Beispiel #1
0
void
MPU6000_SPI::set_bus_frequency(unsigned &reg_speed)
{
	/* Set the desired speed */

	set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? MPU6000_HIGH_SPI_BUS_SPEED : MPU6000_LOW_SPI_BUS_SPEED);

	/* Isoolate the register on return */

	reg_speed = MPU6000_REG(reg_speed);
}
Beispiel #2
0
int
MPU6000_I2C::write(unsigned reg_speed, void *data, unsigned count)
{
	uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];

	if (sizeof(cmd) < (count + 1)) {
		return -EIO;
	}

	cmd[0] = MPU6000_REG(reg_speed);
	cmd[1] = *(uint8_t *)data;
	return transfer(&cmd[0], count + 1, nullptr, 0);
}
Beispiel #3
0
int
MPU6000_I2C::read(unsigned reg_speed, void *data, unsigned count)
{
	/* We want to avoid copying the data of MPUReport: So if the caller
	 * supplies a buffer not MPUReport in size, it is assume to be a reg or
	 * reg 16 read
	 * Since MPUReport has a cmd at front, we must return the data
	 * after that. Foe anthing else we must return it
	 */
	uint32_t offset = count < sizeof(MPUReport) ? 0 : offsetof(MPUReport, status);
	uint8_t cmd = MPU6000_REG(reg_speed);
	int ret = transfer(&cmd, 1, &((uint8_t *)data)[offset], count);
	return ret == OK ? count : ret;
}