unsigned char writeMemoryBlock(const unsigned char *d, unsigned int dataSize, unsigned char bank, unsigned char address, unsigned char verify, unsigned char useProgMem)
{
setMemoryBank(bank, false, false);
setMemoryStartAddress(address); // startaddress = 0 so start writing every DMP bank from the beginning
I2C_writeBytes(devAddr,0x6f , dataSize, (unsigned char*) d);
return true;
}
unsigned char writeProgMemoryBlock(const unsigned char *d, unsigned int dataSize, unsigned char bank, unsigned char address, unsigned char verify)
{
int i;
for (i = 0; i < 7; i ++)
{
setMemoryBank(i, false, false); // bank number = i
setMemoryStartAddress(0); // startaddress = 0 so start writing every DMP bank from the beginning
I2C_writeBytes(devAddr,0x6f , 256, (unsigned char*) &d[i*256]);
}
// DMP bank 7 gets only 137 bytes:
setMemoryBank(7, false, false); // bank number = 7
setMemoryStartAddress(0); // startaddress = 0 so start writing also this DMP bank from the beginning
I2C_writeBytes(devAddr, 0x6f , 137, (unsigned char*) &d[i*256]);
return true; // end of writeDMPMemory reached
}
Uint8 TPS65070_reg_read(Uint32 instance, Uint8 regOffset, Uint8 *buf )
{
Uint32 status = E_PASS;
if(instance >= TPS_MAX_NUM_DEVICES) return E_FAIL;
status = I2C_writeBytes(tpsConfigObj[instance].hI2cInfo,1u, ®Offset);
if(status != E_PASS){
status = I2C_readBytes(tpsConfigObj[instance].hI2cInfo,1u, buf);
}
return status;
}
Uint32 TPS65070_reg_write(Uint32 instance, Uint8 regOffset, Uint8 regVal)
{
Uint32 status = E_PASS;
Uint8 buf[2];
if(instance >= TPS_MAX_NUM_DEVICES) return E_FAIL;
buf[0] = regOffset;
buf[1] = regVal;
status = I2C_writeBytes(tpsConfigObj[instance].hI2cInfo, 2u, buf);
return status;
}
unsigned char writeDMPConfigurationSet(const unsigned char *d, unsigned int dataSize, unsigned char useProgMem)
{
unsigned char special;
unsigned int i;
// config set dmpConfig is a long string of blocks with the following structure:
// [bank] [offset] [length] [byte[0], byte[1], ..., byte[length]]
unsigned char bank, offset, length;
for (i = 0; i < MPU6050_DMP_CONFIG_SIZE;)
{
bank = pgm_read_byte(dmpConfig + i++); // pgm_read_byte() is a macro that reads a byte of d stored in a specified address(PROGMEM area)
offset = pgm_read_byte(dmpConfig + i++);
length = pgm_read_byte(dmpConfig + i++);
if (length > 0) // regular block of data to write
{
setMemoryBank(bank, false, false); // bank number = bank
setMemoryStartAddress(offset); // startaddress = offset from the beginning (0) of the bank
I2C_writeBytes(devAddr,0x6f , length, (unsigned char*) &dmpConfig[i]);
i = i + length;
}
else // length = 0; special instruction to write
{
// NOTE: this kind of behavior (what and when to do certain things)
// is totally undocumented. This code is in here based on observed
// behavior only, and exactly why (or even whether) it has to be here
// is anybody's guess for now.
special = pgm_read_byte(dmpConfig + i++);
if (special == 0x01)
{
// enable DMP-related interrupts (ZeroMotion, FIFOBufferOverflow, DMP)
I2C_writeByte(devAddr, 0x38, 0x32); // write 00110010: ZMOT_EN, FIFO_OFLOW_EN, DMP_INT_EN true
// by the way: this sets all other interrupt enables to false
}
}
}
return true;
}
void AK8975_setAdjustment(int8_t x, int8_t y, int8_t z) {
buffer[0] = x;
buffer[1] = y;
buffer[2] = z;
I2C_writeBytes(devAddr, AK8975_RA_ASAX, 3, buffer);
}
