/******************************************************************************
/ 函数功能:读取HMC5883的数据(适用于启动-中断-读取数据的程序)
/ 修改日期:none
/ 输入参数:none
/ 输出参数:none
/ 使用说明:启动-中断-查询 (查询)
******************************************************************************/
void HMC5883L_MultRead(tg_HMC5883L_TYPE * ptResult)
{
uint8_t tmp[6];
int32_t s32Val;
if(true == Mult_Read(HMC5883L_Addr,HMC5883L_HX_H,tmp,6)) //多读读出传感器数据
{
//修正数据(根据x轴修正y轴输出)
// ptResult->hx = (int16_t)((tmp[0] << 8) | tmp[1])+HMC5883L_OFFSET_X;
// s32Val = (int16_t)((tmp[4] << 8) | tmp[5])+HMC5883L_OFFSET_Y;
// s32Val = (s32Val*HMC5883L_GAIN_Y)/10000;
// ptResult->hy = (int16_t)s32Val;
ptResult->hx = (int16_t)((tmp[0] << 8) | tmp[1]);
ptResult->hy = (int16_t)((tmp[4] << 8) | tmp[5]);
ptResult->hz = (int16_t)((tmp[2] << 8) | tmp[3]);
}
}
void Read_L3G4200D(S_INT16_XYZ*ptResult)
{
/*BUF[0]=Single_Read(L3G4200_OUT_X_L,L3G4200_I2C_ADDR);
BUF[1]=Single_Read(L3G4200_OUT_X_H,L3G4200_I2C_ADDR);
L3G4200_GYRO_LAST.X =(BUF[1]<<8)|BUF[0];
BUF[2]=Single_Read(L3G4200_OUT_Y_L,L3G4200_I2C_ADDR);
BUF[3]=Single_Read(L3G4200_OUT_Y_H,L3G4200_I2C_ADDR);
L3G4200_GYRO_LAST.Y= (BUF[3]<<8)|BUF[2];
BUF[4]=Single_Read(L3G4200_OUT_Z_L,L3G4200_I2C_ADDR);
BUF[5]=Single_Read(L3G4200_OUT_Z_H,L3G4200_I2C_ADDR);
L3G4200_GYRO_LAST.Z= (BUF[5]<<8)|BUF[4];*/
uint8_t tmp[6];
if(true == Mult_Read(L3G4200_I2C_ADDR,(L3G4200_OUT_X_L|0x80),tmp,6))
{ //ptResult->gx = (int16_t)((tmp[1]<<8)|tmp[0]);
//ptResult->gy = (int16_t)((tmp[3]<<8)|tmp[2]);
//ptResult->gz = (int16_t)((tmp[5]<<8)|tmp[4]);
ptResult->X = *( (int16_t *)(&tmp[0]) ); //优化效果明显
ptResult->Y = *( (int16_t *)(&tmp[2]) );
ptResult->Z = *( (int16_t *)(&tmp[4]) );
}
}
