/**
* @brief used to read multiple bytes of data from the memory.
* This should be sent by I2C.
*
* @param sl_handle Unused, pass as NULL
* @param slaveAddr I2C slave address of device.
* @param memAddr The location in the memory to read from.
* @param length Length of burst data.
* @param data Pointer to block of data.
*
* @return Zero if successful; an error code otherwise
*/
inv_error_t inv_serial_read_mem( void *sl_handle,
unsigned char slaveAddr,
unsigned short memAddr,
unsigned short length,
unsigned char *data )
{
inv_error_t result;
unsigned char tmpAddr;
unsigned char memAddress[1];
uint_fast16_t bytesRead = 0;
if (memAddr & 0xFF + length > MPU_MEM_BANK_SIZE) {
//_SerialDebug("inv_serial_read_mem: memory read length (%d B) "
//"extends beyond its limits (%d) "
//"if started at location %d\n",
//length, MPU_MEM_BANK_SIZE, memAddr & 0xFF);
return INV_ERROR_INVALID_PARAMETER;
}
/* Write bank - first time only */
tmpAddr = MPUREG_BANK_SEL;
memAddress[0] = memAddr >> 8;
result = i2c_readfrom((uint16_t)slaveAddr, (uint8_t)tmpAddr, memAddress, 1 );
while (bytesRead < length) {
unsigned short thisLen = MIN(SERIAL_MAX_TRANSFER_SIZE, length-bytesRead);
/* Write address */
tmpAddr = MPUREG_MEM_START_ADDR;
memAddress[0] = memAddr+bytesRead; // valid because we don't allow going
// beyond the MPU_MEM_BANK_SIZE boundary
result = i2c_writeto((uint16_t)slaveAddr,(uint8_t)tmpAddr, memAddress, 1);
/* Read actual data */
result = i2c_readfrom(slaveAddr, MPUREG_MEM_R_W, &data[bytesRead], thisLen);
bytesRead += thisLen;
}
return result;
}
/**
* @brief used to read multiple bytes of data from registers.
* This should be sent by I2C.
*
* @param sl_handle Unused, pass as NULL
* @param slaveAddr I2C slave address of device.
* @param registerAddr Register address to read.
* @param length Length of burst of data.
* @param data Pointer to block of data.
*
* @return Zero if successful; an error code otherwise
*/
inv_error_t inv_serial_read( void *sl_handle,
unsigned char slaveAddr,
unsigned char registerAddr,
unsigned short length,
unsigned char *data )
{
inv_error_t result;
if (slaveAddr == 0x68 &&
(registerAddr==MPUREG_FIFO_R_W ||
registerAddr==MPUREG_MEM_R_W)) {
return INV_ERROR_INVALID_PARAMETER;
}
result = i2c_readfrom(slaveAddr, registerAddr, data, length);
return INV_SUCCESS;
}
/// \method filtered_xyz()
/// Get a 3-tuple of filtered x, y and z values.
STATIC mp_obj_t pyb_accel_filtered_xyz(mp_obj_t self_in) {
pyb_accel_obj_t *self = self_in;
memmove(self->buf, self->buf + NUM_AXIS, NUM_AXIS * (FILT_DEPTH - 1) * sizeof(int16_t));
uint8_t data[NUM_AXIS] = { MMA_REG_X };
i2c_writeto(I2C1, MMA_ADDR, data, 1, false);
i2c_readfrom(I2C1, MMA_ADDR, data, 3, true);
mp_obj_t tuple[NUM_AXIS];
for (int i = 0; i < NUM_AXIS; i++) {
self->buf[NUM_AXIS * (FILT_DEPTH - 1) + i] = MMA_AXIS_SIGNED_VALUE(data[i]);
int32_t val = 0;
for (int j = 0; j < FILT_DEPTH; j++) {
val += self->buf[i + NUM_AXIS * j];
}
tuple[i] = mp_obj_new_int(val);
}
return mp_obj_new_tuple(3, tuple);
}
/**
* @brief used to read multiple bytes of data from the fifo.
* This should be sent by I2C.
*
* @param sl_handle Unused, pass as NULL
* @param slaveAddr I2C slave address of device.
* @param length Number of bytes to read from fifo.
* @param data Pointer to write fifo data.
*
* @return Zero if successful; an error code otherwise
*/
inv_error_t inv_serial_read_fifo( void *sl_handle,
unsigned char slaveAddr,
unsigned short length,
unsigned char *data )
{
uint16_t bytesRead = 0;
inv_error_t result;
if (length>FIFO_HW_SIZE) {
//_SerialDebug("inv_serial_read_fifo: "
// "maximum fifo read length is %d\n", FIFO_HW_SIZE);
return INV_ERROR_INVALID_PARAMETER;
}
while (bytesRead < length) {
unsigned short thisLen = MIN(SERIAL_MAX_TRANSFER_SIZE, length-bytesRead);
result = i2c_readfrom(slaveAddr, MPUREG_FIFO_R_W, data, thisLen);
bytesRead += thisLen;
}
return INV_SUCCESS;
}
/// \method tilt()
/// Get the tilt register.
STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) {
uint8_t data[1] = { MMA_REG_TILT };
i2c_writeto(I2C1, MMA_ADDR, data, 1, false);
i2c_readfrom(I2C1, MMA_ADDR, data, 1, true);
return mp_obj_new_int(data[0]);
}
STATIC mp_obj_t read_axis(int axis) {
uint8_t data[1] = { axis };
i2c_writeto(I2C1, MMA_ADDR, data, 1, false);
i2c_readfrom(I2C1, MMA_ADDR, data, 1, true);
return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0]));
}
