void mpu6k_writeRegister(uint8_t addr, uint8_t data)
{
spi_CS_low();
spi_sendByte(addr & ~(1<<7));
spi_sendByte(data);
spi_CS_high();
}
void mpu6k_readRegisters(uint8_t addr, uint8_t num, uint8_t* data)
{
spi_CS_low();
spi_sendByte(addr | (1<<7));
for(;num > 0;--num, ++data)
*data = spi_sendByte(0x00);
spi_CS_high();
}
// Note: Make sure there is an adequate time between successive calls to readRegister/writeRegister for the chip
// to recognise the CS deassert! If in doubt, insert a mpu6k_cs_wait() call in between.
uint8_t mpu6k_readRegister(uint8_t addr)
{
uint8_t ret;
spi_CS_low();
delay_us(1);
spi_sendByte(addr | (1<<7));
ret = spi_sendByte(0x00);
spi_CS_high();
return ret;
}
void lcd_sendDAT(byte dat)
{
PTAD_PTAD2 = 0; /* nahodit -SS */
PTAD_PTAD3 = 1;
spi_sendByte(dat);
while(!SPI2S_SPTEF);
delay(50);
PTAD_PTAD2 = 1; /* shodit -SS */
delay(50);
}
void lcd_sendCMD(byte cmd)
{
PTAD_PTAD2 = 0; /* nahodit -SS */
PTAD_PTAD3 = 0;
spi_sendByte(cmd);
while(!SPI2S_SPTEF);
delay(50);
PTAD_PTAD2 = 1; /* shodit -SS */
delay(50);
}
