uint16_t readSensor(int SLAVE_READ_ADDRESS,int SLAVE_WRITE_ADDRESS) {
int8_t success = FALSE;
uint16_t data = 0;
do {
// Send the start bit with the restart flag low
if(!I2C_startTransfer(ENCODER_I2C_ID, I2C_WRITE )){
#ifdef DEBUG
printf("FAILED initial transfer!\n");
#endif
break;
}
// Transmit the slave's address to notify it
if (!I2C_sendData(ENCODER_I2C_ID, SLAVE_WRITE_ADDRESS))
break;
// Tranmit the read address module
if(!I2C_sendData(ENCODER_I2C_ID,SLAVE_ANGLE_ADDRESS)){
#ifdef DEBUG
printf("Error: Sent byte was not acknowledged\n");
#endif
break;
}
// Send a Repeated Started condition
if(!I2C_startTransfer(ENCODER_I2C_ID,I2C_READ)){
#ifdef DEBUG
printf("FAILED Repeated start!\n");
#endif
break;
}
// Transmit the address with the READ bit set
if (!I2C_sendData(ENCODER_I2C_ID, SLAVE_READ_ADDRESS))
break;
// Read the I2C bus twice
data = (I2C_getData(ENCODER_I2C_ID) << 6);
I2C_acknowledgeRead(ENCODER_I2C_ID, TRUE);
while(!I2C_hasAcknowledged(ENCODER_I2C_ID));
data |= (I2C_getData(ENCODER_I2C_ID) & 0x3F);
// Send the stop bit to finish the transfer
I2C_stopTransfer(ENCODER_I2C_ID);
success = TRUE;
} while(0);
if (!success) {
#ifdef DEBUG
printf("Data transfer unsuccessful.\n");
#endif
return FALSE;
}
return data;
}
static uint16_t readDevice(uint8_t deviceReadAddress, uint8_t deviceWriteAddress, uint8_t dataAddress) {
char success = FALSE;
uint16_t data = 0;
do {
// Send the start bit with the restart flag low
if(!I2C_startTransfer(ENCODER_I2C_ID, I2C_WRITE )){
DBPRINT("Encoder: FAILED initial transfer!\n");
break;
}
// Transmit the slave's address to notify it
if (!I2C_sendData(ENCODER_I2C_ID, deviceWriteAddress))
break;
// Tranmit the read address module
if(!I2C_sendData(ENCODER_I2C_ID, dataAddress)){
DBPRINT("Encoder: Error: Sent byte was not acknowledged\n");
break;
}
// Send a Repeated Started condition
if(!I2C_startTransfer(ENCODER_I2C_ID,I2C_READ)){
DBPRINT("Encoder: FAILED Repeated start!\n");
break;
}
// Transmit the address with the READ bit set
if (!I2C_sendData(ENCODER_I2C_ID, deviceReadAddress))
break;
// Read the I2C bus twice
data = (I2C_getData(ENCODER_I2C_ID) << 6);
I2C_acknowledgeRead(ENCODER_I2C_ID, TRUE);
while(!I2C_hasAcknowledged(ENCODER_I2C_ID));
data |= (I2C_getData(ENCODER_I2C_ID) & 0x3F);
// Send the stop bit to finish the transfer
I2C_stopTransfer(ENCODER_I2C_ID);
success = TRUE;
} while(0);
if (!success) {
DBPRINT("Encoder: Data transfer unsuccessful.\n");
return FALSE;
}
return data;
}