a5046e83c7
This is a general cleanup of things like code style issues and code structure of the STM32w port to make it more like the rest of Contiki is structured.
247 lines
7.8 KiB
C
247 lines
7.8 KiB
C
/** @file mems.c
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* @brief MB851 MEMS drivers
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*
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*
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* <!--(C) COPYRIGHT 2010 STMicroelectronics. All rights reserved. -->
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*/
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#include PLATFORM_HEADER
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#include "hal/hal.h"
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#include "hal/error.h"
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#include "hal/micro/mems.h"
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#define TIMEOUT 20000
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#define SUCCESS 1
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#define SEND_BYTE(data) do{ SC2_DATA=(data); SC2_TWICTRL1 |= SC_TWISEND; }while(0)
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#define WAIT_CMD_FIN() do{}while((SC2_TWISTAT&SC_TWICMDFIN)!=SC_TWICMDFIN)
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#define WAIT_TX_FIN() do{}while((SC2_TWISTAT&SC_TWITXFIN)!=SC_TWITXFIN)
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#define WAIT_RX_FIN() do{}while((SC2_TWISTAT&SC_TWIRXFIN)!=SC_TWIRXFIN)
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static uint8_t i2c_MEMS_Init (void);
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static uint8_t i2c_MEMS_Read (t_mems_data *mems_data);
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//extern void halInternalResetWatchDog(void);
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static uint8_t i2c_Send_Frame (uint8_t DeviceAddress, uint8_t *pBuffer, uint8_t NoOfBytes);
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static uint8_t i2c_Send_Frame (uint8_t DeviceAddress, uint8_t *pBuffer, uint8_t NoOfBytes);
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uint8_t i2c_write_reg (uint8_t slave_addr, uint8_t reg_addr, uint8_t reg_value);
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static uint8_t i2c_MEMS_Init (void);
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static uint8_t i2c_MEMS_Read (t_mems_data *mems_data);
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/* Functions -----------------------------------------------------------------*/
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uint8_t mems_Init(void)
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{
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uint8_t ret = 0;
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// GPIO assignments
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// PA1: SC2SDA (Serial Data)
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// PA2: SC2SCL (Serial Clock)
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//-----SC2 I2C Master GPIO configuration
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TIM2_CCER &= 0xFFFFEEEE;
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SC2_MODE = SC2_MODE_I2C;
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GPIO_PACFGL &= 0xFFFFF00F;
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GPIO_PACFGL |= 0x00000DD0;
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SC2_RATELIN = 14; // generates standard 100kbps or 400kbps
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SC2_RATEEXP = 1; // 3 yields 100kbps; 1 yields 400kbps
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SC2_TWICTRL1 = 0; // start from a clean state
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SC2_TWICTRL2 = 0; // start from a clean state
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ret = i2c_MEMS_Init();
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//Add later if really needed
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#ifdef ST_DBG
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if (!ret)
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i2c_DeInit(MEMS_I2C);
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#endif
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return ret;
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}/* end mems_Init */
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uint8_t mems_GetValue(t_mems_data *mems_data)
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{
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uint8_t i;
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i = i2c_MEMS_Read(mems_data);
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return i;
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}/* end mems_GetValue() */
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/* Private Functions ---------------------------------------------------------*/
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/*******************************************************************************
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* Function Name : i2c_Send_Frame
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* Description : It sends I2C frame
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* Input : DeviceAddress is the destination device address
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* pBUffer is the buffer data
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* NoOfBytes is the number of bytes
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* Output : None
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* Return : status
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*******************************************************************************/
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static uint8_t i2c_Send_Frame (uint8_t DeviceAddress, uint8_t *pBuffer, uint8_t NoOfBytes)
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{
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uint8_t i, data;
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SC2_TWICTRL1 |= SC_TWISTART; // send start
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WAIT_CMD_FIN();
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SEND_BYTE(DeviceAddress); // send the address low byte
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WAIT_TX_FIN();
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// loop sending the data
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for (i=0; i<NoOfBytes; i++) {
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halInternalResetWatchDog();
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data = *(pBuffer+i);
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SEND_BYTE(data);
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WAIT_TX_FIN();
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}
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SC2_TWICTRL1 |= SC_TWISTOP;
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WAIT_CMD_FIN();
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return SUCCESS;
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}/* end i2c_Send_Frame() */
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/*******************************************************************************
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* Function Name : i2c_Receive_Frame
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* Description : It receives an I2C frame and stores it in pBUffer parameter
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* Input : slave_addr is the slave address
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* reg_addr is the register address
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* NoOfBytes is the numenr of bytes to read starting from reg_addr
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* Output : buffer
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* Return : status
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*******************************************************************************/
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static uint8_t i2c_Receive_Frame (uint8_t slave_addr, uint8_t reg_addr, uint8_t *pBuffer, uint8_t NoOfBytes)
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{
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uint8_t i, addr = reg_addr;
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if (NoOfBytes > 1)
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addr += REPETIR;
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SC2_TWICTRL1 |= SC_TWISTART; // send start
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WAIT_CMD_FIN();
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SEND_BYTE(slave_addr | 0x00); // send the address low byte
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WAIT_TX_FIN();
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SEND_BYTE(addr);
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WAIT_TX_FIN();
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SC2_TWICTRL1 |= SC_TWISTART; // send start
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WAIT_CMD_FIN();
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SEND_BYTE(slave_addr | 0x01); // send the address low byte
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WAIT_TX_FIN();
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// loop receiving the data
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for (i=0;i<NoOfBytes;i++){
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halInternalResetWatchDog();
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if (i < (NoOfBytes - 1))
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SC2_TWICTRL2 |= SC_TWIACK; // ack on receipt of data
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else
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SC2_TWICTRL2 &= ~SC_TWIACK; // don't ack if last one
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SC2_TWICTRL1 |= SC_TWIRECV; // set to receive
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WAIT_RX_FIN();
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*(pBuffer+i) = SC2_DATA; // receive data
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}
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SC2_TWICTRL1 |= SC_TWISTOP; // send STOP
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WAIT_CMD_FIN();
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return SUCCESS;
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}/* end i2c_Receive_Frame() */
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/*******************************************************************************
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* Function Name : i2c_write_reg
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* Description : It writes a register on the I2C target
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* Input : slave addr is the I2C target device
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* reg_addr is the address of the register to be written
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* reg_value is the value of the register to be written
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* NoOfBytes is the numenr of bytes to read starting from reg_addr
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* Output : None
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* Return : I2C frame
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*******************************************************************************/
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uint8_t i2c_write_reg (uint8_t slave_addr, uint8_t reg_addr, uint8_t reg_value)
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{
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uint8_t i2c_buffer[2];
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i2c_buffer[0] = reg_addr;
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i2c_buffer[1] = reg_value;
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return i2c_Send_Frame (slave_addr, i2c_buffer, 2);
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}/* end i2c_write_reg() */
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/*******************************************************************************
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* Function Name : i2c_read_reg
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* Description : It reads a register on the I2C target
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* Input : slave addr is the I2C target device
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* reg_addr is the address of the register to be read
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* pBuffer is the storage destination for the read data
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* NoOfBytes is the amount of data to read
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* Output : None
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* Return : I2C frame
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*******************************************************************************/
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uint8_t i2c_read_reg (uint8_t slave_addr, uint8_t reg_addr, uint8_t *pBuffer, uint8_t NoOfBytes)
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{
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return i2c_Receive_Frame (slave_addr, reg_addr, pBuffer, NoOfBytes);
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}/* end i2c_read_reg() */
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/*******************************************************************************
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* Function Name : i2c_MEMS_Init
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* Description : It performs basic MEMS register writes for initialization
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* purposes
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* Input : None
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* Output : None
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* Return : status
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*******************************************************************************/
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static uint8_t i2c_MEMS_Init (void)
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{
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uint8_t i = 0;
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i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, STATUS_REG, 0x00); //no flag
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i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, FF_WU_CFG, 0x00); // all off
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i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, DD_CFG, 0x00); // all off
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i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, CTRL_REG2, (0<<4) | (0<<1) | (0 << 0));
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i += i2c_write_reg (kLIS3L02DQ_SLAVE_ADDR, CTRL_REG1, 0x47);
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if (i != 5)
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return 0;
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return 1;
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}/* end i2c_MEMS_Init() */
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/*******************************************************************************
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* Function Name : i2c_MEMS_Read
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* Description : It reads 3 axes acceleration data from mems
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* Input : None
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* Output : mems_data
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* Return : I2C frame
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*******************************************************************************/
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static uint8_t i2c_MEMS_Read (t_mems_data *mems_data)
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{
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uint8_t i, i2c_buffer[8];
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/* Wait for new set of data to be available */
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while (1) {
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i = i2c_read_reg (kLIS3L02DQ_SLAVE_ADDR, STATUS_REG, i2c_buffer, 1);
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if (i2c_buffer[0] & (1 << 3))
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break;
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}
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i = i2c_read_reg (kLIS3L02DQ_SLAVE_ADDR, OUTX_L, i2c_buffer, 8);
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mems_data->outx_h = i2c_buffer[0];
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mems_data->outx_l = i2c_buffer[1];
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mems_data->outy_h = i2c_buffer[2];
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mems_data->outy_l = i2c_buffer[3];
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mems_data->outz_h = i2c_buffer[4];
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mems_data->outz_l = i2c_buffer[5];
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return i;
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}/* end i2c_MEMS_Read() */
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