inline void MPU6050_getMotion6(int16_t* ax,
int16_t* ay,
int16_t* az,
int16_t* gx,
int16_t* gy,
int16_t* gz,
uint8_t use_calib)
{
uint8_t tx_buf[1]; uint8_t tx_len;
tx_buf[0] = MPU6050_RA_ACCEL_XOUT_H;
tx_len = 1;
uint8_t rx_len = 14;
uint8_t rx_buf[rx_len];
i2c_writeBytes(mpu6050_dev_addr, tx_buf, tx_len, 0);
i2c_readBytes(mpu6050_dev_addr, rx_buf, rx_len, 0);
*ax = (((int16_t)rx_buf[0]) << 8) | rx_buf[1];
*ay = (((int16_t)rx_buf[2]) << 8) | rx_buf[3];
*az = (((int16_t)rx_buf[4]) << 8) | rx_buf[5];
*gx = (((int16_t)rx_buf[8]) << 8) | rx_buf[9];
*gy = (((int16_t)rx_buf[10]) << 8) | rx_buf[11];
*gz = (((int16_t)rx_buf[12]) << 8) | rx_buf[13];
if(use_calib == 1)
{
*gx -= gx0;
*gy -= gy0;
*gz -= gz0;
}
}
/*
* Just for accessing HMC from MC
* data got from http://forum.arduino.cc/index.php?topic=223345.msg2142479#msg2142479
*/
void MPU6050_setBypassMode()
{
uint8_t tx_len = 2;
uint8_t tx_buf[tx_len];
tx_buf[0] = 0x37; // register address
tx_buf[1] = 0x02; // needed value
i2c_writeBytes(mpu6050_dev_addr, tx_buf, tx_len, 0);
tx_buf[0] = 0x6A; // register address
tx_buf[1] = 0x00; // needed value
i2c_writeBytes(mpu6050_dev_addr, tx_buf, tx_len, 0);
}
void MPU6050_getFIFOBytes(uint8_t *data, uint8_t length) {
uint8_t tx_buf;
tx_buf = MPU6050_RA_FIFO_R_W;
i2c_writeBytes(mpu6050_dev_addr, &tx_buf, 1, 0);
i2c_readBytes(mpu6050_dev_addr, data, length, 0);
}
void hmc5883l_writeConfiguration( hmc5883l_configuration_t *conf ){
DEBUG_FUNC_ENTER();
i2c_writeBytes( HMC5883L_SLAVER, HMC5883L_REG_ADDR_CONF_A,
(uint8_t*)conf, 3 );
DEBUG_FUNC_EXIT();
}
/** Send a reset command.
* The Reset sequence shall be sent once after power-on to make
* sure that the calibration PROM gets loaded into the internal
* register. It can be also used to reset the device ROM from
* an unknown condition.
* @return Status of operation (true = success)
*/
bool_t ms561101ba_reset(void) {
return i2c_writeBytes(MS561101BA_DEFAULT_ADDRESS, MS561101BA_RA_RESET, 0, NULL);
}
void MPU6050_setSampleRateDiv(uint8_t data) {
uint8_t tx_buf[2] = {MPU6050_RA_SMPLRT_DIV, data};
i2c_writeBytes(mpu6050_dev_addr, tx_buf, 2, 0);
}
