// gets raw z-gyro data
unsigned int getGyroZ()
{
unsigned int z;
unsigned char zH, zL;
zH = I2C_Read_Byte(g_ID, g_zH);
zL = I2C_Read_Byte(g_ID, g_zL);
z = ((zH << 8) | zL);
return z;
}
// gets raw y-gyro data
unsigned int getGyroY()
{
unsigned int y;
unsigned char yH, yL;
yH = I2C_Read_Byte(g_ID, g_yH);
yL = I2C_Read_Byte(g_ID, g_yL);
y = ((yH << 8) | yL);
return y;
}
// gets raw x-gyro data
unsigned int getGyroX()
{
unsigned int x;
unsigned char xH, xL;
xH = I2C_Read_Byte(g_ID, g_xH);
xL = I2C_Read_Byte(g_ID, g_xL);
x = ((xH << 8) | xL);
return x;
}
void m_updateZRaw()
{
float z;
unsigned char zH, zL;
zH = I2C_Read_Byte(m_ID, m_zH);
zL = I2C_Read_Byte(m_ID, m_zL);
z = ((zH << 8) | zL);
m_zRaw = z * m_scale;
}
void m_updateYRaw()
{
float y;
unsigned char yH, yL;
yH = I2C_Read_Byte(m_ID, m_yH);
yL = I2C_Read_Byte(m_ID, m_yL);
y = ((yH << 8) | yL);
m_yRaw = y * m_scale;
}
void m_updateXRaw()
{
float x;
unsigned char xH, xL;
xH = I2C_Read_Byte(m_ID, m_xH);
xL = I2C_Read_Byte(m_ID, m_xL);
x = ((xH << 8) | xL);
m_xRaw = x * m_scale;
}
void BH1750_Read(void)
{
I2C_Start(); //起始信号
I2C_Send_Byte(BH1750_Addr+1); //发送设备地址+读信号
while(I2C_Wait_Ack());
BH1750_Data_Buf[0]=I2C_Read_Byte(1); //发送ACK
BH1750_Data_Buf[1]=I2C_Read_Byte(0); //发送NACK
I2C_Stop(); //停止信号
Delay_NOP_ms(5);
}
uint8_t I2C_Read(uint8_t Slave_Addr, uint8_t REG_Address)
{
uint8_t REG_data;
I2C_Start();
I2C_Write_Byte(Slave_Addr);
I2C_Write_Byte(REG_Address);
I2C_Start();
I2C_Write_Byte(Slave_Addr+1);
REG_data=I2C_Read_Byte();
Sendack(1);
I2C_Stop();
return REG_data;
}
void read_RTC_I2c(unsigned char pos_memoria)
{
I2C_Idle();
I2C_Start();
I2C_Idle();
I2C_Write_Byte(0xD0); //address of DS1307.
I2C_Idle(); //Verifica e aguarda até o barramento I2C estar disponível.
I2C_Write_Byte(pos_memoria); // Position the address pointer to 0.
I2C_Idle(); //Verifica e aguarda até o barramento I2C estar disponível.
I2C_ReStart();
I2C_Idle(); //Verifica e aguarda até o barramento I2C estar disponível.
I2C_Write_Byte(0xD1); // Direction bit set to read.
I2C_Idle(); //Verifica e aguarda até o barramento I2C estar disponível.
leitura = I2C_Read_Byte();
I2C_Idle(); //Verifica e aguarda até o barramento I2C estar disponível.
I2C_Send_NACK();
I2C_Stop();
}
void Multiple_Read_HMC5883(HMC5883_DATA *dat)
{
uint8_t f;
I2C_Start();
I2C_Write_Byte(HMC5883_SLAVE_ADDR);
I2C_Write_Byte(0x03);
I2C_Start();
I2C_Write_Byte(HMC5883_SLAVE_ADDR+1);
for (f=0; f<6; f++)
{
((uint8_t *)dat)[f] = I2C_Read_Byte();
if (f == 5)
{
Sendack(1);
}
else
{
Sendack(0);
}
}
I2C_Stop();
}
uint16_t read_bh1750()
{
_DATA=0x0;
//Chon POWER_ON
I2C_Start(I2C1);
I2C_Write_Byte(I2C1,0x46);
I2C_Get_Ack(I2C1);
I2C_Write_Byte(I2C1,POWER_ON);
I2C_Get_Ack(I2C1);
I2C_Stop(I2C1);
delay_us(15000);
//Chon mode
I2C_Start(I2C1);
I2C_Write_Byte(I2C1,0x46);
I2C_Get_Ack(I2C1);
I2C_Write_Byte(I2C1,CONTINUOUS_HIGH_RES_MODE_1);
I2C_Get_Ack(I2C1);
I2C_Stop(I2C1);
delay_us(15000);
//Doc du lieu
I2C_Start(I2C1);
I2C_Write_Byte(I2C1,0x47);
I2C_Get_Ack(I2C1);
_BYTE_DATA_H=I2C_Read_Byte(I2C1);
I2C_Give_Ack(I2C1);
_BYTE_DATA_L=I2C_Read_Byte(I2C1);
I2C_Give_Ack(I2C1);
I2C_Stop(I2C1);
delay_us(15000);
_DATA|=_BYTE_DATA_H<<8;
_DATA|=_BYTE_DATA_L;
//RESET
I2C_Start(I2C1);
I2C_Write_Byte(I2C1,0x46);
I2C_Get_Ack(I2C1);
I2C_Write_Byte(I2C1,RESET);
I2C_Get_Ack(I2C1);
I2C_Stop(I2C1);
delay_us(15000);
//POWER_DOWN
I2C_Start(I2C1);
I2C_Write_Byte(I2C1,0x46);
I2C_Get_Ack(I2C1);
I2C_Write_Byte(I2C1,POWER_DOWN);
I2C_Get_Ack(I2C1);
I2C_Stop(I2C1);
delay_us(15000);
return _DATA;
}
