void sensorRead(imu_data *pimu_data) {
union {
char as_char[6];
int16_t as_int16[3];
} raw;
// read and scale accelerometer values
i2cSetAddress(ACCEL_I2C_ADDR);
i2cReadBlock(ACCEL_DATA_BASE_ADD, raw.as_char, 6);
pimu_data->accel[0] = raw.as_int16[0] * ACCEL_RES;
pimu_data->accel[1] = raw.as_int16[1] * ACCEL_RES;
pimu_data->accel[2] = raw.as_int16[2] * ACCEL_RES;
// read and scale magnetometer values - returned as big-endien
i2cSetAddress(MAG_I2C_ADDR);
i2cReadBlock(MAG_DATA_BASE_ADD, raw.as_char, 6);
pimu_data->mag[0] = (int16_t) (raw.as_char[0] << 8 | raw.as_char[1]) / MAG_SEN;
pimu_data->mag[1] = (int16_t) (raw.as_char[4] << 8 | raw.as_char[5]) / MAG_SEN;
pimu_data->mag[2] = (int16_t) (raw.as_char[2] << 8 | raw.as_char[3]) / MAG_SENZ;
// read and scale gyroscope values
i2cSetAddress(GYRO_I2C_ADDR);
i2cReadBlock(GYRO_DATA_BASE_ADD, raw.as_char, 6);
pimu_data->gyro[0] = raw.as_int16[0] * GYRO_RES;
pimu_data->gyro[1] = raw.as_int16[1] * GYRO_RES;
pimu_data->gyro[2] = raw.as_int16[2] * GYRO_RES;
// printf("IMU data: \t%.3f\t%.3f\t%.3f", pimu_data->accel[0], pimu_data->accel[1], pimu_data->accel[2]);
// printf("\t\t%.3f\t%.3f\t%.3f", pimu_data->mag[0], pimu_data->mag[1], pimu_data->mag[2]);
// printf("\t\t%.3f\t%.3f\t%.3f\n", pimu_data->gyro[0], pimu_data->gyro[1], pimu_data->gyro[2]);
}
/* getTemp:
* Obtain the temperature from the DS1624 IC
* and return the pointer to where it is stored
*/
int8_t* getTemp(void)
{
static int8_t temperature[2];
i2cAddress(DS1624_ADDRESS, TW_WRITE);
/* Intiate Read Temperature */
i2cTransmit(0xAA);
/* Receive the bytes*/
i2cAddress(DS1624_ADDRESS, TW_READ);
i2cReadBlock(temperature, 2);
i2cStop();
return temperature;
}
/* serialEE_ReadBlock:
* Read 'datasize' bytes to the array pointed to by 'data'
* from the block_address and block of the EEPROM
*/
void serialEE_ReadBlock(uint8_t* data,
uint8_t datasize,
EE_AddressStruct* EE_AddressData)
{
/* Begin reading from the given address and block */
i2cAddress( (EE_I2C_ADDRESS)
| (EE_BLOCKSELECT(EE_AddressData->EE_Block))
, TW_WRITE );
#if EE_WORD_ADDRESS == 1
i2cTransmit((uint16_t)(EE_AddressData->EE_Address) >> 8);
#endif
i2cTransmit( (EE_AddressData->EE_Address) & 0xFF );
/* Begin reading */
i2cAddress( (EE_I2C_ADDRESS)
| (EE_BLOCKSELECT(EE_AddressData->EE_Block))
, TW_READ );
i2cReadBlock(data , datasize);
i2cStop();
}