
- }
+ // uint8_t buffer[MS5611_PROM_REG_SIZE];
+ // uint16_t* pCalRegU16 = (uint16_t*)&calReg;
+ // int32_t i = 0;
+ // bool status = false;
+
+ // for (i = 0; i < MS5611_PROM_REG_COUNT; i++)
+ // {
+ // // start read sequence
+ // status = i2cdevWriteByte(I2Cx, devAddr, I2CDEV_NO_MEM_ADDR,
+ // MS5611_PROM_BASE_ADDR + (i * MS5611_PROM_REG_SIZE));
+ // // Read conversion
+ // if (status)
+ // {
+ // status = i2cdevRead(I2Cx, devAddr, MS5611_PROM_REG_SIZE, buffer);
+ // pCalRegU16[i] = ((uint16_t)buffer[0] << 8) | buffer[1];
+ // }
+ // }
return status;
}
@@ -323,7 +331,7 @@ bool ms5611ReadPROM()
*/
void ms5611Reset()
{
- i2cdevWriteByte(I2Cx, devAddr, I2CDEV_NO_MEM_ADDR, MS5611_RESET);
+ // i2cdevWriteByte(I2Cx, devAddr, I2CDEV_NO_MEM_ADDR, MS5611_RESET);
}
@@ -336,51 +344,51 @@ void ms5611Reset()
*/
void ms5611GetData(float* pressure, float* temperature, float* asl)
{
- int32_t tempPressureRaw, tempTemperatureRaw;
- static float savedPress, savedTemp;
-
- // Dont reader faster than we can
- uint32_t now = xTaskGetTickCount();
- if ((now - lastConv) < CONVERSION_TIME_MS)
- {
- *pressure = savedPress;
- *temperature = savedTemp;
- return;
- }
- lastConv = now;
-
- if (readState == 0)
- {
- // read temp
- ++readState;
- tempTemperatureRaw = ms5611GetConversion(MS5611_D2 + MS5611_OSR_DEFAULT);
- tempDeltaT = ms5611CalcDeltaTemp(tempTemperatureRaw);
- *temperature = ms5611CalcTemp(tempDeltaT);
- savedTemp = *temperature;
- *pressure = savedPress;
- // cmd to read pressure
- ms5611StartConversion(MS5611_D1 + MS5611_OSR_DEFAULT);
- }
- else
- {
- // read pressure
- ++readState;
- tempPressureRaw = ms5611GetConversion(MS5611_D1 + MS5611_OSR_DEFAULT);
- *pressure = ms5611CalcPressure(tempPressureRaw, tempDeltaT);
- savedPress = *pressure;
- *asl = ms5611PressureToAltitude(pressure);
- *temperature = savedTemp;
- if (readState == PRESSURE_PER_TEMP){
- // cmd to read temp
- ms5611StartConversion(MS5611_D2 + MS5611_OSR_DEFAULT);
- readState = 0;
- }
- else
- {
- // cmd to read pressure
- ms5611StartConversion(MS5611_D1 + MS5611_OSR_DEFAULT);
- }
- }
+ // int32_t tempPressureRaw, tempTemperatureRaw;
+ // static float savedPress, savedTemp;
+
+ // // Dont reader faster than we can
+ // uint32_t now = xTaskGetTickCount();
+ // if ((now - lastConv) < CONVERSION_TIME_MS)
+ // {
+ // *pressure = savedPress;
+ // *temperature = savedTemp;
+ // return;
+ // }
+ // lastConv = now;
+
+ // if (readState == 0)
+ // {
+ // // read temp
+ // ++readState;
+ // tempTemperatureRaw = ms5611GetConversion(MS5611_D2 + MS5611_OSR_DEFAULT);
+ // tempDeltaT = ms5611CalcDeltaTemp(tempTemperatureRaw);
+ // *temperature = ms5611CalcTemp(tempDeltaT);
+ // savedTemp = *temperature;
+ // *pressure = savedPress;
+ // // cmd to read pressure
+ // ms5611StartConversion(MS5611_D1 + MS5611_OSR_DEFAULT);
+ // }
+ // else
+ // {
+ // // read pressure
+ // ++readState;
+ // tempPressureRaw = ms5611GetConversion(MS5611_D1 + MS5611_OSR_DEFAULT);
+ // *pressure = ms5611CalcPressure(tempPressureRaw, tempDeltaT);
+ // savedPress = *pressure;
+ // *asl = ms5611PressureToAltitude(pressure);
+ // *temperature = savedTemp;
+ // if (readState == PRESSURE_PER_TEMP){
+ // // cmd to read temp
+ // ms5611StartConversion(MS5611_D2 + MS5611_OSR_DEFAULT);
+ // readState = 0;
+ // }
+ // else
+ // {
+ // // cmd to read pressure
+ // ms5611StartConversion(MS5611_D1 + MS5611_OSR_DEFAULT);
+ // }
+ // }
}
//TODO: pretty expensive function. Rather smooth the pressure estimates and only call this when needed
@@ -390,14 +398,15 @@ void ms5611GetData(float* pressure, float* temperature, float* asl)
*/
float ms5611PressureToAltitude(float* pressure/*, float* ground_pressure, float* ground_temp*/)
{
- if (*pressure > 0)
- {
- //return (1.f - powf(*pressure / CONST_SEA_PRESSURE, CONST_PF)) * CONST_PF2;
- //return ((powf((1015.7f / *pressure), CONST_PF) - 1.0f) * (25.f + 273.15f)) / 0.0065f;
- return ((powf((1015.7f / *pressure), CONST_PF) - 1.0f) * (FIX_TEMP + 273.15f)) / 0.0065f;
- }
- else
- {
- return 0;
- }
+ // if (*pressure > 0)
+ // {
+ // //return (1.f - powf(*pressure / CONST_SEA_PRESSURE, CONST_PF)) * CONST_PF2;
+ // //return ((powf((1015.7f / *pressure), CONST_PF) - 1.0f) * (25.f + 273.15f)) / 0.0065f;
+ // return ((powf((1015.7f / *pressure), CONST_PF) - 1.0f) * (FIX_TEMP + 273.15f)) / 0.0065f;
+ // }
+ // else
+ // {
+ // return 0;
+ // }
+ return 1.0;
}
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/nrf24l01.c b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/nrf24l01.c
index c50d3fa5c30fa6b3ed9381c92fd961da2b3ccb21..eb6cec301ad055809006b14caf916d64bab40c9d 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/nrf24l01.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/drivers/src/nrf24l01.c
@@ -105,14 +105,14 @@ static void (*interruptCb)(void) = NULL;
***********************/
static char spiSendByte(char byte)
{
- /* Loop while DR register in not emplty */
- while (SPI_I2S_GetFlagStatus(RADIO_SPI, SPI_I2S_FLAG_TXE) == RESET);
+ // /* Loop while DR register in not emplty */
+ // while (SPI_I2S_GetFlagStatus(RADIO_SPI, SPI_I2S_FLAG_TXE) == RESET);
- /* Send byte through the SPI1 peripheral */
- SPI_I2S_SendData(RADIO_SPI, byte);
+ // /* Send byte through the SPI1 peripheral */
+ // SPI_I2S_SendData(RADIO_SPI, byte);
- /* Wait to receive a byte */
- while (SPI_I2S_GetFlagStatus(RADIO_SPI, SPI_I2S_FLAG_RXNE) == RESET);
+ // /* Wait to receive a byte */
+ // while (SPI_I2S_GetFlagStatus(RADIO_SPI, SPI_I2S_FLAG_RXNE) == RESET);
/* Return the byte read from the SPI bus */
return SPI_I2S_ReceiveData(RADIO_SPI);
@@ -130,18 +130,18 @@ static char spiReceiveByte()
/* Read len bytes from a nRF24L register. 5 Bytes max */
unsigned char nrfReadReg(unsigned char address, char *buffer, int len)
{
- unsigned char status;
- int i;
+ // unsigned char status;
+ // int i;
- RADIO_EN_CS();
+ // RADIO_EN_CS();
- /* Send the read command with the address */
- status = spiSendByte( CMD_R_REG | (address&0x1F) );
- /* Read LEN bytes */
- for(i=0; i<len; i++)
- buffer[i]=spiReceiveByte();
+ // /* Send the read command with the address */
+ // status = spiSendByte( CMD_R_REG | (address&0x1F) );
+ // /* Read LEN bytes */
+ // for(i=0; i<len; i++)
+ // buffer[i]=spiReceiveByte();
- RADIO_DIS_CS();
+ // RADIO_DIS_CS();
return status;
}
@@ -149,18 +149,18 @@ unsigned char nrfReadReg(unsigned char address, char *buffer, int len)
/* Write len bytes a nRF24L register. 5 Bytes max */
unsigned char nrfWriteReg(unsigned char address, char *buffer, int len)
{
- unsigned char status;
- int i;
+ // unsigned char status;
+ // int i;
- RADIO_EN_CS();
+ // RADIO_EN_CS();
- /* Send the write command with the address */
- status = spiSendByte( CMD_W_REG | (address&0x1F) );
- /* Write LEN bytes */
- for(i=0; i<len; i++)
- spiSendByte(buffer[i]);
+ // /* Send the write command with the address */
+ // status = spiSendByte( CMD_W_REG | (address&0x1F) );
+ // /* Write LEN bytes */
+ // for(i=0; i<len; i++)
+ // spiSendByte(buffer[i]);
- RADIO_DIS_CS();
+ // RADIO_DIS_CS();
return status;
}
@@ -173,9 +173,9 @@ unsigned char nrfWrite1Reg(unsigned char address, char byte)
/* Read only one byte (useful for most of the reg.) */
unsigned char nrfRead1Reg(unsigned char address) {
- char byte;
+ // char byte;
- nrfReadReg(address, &byte, 1);
+ // nrfReadReg(address, &byte, 1);
return byte;
}
@@ -183,33 +183,33 @@ unsigned char nrfRead1Reg(unsigned char address) {
/* Sent the NOP command. Used to get the status byte */
unsigned char nrfNop()
{
- unsigned char status;
+ // unsigned char status;
- RADIO_EN_CS();
- status = spiSendByte(CMD_NOP);
- RADIO_DIS_CS();
+ // RADIO_EN_CS();
+ // status = spiSendByte(CMD_NOP);
+ // RADIO_DIS_CS();
return status;
}
unsigned char nrfFlushRx()
{
- unsigned char status;
+ // unsigned char status;
- RADIO_EN_CS();
- status = spiSendByte(CMD_FLUSH_RX);
- RADIO_DIS_CS();
+ // RADIO_EN_CS();
+ // status = spiSendByte(CMD_FLUSH_RX);
+ // RADIO_DIS_CS();
return status;
}
unsigned char nrfFlushTx()
{
- unsigned char status;
+ // unsigned char status;
- RADIO_EN_CS();
- status = spiSendByte(CMD_FLUSH_TX);
- RADIO_DIS_CS();
+ // RADIO_EN_CS();
+ // status = spiSendByte(CMD_FLUSH_TX);
+ // RADIO_DIS_CS();
return status;
}
@@ -217,24 +217,24 @@ unsigned char nrfFlushTx()
// Return the payload length
unsigned char nrfRxLength(unsigned int pipe)
{
- unsigned char length;
+ // unsigned char length;
- RADIO_EN_CS();
- spiSendByte(CMD_RX_PL_WID);
- length = spiReceiveByte();
- RADIO_DIS_CS();
+ // RADIO_EN_CS();
+ // spiSendByte(CMD_RX_PL_WID);
+ // length = spiReceiveByte();
+ // RADIO_DIS_CS();
return length;
}
unsigned char nrfActivate()
{
- unsigned char status;
+ // unsigned char status;
- RADIO_EN_CS();
- status = spiSendByte(CMD_ACTIVATE);
- spiSendByte(ACTIVATE_DATA);
- RADIO_DIS_CS();
+ // RADIO_EN_CS();
+ // status = spiSendByte(CMD_ACTIVATE);
+ // spiSendByte(ACTIVATE_DATA);
+ // RADIO_DIS_CS();
return status;
}
@@ -242,20 +242,20 @@ unsigned char nrfActivate()
// Write the ack payload of the pipe 0
unsigned char nrfWriteAck(unsigned int pipe, char *buffer, int len)
{
- unsigned char status;
- int i;
+ // unsigned char status;
+ // int i;
- ASSERT(pipe<6);
+ // ASSERT(pipe<6);
- RADIO_EN_CS();
+ // RADIO_EN_CS();
- /* Send the read command with the address */
- status = spiSendByte(CMD_W_ACK_PAYLOAD(pipe));
- /* Read LEN bytes */
- for(i=0; i<len; i++)
- spiSendByte(buffer[i]);
+ // /* Send the read command with the address */
+ // status = spiSendByte(CMD_W_ACK_PAYLOAD(pipe));
+ // /* Read LEN bytes */
+ // for(i=0; i<len; i++)
+ // spiSendByte(buffer[i]);
- RADIO_DIS_CS();
+ // RADIO_DIS_CS();
return status;
}
@@ -263,18 +263,18 @@ unsigned char nrfWriteAck(unsigned int pipe, char *buffer, int len)
// Read the RX payload
unsigned char nrfReadRX(char *buffer, int len)
{
- unsigned char status;
- int i;
+ // unsigned char status;
+ // int i;
- RADIO_EN_CS();
+ // RADIO_EN_CS();
- /* Send the read command with the address */
- status = spiSendByte(CMD_R_RX_PAYLOAD);
- /* Read LEN bytes */
- for(i=0; i<len; i++)
- buffer[i]=spiReceiveByte();
+ // /* Send the read command with the address */
+ // status = spiSendByte(CMD_R_RX_PAYLOAD);
+ // /* Read LEN bytes */
+ // for(i=0; i<len; i++)
+ // buffer[i]=spiReceiveByte();
- RADIO_DIS_CS();
+ // RADIO_DIS_CS();
return status;
}
@@ -282,150 +282,150 @@ unsigned char nrfReadRX(char *buffer, int len)
/* Interrupt service routine, call the interrupt callback */
void __attribute__((used)) EXTI9_Callback(void)
{
- if (interruptCb)
- {
- interruptCb();
- }
+ // if (interruptCb)
+ // {
+ // interruptCb();
+ // }
}
void nrfSetInterruptCallback(void (*cb)(void))
{
- interruptCb = cb;
+ // interruptCb = cb;
}
void nrfSetChannel(unsigned int channel)
{
- if (channel<126)
- nrfWrite1Reg(REG_RF_CH, channel);
+ // if (channel<126)
+ // nrfWrite1Reg(REG_RF_CH, channel);
}
void nrfSetDatarate(int datarate)
{
- switch(datarate)
- {
- case RADIO_RATE_250K:
- nrfWrite1Reg(REG_RF_SETUP, VAL_RF_SETUP_250K);
- break;
- case RADIO_RATE_1M:
- nrfWrite1Reg(REG_RF_SETUP, VAL_RF_SETUP_1M);
- break;
- case RADIO_RATE_2M:
- nrfWrite1Reg(REG_RF_SETUP, VAL_RF_SETUP_2M);
- break;
- }
+ // switch(datarate)
+ // {
+ // case RADIO_RATE_250K:
+ // nrfWrite1Reg(REG_RF_SETUP, VAL_RF_SETUP_250K);
+ // break;
+ // case RADIO_RATE_1M:
+ // nrfWrite1Reg(REG_RF_SETUP, VAL_RF_SETUP_1M);
+ // break;
+ // case RADIO_RATE_2M:
+ // nrfWrite1Reg(REG_RF_SETUP, VAL_RF_SETUP_2M);
+ // break;
+ // }
}
void nrfSetAddress(unsigned int pipe, char* address)
{
- int len = 5;
+ // int len = 5;
- ASSERT(pipe<6);
+ // ASSERT(pipe<6);
- if (pipe > 1)
- len = 1;
+ // if (pipe > 1)
+ // len = 1;
- nrfWriteReg(REG_RX_ADDR_P0 + pipe, address, len);
+ // nrfWriteReg(REG_RX_ADDR_P0 + pipe, address, len);
}
void nrfSetEnable(bool enable)
{
- if (enable)
- {
- RADIO_EN_CE();
- }
- else
- {
- RADIO_DIS_CE();
- }
+ // if (enable)
+ // {
+ // RADIO_EN_CE();
+ // }
+ // else
+ // {
+ // RADIO_DIS_CE();
+ // }
}
unsigned char nrfGetStatus()
{
- return nrfNop();
+ // return nrfNop();
}
/* Initialisation */
void nrfInit(void)
{
- SPI_InitTypeDef SPI_InitStructure;
- EXTI_InitTypeDef EXTI_InitStructure;
- GPIO_InitTypeDef GPIO_InitStructure;
-
- if (isInit)
- return;
-
- /* Enable SPI and GPIO clocks */
- RCC_APB2PeriphClockCmd(RADIO_GPIO_SPI_CLK | RADIO_GPIO_CS_PERIF |
- RADIO_GPIO_CE_PERIF | RADIO_GPIO_IRQ_PERIF, ENABLE);
-
- /* Enable SPI and GPIO clocks */
- RCC_APB1PeriphClockCmd(RADIO_SPI_CLK, ENABLE);
-
- /* Configure main clock */
- GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_CLK;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(RADIO_GPIO_CLK_PORT, &GPIO_InitStructure);
-
- /* Configure SPI pins: SCK, MISO and MOSI */
- GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_SPI_SCK | RADIO_GPIO_SPI_MOSI;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(RADIO_GPIO_SPI_PORT, &GPIO_InitStructure);
-
- //* Configure MISO */
- GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_SPI_MISO;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
- GPIO_Init(RADIO_GPIO_SPI_PORT, &GPIO_InitStructure);
-
- /* Configure I/O for the Chip select */
- GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_CS;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
- GPIO_Init(RADIO_GPIO_CS_PORT, &GPIO_InitStructure);
-
- /* Configure the interruption (EXTI Source) */
- GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_IRQ;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
- GPIO_Init(RADIO_GPIO_IRQ_PORT, &GPIO_InitStructure);
-
- GPIO_EXTILineConfig(RADIO_GPIO_IRQ_SRC_PORT, RADIO_GPIO_IRQ_SRC);
- EXTI_InitStructure.EXTI_Line = RADIO_GPIO_IRQ_LINE;
- EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
- EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
- EXTI_InitStructure.EXTI_LineCmd = ENABLE;
- EXTI_Init(&EXTI_InitStructure);
-
- // Clock the radio with 16MHz
- RCC_MCOConfig(RCC_MCO_HSE);
-
- /* disable the chip select */
- RADIO_DIS_CS();
-
- /* Configure I/O for the Chip Enable */
- GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_CE;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
- GPIO_Init(RADIO_GPIO_CE_PORT, &GPIO_InitStructure);
-
- /* disable the chip enable */
- RADIO_DIS_CE();
-
- /* SPI configuration */
- SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
- SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
- SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
- SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
- SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
- SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
- SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
- SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
- SPI_InitStructure.SPI_CRCPolynomial = 7;
- SPI_Init(RADIO_SPI, &SPI_InitStructure);
-
- /* Enable the SPI */
- SPI_Cmd(RADIO_SPI, ENABLE);
+ // SPI_InitTypeDef SPI_InitStructure;
+ // EXTI_InitTypeDef EXTI_InitStructure;
+ // GPIO_InitTypeDef GPIO_InitStructure;
+
+ // if (isInit)
+ // return;
+
+ // /* Enable SPI and GPIO clocks */
+ // RCC_APB2PeriphClockCmd(RADIO_GPIO_SPI_CLK | RADIO_GPIO_CS_PERIF |
+ // RADIO_GPIO_CE_PERIF | RADIO_GPIO_IRQ_PERIF, ENABLE);
+
+ // /* Enable SPI and GPIO clocks */
+ // RCC_APB1PeriphClockCmd(RADIO_SPI_CLK, ENABLE);
+
+ // /* Configure main clock */
+ // GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_CLK;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ // GPIO_Init(RADIO_GPIO_CLK_PORT, &GPIO_InitStructure);
+
+ // /* Configure SPI pins: SCK, MISO and MOSI */
+ // GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_SPI_SCK | RADIO_GPIO_SPI_MOSI;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ // GPIO_Init(RADIO_GPIO_SPI_PORT, &GPIO_InitStructure);
+
+ // //* Configure MISO */
+ // GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_SPI_MISO;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ // GPIO_Init(RADIO_GPIO_SPI_PORT, &GPIO_InitStructure);
+
+ // /* Configure I/O for the Chip select */
+ // GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_CS;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+ // GPIO_Init(RADIO_GPIO_CS_PORT, &GPIO_InitStructure);
+
+ // /* Configure the interruption (EXTI Source) */
+ // GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_IRQ;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
+ // GPIO_Init(RADIO_GPIO_IRQ_PORT, &GPIO_InitStructure);
+
+ // GPIO_EXTILineConfig(RADIO_GPIO_IRQ_SRC_PORT, RADIO_GPIO_IRQ_SRC);
+ // EXTI_InitStructure.EXTI_Line = RADIO_GPIO_IRQ_LINE;
+ // EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+ // EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
+ // EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+ // EXTI_Init(&EXTI_InitStructure);
+
+ // // Clock the radio with 16MHz
+ // RCC_MCOConfig(RCC_MCO_HSE);
+
+ // /* disable the chip select */
+ // RADIO_DIS_CS();
+
+ // /* Configure I/O for the Chip Enable */
+ // GPIO_InitStructure.GPIO_Pin = RADIO_GPIO_CE;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+ // GPIO_Init(RADIO_GPIO_CE_PORT, &GPIO_InitStructure);
+
+ // /* disable the chip enable */
+ // RADIO_DIS_CE();
+
+ // /* SPI configuration */
+ // SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+ // SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
+ // SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
+ // SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
+ // SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
+ // SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
+ // SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
+ // SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
+ // SPI_InitStructure.SPI_CRCPolynomial = 7;
+ // SPI_Init(RADIO_SPI, &SPI_InitStructure);
+
+ // /* Enable the SPI */
+ // SPI_Cmd(RADIO_SPI, ENABLE);
- isInit = true;
+ // isInit = true;
}
bool nrfTest(void)