uint8_t QuadFC_i2cWrite(QuadFC_I2C_t *i2c_data, uint8_t busIndex, TickType_t blockTimeMs)
{
if(busIndex > (sizeof(twi_instances)/sizeof(twi_instances[0])))
{
return 0;
}
if(!twi_Init[busIndex])
{
if(!Init_Twi(busIndex))
{
return 0;
}
}
TickType_t blockTimeTicks = (blockTimeMs / portTICK_PERIOD_MS);
status_code_t twi_status = 0;
tmp_twi.addr_length = i2c_data->internalAddrLength;
memcpy(tmp_twi.addr, i2c_data->internalAddr, i2c_data->internalAddrLength);
tmp_twi.buffer = i2c_data->buffer;
tmp_twi.length = i2c_data->bufferLength;
tmp_twi.chip = i2c_data->slaveAddress;
twi_status = freertos_twi_write_packet( freeRTOS_twi[busIndex],
&tmp_twi,
blockTimeTicks );
if (twi_status != STATUS_OK)
{
// TODO Led_Set(led_error_TWI);
return 0;
}
return 1;
}
return result;
}
status_code_t itg_write(ITG_Addr_Dev itg_addr, uint8_t value, ITG_Addr_Reg itg_reg){
twi_packet_t tx = {
.addr[0] = ((uint8_t) itg_reg),
.addr_length = 1,
.buffer = &value,
.length = 1,
.chip = ((uint8_t) itg_addr)
};
status_code_t result = STATUS_ERR_TIMEOUT;
result = freertos_twi_write_packet(freertos_twi, &tx, TWI_BLOCK_TIME);
return result;
}
status_code_t itg_read (ITG_Addr_Dev itg_addr, uint8_t *value, ITG_Addr_Reg itg_reg, uint8_t len){
twi_packet_t rx = {
.addr[0] = ((uint8_t) itg_reg),
.addr_length = 1,
.buffer = value,
.length = len,
.chip = ((uint8_t) itg_addr)
};
status_code_t result = STATUS_ERR_TIMEOUT;
