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imu_a.c
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imu_a.c
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/*
RM-G146 library for AVR
Written by Pedram Azimaie <[email protected]>
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the
Free Software Foundation, Inc., 59 Temple Place - Suite 330,
Boston, MA 02111-1307, USA.
*/
#include "imu.h"
#include "i2c.h"
#include "imu_a.h"
#include <avr/io.h>
void imu_a_read_data_raw(vector *v)
{
unsigned char xl,xh,yl,yh,zl,zh;
i2c_start();
i2c_write_byte(0x30);
i2c_write_byte(0xa8);
i2c_start();
i2c_write_byte(0x31);
xl = i2c_read_byte();
xh = i2c_read_byte();
yl = i2c_read_byte();
yh = i2c_read_byte();
zl = i2c_read_byte();
zh = i2c_read_last_byte();
i2c_stop();
v->x = (xh << 8 | xl) /16;
v->y = (yh << 8 | yl) /16;
v->z = (zh << 8 | zl) /16;
}
void imu_a_init(){
i2c_transmit(0x30,0x20,0x3F);
}