int16_t gyro_read_axis(uint8_t axis){
/*i2c_send_start();
i2c_send_addr(GYRO_ADDR,TW_WRITE);
i2c_send_data( axis | (1<<7));
i2c_send_start();
i2c_send_addr(GYRO_ADDR,TW_READ);
int datal,datah;
datal=i2c_receive_data(1);
datah=i2c_receive_data(0);
i2c_send_stop();
return ((datah<<8) + datal);//&0x7ff;*/
int16_t x = i2c_read_word(GYRO_ADDR, (axis | (1<<7)));
//SIGN EXTEND!
struct {signed int x:10;} b;
b.x=x;
return b.x;
}
static uint16_t mpu6050_read_word(uint16_t addr) {
i2c_send_byte(MPU6050_I2C_ADDRESS, addr);
return i2c_read_word(MPU6050_I2C_ADDRESS);
}
static int
psu_ne2572_info_get(int id, onlp_psu_info_t* info)
{
DIAG_PRINT("%s, id:%d", __FUNCTION__, id);
//int val = 0;
//int index = ONLP_OID_ID_GET(info->hdr.id);
/* Set capability
*/
info->caps = ONLP_PSU_CAPS_AC;
if (info->status & ONLP_PSU_STATUS_FAILED)
{
return ONLP_STATUS_OK;
}
/* Set the associated oid_table */
//info->hdr.coids[0] = ONLP_FAN_ID_CREATE(index + CHASSIS_FAN_COUNT);
//info->hdr.coids[1] = ONLP_THERMAL_ID_CREATE(index + CHASSIS_THERMAL_COUNT);
#if 1
int i = 0;
int status;
int exponent, mantissa;
for (i = 0; i < 6; i++)
{
//printf("I2C register 0x%X \n", regs_word[i].reg);
status = i2c_read_word(id, RPS_PSU_MICRO_P_ADDR, regs_word[i].reg);
if (status < 0)
printf("I2C command 0x%X Read Fail\n", regs_word[i].reg);
else
{
//printf("I2C command 0x%X Read Success: 0x%02x\n", regs_word[i].reg, status);
regs_word[i].value = status;
}
}
info->caps |= ONLP_PSU_CAPS_VOUT;
info->caps |= ONLP_PSU_CAPS_VIN;
info->caps |= ONLP_PSU_CAPS_IOUT;
info->caps |= ONLP_PSU_CAPS_IIN;
info->caps |= ONLP_PSU_CAPS_POUT;
info->caps |= ONLP_PSU_CAPS_PIN;
/* Linear_5s_11s */
exponent = psu_two_complement_to_int(regs_word[0].value >> 11, 5, 0x1f);
mantissa = psu_two_complement_to_int(regs_word[0].value & 0x7ff, 11, 0x7ff);
info->mvin = psu_ne2572_linear_format(exponent, mantissa);
/* Linear_16u */
exponent = -12;
mantissa = regs_word[1].value;
info->mvout = psu_ne2572_linear_format(exponent, mantissa);
exponent = psu_two_complement_to_int(regs_word[2].value >> 11, 5, 0x1f);
mantissa = psu_two_complement_to_int(regs_word[2].value & 0x7ff, 11, 0x7ff);
info->miin = psu_ne2572_linear_format(exponent, mantissa);
exponent = psu_two_complement_to_int(regs_word[3].value >> 11, 5, 0x1f);
mantissa = psu_two_complement_to_int(regs_word[3].value & 0x7ff, 11, 0x7ff);
info->miout = psu_ne2572_linear_format(exponent, mantissa);
exponent = psu_two_complement_to_int(regs_word[4].value >> 11, 5, 0x1f);
mantissa = psu_two_complement_to_int(regs_word[4].value & 0x7ff, 11, 0x7ff);
info->mpout = psu_ne2572_linear_format(exponent, mantissa);
exponent = psu_two_complement_to_int(regs_word[5].value >> 11, 5, 0x1f);
mantissa = psu_two_complement_to_int(regs_word[5].value & 0x7ff, 11, 0x7ff);
info->mpin = psu_ne2572_linear_format(exponent, mantissa);
#endif
return ONLP_STATUS_OK;
}