/**
* @brief Writes one byte to the Accelerometer.
* @param pBuffer: pointer to the buffer containing the data to be written to the Accelerometer.
* @param WriteAddr: Accelerometer's internal address to write to.
* @param NumByteToWrite: Number of bytes to write.
* @retval None
*/
void ACCELERO_IO_Write(uint8_t *pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite)
{
/* Configure the MS bit:
- When 0, the address will remain unchanged in multiple read/write commands.
- When 1, the address will be auto incremented in multiple read/write commands.
*/
if(NumByteToWrite > 0x01)
{
WriteAddr |= (uint8_t)MULTIPLEBYTE_CMD;
}
/* Set chip select Low at the start of the transmission */
ACCELERO_CS_LOW();
/* Send the Address of the indexed register */
SPIx_WriteRead(WriteAddr);
/* Send the data that will be written into the device (MSB First) */
while(NumByteToWrite >= 0x01)
{
SPIx_WriteRead(*pBuffer);
NumByteToWrite--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
ACCELERO_CS_HIGH();
}
/**
* @brief Reads a block of data from the Accelerometer.
* @param pBuffer: pointer to the buffer that receives the data read from the Accelerometer.
* @param ReadAddr: Accelerometer's internal address to read from.
* @param NumByteToRead: number of bytes to read from the Accelerometer.
* @retval None
*/
void ACCELERO_IO_Read(uint8_t *pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead)
{
if(NumByteToRead > 0x01)
{
ReadAddr |= (uint8_t)(READWRITE_CMD | MULTIPLEBYTE_CMD);
}
else
{
ReadAddr |= (uint8_t)READWRITE_CMD;
}
/* Set chip select Low at the start of the transmission */
ACCELERO_CS_LOW();
/* Send the Address of the indexed register */
SPIx_WriteRead(ReadAddr);
/* Receive the data that will be read from the device (MSB First) */
while(NumByteToRead > 0x00)
{
/* Send dummy byte (0x00) to generate the SPI clock to ACCELEROMETER (Slave device) */
*pBuffer = SPIx_WriteRead(DUMMY_BYTE);
NumByteToRead--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
ACCELERO_CS_HIGH();
}
/**
* @brief Reads a block of data from the GYROSCOPE.
* @param pBuffer : pointer to the buffer that receives the data read from the GYROSCOPE.
* @param ReadAddr : GYROSCOPE's internal address to read from.
* @param NumByteToRead : number of bytes to read from the GYROSCOPE.
* @retval None
*/
HAL_StatusTypeDef GYRO_IO_Read(uint8_t* pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead)
{
HAL_StatusTypeDef status = HAL_OK;
uint8_t readByte = 0;
if(NumByteToRead > 0x01)
{
ReadAddr |= (uint8_t)(READWRITE_CMD | MULTIPLEBYTE_CMD);
}
else
{
ReadAddr |= (uint8_t)READWRITE_CMD;
}
/* Set chip select Low at the start of the transmission */
GYRO_CS_LOW();
/* Send the Address of the indexed register */
status = SPIx_WriteRead(ReadAddr, &readByte);
/* Receive the data that will be read from the device (MSB First) */
while(NumByteToRead > 0x00 && status == HAL_OK)
{
/* Send dummy byte (0x00) to generate the SPI clock to GYROSCOPE (Slave device) */
status = SPIx_WriteRead(DUMMY_BYTE, pBuffer);
NumByteToRead--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
GYRO_CS_HIGH();
return status;
}