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jakegoodwin merged 11 commits from dev into main 2023-09-01 01:22:30 +00:00
Conversation 0 Commits 11 Files Changed 4 +37 -16
1 changed files with 37 additions and 16 deletions
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Showing only changes of commit 56e568643b - Show all commits

51
src/gy521_driver/gy521_driver.c
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@ -19,6 +19,7 @@ extern void _test_free(void* const ptr, const char* file, const int line);
#endif // UNIT_TESTING
#define NUM_ACCEL_REGS 6
#define NUM_GYRO_REGS 6
/*
* ############################
@ -77,14 +78,21 @@ struct gy521_module{
* ############################
*/
uint8_t read_register(enum gy521_map reg)
uint8_t read_register(gy521_module *m, enum gy521_map reg)
{
return 0;
/*Load the data var with athe address of the register to read*/
uint8_t data = reg;
/*Indicate we want to read a value from the slave.*/
gy521_twi_rx(m->slave_address, &data, 1);
/*The value should now be in the data var*/
return data;
}
uint8_t write_register(enum gy521_map reg)
void write_register(gy521_module *m, enum gy521_map reg, uint8_t data)
{
return 0;
gy521_twi_tx(m->slave_address, (uint8_t *) &reg, data);
}
@ -96,7 +104,6 @@ uint8_t write_register(enum gy521_map reg)
gy521_module* gy521_new(void)
{
//gy521_module *m = malloc(sizeof(gy521_module));
gy521_module *m = (gy521_module *)malloc(sizeof(gy521_module));
m->slave_address = 0x0;
return m;
@ -110,6 +117,7 @@ void gy521_free(gy521_module *m)
_Bool gy521_init(gy521_module *m, uint8_t slave_address) {
/*Check to make sure it's a valid address for this module*/
if((slave_address != TWI_GY521_ADDR1) && (slave_address != TWI_GY521_ADDR2)) {
m->slave_address = 0x0;
return 0;
@ -118,10 +126,8 @@ _Bool gy521_init(gy521_module *m, uint8_t slave_address) {
/*Set the slave address of the module*/
m->slave_address = slave_address;
/*Try to talk with i2c module.*/
uint8_t data = who_am_i;
gy521_twi_tx(m->slave_address, &data, 1);
gy521_twi_rx(m->slave_address, &data, 1);
/*Make sure TWI is working and read the who_am_i register*/
uint8_t data = read_register(m, who_am_i);
if(data != m->slave_address) {
return 0;
@ -131,11 +137,6 @@ _Bool gy521_init(gy521_module *m, uint8_t slave_address) {
}
void gy521_update_gyro(gy521_module *m)
{
}
void gy521_update_accel(gy521_module *m)
{
uint8_t read_regs[NUM_ACCEL_REGS] = {accel_xouth, accel_xoutl,
@ -143,7 +144,9 @@ void gy521_update_accel(gy521_module *m)
accel_zouth, accel_zoutl};
/*update individually the structure by communicating with the device.*/
gy521_twi_rx(m->slave_address, read_regs, NUM_ACCEL_REGS);
for(uint8_t i = 0; i < NUM_ACCEL_REGS; i++) {
read_regs[i] = read_register(m, read_regs[i]);
}
/*bitshift to reassembly the high/low regs into a single 16bit*/
m->accel.x = (read_regs[0] << 8) | read_regs[1];
@ -152,4 +155,22 @@ void gy521_update_accel(gy521_module *m)
}
void gy521_update_gyro(gy521_module *m)
{
uint8_t read_regs[NUM_GYRO_REGS] = {gyro_xouth, gyro_xoutl,
gyro_youth, gyro_youth,
gyro_zouth, gyro_zoutl};
/*update individually the structure by communicating with the device.*/
for(uint8_t i = 0; i < NUM_GYRO_REGS; i++) {
read_regs[i] = read_register(m, read_regs[i]);
}
/*bitshift to reassembly the high/low regs into a single 16bit*/
m->gyro.x = (read_regs[0] << 8) | read_regs[1];
m->gyro.y = (read_regs[2] << 8) | read_regs[3];
m->gyro.z = (read_regs[4] << 8) | read_regs[5];
}