int eep_read(uint32_t addr, uint8_t *buf, uint32_t len)
{
uint8_t chip_addr;
chip_addr = (addr/256) + eep_dev.addr;
return I2C_BurstRead(eep_dev.bus_instance, chip_addr, addr%256, 1, buf, len);
}
int IIC_Read(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
{
if(I2C_BurstRead(HW_I2C0,addr,reg,1,buf,len))
return FALSE;
else
return TRUE;
}
uint8_t MB85RC64_ReadByte(uint16_t pos)
{
uint8_t data;
pos = BSWAP_16(pos);
I2C_BurstRead(gInstance, MB85RC64_ADDR, pos, 2, &data, 1);
return data;
}
int mpu6050_readangle_dmp(float *pitch_dmp,float *roll_dmp,float *yaw_dmp,int16_t *gyro_x,int16_t *gyro_y,int16_t *gyro_z)
{
static int16_t gyro_y_save=0,gyro_z_save=0;
static float roll_save =0,pitch_save =0,yaw_save =0;
float GyroscopeAngleSpeed;
dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors,&more);
/* Gyro and accel data are written to the FIFO by the DMP in chip frame and hardware units.
* This behavior is convenient because it keeps the gyro and accel outputs of dmp_read_fifo and mpu_read_fifo consistent.
**/
/*if (sensors & INV_XYZ_GYRO )
send_packet(PACKET_TYPE_GYRO, gyro);
if (sensors & INV_XYZ_ACCEL)
send_packet(PACKET_TYPE_ACCEL, accel); */
/* Unlike gyro and accel, quaternions are written to the FIFO in the body frame, q30.
* The orientation is set by the scalar passed to dmp_set_orientation during initialization.
**/
int16_t gdata[3];
uint8_t buf[6];
while(I2C_BurstRead(HW_I2C0, 0x68, 0x43, 1, buf, 6));
gdata[0] = (int16_t)(((uint16_t)buf[0]<<8)+buf[1]);
gdata[1] = (int16_t)(((uint16_t)buf[2]<<8)+buf[3]);
gdata[2] = (int16_t)(((uint16_t)buf[4]<<8)+buf[5]);
if(sensors & INV_XYZ_GYRO )
{
q0 = quat[0] / q30;
q1 = quat[1] / q30;
q2 = quat[2] / q30;
q3 = quat[3] / q30;
Pitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; // pitch
Roll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
Yaw = atan2(2*(q1*q2 + q0*q3),q0*q0+q1*q1-q2*q2-q3*q3) * 57.3; //yaw
*pitch_dmp = pitch_save= Pitch;
*roll_dmp = roll_save = Roll;
*yaw_dmp = yaw_save = Yaw;
*gyro_x = gdata[0]+ flashcontrol_read(GYROSCOPE_OFFSET);
*gyro_y = gyro_y_save = gyro[1];
*gyro_z = gyro_z_save = gyro[2];
return 0;//success
}
GyroscopeAngleSpeed = (gdata[0] + flashcontrol_read(GYROSCOPE_OFFSET)) *flashcontrol_read(GYROSCOPE_ANGLE_RATIO);
roll_save += GyroscopeAngleSpeed;
*pitch_dmp = pitch_save;
*roll_dmp = roll_save ;
*yaw_dmp = yaw_save ;
*gyro_x = gdata[0]+ flashcontrol_read(GYROSCOPE_OFFSET);
*gyro_y = gyro_y_save;
*gyro_z = gyro_z_save;
return 1;
}
/**
* @brief read single register value
* \param[in] instance instance of i2c moudle
* \param[in] chipAddr i2c slave addr
* \param[in] addr i2c slave register offset
* \param[out] data data pointer
* @note usually used on i2c sensor devices
* \retval 0 success
* \retval 1 failure
*/
int I2C_ReadSingleRegister(uint32_t instance, uint8_t chipAddr, uint8_t addr, uint8_t *data)
{
return I2C_BurstRead(instance, chipAddr, addr, 1, data, 1);
}
/**
* @brief 读取一个从机寄存器(寄存器地址在从机中必须为8位地址 如MMA845x等传感器设备)
* @code
* //使用i2c的1模块读取地址为0x55的从机中地址为0x01的数据，存储到data中
* I2C_WriteSingleRegister(HW_I2C1, 0x55, 0x01, &data);
* @endcode
* @param instance :I2C模块号
* @arg HW_I2C0 :I2C0模块
* @arg HW_I2C1 :I2C1模块
* @arg HW_I2C2 :I2C2模块
* @param deviceAddress :从机设备地址0~127
* @param registerAddress: 寄存器在从机中的地址
* @param pData: 数据指针
* @retval 0:成功 1:地址发送失败 2:数据发送失败
*/
uint8_t I2C_ReadSingleRegister(uint32_t instance, uint8_t deviceAddress, uint8_t registerAddress, uint8_t* pData)
{
return I2C_BurstRead(instance, deviceAddress, registerAddress, 1, pData, 1);
}
int MB85RC64_Read(uint16_t pos, uint8_t * buf, uint32_t len)
{
pos = BSWAP_16(pos);
return I2C_BurstRead(gInstance, MB85RC64_ADDR, pos, 2, buf, len);
}
