Prof Greg Egan
/
UAVXArm-GKE
UAVX Multicopter Flight Controller.
Diff: accel.c
- Revision:
- 1:1e3318a30ddd
- Parent:
- 0:62a1c91a859a
- Child:
- 2:90292f8bd179
diff -r 62a1c91a859a -r 1e3318a30ddd accel.c --- a/accel.c Fri Feb 18 22:28:05 2011 +0000 +++ b/accel.c Fri Feb 25 01:35:24 2011 +0000 @@ -206,11 +206,11 @@ */ I2CACC.start(); - r = I2CACC.write(ADXL345_ID); + r = I2CACC.write(ADXL345_WR); r = I2CACC.write(0x32); // point to acc data I2CACC.stop(); - I2CACC.read(ADXL345_ID, b, 6); + I2CACC.blockread(ADXL345_ID, b, 6); X.b1 = b[1]; X.b0 = b[0]; @@ -240,7 +240,7 @@ static uint8 r; I2CACC.start(); - I2CACC.write(ADXL345_W); + I2CACC.write(ADXL345_WR); r = I2CACC.write(0x2D); // power register r = I2CACC.write(0x08); // measurement mode I2CACC.stop(); @@ -248,7 +248,7 @@ Delay1mS(5); I2CACC.start(); - r = I2CACC.write(ADXL345_W); + r = I2CACC.write(ADXL345_WR); r = I2CACC.write(0x31); // format r = I2CACC.write(0x08); // full resolution, 2g I2CACC.stop(); @@ -256,7 +256,7 @@ Delay1mS(5); I2CACC.start(); - r = I2CACC.write(ADXL345_W); + r = I2CACC.write(ADXL345_WR); r = I2CACC.write(0x2C); // Rate r = I2CACC.write(0x09); // 50Hz, 400Hz 0x0C I2CACC.stop(); @@ -268,7 +268,7 @@ boolean ADXL345AccActive(void) { I2CACC.start(); - F.AccelerationsValid = I2CACC.write(ADXL345_ID) == I2C_ACK; + F.AccelerationsValid = I2CACC.write(ADXL345_WR) == I2C_ACK; I2CACC.stop(); TrackMinI2CRate(400000); @@ -292,12 +292,12 @@ static char b[6]; static i16u X, Y, Z; - F.AccelerationsValid = I2CACC.write(LISL_ID) == I2C_ACK; // Acc still there? + F.AccelerationsValid = I2CACCAddressResponds( LISL_ID ); // Acc still there? if ( F.AccelerationsValid ) { // Ax.b0 = I2CACC.write(LISL_OUTX_L + LISL_INCR_ADDR + LISL_READ); - I2CACC.read(LISL_ID, b, 6); + I2CACC.blockread(LISL_READ, b, 6); X.b1 = b[1]; X.b0 = b[0];