52     this->i2c_bus = (struct rt_i2c_bus_device *)rt_device_find(iic_bus);  in MPU6050()
53     if (this->i2c_bus == NULL)   in MPU6050()
59     this->i2c_addr = addr;  in MPU6050()
62     SensorManager::registerSensor(this);  in MPU6050()
69     msgs[0].addr  = this->i2c_addr;  in read_reg()
74     msgs[1].addr  = this->i2c_addr;  in read_reg()
79     if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)  in read_reg()
89     msgs[0].addr  = this->i2c_addr;  in read_buffer()
94     msgs[1].addr  = this->i2c_addr;  in read_buffer()
99     if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)  in read_buffer()
109     msgs[0].addr  = this->i2c_addr;  in write_reg()
114     msgs[1].addr  = this->i2c_addr;  in write_reg()
119     if (rt_i2c_transfer(this->i2c_bus, msgs, 2) == 2)  in write_reg()
167 	this->enable = RT_FALSE;  in MPU6050_Accelerometer()
168 	this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;  in MPU6050_Accelerometer()
169   this->config = config;  in MPU6050_Accelerometer()
187 		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_2G;  in configure()
191 		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_4G;  in configure()
195 		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_8G;  in configure()
199 		this->sensitivity = SENSOR_ACCEL_SENSITIVITY_16G;  in configure()
220     if (enable && this->enable == RT_FALSE)  in activate()
228 	if (!enable && this->enable == RT_TRUE)  in activate()
236 	if (enable) this->enable = RT_TRUE;  in activate()
237 	else this->enable = RT_FALSE;  in activate()
253 	event->sensor = (int32_t) this;  in poll()
274 		event->acceleration.x = x * this->sensitivity * SENSORS_GRAVITY_STANDARD;  in poll()
275 		event->acceleration.y = y * this->sensitivity * SENSORS_GRAVITY_STANDARD;  in poll()
276 		event->acceleration.z = z * this->sensitivity * SENSORS_GRAVITY_STANDARD;  in poll()
331 	this->enable = RT_FALSE;  in MPU6050_Gyroscope()
332 	this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;  in MPU6050_Gyroscope()
350 		this->sensitivity = SENSOR_GYRO_SENSITIVITY_250DPS;  in configure()
354 		this->sensitivity = SENSOR_GYRO_SENSITIVITY_500DPS;  in configure()
358 		this->sensitivity = SENSOR_GYRO_SENSITIVITY_1000DPS;  in configure()
362 		this->sensitivity = SENSOR_GYRO_SENSITIVITY_2000DPS;  in configure()
383     if (enable && this->enable == RT_FALSE)  in activate()
395 	if (!enable && this->enable == RT_TRUE)  in activate()
403 	if (enable) this->enable = RT_TRUE;  in activate()
404 	else this->enable = RT_FALSE;  in activate()
420 	event->sensor = (int32_t) this;  in poll()
441 		event->gyro.x = x * this->sensitivity * SENSORS_DPS_TO_RADS;  in poll()
442 		event->gyro.y = y * this->sensitivity * SENSORS_DPS_TO_RADS;  in poll()
443 		event->gyro.z = z * this->sensitivity * SENSORS_DPS_TO_RADS;  in poll()