unsigned int GetData(unsigned char REG_Address)
{
char H, L;
H = I2C_ByteRead(REG_Address);
L = I2C_ByteRead(REG_Address + 1);
return (H << 8) + L; //合成数据
}
//有符号数
int16_t GetData_GYRO(unsigned char REG_Address)
{
uint8_t H,L;
H=I2C_ByteRead(MPU6050_ADDRESS,REG_Address);
L=I2C_ByteRead(MPU6050_ADDRESS,REG_Address+1);
return (H<<8)+L; //合成数据
}
//是否是带符号数，待确认
int16_t GetData_BMP280(unsigned char REG_Address)
{
uint8_t H,L;
I2C_ByteWrite(BMP280_ADDRESS,0xF4,0x25);//设置forced mode，每次测量完都要回到sleep mode
delayms(5);
H=I2C_ByteRead(BMP280_ADDRESS,REG_Address);
L=I2C_ByteRead(BMP280_ADDRESS,REG_Address+1);
return (H<<8)+L; //合成数据
}
int I2C_Read(I2C_TypeDef* I2Cx, int address, char* data, int length, int stop){
uint16_t timeout;
int count, value;
I2C_Start(I2Cx);
// Wait until SB flag is set
timeout = FLAG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_FLAG_SB) == RESET){
timeout--;
if(timeout == 0){
return -1;
}
}
I2Cx->DR = I2C_7BIT_ADD_READ(address);
// Wait address is acknowledged
timeout = FLAG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_FLAG_ADDR) == RESET){
timeout--;
if(timeout == 0){
return -1;
}
}
__I2C_CLEAR_ADDRFLAG(I2Cx);
// Read all bytes except last one
for (count = 0; count < (length - 1); count++) {
value = I2C_ByteRead(I2Cx, 0);
data[count] = (char)value;
}
// If not repeated start, send stop.
// Warning: must be done BEFORE the data is read.
if (stop) {
I2C_Stop(I2Cx);
}
// Read the last byte
value = I2C_ByteRead(I2Cx, 1);
data[count] = (char)value;
return length;
}
//有符号数 ，是否可设置为连续读取模式
int16_t GetData_MAG(unsigned char REG_Address)
{
uint8_t H,L;
uint8_t ST1;
I2C_ByteWrite(MAG_ADDRESS,0x0A,0x11);//根据手册知单次测量模什结束会回到powerdown模式，需要重置一下
delayms(1);
do// Read register Status 1 and wait for the DRDY: Data Ready
{
ST1=I2C_ByteRead(MAG_ADDRESS,0x02);
}
while(!(ST1&0x01));
L=I2C_ByteRead(MAG_ADDRESS,REG_Address);
H=I2C_ByteRead(MAG_ADDRESS,REG_Address+1);
return (H<<8)+L; //合成数据
}
status_t LSM303C::ACC_ReadReg(ACC_REG_t reg, uint8_t& data)
{
// printf("Reading address 0x");
// printf("0x%d\n", reg);
status_t ret;
if (interfaceMode == MODE_I2C)
{
ret = I2C_ByteRead(ACC_I2C_ADDR, reg, data);
}
else
{
ret = IMU_HW_ERROR;
}
return ret;
}
status_t LSM303C::MAG_ReadReg(MAG_REG_t reg, uint8_t& data)
{
// printf("Reading register 0x");
// printf("0x%d\n", reg);
status_t ret = IMU_GENERIC_ERROR;
if (interfaceMode == MODE_I2C)
{
ret = I2C_ByteRead(MAG_I2C_ADDR, reg, data);
}
else
{
ret = IMU_GENERIC_ERROR; // Shouldn't get here
}
return ret;
}
int I2C_DataRead(int address, char *data, int length, int stop)
{
int timeout;
int count;
int value;
/* update CR2 register */
I2C1->CR2 = (I2C1->CR2 & (uint32_t)~((uint32_t)(I2C_CR2_SADD | I2C_CR2_NBYTES | I2C_CR2_RELOAD | I2C_CR2_AUTOEND | I2C_CR2_RD_WRN | I2C_CR2_START | I2C_CR2_STOP)))
| (uint32_t)(((uint32_t)address & I2C_CR2_SADD) | (((uint32_t)length << 16) & I2C_CR2_NBYTES) | (uint32_t)I2C_SoftEnd_Mode | (uint32_t)I2C_Generate_Start_Read);
// Read all bytes
for (count = 0; count < length; count++) {
value = I2C_ByteRead(0);
data[count] = (char)value;
}
// Wait transfer complete
timeout = LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2C1, I2C_FLAG_TC) == RESET) {
timeout--;
if (timeout == 0) {
return -1;
}
}
I2C_ClearFlag(I2C1, I2C_FLAG_TC);
// If not repeated start, send stop.
if (stop) {
I2C1->CR2 |= I2C_CR2_STOP;
/* Wait until STOPF flag is set */
timeout = FLAG_TIMEOUT;
while (I2C_GetFlagStatus(I2C1, I2C_FLAG_STOPF) == RESET) {
timeout--;
if (timeout == 0) {
return -1;
}
}
/* Clear STOP Flag */
I2C_ClearFlag(I2C1, I2C_FLAG_STOPF);
}
return length;
}
status_t LSM303C::ACC_ReadReg(ACC_REG_t reg, uint8_t& data)
{
debug_print("Reading address 0x");
debug_printlns(reg, HEX);
status_t ret;
if (interfaceMode == MODE_I2C)
{
ret = I2C_ByteRead(ACC_I2C_ADDR, reg, data);
}
else if (interfaceMode == MODE_SPI)
{
data = SPI_ReadByte(ACC, reg);
ret = IMU_SUCCESS;
}
else
{
ret = IMU_HW_ERROR;
}
return ret;
}
status_t LSM303C::MAG_ReadReg(MAG_REG_t reg, uint8_t& data)
{
debug_print("Reading register 0x");
debug_printlns(reg, HEX);
status_t ret = IMU_GENERIC_ERROR;
if (interfaceMode == MODE_I2C)
{
ret = I2C_ByteRead(MAG_I2C_ADDR, reg, data);
}
else if (interfaceMode == MODE_SPI)
{
data = SPI_ReadByte(MAG, reg);
ret = IMU_SUCCESS;
}
else
{
ret = IMU_GENERIC_ERROR; // Shouldn't get here
}
return ret;
}