uint16_t getGyroSample(uint16_t index, uint8_t *array){
startI2C(MPU9150ADDR, WRITE);
writeI2C(0x43);
stopI2C();
startI2C(MPU9150ADDR, READ);
for(uint8_t k=0; k<6; k++){
if(index > 54-1) break;
uint8_t ackType = (k < (6-1))? ACK : NACK ;
array[index++] = readI2C(ackType);
}
stopI2C();
return index;
}
int read2I2C(unsigned char addr) {
unsigned char val_high, val_low;
startI2C(addr, I2C_READ);
val_high = readI2C(1);
val_low = readI2C(0);
stopI2C();
return ((unsigned int)val_high << 8L) | val_low;
}
void MPU9150Mode(int8_t mode){
if(mode == SLEEP){ // || mode == ARMED){
startI2C(MPU9150ADDR, WRITE);
writeI2C(0x6B); // PWR_MGMT_1
writeI2C(1<<6); // SLEEP bit set
stopI2C();
}
else{ //if(mode == ACTIVE){
startI2C(MPU9150ADDR, WRITE);
writeI2C(0x6B); // PWR_MGMT_1
writeI2C(0x03); // Z-Axis Gyro Reference
stopI2C();
_delay_ms(1);
startI2C(MPU9150ADDR, WRITE);
writeI2C(0x19); // SMPRT_DIV
writeI2C(0x00); // SMPRT_DIV
writeI2C(0x00); // CONFIG
writeI2C(3<<3); // GYRO_CONFIG
writeI2C((3<<3)|(0)); // ACCEL_CONFIG
stopI2C();
}
}
void setTime (tTime localTime)
{
startI2C();
sendI2C(PCF_ADDR_W);
sendI2C(PCF_SECONDS);
/*Auto Inkrement..*/
sendI2C(ITOBCD(localTime.Sec));
sendI2C(ITOBCD(localTime.Min));
sendI2C(ITOBCD(localTime.Hour));
/*Jahres ID# ermitteln (0..3 wobei 0: Schaltjahr*/
sendI2C((((localTime.Year-YEAR_ID)%4)<<6) | ITOBCD(localTime.Day));
sendI2C((localTime.wDay <<5) | ITOBCD(localTime.Month));
stopI2C();
}
void initPCF8583 (void)
{
startI2C();
sendI2C(PCF_ADDR_W);
sendI2C(PCF_CONTROL);
sendI2C(PCF_SET_CONTROL);
stopI2C();
/*Direkt die Uhrzeit aus der RTC beziehen*/
getTime();
/*Das Jahr aus dem EEPROM*/
time.Year = eeprom_read(EEPROM_YEAR);
time.Year += 2000;
if(time.Year > 2100)
{
time.Year = 2015;
}
}
void write2I2C(unsigned char addr, unsigned char val1, unsigned char val2) {
startI2C(addr, I2C_WRITE);
writeI2C(val1);
writeI2C(val2);
stopI2C();
}
void write1I2C(unsigned char addr, unsigned char val) {
startI2C(addr, I2C_WRITE);
writeI2C(val);
stopI2C();
}
tTime getTime (void)
{
uint8_t tmp;
tTime localTime;
/*Default wird davon ausgegeangen, dass es sich
nicht um ein Schaltjahr handelt*/
localTime.sYear = false;
/*Setzten des Adresspointers der RTC*/
startI2C();
sendI2C(PCF_ADDR_W);
sendI2C(PCF_SECONDS);
startI2C();
sendI2C(PCF_ADDR_R);
tmp = reciveI2C_ack();
localTime.Sec = BCDTOI(tmp);
tmp = reciveI2C_ack();
localTime.Min = BCDTOI(tmp);
tmp = reciveI2C_ack();
localTime.Hour = BCDTOI(tmp);
tmp = reciveI2C_ack();
localTime.Day = BCDTOI((0x3F & tmp));
/*Jahres ID ermitteln (ist es ein Schaltjahr?)*/
if( (tmp & 0xC0) == 0x00 )
{
localTime.sYear = true;
}
tmp = reciveI2C_nack();
localTime.Month = BCDTOI((0x1F & tmp));
localTime.wDay = BCDTOI(((0xE0 & tmp))>>5);
stopI2C();
/*Anpassung an Sommer-/Winterzeit*/
if(time.stime == MESZ)
{
if( localTime.Month == 10 && localTime.wDay == Sonntag && localTime.Day >= 25 && localTime.Hour == 3 )
{
localTime.stime = MEZ;
localTime.Hour--;
setTime(localTime);
}
}
if(time.stime == MEZ)
{
if( localTime.Month == 3 && localTime.wDay == Sonntag && localTime.Day >= 25 && localTime.Hour == 2 )
{
localTime.stime = MESZ;
localTime.Hour++;
setTime(localTime);
}
}
/*Jahresinformation wird nicht durch die RTC gespeichert*/
localTime.Year = time.Year;
return localTime;
}