From 2911ad535f239b9806b6aca808bddb1f47973d14 Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Mon, 14 Jan 2019 13:07:11 -0800
Subject: [PATCH] start work on mpu driver

---
 components/mpu_driver/CMakeLists.txt |  7 +++++++
 components/mpu_driver/mpu_driver.c   | 18 ++++++++++++++++++
 components/mpu_driver/mpu_driver.h   | 11 +++++++++++
 main/CMakeLists.txt                  |  2 +-
 4 files changed, 37 insertions(+), 1 deletion(-)
 create mode 100644 components/mpu_driver/CMakeLists.txt
 create mode 100644 components/mpu_driver/mpu_driver.c
 create mode 100644 components/mpu_driver/mpu_driver.h

diff --git a/components/mpu_driver/CMakeLists.txt b/components/mpu_driver/CMakeLists.txt
new file mode 100644
index 0000000..599bddd
--- /dev/null
+++ b/components/mpu_driver/CMakeLists.txt
@@ -0,0 +1,7 @@
+set(COMPONENT_SRCS
+    "mpu_driver.c")
+set(COMPONENT_ADD_INCLUDEDIRS ".")
+
+register_component()
+
+component_compile_options("-Werror=incompatible-pointer-types")
diff --git a/components/mpu_driver/mpu_driver.c b/components/mpu_driver/mpu_driver.c
new file mode 100644
index 0000000..02231f0
--- /dev/null
+++ b/components/mpu_driver/mpu_driver.c
@@ -0,0 +1,18 @@
+#include "mpu_driver.h"
+
+typedef struct mpu_s {
+} mpu_t;
+
+esp_err_t mpu_init(mpu_config_t *config, mpu_t **hndl_out) {
+  mpu_t *hndl = malloc(sizeof(mpu_t));
+  if (!hndl) return ESP_ERR_NO_MEM;
+  *hndl_out = hndl;
+
+  return ESP_OK;
+}
+
+esp_err_t mpu_free(mpu_t *hndl) {
+  free(hndl);
+
+  return ESP_OK;
+}
diff --git a/components/mpu_driver/mpu_driver.h b/components/mpu_driver/mpu_driver.h
new file mode 100644
index 0000000..10fde86
--- /dev/null
+++ b/components/mpu_driver/mpu_driver.h
@@ -0,0 +1,11 @@
+#pragma once
+
+#include <esp_err.h>
+
+typedef struct mpu_config_s {
+} mpu_config_t;
+
+typedef struct mpu_s *mpu_hndl_t;
+
+esp_err_t mpu_init(mpu_config_t *config, mpu_hndl_t *hndl_out);
+esp_err_t mpu_free(mpu_hndl_t hndl);
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 191dcd7..0b398c5 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -11,7 +11,7 @@ list(APPEND COMPONENT_SRCS "ugv_main.c"
     "u8g2_esp32_hal.c"
     ${PROTO_SRCS})
 set(COMPONENT_PRIV_INCLUDEDIRS "." ${PB_OUT})
-set(COMPONENT_REQUIRES "u8g2" "sx127x_driver" "nanopb")
+set(COMPONENT_REQUIRES "u8g2" "sx127x_driver" "nanopb" "mpu_driver")
 
 register_component()