void i2c_init_early(void)
{
LTRACE_ENTRY;
/* enable clocks on i2c 0-2 */
RMWREG32(CM_FCLKEN1_CORE, 15, 3, 0x7),
RMWREG32(CM_ICLKEN1_CORE, 15, 3, 0x7),
i2c_reset_bus(0);
i2c_reset_bus(1);
i2c_reset_bus(2);
#if 0
// write something into a reg
char buf[2];
i2c_write_reg(0, 0x4b, 0x14, 0x99);
i2c_write_reg(0, 0x4b, 0x15, 0x98);
i2c_read_reg(0, 0x4b, 0x15, buf);
printf("0x%hhx\n", buf[0]);
i2c_read_reg(0, 0x4b, 0x14, buf);
printf("0x%hhx\n", buf[0]);
int i;
for (i=0; i < 255; i++) {
char buf[1];
buf[0] = i;
i2c_transmit(0, 0x4b, buf, 1);
i2c_receive(0, 0x4b, buf, sizeof(buf));
printf("0x%hhx\n", buf[0]);
}
#endif
LTRACE_EXIT;
}
//PS enable function
int pa12201001_enable_ps(struct i2c_client *client, int enable)
{
int res;
u8 regdata=0;
u8 sendvalue=0;
if(enable == 1) //PS ON
{
printk("pa12201001 enable ps sensor\n");
res=i2c_read_reg(client,REG_CFG0,®data); //Read Status
if(res<0){
APS_ERR("i2c_read function err\n");
return res;
}else{
//sendvalue=regdata & 0xFD; //clear bit
//sendvalue=sendvalue | 0x02; //0x02 PS Flag
sendvalue=regdata & 0xFC; //clear bit-0 & bit-1
sendvalue=sendvalue | 0x02; //0x02 PS On
res=i2c_write_reg(client,REG_CFG0,sendvalue); //Write PS enable
if(res<0){
APS_ERR("i2c_write function err\n");
return res;
}
res=i2c_read_reg(client,REG_CFG0,®data); //Read Status
APS_LOG("CFG0 Status: %d\n",regdata);
}
}else{ //PS OFF
printk("pa12201001 disable ps sensor\n");
res=i2c_read_reg(client,REG_CFG0,®data); //Read Status
if(res<0){
APS_ERR("i2c_read function err\n");
return res;
}else{
APS_LOG("CFG0 Status: %d\n",regdata);
//sendvalue=regdata & 0xFD; //clear bit
sendvalue=regdata & 0xFC; //clear bit-0 & bit-1
res=i2c_write_reg(client,REG_CFG0,sendvalue); //Write PS disable
if(res<0){
APS_ERR("i2c_write function err\n");
return res;
}
}
}
return 0;
}
static int
i2c_read(device_t dev, char *buf, int len, int *read, int last, int delay)
{
struct i2c_softc *sc;
int error, reg;
sc = device_get_softc(dev);
*read = 0;
mtx_lock(&sc->mutex);
if (len) {
if (len == 1)
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_MSTA | I2CCR_TXAK);
else
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_MSTA);
/* dummy read */
i2c_read_reg(sc, I2C_DATA_REG);
DELAY(1000);
}
while (*read < len) {
error = wait_for_icf(sc);
if (error) {
mtx_unlock(&sc->mutex);
return (error);
}
i2c_write_reg(sc, I2C_STATUS_REG, 0x0);
if ((*read == len - 2) && last) {
/* NO ACK on last byte */
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_MSTA | I2CCR_TXAK);
}
if ((*read == len - 1) && last) {
/* Transfer done, remove master bit */
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_TXAK);
}
reg = i2c_read_reg(sc, I2C_DATA_REG);
*buf++ = reg;
(*read)++;
}
mtx_unlock(&sc->mutex);
return (IIC_NOERR);
}
int tsl2561_init(tsl2561_t *dev,
i2c_t i2c, uint8_t addr, uint8_t gain, uint8_t integration)
{
dev->i2c_dev = i2c;
dev->addr = addr;
dev->gain = gain;
dev->integration = integration;
_print_init_info(dev);
/* Initialize I2C interface */
if (i2c_init_master(dev->i2c_dev, I2C_SPEED_NORMAL)) {
DEBUG("[Error] I2C device not enabled\n");
return TSL2561_NOI2C;
}
DEBUG("[Info] I2C device initialized with success!\n");
/* Acquire exclusive access */
i2c_acquire(dev->i2c_dev);
DEBUG("[Info] Access acquired !\n");
/* Verify sensor ID */
uint8_t id;
i2c_read_reg(dev->i2c_dev, dev->addr,
TSL2561_COMMAND_MODE | TSL2561_REGISTER_ID, &id);
DEBUG("[Info] ID ? %d\n", id);
if (id != TSL2561_ID ) {
DEBUG("[Error] not a TSL2561 sensor\n");
return TSL2561_BADDEV;
}
_enable(dev);
/* configuring gain and integration time */
i2c_write_reg(dev->i2c_dev, dev->addr,
TSL2561_COMMAND_MODE | TSL2561_REGISTER_TIMING,
dev->integration | dev->gain);
#if ENABLE_DEBUG
uint8_t timing;
i2c_read_reg(dev->i2c_dev, dev->addr,
TSL2561_COMMAND_MODE | TSL2561_REGISTER_TIMING, &timing);
DEBUG("[Info] Timing ? %d (expected: %d)\n",
timing, dev->integration | dev->gain);
#endif
_disable(dev);
return TSL2561_OK;
}
static int setup_pmic_voltages(void)
{
unsigned char value, rev_id = 0 ;
struct i2c_adapter *adapter = NULL;
struct i2c_client client;
int addr = -1, bus = 0;
/* I2C2 bus (2-1 = 1 in barebox numbering) */
bus = 1;
/* PFUZE100 device address is 0x08 */
addr = 0x08;
adapter = i2c_get_adapter(bus);
if (!adapter) {
pr_err("i2c bus %d not found\n", bus);
return -ENODEV;
}
client.adapter = adapter;
client.addr = addr;
/* Attempt to locate the PFUZE100 chip. */
if (i2c_read_reg(&client, 0x00, &value, 1) != 1) {
pr_err("Read device ID error!\n");
return -1;
}
if (i2c_read_reg(&client, 0x03, &rev_id, 1) != 1) {
pr_err("Read Rev ID error!\n");
return -1;
}
pr_info("Found PFUZE100! deviceid=%x,revid=%x\n", value, rev_id);
/* Set Gigabit Ethernet voltage (SOM v1.1/1.0)*/
value = 0x60;
if (i2c_write_reg(&client, 0x4a, &value, 1) != 1) {
pr_err("Set ETH error!\n");
return -EIO;
}
/* set VGEN3 to 2.5V */
value = 0x77;
if (i2c_write_reg(&client, 0x6e, &value, 1) != 1) {
pr_err("Set VGEN3 error!\n");
return -EIO;
}
return 0;
}
static int
i2c_read(device_t dev, char *buf, int len, int *read, int last, int delay)
{
struct i2c_softc *sc;
int error;
sc = device_get_softc(dev);
*read = 0;
mtx_lock(&sc->mutex);
if (len) {
if (len == 1)
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_MSTA | I2CCR_TXAK);
else
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_MSTA);
/* dummy read */
i2c_read_reg(sc, I2C_DATA_REG);
DELAY(1000);
}
while (*read < len) {
DELAY(1000);
error = i2c_do_wait(dev, sc, 0, 0);
if (error) {
mtx_unlock(&sc->mutex);
return (error);
}
if ((*read == len - 2) && last) {
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_MSTA | I2CCR_TXAK);
}
if ((*read == len - 1) && last) {
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_TXAK);
}
*buf++ = i2c_read_reg(sc, I2C_DATA_REG);
(*read)++;
DELAY(1250);
}
mtx_unlock(&sc->mutex);
return (IIC_NOERR);
}
/* Wait for transfer to complete, optionally check RXAK. */
static int
wait_for_xfer(struct i2c_softc *sc, int checkack)
{
int retry, sr;
/*
* Sleep for about the time it takes to transfer a byte (with precision
* set to tolerate 5% oversleep). We calculate the approximate byte
* transfer time when we set the bus speed divisor. Slaves are allowed
* to do clock-stretching so the actual transfer time can be larger, but
* this gets the bulk of the waiting out of the way without tying up the
* processor the whole time.
*/
pause_sbt("imxi2c", sc->byte_time_sbt, sc->byte_time_sbt / 20, 0);
retry = 10000;
while (retry --) {
sr = i2c_read_reg(sc, I2C_STATUS_REG);
if (sr & I2CSR_MIF) {
if (sr & I2CSR_MAL)
return (IIC_EBUSERR);
else if (checkack && (sr & I2CSR_RXAK))
return (IIC_ENOACK);
else
return (IIC_NOERR);
}
DELAY(1);
}
return (IIC_ETIMEOUT);
}
static int
i2c_do_wait(device_t dev, struct i2c_softc *sc, int write, int start)
{
int err;
uint8_t status;
status = i2c_read_reg(sc, I2C_STATUS_REG);
if (status & I2CSR_MIF) {
if (write && start && (status & I2CSR_RXAK)) {
debugf("no ack %s", start ?
"after sending slave address" : "");
err = IIC_ENOACK;
goto error;
}
if (status & I2CSR_MAL) {
debugf("arbitration lost");
err = IIC_EBUSERR;
goto error;
}
if (!write && !(status & I2CSR_MCF)) {
debugf("transfer unfinished");
err = IIC_EBUSERR;
goto error;
}
}
return (IIC_NOERR);
error:
i2c_write_reg(sc, I2C_STATUS_REG, 0x0);
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN | I2CCR_TXAK);
return (err);
}
static int cmd_i2c(int argc, const cmd_args *argv)
{
int err;
if (argc < 5) {
printf("not enough arguments\n");
usage:
printf("%s read_reg <bus> <i2c address> <register>\n", argv[0].str);
printf("%s write_reg <bus> <i2c address> <register> <val>\n", argv[0].str);
return -1;
}
int bus = argv[2].u;
uint8_t i2c_address = argv[3].u;
if (!strcmp(argv[1].str, "read_reg")) {
uint8_t reg = argv[4].u;
uint8_t val;
err = i2c_read_reg(bus, i2c_address, reg, &val);
printf("i2c_read_reg err %d, val 0x%hhx\n", err, val);
} else if (!strcmp(argv[1].str, "write_reg")) {
uint8_t reg = argv[4].u;
uint8_t val = argv[5].u;
err = i2c_write_reg(bus, i2c_address, reg, val);
printf("i2c_write_reg err %d\n", err);
} else {
printf("unrecognized subcommand\n");
goto usage;
}
return 0;
}
static int
i2c_start(device_t dev, u_char slave, int timeout)
{
struct i2c_softc *sc;
int error;
sc = device_get_softc(dev);
mtx_lock(&sc->mutex);
i2c_write_reg(sc, I2C_ADDR_REG, slave);
if (i2c_read_reg(sc, I2C_STATUS_REG) & I2CSR_MBB) {
mtx_unlock(&sc->mutex);
return (IIC_EBUSBSY);
}
/* Set start condition */
i2c_write_reg(sc, I2C_CONTROL_REG,
I2CCR_MEN | I2CCR_MSTA | I2CCR_TXAK);
DELAY(100);
i2c_write_reg(sc, I2C_CONTROL_REG,
I2CCR_MEN | I2CCR_MSTA | I2CCR_MTX | I2CCR_TXAK);
/* Clear status */
i2c_write_reg(sc, I2C_STATUS_REG, 0x0);
/* Write target address - LSB is R/W bit */
i2c_write_reg(sc, I2C_DATA_REG, slave);
error = wait_for_iif(sc);
mtx_unlock(&sc->mutex);
if (error)
return (error);
return (IIC_NOERR);
}
static int
i2c_start(device_t dev, u_char slave, int timeout)
{
struct i2c_softc *sc;
uint8_t status;
int error;
sc = device_get_softc(dev);
DELAY(1000);
mtx_lock(&sc->mutex);
status = i2c_read_reg(sc, I2C_STATUS_REG);
/* Check if bus is idle or busy */
if (status & I2CSR_MBB) {
debugf("bus busy");
mtx_unlock(&sc->mutex);
i2c_stop(dev);
return (IIC_EBUSBSY);
}
/* Set start condition */
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN | I2CCR_MSTA | I2CCR_MTX);
/* Write target address - LSB is R/W bit */
i2c_write_reg(sc, I2C_DATA_REG, slave);
DELAY(1250);
error = i2c_do_wait(dev, sc, 1, 1);
mtx_unlock(&sc->mutex);
if (error)
return (error);
return (IIC_NOERR);
}
int srf02_init(srf02_t *dev, i2c_t i2c, uint8_t addr)
{
dev->i2c = i2c;
dev->addr = (addr >> 1); /* internally we right align the 7-bit addr */
uint8_t rev;
/* Acquire exclusive access to the bus. */
i2c_acquire(dev->i2c);
/* initialize i2c interface */
if (i2c_init_master(dev->i2c, BUS_SPEED) < 0) {
DEBUG("[srf02] error initializing I2C bus\n");
return -1;
}
/* try to read the software revision (read the CMD reg) from the device */
i2c_read_reg(i2c, dev->addr, REG_CMD, &rev);
if (rev == 0 || rev == 255) {
i2c_release(dev->i2c);
DEBUG("[srf02] error reading the devices software revision\n");
return -1;
} else {
DEBUG("[srf02] software revision: 0x%02x\n", rev);
}
/* Release the bus for other threads. */
i2c_release(dev->i2c);
DEBUG("[srf02] initialization successful\n");
return 0;
}
BAREBOX_CMD_END
static int do_i2c_read(int argc, char *argv[])
{
struct i2c_adapter *adapter = NULL;
struct i2c_client client;
u8 *buf;
int count = -1, addr = -1, reg = -1, verbose = 0, ret, opt, bus = 0, wide = 0;
while ((opt = getopt(argc, argv, "a:b:c:r:v:w")) > 0) {
switch (opt) {
case 'a':
addr = simple_strtol(optarg, NULL, 0);
break;
case 'c':
count = simple_strtoul(optarg, NULL, 0);
break;
case 'b':
bus = simple_strtoul(optarg, NULL, 0);
break;
case 'r':
reg = simple_strtol(optarg, NULL, 0);
break;
case 'v':
verbose = 1;
break;
case 'w':
wide = 1;
break;
}
}
if ((addr < 0) || (reg < 0) || (count < 1) || (addr > 0x7F))
return COMMAND_ERROR_USAGE;
adapter = i2c_get_adapter(bus);
if (!adapter) {
printf("i2c bus %d not found\n", bus);
return -ENODEV;
}
client.adapter = adapter;
client.addr = addr;
buf = xmalloc(count);
ret = i2c_read_reg(&client, reg | (wide ? I2C_ADDR_16_BIT : 0), buf, count);
if (ret == count) {
int i;
if (verbose)
printf("read %i bytes starting at reg 0x%04x from i2cdev 0x%02x on bus %i\n",
count, reg, addr, adapter->nr);
for (i = 0; i < count; i++)
printf("0x%02x ", *(buf + i));
printf("\n");
ret = 0;
}
free(buf);
return ret;
}
static ssize_t txc_als_data_show(struct device *dev, struct device_attribute *attr,
char *buf)
{
struct i2c_client *client = to_i2c_client(dev);
int ret;
u8 msb, lsb;
u16 als_data;
ret = i2c_read_reg(client, REG_ALS_DATA_LSB, &lsb);
ret = i2c_read_reg(client, REG_ALS_DATA_MSB, &msb);
als_data = (msb << 8) | lsb;
printk("als data is %d \n", als_data);
return sprintf(buf, "%d\n", als_data);
}
int mc9sdz60_reg_read(struct mc9sdz60 *mc9sdz60, enum mc9sdz60_reg reg, u8 *val)
{
int ret;
ret = i2c_read_reg(mc9sdz60->client, reg, val, 1);
return ret == 1 ? 0 : ret;
}
static void set_ps_work_mode(struct i2c_client *client)
{
int ret = 0;
u8 data = 0;
ret = i2c_read_reg(client, REG_CFG2, &data);
ret = i2c_write_reg(client, REG_CFG2, data | PA12_INT_PS);
}
int mc34704_reg_read(struct mc34704 *mc34704, u8 reg, u8 *val)
{
int ret;
ret = i2c_read_reg(mc34704->client, reg, val, 1);
return ret == 1 ? 0 : ret;
}
static int
i2c_read(device_t dev, char *buf, int len, int *read, int last, int delay)
{
struct i2c_softc *sc;
int error, reg;
sc = device_get_softc(dev);
*read = 0;
if (len) {
if (len == 1)
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_MSTA | I2CCR_TXAK);
else
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_MSTA);
/* Dummy read to prime the receiver. */
i2c_write_reg(sc, I2C_STATUS_REG, 0x0);
i2c_read_reg(sc, I2C_DATA_REG);
}
error = 0;
*read = 0;
while (*read < len) {
if ((error = wait_for_xfer(sc, false)) != IIC_NOERR)
break;
i2c_write_reg(sc, I2C_STATUS_REG, 0x0);
if (last) {
if (*read == len - 2) {
/* NO ACK on last byte */
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_MSTA | I2CCR_TXAK);
} else if (*read == len - 1) {
/* Transfer done, signal stop. */
i2c_write_reg(sc, I2C_CONTROL_REG, I2CCR_MEN |
I2CCR_TXAK);
wait_for_busbusy(sc, false);
}
}
reg = i2c_read_reg(sc, I2C_DATA_REG);
*buf++ = reg;
(*read)++;
}
return (i2c_error_handler(sc, error));
}
int16 ad_ave1(int16 N) //均值滤波
{
int32 tmp = 0;
int16 lsb,msb;
int16 temp;
int16 i;
for(i = 0; i < N; i++)
{
msb=i2c_read_reg(I2C0,0x68,0x43);
lsb=i2c_read_reg(I2C0,0x68,0x44);
temp=msb<<8|lsb;
tmp+=temp;
lptmr_delay_ms(5);
}
tmp = tmp / N;
return (int16)tmp;
}
int stmpe_reg_read(struct stmpe *stmpe, u32 reg, u8 *val)
{
int ret;
ret = i2c_read_reg(stmpe->client, reg, val, 1);
return ret == 1 ? 0 : ret;
}
//Read ALS Count : 16 bit
int pa12201001_read_als(struct i2c_client *client, u16 *data)
{
int res;
u8 LSB = 0;
u8 MSB = 0;
// APS_FUN(f);
res = i2c_read_reg(client, REG_ALS_DATA_LSB, &LSB); //Read PS Data
res = i2c_read_reg(client, REG_ALS_DATA_MSB, &MSB); //Read PS Data
*data = (MSB << 8) | LSB;
//psdata = i2c_smbus_read_byte_data(client, REG_PS_DATA);
if(res < 0){
APS_ERR("i2c_send function err\n");
}
return res;
}
int act8846_reg_read(struct act8846 *act8846, enum act8846_reg reg, u8 *val)
{
int ret;
ret = i2c_read_reg(act8846->client, reg, val, 1);
return ret == 1 ? 0 : ret;
}
static __inline void
i2c_flag_set(struct i2c_softc *sc, bus_size_t off, uint8_t mask)
{
uint8_t status;
status = i2c_read_reg(sc, off);
status |= mask;
i2c_write_reg(sc, off, status);
}
int isl29125_init(isl29125_t *dev, i2c_t i2c, gpio_t gpio,
isl29125_mode_t mode, isl29125_range_t range,
isl29125_resolution_t resolution)
{
DEBUG("isl29125_init\n");
/* initialize device descriptor */
dev->i2c = i2c;
dev->res = resolution;
dev->range = range;
dev->gpio = gpio;
/* configuration 1: operation mode, range, resolution */
uint8_t conf1 = 0x00;
conf1 |= mode;
conf1 |= range;
conf1 |= resolution;
conf1 |= ISL29125_CON1_SYNCOFF; /* TODO: implement SYNC mode configuration */
/* TODO: implement configuration 2: infrared compensation configuration */
/* acquire exclusive access to the bus */
DEBUG("isl29125_init: i2c_acquire\n");
(void) i2c_acquire(dev->i2c);
/* initialize the I2C bus */
DEBUG("isl29125_init: i2c_init_master\n");
(void) i2c_init_master(i2c, I2C_SPEED_NORMAL);
/* verify the device ID */
DEBUG("isl29125_init: i2c_read_reg\n");
uint8_t reg_id;
int ret = i2c_read_reg(dev->i2c, ISL29125_I2C_ADDRESS, ISL29125_REG_ID, ®_id);
if ((reg_id == ISL29125_ID) && (ret == 1)) {
DEBUG("isl29125_init: ID successfully verified\n");
}
else {
DEBUG("isl29125_init: ID could not be verified, ret: %i\n", ret);
(void) i2c_release(dev->i2c);
return -1;
}
/* configure and enable the sensor */
DEBUG("isl29125_init: i2c_write_reg(ISL29125_REG_RESET)\n");
(void) i2c_write_reg(dev->i2c, ISL29125_I2C_ADDRESS, ISL29125_REG_RESET, ISL29125_CMD_RESET);
DEBUG("isl29125_init: i2c_write_reg(ISL29125_REG_CONF1)\n");
(void) i2c_write_reg(dev->i2c, ISL29125_I2C_ADDRESS, ISL29125_REG_CONF1, conf1);
/* release the I2C bus */
DEBUG("isl29125_init: i2c_release\n");
(void) i2c_release(dev->i2c);
DEBUG("isl29125_init: success\n");
return 0;
}
static int twl4030_usb_read(uint8_t address)
{
uint8_t data;
int err = i2c_read_reg(TWL_I2C_BUS, TWL_USB_ADDR, address, &data);
if (err < 0)
return err;
return data;
}
int lps331ap_read_temp(const lps331ap_t *dev)
{
uint8_t tmp;
int16_t val = 0;
float res = TEMP_BASE; /* reference value -> see datasheet */
i2c_acquire(dev->i2c);
i2c_read_reg(dev->i2c, dev->address, LPS331AP_REG_TEMP_OUT_L, &tmp);
val |= tmp;
i2c_read_reg(dev->i2c, dev->address, LPS331AP_REG_TEMP_OUT_H, &tmp);
i2c_release(dev->i2c);
val |= ((uint16_t)tmp << 8);
/* compute actual temperature value in °C */
res += ((float)val) / TEMP_DIVIDER;
/* return temperature in m°C */
return (int)(res * 1000);
}
int isl29020_read(const isl29020_t *dev)
{
uint8_t low, high;
uint16_t res;
int ret;
i2c_acquire(DEV_I2C);
/* read lighting value */
ret = i2c_read_reg(DEV_I2C, DEV_ADDR, ISL29020_REG_LDATA, &low, 0);
ret += i2c_read_reg(DEV_I2C, DEV_ADDR, ISL29020_REG_HDATA, &high, 0);
i2c_release(DEV_I2C);
if (ret < 0) {
return -1;
}
res = (high << 8) | low;
DEBUG("ISL29020: Raw value: %i - high: %i, low: %i\n", res, high, low);
/* calculate and return the actual lux value */
return (int)(dev->lux_fac * res);
}
static int mc13892_i2c_reg_read(struct mc13892 *mc13892, enum mc13892_reg reg, u32 *val)
{
u8 buf[3];
int ret;
ret = i2c_read_reg(mc13892->client, reg, buf, 3);
*val = buf[0] << 16 | buf[1] << 8 | buf[2] << 0;
return ret == 3 ? 0 : ret;
}
int mpu9150_init(mpu9150_t *dev, i2c_t i2c, mpu9150_hw_addr_t hw_addr,
mpu9150_comp_addr_t comp_addr)
{
char temp;
dev->i2c_dev = i2c;
dev->hw_addr = hw_addr;
dev->comp_addr = comp_addr;
dev->conf = DEFAULT_STATUS;
/* Initialize I2C interface */
if (i2c_init_master(dev->i2c_dev, I2C_SPEED_FAST)) {
DEBUG("[Error] I2C device not enabled\n");
return -1;
}
/* Acquire exclusive access */
i2c_acquire(dev->i2c_dev);
/* Reset MPU9150 registers and afterwards wake up the chip */
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_RESET);
hwtimer_wait(HWTIMER_TICKS(MPU9150_RESET_SLEEP_US));
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_WAKEUP);
/* Release the bus, it is acquired again inside each function */
i2c_release(dev->i2c_dev);
/* Set default full scale ranges and sample rate */
mpu9150_set_gyro_fsr(dev, MPU9150_GYRO_FSR_2000DPS);
mpu9150_set_accel_fsr(dev, MPU9150_ACCEL_FSR_2G);
mpu9150_set_sample_rate(dev, MPU9150_DEFAULT_SAMPLE_RATE);
/* Disable interrupt generation */
i2c_acquire(dev->i2c_dev);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_INT_ENABLE_REG, REG_RESET);
/* Initialize magnetometer */
if (compass_init(dev)) {
i2c_release(dev->i2c_dev);
return -2;
}
/* Release the bus, it is acquired again inside each function */
i2c_release(dev->i2c_dev);
mpu9150_set_compass_sample_rate(dev, 10);
/* Enable all sensors */
i2c_acquire(dev->i2c_dev);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_1_REG, MPU9150_PWR_PLL);
i2c_read_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, &temp);
temp &= ~(MPU9150_PWR_ACCEL | MPU9150_PWR_GYRO);
i2c_write_reg(dev->i2c_dev, dev->hw_addr, MPU9150_PWR_MGMT_2_REG, temp);
i2c_release(dev->i2c_dev);
hwtimer_wait(HWTIMER_TICKS(MPU9150_PWR_CHANGE_SLEEP_US));
return 0;
}
/*******************************************************************************
* Function Name : Acc_read()
* Description : read acceletate data
* Input : buf to save acc data
* Output : None
* Return : None
* Editor ：wenhai
***************************************************************************/
void Acc_read()
{
static unsigned int temp[6];
temp[0] = i2c_read_reg(I2C0, SlaveAddress8700, OUT_X_MSB_REG);
i2c_delay();
temp[1] = i2c_read_reg(I2C0, SlaveAddress8700, OUT_X_LSB_REG);
i2c_delay();
//temp[2] = i2c_read_reg(I2C0,SlaveAddress8700,OUT_Y_MSB_REG);
// i2c_delay();
// temp[3] = i2c_read_reg(I2C0,SlaveAddress8700,OUT_Y_LSB_REG);
// i2c_delay();
temp[4] = i2c_read_reg(I2C0, SlaveAddress8700, OUT_Z_MSB_REG);
i2c_delay();
temp[5] = i2c_read_reg(I2C0, SlaveAddress8700, OUT_Z_LSB_REG);
i2c_delay();
Acc_data.x = ((int16)((0x0000 | (temp[0] << 8)) + temp[1])) - 140;
// Acc_datas.y = ((int16)((0x0000 | (temp[2]<<8)) + temp[3]))-65;
Acc_data.z = ((int16)((0x0000 | (temp[4] << 8)) + temp[5]));
}