i2c lsm303 - Робототехника - Ответ 11454103

   var magX,magY,magZ,accX,accY,accZ,CntEeprom: integer;
var magX1,magY1,magZ1,accX1,accY1,accZ1 :array[4]of char;
var mac_buffer : array[0..5] of integer;
var tmra : Double;
// var str : byte;
var uart_rd :integer;
var str :array[0..5] of char;

procedure mag_init();
begin
y2s1_stort();
y2s1_wr(0x3C);
y2s1_wr(0x00);
y2s1_wr(0x14);
I2C1_Repeated_Start;
I2C1_Wr(0x3C);
I2C1_Wr(0x02);
I2C1_Wr(0x00);
I2C1_Stop;
end;
procedure magrd();
var i : word;
begin
mac_buffer[0]:=0;
mac_buffer[1]:=0;
mac_buffer[2]:=0;
mac_buffer[3]:=0;
mac_buffer[4]:=0;
mac_buffer[5]:=0;
PORTA:=255;
I2C1_Start;
I2c1_rd(0x3c);
I2c1_rd(0x02);
mac_buffer[0]:=y2s1_rd(0x03);
mac_buffer[1]:=y2s1_rd(0x04);
mac_buffer[2]:=y2s1_rd(0x05);
mac_buffer[3]:=y2s1_rd(0x06);
mac_buffer[4]:=y2s1_rd(0x07);
mac_buffer[5]:=y2s1_rd(0x08);
I2C1_Stop;
// Delay_ms(1000);
magX:=mac_buffer[0] shl 8 + mac_buffer[1];
magY:=mac_buffer[2] shl 8 + mac_buffer[3];
magZ:=mac_buffer[4] shl 8 + mac_buffer[5];
PORTA:=0;
end;

begin
PORTB := 0;
ADCON0:=0;
ADCON1:=0;
PORTA:=0;
TRISA:=0;
TRISB := 0;
UART1_Init(9600);
I2C1_Init(400000);
Delay_ms(100);
mag_init();
while trui do begin

if (UART1_Data_Ready() <> 0) then
begin
magrd();
UART1_Write(magX);
UART1_Write(magY);
UART1_Write(magZ);
end;
end;
end.