/* reads prom register into val and returns 0
* if the read failed, val remains untouched
* and a negative error code is returned */
static int ms5611_read_prom(ms5611_t *ms5611, uint8_t reg)
{
THROW_BEGIN();
uint8_t raw[2];
THROW_ON_ERR(i2c_read_block_reg(&ms5611->i2c_dev, MS5611_PROM_READ(reg), raw, sizeof(raw)));
ms5611->prom[reg] = raw[1] | (raw[0] << 8);
THROW_END();
}
void USB_DEBUG_RADIO(void)
{
int16_t ACCELDATA[3];
int16_t GYRODATA[3];
// int16_t TEMPDATA;
int16_t MAGDATA[3];
float ACCELDATA_F[3];
float GYRODATA_F[3];
float MAGDATA_F[3];
// float TEMP_F;
uint16_t ADCTEMP;
static uint16_t MS5611_PROM[7];
static float MS5611_TEMP_NoOffset[2],MS5611_TaPAfterOffset[2],PRESSUREDATA;
MS5611_PROM_READ(MS5611_PROM);
MS5611_GetTempture(CMD_MS5611_D2_OSR_4096, MS5611_PROM, MS5611_TEMP_NoOffset);
MS5611_GetPressure(CMD_MS5611_D1_OSR_4096, MS5611_PROM, MS5611_TEMP_NoOffset, MS5611_TaPAfterOffset);
PRESSUREDATA = MS5611_TaPAfterOffset[1] * 0.01f;
if(BBSYSTEM.NRFONLINE==1)
USB_printf("NRF is online!\n");
if(BBSYSTEM.MPU9250ONLINE==1)
USB_printf("MPU checking pass!\n");
READ_MPU9250_ACCEL_RAW(ACCELDATA);
READ_MPU9250_GYRO_RAW(GYRODATA);
READ_MPU9250_Bypass_MAG_RAW(MAGDATA);
// TEMPDATA=READ_MPU9250_TEMP_RAW();
ACCELDATA_F[0]=ACCELDATA[0]/ACCELLSB;
ACCELDATA_F[1]=ACCELDATA[1]/ACCELLSB;
ACCELDATA_F[2]=ACCELDATA[2]/ACCELLSB;
GYRODATA_F[0]=GYRODATA[0]/GYROLSB;
GYRODATA_F[1]=GYRODATA[1]/GYROLSB;
GYRODATA_F[2]=GYRODATA[2]/GYROLSB;
MAGDATA_F[0]=MAGDATA[0]*MAGLSB;
MAGDATA_F[1]=MAGDATA[1]*MAGLSB;
MAGDATA_F[2]=MAGDATA[2]*MAGLSB;
//TEMP_F=TEMPDATA/340.0 + 36.53;
ADCTEMP = adcBatteryConversion();
USB_printf("The BatVolt is: %d mv\n",ADCTEMP);
USB_printf("The Pressure is: %0.4f mbar\n", PRESSUREDATA);
USB_printf("X axis Acceleration is: %0.4f g\n",ACCELDATA_F[0]);
USB_printf("Y axis Acceleration is: %0.4f g\n",ACCELDATA_F[1]);
USB_printf("Z axis Acceleration is: %0.4f g\n",ACCELDATA_F[2]);
USB_printf("X axis Gyro is: %0.3f deg/s\n",GYRODATA_F[0]);
USB_printf("Y axis Gyro is: %0.3f deg/s\n",GYRODATA_F[1]);
USB_printf("Z axis Gyro is: %0.3f deg/s\n",GYRODATA_F[2]);
USB_printf("X axis Mag is: %0.3f uT\n",MAGDATA_F[0]);
USB_printf("Y axis Mag is: %0.3f uT\n",MAGDATA_F[1]);
USB_printf("Z axis Mag is: %0.3f uT\n",MAGDATA_F[2]);
USB_printf("==================================\n");
//USB_TxWrite(NRF24L01_RXDATA,strlen(NRF24L01_RXDATA));
//USB_printf("\n");
}
