static int wmp_done( event_t *evt )
{
char buf[6];
event_t wmp_evt;
/* Failure. */
if (!evt->i2c.ok) {
wmp_err();
event_setCallback( EVENT_TYPE_I2C, NULL );
return 1;
}
/* Get the data read. */
i2cm_read( buf, sizeof(buf) );
/* Convert to 16 bit ints. */
wmp_buf[ WMP_YAW ] = ((uint16_t)buf[3] << 6) + buf[0];
wmp_buf[ WMP_PITCH ] = ((uint16_t)buf[4] << 6) + buf[1];
wmp_buf[ WMP_ROLL ] = ((uint16_t)buf[5] << 6) + buf[2];
/* Disable callback. */
event_setCallback( EVENT_TYPE_I2C, NULL );
/* Generate event. */
wmp_evt.type = EVENT_TYPE_CUSTOM;
wmp_evt.custom.id = WMP_EVENT_DATA;
wmp_evt.custom.data = ((buf[3] & 0x02) << 2) + buf[4];
event_push( &wmp_evt );
/* Destroy the event. */
return 1;
}
// ceci sous entend qu' a chaque lecture on incremente le pointeur de
// donnee vers le tableau read_tab
void i2cm_read_multiple(uint8_t adress, uint8_t *trame, uint8_t argc)
{
uint8_t idx, cpt;
i2cm_flush( adress);
wait_ms(1);
for (idx = 0; idx < argc; idx ++)
trame[idx]= i2cm_read(adress);
}
