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#include <xc.h>

#include "main.h"

#include "LSM303.h"

#include "I2C.h"

void LSM303_Init(void) {

    // Enable accelerometer, normal power mode, all axes enabled (100Hz)

    char c[2] = {LSM303_CTRL_REG1_A, 0x57};

    I2C_Master_Send(ADDRESS_ACCL, &c, 2);

    while (!I2C_Get_Status());

    // Enable high resolution mode, +- 2G

    char d[2] = {LSM303_CTRL_REG4_A, 0x08};

    I2C_Master_Send(ADDRESS_ACCL, &d, 2);

    while (!I2C_Get_Status());

    // Enable magnetometer, continuous conversion mode

    char e[2] = {LSM303_MR_REG_M, 0x00};

    I2C_Master_Send(ADDRESS_MAGN, &e, 2);

    while (!I2C_Get_Status());

    char f[2] = {LSM303_CRA_REG_M, 0x18}; // (75Hz)

    I2C_Master_Send(ADDRESS_MAGN, &f, 2);

    while (!I2C_Get_Status());

//    LSM303_Set_Mag_Gain(magGain_40);

}

void LSM303_Set_Mag_Gain(magGain value) {

    char c[2];

    c[0] = LSM303_CRB_REG_M;

    c[1] = (char)value;

    I2C_Master_Send(ADDRESS_MAGN, &c, 2);

    while (!I2C_Get_Status());

}

void LSM303_Read_Accl(char *x_L, char *x_H, char *y_L, char *y_H, char *z_L, char *z_H) {

    char result, length, buffer[10] = {0};

    // Assert the MSB to autoincrement address

    char c = LSM303_OUT_X_L_A | 0x80;

    I2C_Master_Restart(ADDRESS_ACCL, c, 6);

    do {

        result = I2C_Get_Status();

    } while (!result);

    // Read received data

    length = I2C_Read_Buffer(buffer);

    // Data is received in low-high byte order

    *x_L = buffer[0];

    *x_H = buffer[1];

    *y_L = buffer[2];

    *y_H = buffer[3];

    *z_L = buffer[4];

    *z_H = buffer[5];

}

void LSM303_Read_Magn(char *x_L, char *x_H, char *y_L, char *y_H, char *z_L, char *z_H) {

    char result, length, buffer[10];

    // Assert the MSB to autoincrement address

    char c = LSM303_OUT_X_H_M;

    I2C_Master_Restart(ADDRESS_MAGN, c, 6);

    do {

        result = I2C_Get_Status();

    } while (!result);

    // Read received data

    length = I2C_Read_Buffer(buffer);

    // Data is received in high-low byte order

    *x_H = buffer[0];

    *x_L = buffer[1];

    *z_H = buffer[2];

    *z_L = buffer[3];

    *y_H = buffer[4];

    *y_L = buffer[5];

}