void i2c_read_multiple(char address, char reg, unsigned char * data, char length) {
OC2RS = 2500;
i2c_master_start(); //ST
i2c_master_send(address << 1); //SAD+W - SAK
i2c_master_send(reg); //SUB - SAK
i2c_master_restart(); //SR
i2c_master_send(address << 1 | 0b1); //SAD+R - SAK
unsigned char i;
for (i=0; i<length; i++) {
data[i] = i2c_master_recv(); //DATA
if (i == length-1) {i2c_master_ack(1);} //NMAK if last read
else {i2c_master_ack(0);} //MAK if not last read
}
i2c_master_stop(); //SP
}
void I2C_read_multiple(char address, char register_, unsigned char* data, char length){
i2c_master_start();
i2c_master_send(address << 1|0);
i2c_master_send(register_);
i2c_master_restart();
i2c_master_send(address << 1|1);
int i;
for(i = 0; i < length-1; i++){
data[i] = i2c_master_recv();
i2c_master_ack(0);
}
data[length-1] = i2c_master_recv();
i2c_master_ack(1);
i2c_master_stop();
}
void i2c_master_read_all(char device,char start_reg,int numval,unsigned char* array)
{
int counter=0;
i2c_master_start();
i2c_master_send((device << 1) | 0); // writing
i2c_master_send(start_reg);
i2c_master_restart(); // send a RESTART to read
i2c_master_send((device << 1) | 1); // reading
for(;counter<numval;counter++)
{
array[counter] = i2c_master_recv(); // receive a byte from the bus
i2c_master_ack(0);
}
array[numval] = i2c_master_recv();
i2c_master_ack(1);
i2c_master_stop();
}
void i2c_read_multiple(char address, char reg, unsigned char * data, char length)
{
i2c_master_start();
//First write
unsigned char devopW = (address << 1) | 0x00; // append 0 at the end of the address for the write
unsigned char devopR = (address << 1) | 0x01;
i2c_master_send(devopW);
i2c_master_send(reg); // register to start reading from
i2c_master_restart();
i2c_master_send(devopR);
int i=0;
for(i=0; i<(int)length-1; i++)
{
data[i] = i2c_master_recv();
i2c_master_ack(0); // continue reading length - 1 bytes
}
data[(int)length-1] = i2c_master_recv(); // read the last byte
i2c_master_ack(1); // send the last acknowledgment with 1
i2c_master_stop();
}
char readaddress(){
i2c_master_start();
i2c_master_send(0b11010110);
i2c_master_send(0x0F);
i2c_master_restart();
i2c_master_send(0b11010111);
read=i2c_master_recv();
i2c_master_ack(1);
i2c_master_stop();
return read;
}
char I2C_read_WHOAMI(void){
i2c_master_start();
i2c_master_send(ADDRESS << 1|0); //IMU address
i2c_master_send(0x0F); //WHO_AM_I
i2c_master_restart();
i2c_master_send(ADDRESS << 1|1);
char r = i2c_master_recv();
i2c_master_ack(1);
i2c_master_stop();
return r;
}
unsigned char readByte(unsigned char address) {
unsigned char result;
i2c_master_start();
i2c_master_send(MCP23008_ADDRESS << 1);
i2c_master_send(address);
i2c_master_restart();
i2c_master_send(MCP23008_ADDRESS << 1 | 0b1);
result = i2c_master_recv();
i2c_master_ack(1);
i2c_master_stop();
return result;
}
unsigned char getExpander()
{
i2c_master_start();
i2c_master_send(0x40);
i2c_master_send(0x09);
i2c_master_restart();
i2c_master_send(0x41);
unsigned char input=i2c_master_recv();
i2c_master_ack(1);
i2c_master_stop();
return input;
}
void I2C_read_multiple(char address, char reg_addr, unsigned char * data, char length){
i2c_master_start();
i2c_master_send(address << 1 | 0); // chip address & indicate write
i2c_master_send(reg_addr); // addr of OUT_TEMP_L register
i2c_master_restart(); // make the restart bit, so we can begin reading
i2c_master_send(address << 1 | 1); // chip address & indicate reading
for(j = 0; j < length - 1; j++){
*(data + j) = i2c_master_recv();
i2c_master_ack(0); // make the ack so the slave knows we got it
}
*(data + length) = i2c_master_recv();
i2c_master_ack(1);
i2c_master_stop(); // make the stop bit
temp = data_array[0] << 8 | data_array[1];
gyroX = data_array[2] << 8 | data_array[3];
gyroY = data_array[4] << 8 | data_array[5];
gyroZ = data_array[6] << 8 | data_array[7];
accelX = data_array[8] << 8 | data_array[9];
accelY = data_array[10] << 8 | data_array[11];
accelZ = data_array[12] << 8 | data_array[13];
}
char i2c_master_read(char device, char reg_addr)
{
char read_master;
i2c_master_start();
i2c_master_send((device << 1) | 0); // writing
i2c_master_send(reg_addr);
i2c_master_restart(); // send a RESTART to read
i2c_master_send((device << 1) | 1); // reading
read_master = i2c_master_recv(); // receive a byte from the bus
i2c_master_ack(1);
i2c_master_stop();
return read_master;
}
void i2c_readmulti(){
i2c_master_start();
i2c_master_send(0b11010110);
i2c_master_send(0x20);
i2c_master_restart();
i2c_master_send(0b11010111);
int i;
for(i=0;i<13;i++)
{
arr[i]=i2c_master_recv();
i2c_master_ack(0);
}
arr[13]=i2c_master_recv();
i2c_master_ack(1);
i2c_master_stop();
tem=(arr[1]<<8)|(arr[0]);
gx=(arr[3]<<8)|(arr[2]);
gy=(arr[5]<<8)|(arr[4]);
gz=(arr[7]<<8)|(arr[6]);
ax=(arr[9]<<8)|(arr[8]);
ay=(arr[11]<<8)|(arr[10]);
az=(arr[13]<<8)|(arr[12]);
}
void sendByte(unsigned char data, unsigned char address)
{
// Start the I2C Write Transmission
i2c_start(I2C_START_CMD);
// Write the address
i2c_write(address|I2C_WRITE_CMD);
// Write data to PCA8574 Register
i2c_write(data);
// Send No Acknowledge to the Slave
i2c_master_ack(I2C_DATA_NOACK);
// Stop I2C Transmission
i2c_stop();
}
unsigned char readByte(unsigned char address)
{
unsigned char data;
// Start the I2C Write Transmission
i2c_start(I2C_START_CMD);
// read the given node
i2c_write(address|I2C_READ_CMD);
// Get the High Byte of MCP9801 I2C Temp Sensor
data=i2c_read();
// Send No Acknowledge to the Slave
i2c_master_ack(I2C_DATA_NOACK);
// Stop I2C Transmission
i2c_stop();
return data;
}
int main() {
unsigned char master_read = 0x00;
__builtin_disable_interrupts();
// set the CP0 CONFIG register to indicate that kseg0 is cacheable (0x3)
__builtin_mtc0(_CP0_CONFIG, _CP0_CONFIG_SELECT, 0xa4210583);
// 0 data RAM access wait states
BMXCONbits.BMXWSDRM = 0x0;
// enable multi vector interrupts
INTCONbits.MVEC = 0x1;
// disable JTAG to get pins back
DDPCONbits.JTAGEN = 0;
TRISAbits.TRISA4 = 1; //set port A4 (PIN12)as input pin for button input
TRISBbits.TRISB4 = 0; //set port B4 (PIN11)as output pin for LED
i2c_init();
i2c_imu_init();
__builtin_enable_interrupts();
//WHO_AM_I (0Fh)
i2c_master_start();
i2c_master_send(0xD6);
i2c_master_send(0x0F);
i2c_master_restart();
i2c_master_send(0xD7);
unsigned char input=i2c_master_recv();
i2c_master_ack(1);
i2c_master_stop();
}
