int RcvIMUData(unsigned int reg_addr) {
// //see page 92 of https://www.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf
rcv = 0;
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0x50); //Write slave addr WRITE (OR 0)
IdleI2C2();
MasterWriteI2C2(reg_addr); //BNO055_QUATERNION_DATA_W_LSB_ADDR
IdleI2C2();
RestartI2C2();
IdleI2C2();
MasterWriteI2C2(0x51); //Write the slave address, READ (OR 1)
IdleI2C2();
rcv |= MasterReadI2C2(); //Read in LSB
IdleI2C2();
AckI2C2();
IdleI2C2();
rcv |= MasterReadI2C2()<<8; //Read in MSB
NotAckI2C2();
IdleI2C2();
StopI2C2(); //Send line stop condition
IdleI2C2();
return rcv;
}
/**
* Reads temperature from IR sensor of an object in front of sensor
* @return A hex value from 0x27AD (-70 ?C) to 0x7fff (382.19?C)
*/
int RcvIRTemp(void){
rcv = 0;
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0xb4); //Write slave addr WRITE (OR 0)
IdleI2C2();
MasterWriteI2C2(0x07); //0x07 = read RAM for TObj1 temperature
IdleI2C2();
RestartI2C2();
IdleI2C2();
MasterWriteI2C2(0xb5); //Write the slave address, READ (OR 1)
IdleI2C2();
rcv |= MasterReadI2C2(); //Read in LSB
IdleI2C2();
AckI2C2(); //Acknowledge LSB
IdleI2C2();
rcv |= MasterReadI2C2()<<8; //Read in MSB
AckI2C2(); //Acknowledge MSB
IdleI2C2();
MasterReadI2C2(); //Read in PEC
AckI2C2(); //Acknowledge MSB
IdleI2C2();
StopI2C2(); //Send line stop condition
IdleI2C2();
return rcv; //Return read value
}
char I2C2_READ_String(U8 DevAdd, U8 RegAdd, U8 *RegValue, U8 len)
{
int DataWait = len*100;
char ComRes,DevAddr;
DevAddr = (DevAdd<<1)|M_I2C_Write;
StartI2C2(); // Send the start bit
IdleI2C2(); // Wait to complete
while(I2C2STATbits.ACKSTAT); //wait for acknowledgement
ComRes=MasterWriteI2C2(DevAddr); // Adress with write mode
IdleI2C2(); // Wait to complete
while(I2C2STATbits.ACKSTAT); //wait for acknowledgement
ComRes=MasterWriteI2C2(RegAdd); // Write the chip ID register loaction for read
IdleI2C2(); // Send the start bit
while(I2C2STATbits.ACKSTAT); //wait for acknowledgement
RestartI2C2(); // Send the start bit
IdleI2C2(); // Wait to complete
while(I2C2STATbits.ACKSTAT); //wait for acknowledgement
DevAddr = (DevAdd<<1)|M_I2C_Read;
MasterWriteI2C2(DevAddr); // Adress with write mode
IdleI2C2(); // Wait to complete
while(I2C2STATbits.ACKSTAT); //wait for acknowledgement
MastergetsI2C2(len, RegValue, DataWait); // Read the Register value
IdleI2C2(); // Wait to complete
NotAckI2C2(); // Not Acknowledge I2C
IdleI2C2(); // Wait to complete
StopI2C2(); // Stop I2C communication
IdleI2C2(); // Wait to complete;
return ComRes;
}
S8 I2C2_WRITE_String(U8 DevAdd, U8 RegAdd, U8 *RegValue, U8 len)
{
char ComRes;
DevAdd = (DevAdd<<1)|M_I2C_Write;
StartI2C2(); // Send the start bit
IdleI2C2(); // Wait to complete
while(I2C2STATbits.ACKSTAT); //wait for acknowledgement
ComRes=MasterWriteI2C2(DevAdd); // Adress with write mode
IdleI2C2(); // Wait to complete
while(I2C2STATbits.ACKSTAT); //wait for acknowledgement
ComRes=MasterWriteI2C2(RegAdd); // Write the chip ID register loaction for read
IdleI2C2(); // Send the start bit
while(I2C2STATbits.ACKSTAT); //wait for acknowledgement
while(len--)
{
ComRes=MasterWriteI2C2(*RegValue); // Write the chip ID register loaction for read
IdleI2C2(); // Wait to complete
while(I2C2STATbits.ACKSTAT); //wait for acknowledgement
RegValue++;
}
StopI2C2(); // Stop the I2C communication
IdleI2C2(); // Wait to complete
return ComRes;
}
void LDWordReadI2C(unsigned char SlaveAddress, unsigned char reg, unsigned char *data1, unsigned char *data2){
StartI2C2(); //Send the Start Bit
IdleI2C2(); //Wait to complete
MasterWriteI2C2(SlaveAddress); //transmit write command
IdleI2C2(); //Wait to complete
MasterWriteI2C2(reg);
IdleI2C2();
StopI2C2();
IdleI2C2();
StartI2C2(); //Send the Start Bit
IdleI2C2(); //Wait to complete
MasterWriteI2C2(SlaveAddress|0x01); //transmit read command
IdleI2C2(); //Wait to complete
unsigned char data[2];
MastergetsI2C2(2, data, 30); // "MCHP I2C"
*data1=data[0];
*data2=data[1];
// if (status!=0)
// while(1);
StopI2C2(); //Send the Stop condition
IdleI2C2(); //Wait to complete
}
void LDWordWriteI2C(unsigned char SlaveAddress, unsigned char reg, unsigned char data1, unsigned char data2){
StartI2C2(); //Send the Start Bit
IdleI2C2(); //Wait to complete
MasterWriteI2C2(SlaveAddress); //transmit write command
IdleI2C2(); //Wait to complete
MasterWriteI2C2(reg);
IdleI2C2();
MasterWriteI2C2(data1);
IdleI2C2();
MasterWriteI2C2(data2);
IdleI2C2();
StopI2C2();
IdleI2C2();
}
void sleepIRTemp(){
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0xb4); //Write slave addr WRITE (OR 0)
IdleI2C2();
MasterWriteI2C2(0xff); //sleep command
IdleI2C2();
MasterReadI2C2(); //Read in PEC
IdleI2C2();
AckI2C2(); //Acknowledge PEC
IdleI2C2();
StopI2C2();
}
void SendIMUData (int reg_addr, int data){
StartI2C2(); //Send the Start Bit
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0x50); //Sends the slave address over the I2C line.
IdleI2C2(); //Wait to complete
MasterWriteI2C2(reg_addr); //Sends data byte over I2C line
IdleI2C2(); //Wait to complete
MasterWriteI2C2(data);
IdleI2C2(); //wait for ack
StopI2C2(); //Send the Stop condition
IdleI2C2(); //Wait to complete
}
void i2cSendByte(unsigned char channel, unsigned char byte) {
if (channel == 1) {
MasterWriteI2C1(byte);
while(I2C1STATbits.TRSTAT);
while(I2C1STATbits.ACKSTAT);
} else {
MasterWriteI2C2(byte);
while(I2C2STATbits.TRSTAT);
while(I2C2STATbits.ACKSTAT);
}
}
/*****************************************************
* RcvData(unsigned int address) *
* *
* Gets a byte of data from I2C slave device at *
* ADDRESS. *
* *
* Returns: Received data *
****************************************************/
int RcvData(unsigned int address) {
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2((address << 1) | 1); //Write out slave address OR 1 (read command)
IdleI2C2(); //Wait to complete
rcv = MasterReadI2C2(); //Read in a value
IdleI2C2();
AckI2C2();
IdleI2C2();
StopI2C2(); //Send line stop condition
IdleI2C2(); //Wait co complete
return rcv; //Return read value
}
int RcvIRTemp(unsigned int address){
rcv = 0;
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0xb4); //Write slave addr WRITE (OR 0)
IdleI2C2();
MasterWriteI2C2(0xf0); //command
// //Command to read Tobj1 on ir sensor's ram: 000 = read ram; 0x07 = tobj1
IdleI2C2(); //Wait to complete
// StopI2C2(); //restart
// IdleI2C2();
// StartI2C2();
// IdleI2C2();
//
// MasterWriteI2C2(0xb5); //Write the slave address, READ (OR 1)
// IdleI2C2();
MasterReadI2C2(); //Read in LSB
IdleI2C2();
AckI2C2(); //Acknowledge LSB
IdleI2C2();
MasterReadI2C2(); //Read in MSB
IdleI2C1();
AckI2C2(); //Acknowledge MSB
IdleI2C2();
MasterReadI2C2(); //Read in PEC
IdleI2C1();
AckI2C2(); //Acknowledge MSB
IdleI2C2();
StopI2C2(); //Send line stop condition
IdleI2C2(); //Wait co complete
return rcv; //Return read value
}
/*****************************************************************************
* Function Name : gyroSendByte
* Description : Send a byte to gyroscope
* Parameters : byte - a byte to send
* Return Value : None
*****************************************************************************/
static inline void gyroSendByte( unsigned char byte ) {
MasterWriteI2C2(byte);
while(I2C2STATbits.TRSTAT);
while(I2C2STATbits.ACKSTAT);
}
