static uint16_t readRegister(uint8_t i2cAddress, uint8_t reg) {
Wire.beginTransmission(i2cAddress);
i2cwrite(ADS1015_REG_POINTER_CONVERT);
Wire.endTransmission();
Wire.requestFrom(i2cAddress, (uint8_t)2);
return ((i2cread() << 8) | i2cread());
}
void Adafruit_MPL115A2::getPT(float *P, float *T) {
uint16_t pressure, temp;
float pressureComp;
// Get raw pressure and temperature settings
Wire.beginTransmission(MPL115A2_ADDRESS);
i2cwrite((uint8_t)MPL115A2_REGISTER_STARTCONVERSION);
i2cwrite((uint8_t)0x00);
Wire.endTransmission();
// Wait a bit for the conversion to complete (3ms max)
delay(5);
Wire.beginTransmission(MPL115A2_ADDRESS);
i2cwrite((uint8_t)MPL115A2_REGISTER_PRESSURE_MSB); // Register
Wire.endTransmission();
Wire.requestFrom(MPL115A2_ADDRESS, 4);
pressure = (( (uint16_t) i2cread() << 8) | i2cread()) >> 6;
temp = (( (uint16_t) i2cread() << 8) | i2cread()) >> 6;
// See datasheet p.6 for evaluation sequence
pressureComp = _mpl115a2_a0 + (_mpl115a2_b1 + _mpl115a2_c12 * temp ) * pressure + _mpl115a2_b2 * temp;
// Return pressure and temperature as floating point values
*P = ((65.0F / 1023.0F) * pressureComp) + 50.0F; // kPa
*T = ((float) temp - 498.0F) / -5.35F +25.0F; // C
}
static int16_t read16(uint8_t reg) {
Wire.beginTransmission(ADXL345_ADDRESS);
i2cwrite(reg);
Wire.endTransmission();
Wire.requestFrom(ADXL345_ADDRESS, 2);
return (int16_t)(i2cread() | (i2cread() << 8));
}
int hmc5883_read(char *buffer)
{
// char data[1];
char tmp[1];
short i;
// data[0]=0x01;
i2cread(HMC5983_ADDRESS,ADDR_STATUS,1,tmp);
if(tmp[0] & 0x1 == 1){
for(i=0;i<6;i++)
i2cread(HMC5983_ADDRESS,(ADDR_DATA_OUT_X_MSB+i),1,&buffer[i]);
return 1;
}
return 0;
}
int16_t ADXL345::read16(uint8_t reg) {
if (_i2c) {
Wire.beginTransmission(ADXL345_ADDRESS);
i2cwrite(reg);
Wire.endTransmission();
Wire.requestFrom(ADXL345_ADDRESS, 2);
return (uint16_t)(i2cread() | (i2cread() << 8));
} else {
reg |= 0x80 | 0x40; // read byte | multibyte
digitalWrite(_cs, LOW);
spixfer(_clk, _di, _do, reg);
uint16_t reply = spixfer(_clk, _di, _do, 0xFF) | (spixfer(_clk, _di, _do, 0xFF) << 8);
digitalWrite(_cs, HIGH);
return reply;
}
}
int16_t Adafruit_ADXL345_Unified::read16(uint8_t reg) {
// if (_i2c) {
TinyWireM.beginTransmission(ADXL345_ADDRESS);
i2cwrite(reg);
TinyWireM.endTransmission();
TinyWireM.requestFrom(ADXL345_ADDRESS, 2);
return (uint16_t)(i2cread() | (i2cread() << 8));
// } else {
// reg |= 0x80 | 0x40; // read byte | multibyte
// digitalWrite(_cs, LOW);
// spixfer(_clk, _di, _do, reg);
// uint16_t reply = spixfer(_clk, _di, _do, 0xFF) | (spixfer(_clk, _di, _do, 0xFF) << 8);
// digitalWrite(_cs, HIGH);
// return reply;
// }
}
static uint8_t readRegister(uint8_t reg) {
Wire.beginTransmission(ADXL345_ADDRESS);
i2cwrite(reg);
Wire.endTransmission();
Wire.requestFrom(ADXL345_ADDRESS, 1);
return (i2cread());
}
// 获取加速度零漂偏移量
void Get_Accel_Bias(void)
{
uint32_t i;
int16_t accel[3];
uint8_t data_write[6];
float accel_x = 0, accel_y = 0, accel_z = 0;
static int16_t count2 = 0;
// 取2000次数据
for(i = 0; i < 2000; i++)
{
if(!i2cread(MPU6050_Addr2, ACCEL_XOUT_H, 14, data_write))
{
// 获取三轴数据
accel[0] = (((int16_t)data_write[0])<<8) | data_write[1];
accel[1] = (((int16_t)data_write[2])<<8) | data_write[3];
accel[2] = (((int16_t)data_write[4])<<8) | data_write[5];
accel_x += accel[0];
accel_y += accel[1];
accel_z += accel[2];
// 记录有效次数
count2++;
}
}
// 求平均值得到零漂偏移量
Accel_Xout_Offset = (float)accel_x / count2;
Accel_Yout_Offset = (float)accel_y / count2;
Accel_Zout_Offset = (float)accel_z / count2;
}
// 获取角速度零漂偏移量
void Get_Gyro_Bias(void)
{
uint16_t i;
int16_t gyro[3];
int32_t gyro_x = 0, gyro_y = 0, gyro_z = 0;
static int16_t count = 0;
uint8_t data_write[6];
// 取2000次数据
for(i = 0; i < 2000; i++)
{
if(!i2cread(MPU6050_Addr2, GYRO_XOUT_H, 6, data_write))
{
// 获取三轴数据
gyro[0] = ((((int16_t)data_write[0])<<8) | data_write[1]);
gyro[1] = ((((int16_t)data_write[2])<<8) | data_write[3]);
gyro[2] = ((((int16_t)data_write[4])<<8) | data_write[5]);
gyro_x += gyro[0];
gyro_y += gyro[1];
gyro_z += gyro[2];
// 记录有效次数
count++;
}
}
// 求平均值得到零漂偏移量
Gyro_Xout_Offset = (float)gyro_x / count;
Gyro_Yout_Offset = (float)gyro_y / count;
Gyro_Zout_Offset = (float)gyro_z / count;
}
uint8_t Adafruit_CAP1188::readRegister(uint8_t reg) {
if (_i2c) {
Wire.beginTransmission(_i2caddr);
i2cwrite(reg);
Wire.endTransmission();
Wire.requestFrom(_i2caddr, 1);
return (i2cread());
} else {
if (_clk == -1) {
//SPCRback = SPCR;
//SPCR = mySPCR;
}
digitalWrite(_cs, LOW);
// set address
spixfer(0x7D);
spixfer(reg);
digitalWrite(_cs, HIGH);
digitalWrite(_cs, LOW);
spixfer(0x7F);
uint8_t reply = spixfer(0);
digitalWrite(_cs, HIGH);
if (_clk == -1) {
//SPCR = SPCRback;
}
return reply;
}
}
uint8_t Adafruit_MMA8451::readRegister8(uint8_t reg) {
Wire.beginTransmission(_i2caddr);
i2cwrite(reg);
Wire.endTransmission(false); // MMA8451 + friends uses repeated start!!
Wire.requestFrom(_i2caddr, 1);
if (! Wire.available()) return -1;
return (i2cread());
}
// 采集传感器数据
void Get_AHRS_Data(void)
{
int16_t gyro[3], accel[3];
uint8_t data_write[14];
// 获取加速度和角速度
if(!i2cread(MPU6050_Addr2, ACCEL_XOUT_H, 14, data_write))
{
accel[0] = (((int16_t)data_write[0])<<8) | data_write[1];
accel[1] = (((int16_t)data_write[2])<<8) | data_write[3];
accel[2] = (((int16_t)data_write[4])<<8) | data_write[5];
gyro[0] = (((int16_t)data_write[8])<<8) | data_write[9];
gyro[1] = (((int16_t)data_write[10])<<8) | data_write[11];
gyro[2] = (((int16_t)data_write[12])<<8) | data_write[13];
// 零漂处理及单位转换
init_ax = (float)(accel[0] - Accel_Xout_Offset) / Accel_4_Scale_Factor;
init_ay = (float)(accel[1] - Accel_Yout_Offset) / Accel_4_Scale_Factor;
init_az = (float)(accel[2] + (Accel_4_Scale_Factor - Accel_Zout_Offset)) / Accel_4_Scale_Factor;
init_gx = ((float)gyro[0] - Gyro_Xout_Offset) / Gyro_500_Scale_Factor / ARC_TO_DEG;
init_gy = ((float)gyro[1] - Gyro_Yout_Offset) / Gyro_500_Scale_Factor / ARC_TO_DEG;
init_gz = ((float)gyro[2] - Gyro_Zout_Offset) / Gyro_500_Scale_Factor / ARC_TO_DEG;
}
// 获取磁通量
if(!i2cread(HMC5883L_Addr2, HMC5883L_XOUT_MSB, 6, data_write))
{
init_mx = (data_write[0] << 8) | data_write[1];
init_my = (data_write[4] << 8) | data_write[5];
init_mz = (data_write[2] << 8) | data_write[3];
// 补码处理及单位转换
if(init_mx > 0x7fff) init_mx-=0xffff;
if(init_my > 0x7fff) init_my-=0xffff;
if(init_mz > 0x7fff) init_mz-=0xffff;
init_mx /= 1090.0f;
init_my /= 1090.0f;
init_mz /= 1090.0f;
}
}
uint8_t ADXL345::readRegister(uint8_t reg) {
if (_i2c) {
Wire.beginTransmission(ADXL345_ADDRESS);
i2cwrite(reg);
Wire.endTransmission();
Wire.requestFrom(ADXL345_ADDRESS, 1);
return (i2cread());
} else {
reg |= 0x80; // read byte
digitalWrite(_cs, LOW);
spixfer(_clk, _di, _do, reg);
uint8_t reply = spixfer(_clk, _di, _do, 0xFF);
digitalWrite(_cs, HIGH);
return reply;
}
}
uint8_t Adafruit_ADXL345_Unified::readRegister(uint8_t reg) {
// if (_i2c) {
TinyWireM.beginTransmission(ADXL345_ADDRESS);
i2cwrite(reg);
TinyWireM.endTransmission();
TinyWireM.requestFrom(ADXL345_ADDRESS, 1);
return (i2cread());
// } else {
// reg |= 0x80; // read byte
// digitalWrite(_cs, LOW);
// spixfer(_clk, _di, _do, reg);
// uint8_t reply = spixfer(_clk, _di, _do, 0xFF);
// digitalWrite(_cs, HIGH);
// return reply;
// }
}
void Adafruit_MPL115A2::readCoefficients() {
int16_t a0coeff;
int16_t b1coeff;
int16_t b2coeff;
int16_t c12coeff;
Wire.beginTransmission(MPL115A2_ADDRESS);
i2cwrite((uint8_t)MPL115A2_REGISTER_A0_COEFF_MSB);
Wire.endTransmission();
Wire.requestFrom(MPL115A2_ADDRESS, 8);
a0coeff = (( (uint16_t) i2cread() << 8) | i2cread());
b1coeff = (( (uint16_t) i2cread() << 8) | i2cread());
b2coeff = (( (uint16_t) i2cread() << 8) | i2cread());
c12coeff = (( (uint16_t) (i2cread() << 8) | i2cread())) >> 2;
/*
Serial.print("A0 = "); Serial.println(a0coeff, HEX);
Serial.print("B1 = "); Serial.println(b1coeff, HEX);
Serial.print("B2 = "); Serial.println(b2coeff, HEX);
Serial.print("C12 = "); Serial.println(c12coeff, HEX);
*/
_mpl115a2_a0 = (float)a0coeff / 8;
_mpl115a2_b1 = (float)b1coeff / 8192;
_mpl115a2_b2 = (float)b2coeff / 16384;
_mpl115a2_c12 = (float)c12coeff;
_mpl115a2_c12 /= 4194304.0;
/*
Serial.print("a0 = "); Serial.println(_mpl115a2_a0);
Serial.print("b1 = "); Serial.println(_mpl115a2_b1);
Serial.print("b2 = "); Serial.println(_mpl115a2_b2);
Serial.print("c12 = "); Serial.println(_mpl115a2_c12);
*/
}
int ADXL345::Read(int address, int length, uint8_t *buffer) {
return i2cread(m_Address, address, length, buffer);
}
