/*********************************************************************
* Function: getsI2C()
* Input: array pointer, Length.
* Overview: read Length number of Bytes into array
********************************************************************/
unsigned int getsI2C(unsigned char *rdptr, unsigned char Length)
{
while (Length --)
{
*rdptr++ = getI2C(); //get a single byte
if(I2C1STATbits.BCL) //Test for Bus collision
{
return(-1);
}
if(Length)
{
AckI2C(); //Acknowledge until all read
}
}
return(0);
}
/*
* Gyro i2c interface, Read/Write
*/
UINT8 Gyro_I2C_R(UINT8 Address)
{
UINT8 Data;
IdleI2C(); //wait for bus Idle
StartI2C(); //Generate Start Condition
WriteI2C(Gyro_MPU6050_Address); //Write Control Byte
IdleI2C(); //wait for bus Idle
WriteI2C(Address); //Write start address
IdleI2C(); //wait for bus Idle
RestartI2C(); //Generate restart condition
WriteI2C(Gyro_MPU6050_Address | 0x01); //Write control byte for read
IdleI2C(); //wait for bus Idle
Data = getI2C(); //read Length number of bytes
NotAckI2C(); //Send Not Ack
StopI2C(); //Generate Stop
return Data;
}