RT-thread非常美的函数学习

//指定长度位写入指定数据

/**
 * This function writes multi-bit value of registers for mpu6xxx
 *
 * @param dev the pointer of device driver structure
 * @param reg the register for mpu6xxx
 * @param start_bit the start position of the register
 * @param len number of bits to write
 * @param data value to write
 *
 * @return the writing status, RT_EOK reprensents  writing multi-bit value of registers successfully.
 */  //指定长度位写入指定数据
static rt_err_t mpu6xxx_write_bits(struct mpu6xxx_device *dev, rt_uint8_t reg, rt_uint8_t start_bit, rt_uint8_t len, rt_uint8_t data)
{
    rt_uint8_t byte, mask;
    rt_err_t res;

    res = mpu6xxx_read_regs(dev, reg, 1, &byte);//先读出来
    if (res != RT_EOK)
    {
        return res;
    }

    mask = ((1 << len) - 1) << (start_bit - len + 1);//切换到要复位的位上去
    data <<= (start_bit - len + 1); // shift data into correct position  数据也移动到要写入的位上去
    data &= mask; // zero all non-important bits in data  所有不重要的位归零  要写入的数据，不重要的位归零，以防写入其他数据
    byte &= ~(mask); // 将现有字节中的所有重要位归零  读出来的数据归零
    byte |= data; // combine data with existing byte 写入

    return mpu6xxx_write_reg(dev, reg, byte);
}