static int16_t
eeprom_do(const uint8_t *txbuf, size_t txbytes,
uint8_t *rxbuf, size_t rxbytes) {
int16_t status;
uint8_t retries = 5;
while (retries) {
status = i2c_transact(EEPROM_I2C, (EEPROM_ADDR << 1),
(uint8_t*)txbuf, txbytes);
if (status == EERR_AGAIN) {
/* Retry forever. */
continue;
} else if (status != EERR_OK) {
retries--;
continue;
}
if (rxbytes == 0) {
break;
}
status = i2c_transact(EEPROM_I2C, (EEPROM_ADDR << 1) | 1,
rxbuf, rxbytes);
if (status != EERR_OK) {
retries--;
continue;
} else {
break;
}
}
return status;
}
void L3GD20_setupSensor(void)
{
/* setup the gyro by letting it enter the normal mode (PD bit set) */
static uint8_t txBuf[5];
static uint8_t rxBuf[5];
txBuf[0] = 0xcf; /* CTRL_REG1 with 760Hz sample rate PD and Xen, Yen, Zen */
txBuf[1] = 0x09; /* CTRL_REG2 */
txBuf[2] = 0x00; /* CTRL_REG3 */
txBuf[3] = 0x00; /* CTRL_REG4 without BLE for little endian transmission and 250dps scale */
txBuf[4] = 0x00; /* CTRL_REG5 */
i2c_transact(L3GD20_DEVICE_ADRESS, L3GD20_REGISTER_CTRL_REG1, txBuf, sizeof(txBuf), NULL, 0, NULL);
i2c_transact(L3GD20_DEVICE_ADRESS, L3GD20_REGISTER_CTRL_REG1, NULL, 0, rxBuf, sizeof(rxBuf), &gyroConfigDataCallback);
}
static void pollData(void)
{
bool succ = i2c_transact(L3GD20_DEVICE_ADRESS, L3GD20_REGISTER_OUT_X_L, NULL, 0, (uint8_t*)g_gyroData, sizeof(g_gyroData), &gyroDataCallback);
static uint8_t ct = 0;
if(FALSE == succ) {
++ct;
if(ct > 10) {
i2cSensorStickForceReset();
L3GD20_setupSensor();
ct = 0;
}
} else ct = 0;
}
