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• This comparison shows the changes necessary to convert path

  → /Classwork/ECE4534 - Embedded Systems/PIC 26J11/imu.c @ 112

  → /Classwork/ECE4534 - Embedded Systems/PIC 26J11/imu.c @ 113

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Ignore whitespace Rev 112 → Rev 113

/Classwork/ECE4534 - Embedded Systems/PIC 26J11/imu.c
0,0 → 1,42
#include "maindefs.h"
#include "imu.h"
#include "i2c.h"
void imu_init() {
imu_gyro_init();
imu_acc_init();
}
void imu_acc_init() {
unsigned char toSend[2];
toSend[0] = LSM303_CTRL_REG1_A;
toSend[1] = 0x27;
i2c_master_send(ACC_ADDRESS >> 1, 2, toSend);
while(i2c_master_busy());
}
void imu_gyro_init() {
unsigned char toSend[2];
toSend[0] = L3G4200D_CTRL_REG1;
toSend[1] = 0x0F;
i2c_master_send(GYR_ADDRESS >> 1, 2, toSend);
while(i2c_master_busy());
}
void imu_read_acc() {
unsigned char toSend[1];
toSend[0] = LSM303_OUT_X_L_A | 0x80;
i2c_master_send(ACC_ADDRESS >> 1, 1, toSend);
while(i2c_master_busy());
i2c_master_recv(ACC_ADDRESS >> 1, 6);
while(i2c_master_busy());
}
void imu_read_gyro() {
unsigned char toSend[1];
toSend[0] = L3G4200D_OUT_X_L | 0x80;
i2c_master_send(GYR_ADDRESS >> 1, 1, toSend);
while(i2c_master_busy());
i2c_master_recv(GYR_ADDRESS >> 1, 6);
while(i2c_master_busy());
}