void
MPU6000_SPI::set_bus_frequency(unsigned ®_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);
}
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);
}
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;
}
