int RcvIMUData(unsigned int reg_addr) {
// //see page 92 of https://www.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf
rcv = 0;
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0x50); //Write slave addr WRITE (OR 0)
IdleI2C2();
MasterWriteI2C2(reg_addr); //BNO055_QUATERNION_DATA_W_LSB_ADDR
IdleI2C2();
RestartI2C2();
IdleI2C2();
MasterWriteI2C2(0x51); //Write the slave address, READ (OR 1)
IdleI2C2();
rcv |= MasterReadI2C2(); //Read in LSB
IdleI2C2();
AckI2C2();
IdleI2C2();
rcv |= MasterReadI2C2()<<8; //Read in MSB
NotAckI2C2();
IdleI2C2();
StopI2C2(); //Send line stop condition
IdleI2C2();
return rcv;
}
/**
* Reads temperature from IR sensor of an object in front of sensor
* @return A hex value from 0x27AD (-70 ?C) to 0x7fff (382.19?C)
*/
int RcvIRTemp(void){
rcv = 0;
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0xb4); //Write slave addr WRITE (OR 0)
IdleI2C2();
MasterWriteI2C2(0x07); //0x07 = read RAM for TObj1 temperature
IdleI2C2();
RestartI2C2();
IdleI2C2();
MasterWriteI2C2(0xb5); //Write the slave address, READ (OR 1)
IdleI2C2();
rcv |= MasterReadI2C2(); //Read in LSB
IdleI2C2();
AckI2C2(); //Acknowledge LSB
IdleI2C2();
rcv |= MasterReadI2C2()<<8; //Read in MSB
AckI2C2(); //Acknowledge MSB
IdleI2C2();
MasterReadI2C2(); //Read in PEC
AckI2C2(); //Acknowledge MSB
IdleI2C2();
StopI2C2(); //Send line stop condition
IdleI2C2();
return rcv; //Return read value
}
int RcvData2(unsigned int address){
rcv = 0;
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2((address << 1) | 1); //Write out slave address OR 1 (read command)
IdleI2C2(); //Wait to complete
rcv = MasterReadI2C2()<<8; //Read in a value
AckI2C2();
rcv |= MasterReadI2C2();
StopI2C2(); //Send line stop condition
IdleI2C2(); //Wait co complete
return rcv; //Return read value
}
void sleepIRTemp(){
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0xb4); //Write slave addr WRITE (OR 0)
IdleI2C2();
MasterWriteI2C2(0xff); //sleep command
IdleI2C2();
MasterReadI2C2(); //Read in PEC
IdleI2C2();
AckI2C2(); //Acknowledge PEC
IdleI2C2();
StopI2C2();
}
int RcvIRTemp(unsigned int address){
rcv = 0;
StartI2C2(); //Send line start condition
IdleI2C2(); //Wait to complete
MasterWriteI2C2(0xb4); //Write slave addr WRITE (OR 0)
IdleI2C2();
MasterWriteI2C2(0xf0); //command
// //Command to read Tobj1 on ir sensor's ram: 000 = read ram; 0x07 = tobj1
IdleI2C2(); //Wait to complete
// StopI2C2(); //restart
// IdleI2C2();
// StartI2C2();
// IdleI2C2();
//
// MasterWriteI2C2(0xb5); //Write the slave address, READ (OR 1)
// IdleI2C2();
MasterReadI2C2(); //Read in LSB
IdleI2C2();
AckI2C2(); //Acknowledge LSB
IdleI2C2();
MasterReadI2C2(); //Read in MSB
IdleI2C1();
AckI2C2(); //Acknowledge MSB
IdleI2C2();
MasterReadI2C2(); //Read in PEC
IdleI2C1();
AckI2C2(); //Acknowledge MSB
IdleI2C2();
StopI2C2(); //Send line stop condition
IdleI2C2(); //Wait co complete
return rcv; //Return read value
}
/*****************************************************************************
* Function Name : gyroReceiveByte
* Description : Receive a byte from gyroscope
* Parameters : None
* Return Value : None
*****************************************************************************/
static inline unsigned char gyroReceiveByte(void) {
return MasterReadI2C2();
}
unsigned char i2cReceiveByte(unsigned char channel) {
if (channel == 1) { return MasterReadI2C1(); }
else { return MasterReadI2C2(); }
}
