void MPU6050_ReadAcc(const nrf_drv_twi_t * twi, int16_t *pACC_X , int16_t *pACC_Y , int16_t *pACC_Z )
{
uint8_t buf[6];
mpu6050_register_read(twi, MPU6050_RA_ACCEL_XOUT_H, buf, 6);
*pACC_X = (buf[0] << 8) | buf[1];
if(*pACC_X & 0x8000) *pACC_X-=65536;
*pACC_Y= (buf[2] << 8) | buf[3];
if(*pACC_Y & 0x8000) *pACC_Y-=65536;
*pACC_Z = (buf[4] << 8) | buf[5];
if(*pACC_Z & 0x8000) *pACC_Z-=65536;
}
bool mpu6050_verify_product_id(const nrf_drv_twi_t * twi)
{
uint8_t who_am_i;
if (NRF_SUCCESS != mpu6050_register_read(twi, MPU6050_RA_WHO_AM_I, &who_am_i, 1))
{
if (who_am_i != expected_who_am_i)
{
return false;
}
else
{
return true;
}
}
else
{
return false;
}
}
bool mpu6050_verify_product_id(void)
{
uint8_t who_am_i;
if (mpu6050_register_read(ADDRESS_WHO_AM_I, &who_am_i, 1))
{
if (who_am_i != expected_who_am_i)
{
return false;
}
else
{
return true;
}
}
else
{
return false;
}
}