abstract driver

CooperUnion · Dec 4, 2024 · 4f73812 · 4f73812
1 parent 888e391
commit 4f73812
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/lib/drivers/mpu6050/mpu6050.c b/lib/drivers/mpu6050/mpu6050.c
@@ -95,7 +95,7 @@ void mpu6050_get_raw_gyro(
 	gyro_raw_val->gyro_raw_zout = (int16_t) (data[4] << 8 | data[5]);
 }
 
-void mpu6050_init(void)
+void mpu6050_init(i2c_master_dev_handle_t dev_handle)
 {
 	i2c_master_bus_config_t i2c_master_conf = {
 		.clk_source	   = I2C_CLK_SRC_DEFAULT,
@@ -115,7 +115,6 @@ void mpu6050_init(void)
 		.scl_speed_hz	 = I2C_MPU6050_DEV_FREQ_HZ,
 	};
 
-	i2c_master_dev_handle_t dev_handle;
 
 	ESP_ERROR_CHECK(i2c_master_bus_add_device(
 		bus_handle, &i2c_dev_conf, &dev_handle));

diff --git a/lib/drivers/mpu6050/mpu6050.h b/lib/drivers/mpu6050/mpu6050.h
@@ -10,6 +10,8 @@ typedef struct {
 	int16_t gyro_raw_zout;
 } i2c_mpu6050_raw_gyro_t;
 
-void mpu6050_init(void);
+void mpu6050_init(i2c_master_dev_handle_t);
 
+void mpu6050_get_raw_gyro(
+	i2c_master_dev_handle_t i2c_dev, i2c_mpu6050_raw_gyro_t *gyro_raw_val);
 #endif	// MPU6050_H