Oğuz Özdemir / MotionDriver_6_1

It is modified accordingly to work with sparkfun dmp library under mbed platform

Dependents:   MPU9250-dmp-bluepill MPU9250-dmp

Fork of MotionDriver_6_1 by Prosper Van

mdcompat.cpp@2:e7e761471df9, 2017-08-08 (annotated)

Committer:
mbedoguz
Date:
Tue Aug 08 08:38:48 2017 +0000
Revision:
2:e7e761471df9
Parent:
1:a6c3f8680fe0
Child:
3:8f2d21735748
changes are made to identify problems

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedoguz 1:a6c3f8680fe0 1 #include "mdcompat.h"
mbedoguz 1:a6c3f8680fe0 2 #include "mbed.h" // must be out of the scope of extern "C"
mbedoguz 2:e7e761471df9 3 I2C imu9250(I2C_SDA,I2C_SCL);
mbedoguz 1:a6c3f8680fe0 4
mbedoguz 1:a6c3f8680fe0 5 void imu_init(void){
mbedoguz 1:a6c3f8680fe0 6 imu9250.frequency(400000);
mbedoguz 1:a6c3f8680fe0 7 }
mbedoguz 1:a6c3f8680fe0 8 unsigned short constrain(
mbedoguz 1:a6c3f8680fe0 9 unsigned short x,
mbedoguz 1:a6c3f8680fe0 10 unsigned short a,
mbedoguz 1:a6c3f8680fe0 11 unsigned short b) {unsigned short result;
mbedoguz 1:a6c3f8680fe0 12 result= (x<a) ? a:x;
mbedoguz 1:a6c3f8680fe0 13 result= (x>b) ? b:x;
mbedoguz 1:a6c3f8680fe0 14 return result;
mbedoguz 1:a6c3f8680fe0 15 }
mbedoguz 1:a6c3f8680fe0 16
mbedoguz 1:a6c3f8680fe0 17 extern "C" {
mbedoguz 1:a6c3f8680fe0 18
mbedoguz 1:a6c3f8680fe0 19 int mbed_i2c_write(
mbedoguz 1:a6c3f8680fe0 20 unsigned char slave_addr,
mbedoguz 1:a6c3f8680fe0 21 unsigned char reg_addr,
mbedoguz 1:a6c3f8680fe0 22 unsigned char length,
mbedoguz 1:a6c3f8680fe0 23 char const *data) {
mbedoguz 1:a6c3f8680fe0 24
mbedoguz 1:a6c3f8680fe0 25 imu9250.write((int)slave_addr,(char const*)reg_addr,1,true);//sending register adress first to indicate which register we are writing and a write register(0)
mbedoguz 1:a6c3f8680fe0 26 imu9250.write((int)slave_addr,data,(int)length,false);
mbedoguz 1:a6c3f8680fe0 27
mbedoguz 1:a6c3f8680fe0 28 return 0;
mbedoguz 1:a6c3f8680fe0 29 }
mbedoguz 1:a6c3f8680fe0 30
mbedoguz 1:a6c3f8680fe0 31 int mbed_i2c_read(
mbedoguz 1:a6c3f8680fe0 32 unsigned char slave_addr,
mbedoguz 1:a6c3f8680fe0 33 unsigned char reg_addr,
mbedoguz 1:a6c3f8680fe0 34 unsigned char length,
mbedoguz 1:a6c3f8680fe0 35 char *data) {
mbedoguz 2:e7e761471df9 36 imu9250.write((int)slave_addr,(const char*)reg_addr, 1, 1); // no stop
mbedoguz 2:e7e761471df9 37 imu9250.read((unsigned int)slave_addr, data, 1, 0);
mbedoguz 2:e7e761471df9 38 return 0;
mbedoguz 1:a6c3f8680fe0 39 }
mbedoguz 1:a6c3f8680fe0 40
mbedoguz 1:a6c3f8680fe0 41 int delay_ms(
mbedoguz 1:a6c3f8680fe0 42 unsigned long num_ms) {
mbedoguz 1:a6c3f8680fe0 43 return 0;
mbedoguz 1:a6c3f8680fe0 44 }
mbedoguz 1:a6c3f8680fe0 45
mbedoguz 1:a6c3f8680fe0 46 int get_ms(
mbedoguz 1:a6c3f8680fe0 47 unsigned long *count) {
mbedoguz 1:a6c3f8680fe0 48 return 0;
mbedoguz 1:a6c3f8680fe0 49 }
mbedoguz 1:a6c3f8680fe0 50
mbedoguz 1:a6c3f8680fe0 51 int reg_int_cb(
mbedoguz 1:a6c3f8680fe0 52 void (*cb)(void),
mbedoguz 1:a6c3f8680fe0 53 unsigned char port,
mbedoguz 1:a6c3f8680fe0 54 unsigned char pin) {
mbedoguz 1:a6c3f8680fe0 55 return 0;
mbedoguz 1:a6c3f8680fe0 56 }
mbedoguz 1:a6c3f8680fe0 57
mbedoguz 1:a6c3f8680fe0 58 long labs(long x) {
mbedoguz 1:a6c3f8680fe0 59 return x > 0 ? x : -x;
mbedoguz 1:a6c3f8680fe0 60 }
mbedoguz 1:a6c3f8680fe0 61
mbedoguz 1:a6c3f8680fe0 62 float fabsf(float x) {
mbedoguz 1:a6c3f8680fe0 63 return x > 0 ? x : -x;
mbedoguz 1:a6c3f8680fe0 64 }
mbedoguz 1:a6c3f8680fe0 65
mbedoguz 1:a6c3f8680fe0 66 int min(int a, int b) {
mbedoguz 1:a6c3f8680fe0 67 return a > b ? b : a;
mbedoguz 1:a6c3f8680fe0 68 }
mbedoguz 1:a6c3f8680fe0 69
mbedoguz 1:a6c3f8680fe0 70 };