/** write a single bit in an 8-bit device register.
* @param slaveAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitNum Bit position to write (0-7)
* @param value New bit value to write
*/
void MPU6050_WriteBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data)
{
uint8_t tmp;
MPU6050_I2C_BufferRead(slaveAddr, &tmp, regAddr, 1);
tmp = (data != 0) ? (tmp | (1 << bitNum)) : (tmp & ~(1 << bitNum));
MPU6050_I2C_ByteWrite(slaveAddr,&tmp,regAddr);
}
void KumpasOku(s16* AccelGyro)
{
int i;
u8 tmpBuffer[14];
MPU6050_I2C_BufferRead(MPU6050_DEFAULT_ADDRESS, tmpBuffer, 0x3B, 0);
/**
* @brief Reads a block of data from the MPU6050.
* @param slaveAddr : slave address MPU6050_DEFAULT_ADDRESS
* @param pBuffer : pointer to the buffer that receives the data read from the MPU6050.
* @param readAddr : MPU6050's internal address to read from.
* @param NumByteToRead : number of bytes to read from the MPU6050 ( NumByteToRead >1 only for the Mgnetometer readinf).
* @return None
*/
/* Get acceleration */
for(i=0; i<3; i++)
AccelGyro[i]=((s16)((u16)tmpBuffer[2*i] << 8) + tmpBuffer[2*i+1]);
/* Get Angular rate */
for(i=4; i<7; i++)
AccelGyro[i-1]=((s16)((u16)tmpBuffer[2*i] << 8) + tmpBuffer[2*i+1]);
}
/** Get raw 6-axis motion sensor readings (accel/gyro).
* Retrieves all currently available motion sensor values.
* @param AccelGyro 16-bit signed integer array of length 6
* @see MPU6050_RA_ACCEL_XOUT_H
*/
void MPU6050_GetRawAccelGyro(s16* AccelGyro)
{
u8 tmpBuffer[14];
MPU6050_I2C_BufferRead(MPU6050_DEFAULT_ADDRESS, tmpBuffer, MPU6050_RA_ACCEL_XOUT_H, 14);
/* Get acceleration */
for(int i=0; i<3; i++)
AccelGyro[i]=((s16)((u16)tmpBuffer[2*i] << 8) + tmpBuffer[2*i+1]);
/* Get Angular rate */
for(int i=4; i<7; i++)
AccelGyro[i-1]=((s16)((u16)tmpBuffer[2*i] << 8) + tmpBuffer[2*i+1]);
}
/** Read multiple bits from an 8-bit device register.
* @param slaveAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitStart First bit position to read (0-7)
* @param length Number of bits to read (not more than 8)
* @param data Container for right-aligned value (i.e. '101' read from any bitStart position will equal 0x05)
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in readTimeout)
*/
void MPU6050_ReadBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data)
{
// 01101001 read byte
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 010 masked
// -> 010 shifted
uint8_t tmp;
MPU6050_I2C_BufferRead(slaveAddr, &tmp, regAddr, 1);
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
tmp &= mask;
tmp >>= (bitStart - length + 1);
*data = tmp;
}
/** Write multiple bits in an 8-bit device register.
* @param slaveAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitStart First bit position to write (0-7)
* @param length Number of bits to write (not more than 8)
* @param data Right-aligned value to write
*/
void MPU6050_WriteBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data)
{
// 010 value to write
// 76543210 bit numbers
// xxx args: bitStart=4, length=3
// 00011100 mask byte
// 10101111 original value (sample)
// 10100011 original & ~mask
// 10101011 masked | value
uint8_t tmp;
MPU6050_I2C_BufferRead(slaveAddr, &tmp, regAddr, 1);
uint8_t mask = ((1 << length) - 1) << (bitStart - length + 1);
data <<= (bitStart - length + 1); // shift data into correct position
data &= mask; // zero all non-important bits in data
tmp &= ~(mask); // zero all important bits in existing byte
tmp |= data; // combine data with existing byte
MPU6050_I2C_ByteWrite(slaveAddr,&tmp,regAddr);
}
/** Write multiple bits in an 8-bit device register.
* @param slaveAddr I2C slave device address
* @param regAddr Register regAddr to write to
* @param bitStart First bit position to write (0-7)
* @param length Number of bits to write (not more than 8)
* @param data Right-aligned value to write
*/
void MPU6050_WriteBits( uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data )
{
/*
* 010 value to write
* 76543210 bit numbers
* xxx args: bitStart=4, length=3
* 00011100 mask byte
* 10101111 original value (sample)
* 10100011 original & ~mask
* 10101011 masked | value
*/
uint8_t tmp, mask;
MPU6050_I2C_BufferRead( slaveAddr, &tmp, regAddr, 1 );
mask = ( (1 << length) - 1) << (bitStart - length + 1);
data <<= (bitStart - length + 1); /* shift data into correct position */
data &= mask; /* zero all non-important bits in data */
tmp &= ~(mask); /* zero all important bits in existing byte */
tmp |= data; /* combine data with existing byte */
MPU6050_I2C_ByteWrite( slaveAddr, &tmp, regAddr );
}
/** Get raw 6-axis motion sensor readings (accel/gyro).
* Retrieves all currently available motion sensor values.
* @param AccelGyro 16-bit signed integer array of length 6
* @see MPU6050_RA_ACCEL_XOUT_H
*/
void MPU9150_GetRawAccelGyro(s16* AccelGyro,s16* Magne)
{
u8 tmpBuffer_6050[14];
//u8 tmpBuffer_8975[6];
u8 ReadData = 0x00;
MPU6050_I2C_BufferRead(MPU6050_DEFAULT_ADDRESS, tmpBuffer_6050, MPU6050_RA_ACCEL_XOUT_H, 14);
//MPU6050_ReadBit(AK8975_I2C_ADDR, AK8975_ST1, 0, &ReadData);
/*
if (ReadData == 1) {
MPU6050_I2C_BufferRead(AK8975_I2C_ADDR, tmpBuffer_8975,AK8975_HXL, 6);
MPU6050_WriteBits(AK8975_I2C_ADDR,AK8975_CNTL, 3,4, 0x01); // Set Single Measurement Mode
}
/* Get acceleration */
for(int i=0; i<3; i++)
AccelGyro[i]=((s16)((u16)tmpBuffer_6050[2*i] << 8) + tmpBuffer_6050[2*i+1]);
/* Get Angular rate */
for(int i=4; i<7; i++)
AccelGyro[i-1]=((s16)((u16)tmpBuffer_6050[2*i] << 8) + tmpBuffer_6050[2*i+1]);
/* Get magne rate */
//for(int i=0; i<3; i++)
//Magne[i]=((s16)((u16)tmpBuffer_8975[2*i+1] << 8) + tmpBuffer_8975[2*i]);
}
/** Read a single bit from an 8-bit device register.
* @param slaveAddr I2C slave device address
* @param regAddr Register regAddr to read from
* @param bitNum Bit position to read (0-7)
* @param data Container for single bit value
* @param timeout Optional read timeout in milliseconds (0 to disable, leave off to use default class value in readTimeout)
*/
void MPU6050_ReadBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data)
{
uint8_t tmp;
MPU6050_I2C_BufferRead(slaveAddr, &tmp, regAddr, 1);
*data = tmp & (1 << bitNum);
}
