//****************************************************************************//
//
// ReadRegisterRegion
//
// Parameters:
// *outputPointer -- Pass &variable (base address of) to save read data to
// offset -- register to read
// length -- number of bytes to read
//
// Note: Does not know if the target memory space is an array or not, or
// if there is the array is big enough. if the variable passed is only
// two bytes long and 3 bytes are requested, this will over-write some
// other memory!
//
//****************************************************************************//
status_t readRegisterRegion(uint8_t *outputPointer , uint8_t offset, uint8_t length)
{
status_t returnError = IMU_SUCCESS;
I2C_readBytes(I2CAddress, offset, length, outputPointer,0);
return returnError;
}
//****************************************************************************//
//
// readRegisterInt16
//
// Parameters:
// *outputPointer -- Pass &variable (base address of) to save read data to
// offset -- register to read
//
//****************************************************************************//
status_t readRegisterInt16( int16_t* outputPointer, uint8_t offset )
{
status_t returnError = IMU_SUCCESS;
uint8_t myBuffer[2];
I2C_readBytes(I2CAddress, offset, 2, myBuffer,0);
*outputPointer = ((int16_t)(myBuffer[0]) | (int16_t)(myBuffer[1]<< 8));
return returnError;
}
void getMotion6(int* ax, int* ay, int* az, int* gx, int* gy, int* gz)
{
I2C_readBytes(devAddr, MPU6050_RA_ACCEL_XOUT_H, 14, buffer);
*ax = (((int)buffer[0]) << 8) | buffer[1];
*ay = (((int)buffer[2]) << 8) | buffer[3];
*az = (((int)buffer[4]) << 8) | buffer[5];
*gx = (((int)buffer[8]) << 8) | buffer[9];
*gy = (((int)buffer[10]) << 8) | buffer[11];
*gz = (((int)buffer[12]) << 8) | buffer[13];
}
I2C_Status_TypeDef MS561101BA_readPROM(uint8_t *buffer)
{
uint8_t i;
uint8_t command;
I2C_Status_TypeDef status_Com;
for(i=0; i<6; i++)
{
command = MS561101BA_PROM_BASE_ADDR + (2*i);
status_Com = I2C_readBytes(MS561101BA_ADDR_CSB_LOW,command,2,(buffer + (i*2)),TIMEOUT_I2C);
if(status_Com != I2C_STATUS_SUCCESS) return status_Com;
}
return status_Com;
}
Uint8 TPS65070_reg_read(Uint32 instance, Uint8 regOffset, Uint8 *buf )
{
Uint32 status = E_PASS;
if(instance >= TPS_MAX_NUM_DEVICES) return E_FAIL;
status = I2C_writeBytes(tpsConfigObj[instance].hI2cInfo,1u, ®Offset);
if(status != E_PASS){
status = I2C_readBytes(tpsConfigObj[instance].hI2cInfo,1u, buf);
}
return status;
}
// H* registers
void AK8975_getHeading(int16_t *x, int16_t *y, int16_t *z) {
if(ChronographRead(ChronMAG)>= AK8975_READ_DELAY)
{
ChronographSet(ChronMAG);
I2C_readBytes(devAddr, AK8975_RA_HXL, 6, buffer, 0);
hx = (((int16_t)buffer[1]) << 8) | buffer[0];
hy = (((int16_t)buffer[3]) << 8) | buffer[2];
hz = (((int16_t)buffer[5]) << 8) | buffer[4];
I2C_writeByte(devAddr, AK8975_RA_CNTL, AK8975_MODE_SINGLE);
//DelayMsec(10);
//while(!AK8975_getDataReady());
}
*x = hx;
*y = hy;
*z = hz;
}
//Get conversion called after startConversion
I2C_Status_TypeDef MS561101BA_getConversion(uint8_t *buffer)
{
return I2C_readBytes(MS561101BA_ADDR_CSB_LOW,0,MS561101BA_D1D2_SIZE,buffer,TIMEOUT_I2C);
}
int8_t I2C_readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data, uint16_t timeout)
{
return I2C_readBytes(devAddr, regAddr, 1, data, timeout);
}
// ASA* registers
void AK8975_getAdjustment(int8_t *x, int8_t *y, int8_t *z) {
I2C_readBytes(devAddr, AK8975_RA_ASAX, 3, buffer,0);
*x = buffer[0];
*y = buffer[1];
*z = buffer[2];
}
int16_t AK8975_getHeadingZ() {
I2C_writeByte(devAddr, AK8975_RA_CNTL, AK8975_MODE_SINGLE);
DelayMsec(8);
I2C_readBytes(devAddr, AK8975_RA_HZL, 2, buffer,0);
return (((int16_t)buffer[1]) << 8) | buffer[0];
}
void I2C_readByte(uint8_t devAddr, uint8_t regAddr, uint8_t *data){
I2C_readBytes(devAddr, regAddr, 1, data);
}
/**
* @brief Read the specified register from the chip.
* @param RegName: specifies the register to be read.
* This member can be one of the following values:
* @retval status communication.
*/
I2C_Status_TypeDef I2C_readReg(uint8_t devAddr, uint8_t RegName,uint8_t *RegValue,uint32_t timeout)
{
return I2C_readBytes(devAddr,RegName,2,RegValue,timeout);//length = 1 is not run, so I use 2.
}
unsigned int getFIFOCount()
{
I2C_readBytes(devAddr, MPU6050_RA_FIFO_COUNTH, 2, buffer);
return (((unsigned int)buffer[0]) << 8) | buffer[1];
}
void getFIFOBytes(unsigned char *d, unsigned char length)
{
I2C_readBytes(devAddr, MPU6050_RA_FIFO_R_W, length, d);
}
void readMemoryBlock(unsigned char *d, unsigned int dataSize, unsigned char bank, unsigned char address)
{
I2C_readBytes(devAddr, MPU6050_RA_MEM_R_W, dataSize ,d);
}
