void imu_g_read_data_raw(vector *v)
{
unsigned char xl,xh,yl,yh,zl,zh;
i2c_start();
i2c_write_byte(0xD0);
i2c_write_byte(0x1d);
i2c_start();
i2c_write_byte(0xD1);
xh = i2c_read_byte();
xl = i2c_read_byte();
yh = i2c_read_byte();
yl = i2c_read_byte();
zh = i2c_read_byte();
zl = i2c_read_last_byte();
i2c_stop();
v->x = xh << 8 | xl;
v->y = yh << 8 | yl;
v->z = zh << 8 | zl;
}
// Returns a set of acceleration and raw magnetic readings from the cmp01a.
void read_data_raw(vector *a, vector *m)
{
// read accelerometer values
i2c_start();
i2c_write_byte(0x30); // write acc
i2c_write_byte(0xa8); // OUT_X_L_A, MSB set to enable auto-increment
i2c_start(); // repeated start
i2c_write_byte(0x31); // read acc
unsigned char axl = i2c_read_byte();
unsigned char axh = i2c_read_byte();
unsigned char ayl = i2c_read_byte();
unsigned char ayh = i2c_read_byte();
unsigned char azl = i2c_read_byte();
unsigned char azh = i2c_read_last_byte();
i2c_stop();
// read magnetometer values
i2c_start();
i2c_write_byte(0x3C); // write mag
i2c_write_byte(0x03); // OUTXH_M
i2c_start(); // repeated start
i2c_write_byte(0x3D); // read mag
unsigned char mxh = i2c_read_byte();
unsigned char mxl = i2c_read_byte();
unsigned char mzh = i2c_read_byte();
unsigned char mzl = i2c_read_byte();
unsigned char myh = i2c_read_byte();
unsigned char myl = i2c_read_last_byte();
i2c_stop();
a->x = axh << 8 | axl;
a->y = ayh << 8 | ayl;
a->z = azh << 8 | azl;
m->x = mxh << 8 | mxl;
m->y = myh << 8 | myl;
m->z = mzh << 8 | mzl;
}
void imu_a_read_data_raw(vector *v)
{
unsigned char xl,xh,yl,yh,zl,zh;
i2c_start();
i2c_write_byte(0x30);
i2c_write_byte(0xa8);
i2c_start();
i2c_write_byte(0x31);
xl = i2c_read_byte();
xh = i2c_read_byte();
yl = i2c_read_byte();
yh = i2c_read_byte();
zl = i2c_read_byte();
zh = i2c_read_last_byte();
i2c_stop();
v->x = (xh << 8 | xl) /16;
v->y = (yh << 8 | yl) /16;
v->z = (zh << 8 | zl) /16;
}
