/**
* @brief Writes one byte to the GYRO.
* @param pBuffer: pointer to the buffer containing the data to be written to the GYRO.
* @param WriteAddr : GYRO's internal address to write to.
* @param NumByteToWrite: Number of bytes to write.
* @retval None
*/
void GYRO_IO_Write(uint8_t* pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite)
{
/* Configure the MS bit:
- When 0, the address will remain unchanged in multiple read/write commands.
- When 1, the address will be auto incremented in multiple read/write commands.
*/
if(NumByteToWrite > 0x01)
{
WriteAddr |= (uint8_t)MULTIPLEBYTE_CMD;
}
/* Set chip select Low at the start of the transmission */
GYRO_CS_LOW();
/* Send the Address of the indexed register */
SPIx_WriteRead(WriteAddr);
/* Send the data that will be written into the device (MSB First) */
while(NumByteToWrite >= 0x01)
{
SPIx_WriteRead(*pBuffer);
NumByteToWrite--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
GYRO_CS_HIGH();
}
/**
* @brief Reads a block of data from the GYRO.
* @param pBuffer: pointer to the buffer that receives the data read from the GYRO.
* @param ReadAddr: GYRO's internal address to read from.
* @param NumByteToRead: Number of bytes to read from the GYRO.
* @retval None
*/
void GYRO_IO_Read(uint8_t* pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead)
{
if(NumByteToRead > 0x01)
{
ReadAddr |= (uint8_t)(READWRITE_CMD | MULTIPLEBYTE_CMD);
}
else
{
ReadAddr |= (uint8_t)READWRITE_CMD;
}
/* Set chip select Low at the start of the transmission */
GYRO_CS_LOW();
/* Send the Address of the indexed register */
SPIx_WriteRead(ReadAddr);
/* Receive the data that will be read from the device (MSB First) */
while(NumByteToRead > 0x00)
{
/* Send dummy byte (0x00) to generate the SPI clock to GYRO (Slave device) */
*pBuffer = SPIx_WriteRead(DUMMY_BYTE);
NumByteToRead--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
GYRO_CS_HIGH();
}
/*writing function*/
void f3d_gyro_write(uint8_t* pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite) {
/****************************************************************************/
/************** CODE HERE *********************************************/
//CHECK TO SEE HOW MANY BYTES AND HANDLE THAT CORRECTLY
if (NumByteToWrite > 1) {
WriteAddr |= (uint8_t)(0x40);
}//by default WriteAddr uses single byte mode, or so i was told
//SET THE CS
//set CS to low
GYRO_CS_LOW();
//SEND THE FIRST BYTE
f3d_gyro_sendbyte(WriteAddr);
//IF MULTIPLE, SEND THE ADDITIONAL
while(NumByteToWrite > 0x00){
f3d_gyro_sendbyte(*pBuffer);
NumByteToWrite--;
pBuffer++;
}
//set chip to high, done talking
GYRO_CS_HIGH();
/***************************************************************************/
}
/**
* @brief Reads a block of data from the GYROSCOPE.
* @param pBuffer : pointer to the buffer that receives the data read from the GYROSCOPE.
* @param ReadAddr : GYROSCOPE's internal address to read from.
* @param NumByteToRead : number of bytes to read from the GYROSCOPE.
* @retval None
*/
HAL_StatusTypeDef GYRO_IO_Read(uint8_t* pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead)
{
HAL_StatusTypeDef status = HAL_OK;
uint8_t readByte = 0;
if(NumByteToRead > 0x01)
{
ReadAddr |= (uint8_t)(READWRITE_CMD | MULTIPLEBYTE_CMD);
}
else
{
ReadAddr |= (uint8_t)READWRITE_CMD;
}
/* Set chip select Low at the start of the transmission */
GYRO_CS_LOW();
/* Send the Address of the indexed register */
status = SPIx_WriteRead(ReadAddr, &readByte);
/* Receive the data that will be read from the device (MSB First) */
while(NumByteToRead > 0x00 && status == HAL_OK)
{
/* Send dummy byte (0x00) to generate the SPI clock to GYROSCOPE (Slave device) */
status = SPIx_WriteRead(DUMMY_BYTE, pBuffer);
NumByteToRead--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
GYRO_CS_HIGH();
return status;
}
/*writing function*/
void f3d_gyro_write(uint8_t* pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite) {
if(NumByteToWrite > 1)
WriteAddr |= 0x40;
GYRO_CS_LOW();
f3d_gyro_sendbyte(WriteAddr);
while(NumByteToWrite > 0){
f3d_gyro_sendbyte(*pBuffer);
NumByteToWrite--;
pBuffer++;
}
GYRO_CS_HIGH();
}
void f3d_gyro_write(uint8_t* pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite) {
if(NumByteToWrite > 0x01) {
WriteAddr |= (uint8_t) ((uint8_t)0x40); // Set bit 6 if multibyte command
}
GYRO_CS_LOW();
f3d_gyro_sendbyte(WriteAddr);
while(NumByteToWrite >= 0x01) {
f3d_gyro_sendbyte(*pBuffer);
NumByteToWrite--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
GYRO_CS_HIGH();
}
void f3d_gyro_read(uint8_t* pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead){
if (NumByteToRead > 1) {
ReadAddr |= (uint8_t)(0x80 | 0x40); // If sending more that one byte set multibyte commands
}
else {
ReadAddr |= (uint8_t) (0x80); // Else just set the read mode
}
GYRO_CS_LOW();
f3d_gyro_sendbyte(ReadAddr);
while(NumByteToRead > 0x00) {
*pBuffer = f3d_gyro_sendbyte(((uint8_t)0x00));
NumByteToRead--;
pBuffer++;
}
GYRO_CS_HIGH();
}
void f3d_gyro_write(uint8_t* pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite) {
if (NumByteToWrite > 0x01) {
WriteAddr |= (uint8_t)(0x40); // If sending more that one byte set multibyte commands
// 0100 0000 || 0010 0000 = 0110 0000
}
//else {
// WriteAddr |= (uint8_t) (0x80); // Else just set the read mode
//}
GYRO_CS_LOW();
f3d_gyro_sendbyte(WriteAddr);
while(NumByteToWrite > 0) {
NumByteToWrite = NumByteToWrite - 1;
// NumByteToWrite--;
f3d_gyro_sendbyte(*pBuffer); //POSSIBLY BAD STUFF
//WriteAddr++;
pBuffer++;
}
GYRO_CS_HIGH();
}
void f3d_gyro_read(uint8_t* pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead) {
if (NumByteToRead > 0x01) {
ReadAddr |= (uint8_t)(0x80 | 0x40); // If sending more that one byte set multibyte commands
}
else {
ReadAddr |= (uint8_t) (0x80); // Else just set the read mode
}
/* Set chip select Low at the start of the transmission */
GYRO_CS_LOW();
/* Send the Address of the indexed register */
f3d_gyro_sendbyte(ReadAddr);
/* Receive the data that will be read from the device (MSB First) */
while(NumByteToRead > 0x00) {
/* Send dummy byte (0x00) to generate the SPI clock to L3GD20 (Slave device) */
*pBuffer = f3d_gyro_sendbyte(((uint8_t)0x00));
NumByteToRead--;
pBuffer++;
}
/* Set chip select High at the end of the transmission */
GYRO_CS_HIGH();
}
//to read from it
void f3d_gyro_read(uint8_t* pBuffer, uint8_t ReadAddr, uint16_t NumByteToRead) {
//are we reading one byte or more than one byte???
if (NumByteToRead > 1) {
ReadAddr |= (uint8_t)(0x80 | 0x40); // sets to multibyte mode
}
else {
ReadAddr |= (uint8_t) (0x80); // sets to read mode (first bit 1)
}
//setting chip select to low (LETS TALK!)
GYRO_CS_LOW();
//sending address byte
f3d_gyro_sendbyte(ReadAddr);
while(NumByteToRead > 0x00) {
//WE are now sending dummy data so we can read the valuable!
//remember we must write to read!
//putting the information in the buffer
*pBuffer = f3d_gyro_sendbyte(((uint8_t)0x00));
NumByteToRead--;
pBuffer++;
}
//setting chip select to high (DONE TALKING)
GYRO_CS_HIGH();//setting chip select to high (DONE TALKING)
}
/*writing function*/
void f3d_gyro_write(uint8_t* pBuffer, uint8_t WriteAddr, uint16_t NumByteToWrite) {
/****************************************************************************/
/************** CODE HERE *********************************************/
//CHECK TO SEE HOW MANY BYTES AND HANDLE THAT CORRECTLY
if (NumByteToWrite > 1) {
WriteAddr |= (uint8_t)(0x40); // sets to multibyte mode
}
//SET THE CS
GYRO_CS_LOW();
//SEND THE FIRST BYTE
f3d_gyro_sendbyte(WriteAddr);
//IF MULTIPLE, SEND THE ADDITIONAL
while(NumByteToWrite > 0x00) {
f3d_gyro_sendbyte((uint8_t)(*pBuffer));
//*pBuffer = f3d_gyro_sendbyte(((uint8_t)0x00));
NumByteToWrite--;
pBuffer++;
}
GYRO_CS_HIGH();
/***************************************************************************/
}
