restructured into a interface file and a driver file.

src/gy521_driver/gy521_driver.c

@@ -4,7 +4,12 @@
  * Description: The implimentation file for the gy521 module, assumes TWI/I2c
  */
 #include "gy521_driver.h"
-#include <stdint.h>
+
+/*
+ * ############################
+ * MACROS 
+ * ############################
+ */ 
 
 /*DEBUG macro*/
 #define DEBUG
@@ -32,6 +37,12 @@ extern void mock_assert(const int result, const char* const expression,
 
 #endif // UNIT_TESTING
 
+/*
+ * ############################
+ * Defines and consts
+ * ############################
+ */ 
+
 #define     NUM_ACCEL_REGS  6
 #define     NUM_GYRO_REGS   6
 
@@ -52,100 +63,6 @@ extern void mock_assert(const int result, const char* const expression,
 
 
 
-/*
- * ############################
- * REGISTER MAP 
- * ############################
- */ 
-
-/*This thing is fairly huge, but it's got pretty much all the registers
- * on it.*/
-
-enum gy521_map {
-    self_test_x = 0x0D,
-    self_test_y,
-    self_test_z,
-    self_test_a,
-    smplrt_div = 0x19,
-    config,
-    gyro_config,
-    accel_config,
-    fifo_en = 0x23,
-    i2c_mst_ctrl,
-    i2c_slv0_addr,
-    i2c_slv0_reg,
-    i2c_slv0_ctrl,
-    i2c_slv1_addr,
-    i2c_slv1_reg,
-    i2c_slv1_ctrl,
-    i2c_slv2_addr,
-    i2c_slv2_reg,
-    i2c_slv2_ctrl,
-    i2c_slv3_addr,
-    i2c_slv3_reg,
-    i2c_slv3_ctrl,
-    i2c_slv4_addr,
-    i2c_slv4_reg,
-    i2c_slv4_do,
-    i2c_slv4_ctrl,
-    i2c_slv4_di,
-    i2c_mst_status,
-    int_pin_cfg,
-    int_enable,
-    int_status,
-    accel_xouth = 0x3B,
-    accel_xoutl,
-    accel_youth,
-    accel_youtl,
-    accel_zouth,
-    accel_zoutl,
-    temp_outh,
-    temp_outl,
-    gyro_xouth,
-    gyro_xoutl,
-    gyro_youth,
-    gyro_youtl,
-    gyro_zouth,
-    gyro_zoutl,
-	ext_sens_data_00,
-	ext_sens_data_01,
-	ext_sens_data_02,
-	ext_sens_data_03,
-	ext_sens_data_04,
-	ext_sens_data_05,
-	ext_sens_data_06,
-	ext_sens_data_07,
-	ext_sens_data_08,
-	ext_sens_data_09,
-	ext_sens_data_10,
-	ext_sens_data_11,
-	ext_sens_data_12,
-	ext_sens_data_13,
-	ext_sens_data_14,
-	ext_sens_data_15,
-	ext_sens_data_16,
-	ext_sens_data_17,
-	ext_sens_data_18,
-	ext_sens_data_19,
-	ext_sens_data_20,
-	ext_sens_data_21,
-	ext_sens_data_22,
-	ext_sens_data_23,
-	i2c_slv0_do,
-	i2c_slv1_do,
-	i2c_slv2_do,
-	i2c_slv3_do,
-    i2c_mst_delay_ctrl,
-    signal_path_reset,
-    user_ctrl,
-    pwr_mgmt_1,
-    pwr_mgmt_2,
-    fifo_couth = 0x72,
-    fifo_contl,
-    fifo_r_w,
-    who_am_i,
-};
-
 /*
  * ############################
  * Structures 

src/gy521_driver/gy521_driver.h

@@ -6,8 +6,7 @@
 
 #ifndef GY521_DRIVER_H
 #define GY521_DRIVER_H
-
+#include "gy521_interface.h"
-#include <stdint.h>
 #include <stdlib.h>
 
 /*
@@ -16,10 +15,6 @@
  * ############################
  */
 
-#define     STARTUP_DELAY 30 //in ms
-#define     TWI_GY521_ADDR1 0x68    //ADO Logic Low
-#define     TWI_GY521_ADDR2 0x69    //ADO Logic High
-
 /*
  * ############################
  * Types/Structures 
@@ -38,13 +33,101 @@ typedef struct accel_values{
     uint16_t z;
 }accel_values_struct;
 
-typedef struct gy521_module gy521_module;
+/*
+ * ############################
+ * REGISTER MAP 
+ * ############################
+ */ 
+
+/*This thing is fairly huge, but it's got pretty much all the registers
+ * on it.*/
+
+enum gy521_map {
+    self_test_x = 0x0D,
+    self_test_y,
+    self_test_z,
+    self_test_a,
+    smplrt_div = 0x19,
+    config,
+    gyro_config,
+    accel_config,
+    fifo_en = 0x23,
+    i2c_mst_ctrl,
+    i2c_slv0_addr,
+    i2c_slv0_reg,
+    i2c_slv0_ctrl,
+    i2c_slv1_addr,
+    i2c_slv1_reg,
+    i2c_slv1_ctrl,
+    i2c_slv2_addr,
+    i2c_slv2_reg,
+    i2c_slv2_ctrl,
+    i2c_slv3_addr,
+    i2c_slv3_reg,
+    i2c_slv3_ctrl,
+    i2c_slv4_addr,
+    i2c_slv4_reg,
+    i2c_slv4_do,
+    i2c_slv4_ctrl,
+    i2c_slv4_di,
+    i2c_mst_status,
+    int_pin_cfg,
+    int_enable,
+    int_status,
+    accel_xouth = 0x3B,
+    accel_xoutl,
+    accel_youth,
+    accel_youtl,
+    accel_zouth,
+    accel_zoutl,
+    temp_outh,
+    temp_outl,
+    gyro_xouth,
+    gyro_xoutl,
+    gyro_youth,
+    gyro_youtl,
+    gyro_zouth,
+    gyro_zoutl,
+	ext_sens_data_00,
+	ext_sens_data_01,
+	ext_sens_data_02,
+	ext_sens_data_03,
+	ext_sens_data_04,
+	ext_sens_data_05,
+	ext_sens_data_06,
+	ext_sens_data_07,
+	ext_sens_data_08,
+	ext_sens_data_09,
+	ext_sens_data_10,
+	ext_sens_data_11,
+	ext_sens_data_12,
+	ext_sens_data_13,
+	ext_sens_data_14,
+	ext_sens_data_15,
+	ext_sens_data_16,
+	ext_sens_data_17,
+	ext_sens_data_18,
+	ext_sens_data_19,
+	ext_sens_data_20,
+	ext_sens_data_21,
+	ext_sens_data_22,
+	ext_sens_data_23,
+	i2c_slv0_do,
+	i2c_slv1_do,
+	i2c_slv2_do,
+	i2c_slv3_do,
+    i2c_mst_delay_ctrl,
+    signal_path_reset,
+    user_ctrl,
+    pwr_mgmt_1,
+    pwr_mgmt_2,
+    fifo_couth = 0x72,
+    fifo_contl,
+    fifo_r_w,
+    who_am_i,
+};
+
 
-typedef enum{
-    passed = 0,
-    gyro_failed,
-    accel_failed,
-}self_test_results;
 
 /*
  * ############################
@@ -52,25 +135,22 @@ typedef enum{
  * ############################
  */ 
 
+gy521_module* gy521_new(void);
 
-/*Function pointers for the TX and RX fuctionality*/
+void disable_self_test_gyro(struct gy521_module* m);
+void enable_self_test_gyro(struct gy521_module* m);
+struct ft_vals self_test_ft_calculation(struct gy521_module* m);
+self_test_results gy521_self_test(struct gy521_module* m);
 
-extern void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t);
+uint8_t read_register(gy521_module *m, enum gy521_map reg);
-extern void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t);
+void write_register(gy521_module *m, enum gy521_map reg, uint8_t data);
 
 
-struct gy521_module* gy521_new(void);
-_Bool gy521_init(struct gy521_module *m, uint8_t slave_address);
-void gy521_update_gyro(struct gy521_module* m);
-void gy521_update_accel(struct gy521_module* m);
-void gy521_free(struct gy521_module *m);
-
 /*These are used instead of direct access; assuming interrupt driven*/
 /*updates to the gy521 then it protects the user from using volatile values*/
 struct accel_values gy521_get_accel(struct gy521_module* m);
 struct gyro_values gy521_get_gyro(struct gy521_module* m);
 
-self_test_results gy521_self_test(struct gy521_module* m);
 
 
 #endif /* GY521_DRIVER_H */   

src/gy521_driver/gy521_interface.h

@@ -0,0 +1,56 @@
+/*
+ * Author: Jake Goodwin
+ * Filename: interface.h
+ * Description: The file you should include for normal use.
+ */
+
+/*Function pointers for the TX and RX fuctionality*/
+
+#ifndef _GY521_INTERFACE_H
+#define _GY521_INTERFACE_H
+
+#include "stdint.h"
+
+/*
+ * ############################
+ * DEFINES 
+ * ############################
+ */ 
+
+#define     STARTUP_DELAY 30 //in ms
+#define     TWI_GY521_ADDR1 0x68    //ADO Logic Low
+#define     TWI_GY521_ADDR2 0x69    //ADO Logic High
+
+/*
+ * ############################
+ * Structures & Typedefs 
+ * ############################
+ */ 
+
+
+typedef struct gy521_module gy521_module;
+
+typedef enum{
+    passed = 0,
+    gyro_failed,
+    accel_failed,
+}self_test_results;
+
+
+/*
+ * ############################
+ * Fuction Prototypes
+ * ############################
+ */ 
+
+extern void (*gy521_twi_tx)(uint8_t, uint8_t*, uint8_t);
+extern void (*gy521_twi_rx)(uint8_t, uint8_t*, uint8_t);
+
+
+struct gy521_module* gy521_new(void);
+_Bool gy521_init(struct gy521_module *m, uint8_t slave_address);
+void gy521_update_gyro(struct gy521_module* m);
+void gy521_update_accel(struct gy521_module* m);
+void gy521_free(struct gy521_module *m);
+
+#endif