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Make declarations consistent
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@xeonqq
xeonqq committed Nov 7, 2023
1 parent e832473 commit fbe42ad
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Showing 2 changed files with 37 additions and 36 deletions.
1 change: 0 additions & 1 deletion Sming/Libraries/MPU6050/MPU6050.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@ THE SOFTWARE.
#define I2C_NUM I2C_NUM_0
using detail::concat;

using SlaveId = uint8_t;
namespace
{
//Slave 4’s characteristics differ greatly from those of Slaves 0-3.
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72 changes: 37 additions & 35 deletions Sming/Libraries/MPU6050/MPU6050.h
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Original file line number Diff line number Diff line change
Expand Up @@ -416,6 +416,8 @@
class MPU6050
{
public:
using SlaveId = uint8_t; // (0 - 3)

struct Motion3 {
int16_t x{};
int16_t y{};
Expand Down Expand Up @@ -1355,18 +1357,18 @@ class MPU6050
* Sample Rate or at the reduced rate is determined by the Delay Enable bits in
* Register 103.
*
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @return Current address for specified slave
* @see MPU6050_RA_I2C_SLV0_ADDR
*/
uint8_t getSlaveAddress(uint8_t num);
uint8_t getSlaveAddress(SlaveId slaveId);
/** Set the I2C address of the specified slave (0-3).
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @param address New address for specified slave
* @see getSlaveAddress()
* @see MPU6050_RA_I2C_SLV0_ADDR
*/
void setSlaveAddress(uint8_t num, uint8_t address);
void setSlaveAddress(SlaveId slaveId, uint8_t address);

/** Get the active internal register for the specified slave (0-3).
* Read/write operations for this slave will be done to whatever internal
Expand All @@ -1375,35 +1377,35 @@ class MPU6050
* The MPU-6050 supports a total of five slaves, but Slave 4 has unique
* characteristics, and so it has its own functions.
*
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @return Current active register for specified slave
* @see MPU6050_RA_I2C_SLV0_REG
*/
uint8_t getSlaveRegister(uint8_t num);
uint8_t getSlaveRegister(SlaveId slaveId);

/** Set the active internal register for the specified slave (0-3).
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @param reg New active register for specified slave
* @see getSlaveRegister()
* @see MPU6050_RA_I2C_SLV0_REG
*/
void setSlaveRegister(uint8_t num, uint8_t reg);
void setSlaveRegister(SlaveId slaveId, uint8_t reg);

/** Get the enabled value for the specified slave (0-3).
* When set to 1, this bit enables Slave 0 for data transfer operations. When
* cleared to 0, this bit disables Slave 0 from data transfer operations.
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @return Current enabled value for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
bool getSlaveEnabled(uint8_t num);
bool getSlaveEnabled(SlaveId slaveId);
/** Set the enabled value for the specified slave (0-3).
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @param enabled New enabled value for specified slave
* @see getSlaveEnabled()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
void setSlaveEnabled(uint8_t num, bool enabled);
void setSlaveEnabled(SlaveId slaveId, bool enabled);

/** Get word pair byte-swapping enabled for the specified slave (0-3).
* When set to 1, this bit enables byte swapping. When byte swapping is enabled,
Expand All @@ -1412,40 +1414,40 @@ class MPU6050
* bytes transferred to and from Slave 0 will be written to EXT_SENS_DATA
* registers in the order they were transferred.
*
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @return Current word pair byte-swapping enabled value for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
bool getSlaveWordByteSwap(uint8_t num);
bool getSlaveWordByteSwap(SlaveId slaveId);

/** Set word pair byte-swapping enabled for the specified slave (0-3).
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @param enabled New word pair byte-swapping enabled value for specified slave
* @see getSlaveWordByteSwap()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
void setSlaveWordByteSwap(uint8_t num, bool enabled);
void setSlaveWordByteSwap(SlaveId slaveId, bool enabled);

/** Get write mode for the specified slave (0-3).
* When set to 1, the transaction will read or write data only. When cleared to
* 0, the transaction will write a register address prior to reading or writing
* data. This should equal 0 when specifying the register address within the
* Slave device to/from which the ensuing data transaction will take place.
*
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @return Current write mode for specified slave (0 = register address + data,
* 1 = data only)
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
bool getSlaveWriteMode(uint8_t num);
bool getSlaveWriteMode(SlaveId slaveId);
/** Set write mode for the specified slave (0-3).
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @param mode New write mode for specified slave (0 = register address + data,
* 1 = data only)
* @see getSlaveWriteMode()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
void setSlaveWriteMode(uint8_t num, bool mode);
void setSlaveWriteMode(SlaveId slaveId, bool mode);

/** Get word pair grouping order offset for the specified slave (0-3).
* This sets specifies the grouping order of word pairs received from registers.
Expand All @@ -1454,36 +1456,36 @@ class MPU6050
* from register addresses are paired 1 and 2, 3 and 4, etc. (odd, then even
* register addresses) are paired to form a word.
*
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @return Current word pair grouping order offset for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
bool getSlaveWordGroupOffset(uint8_t num);
bool getSlaveWordGroupOffset(SlaveId slaveId);

/** Set word pair grouping order offset for the specified slave (0-3).
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @param enabled New word pair grouping order offset for specified slave
* @see getSlaveWordGroupOffset()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
void setSlaveWordGroupOffset(uint8_t num, bool enabled);
void setSlaveWordGroupOffset(SlaveId slaveId, bool enabled);

/** Get number of bytes to read for the specified slave (0-3).
* Specifies the number of bytes transferred to and from Slave 0. Clearing this
* bit to 0 is equivalent to disabling the register by writing 0 to I2C_SLV0_EN.
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @return Number of bytes to read for specified slave
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
uint8_t getSlaveDataLength(uint8_t num);
uint8_t getSlaveDataLength(SlaveId slaveId);

/** Set number of bytes to read for the specified slave (0-3).
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @param length Number of bytes to read for specified slave
* @see getSlaveDataLength()
* @see MPU6050_RA_I2C_SLV0_CTRL
*/
void setSlaveDataLength(uint8_t num, uint8_t length);
void setSlaveDataLength(SlaveId slaveId, uint8_t length);

// I2C_SLV* registers (Slave 4)

Expand Down Expand Up @@ -2484,11 +2486,11 @@ class MPU6050
* This register holds the output data written into Slave when Slave is set to
* write mode. For further information regarding Slave control, please
* refer to Registers 37 to 39 and immediately following.
* @param num Slave number (0-3)
* @param slaveId Slave ID (0-3)
* @param data Byte to write
* @see MPU6050_RA_I2C_SLV0_DO
*/
void setSlaveOutputByte(uint8_t num, uint8_t data);
void setSlaveOutputByte(SlaveId slaveId, uint8_t data);

// I2C_MST_DELAY_CTRL register
/** Get external data shadow delay enabled status.
Expand Down Expand Up @@ -2528,22 +2530,22 @@ class MPU6050
* For further information regarding the Sample Rate, please refer to
* register 25.
*
* @param num Slave number (0-4)
* @param slaveId Slave ID (0-4)
* @return Current slave delay enabled status.
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
*/
bool getSlaveDelayEnabled(uint8_t num);
bool getSlaveDelayEnabled(SlaveId slaveId);

/** Set slave delay enabled status.
* @param num Slave number (0-4)
* @param slaveId Slave ID (0-4)
* @param enabled New slave delay enabled status.
* @see MPU6050_RA_I2C_MST_DELAY_CTRL
* @see MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT
*/
void setSlaveDelayEnabled(uint8_t num, bool enabled)
void setSlaveDelayEnabled(SlaveId slaveId, bool enabled)
{
I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, num, enabled);
I2Cdev::writeBit(devAddr, MPU6050_RA_I2C_MST_DELAY_CTRL, slaveId, enabled);
}

// SIGNAL_PATH_RESET register
Expand Down

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