#ifndef __PX4FLOW_H
#define __PX4FLOW_H
#include "include.h"
//器件地址
#define PX4FLOW_ADDR  0x42
//寄存器宏定义，如果是2字节一个数据地址指的低字节位，高字节是低字节地址后一位，组合起来就是完整的数据  解释摘自官网

//不积分的数据
//记录总的创建的iic帧数
#define FRAME_COUNT_SUM     0x00                    //uint16_t counts created I2C frames [frames]
//X轴最新一帧所有像素移动和*10
#define PIXEL_FLOW_X_SUM    0x02                    //int16_t latest x flow measurement in pixels*10 [pixels]
//Y轴最新一帧所有像素移动和*10
#define PIXEL_FLOW_Y_SUM    0x04                    //int16_t latest y flow measurement in pixels*10 [pixels]
//X轴速度
#define FLOW_COMP_M_X       0x06                    //int16_t x velocity*1000 [meters/sec]
//Y轴速度
#define FLOW_COMP_M_Y       0x08                    //int16_t y velocity*1000 [meters/sec]
//光流图像质量
#define QUAL                0x0a                    //int16_t Optical flow quality / confidence [0: bad, 255: maximum quality]
//X轴陀螺仪速度
#define GYRO_X_RATE         0x0c                    //int16_t latest gyro x rate [rad/sec]
//Y轴陀螺仪速度
#define GYRO_Y_RATE         0x0e                    //int16_t latest gyro y rate [rad/sec]
//Z轴陀螺仪速度
#define GYRO_Z_RATE         0x10                    //int16_t latest gyro z rate [rad/sec]
//陀螺仪数据范围
#define GYRO_RANGE          0x12                    //uint8_t gyro range [0 .. 7] equals [50 deg/sec .. 2000 deg/sec]
//超声波数据上次更新时间到现在的时间间隔
#define SONAR_TIMESTAMP1     0x13                    //uint8_t time since last sonar update [milliseconds]
//地面距离  正值：已知距离，  负值：未知距离
#define GROUND_DISTANCE1    0x14                    //int16_t Ground distance in meters*1000 [meters]. Positive value: distance known.
                                                            //Negative value: Unknown distance
//积分后的数据地址
//上次读取数据后数据更新了多少次
#define FRAME_COUNT_SINCE_LAST_READOUT  0x16        //uint16_t number of flow measurements since last I2C readout [frames]
//自上次读取iic数据后 X轴速度积分后所得值
#define PIXEL_FLOW_X_INTEGRAL           0x18        //int16_t  accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000]
//自上次读取iic数据后 Y轴速度积分后所得值
#define PIXEL_FLOW_Y_INTEGRAL           0x1a        //int16_t  accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000]
//自上次读取iic数据后，X轴角速度积分值
#define GYRO_X_RATE_INTEGRAL            0x1c        //int16_t  accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000]
//自上次读取iic数据后，Y轴角速度积分值
#define GYRO_Y_RATE_INTEGRAL            0x1e        //int16_t  accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000]
//自上次读取iic数据后，Z轴角速度积分值
#define GYRO_Z_RATE_INTEGRAL            0x20        //int16_t  accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000]
//上次和这次读取iic数据的时间间隔
#define INTEGRATION_TIMESPAN            0x22        //uint32_t accumulation timespan in microseconds since last I2C readout [microseconds]
//超声波数据上次更新时间到现在的时间间隔
#define SONAR_TIMESTAMP2                 0x26        //uint32_t time since last sonar update [microseconds]
//地面距离
#define GROUND_DISTANCE2                0x2a        //int16_t  Ground distance in meters*1000 [meters*1000]
//陀螺仪温度
#define GYRO_TEMPERATURE                0x2c        //int16_t  Temperature * 100 in centi-degrees Celsius [degcelsius*100]
//光流积分数据质量
#define QUALITY                         0x2e        //uint8_t averaged quality of accumulated flow values [0:bad quality;255: max quality]

//读指定寄存器指定字节数数据
u8 flow_read_data(u8 addr,u8 reg,u8 len,u8 *buf);
//读8位无符号数据
uint8_t     readu8_date(u8 addr,u8 reg);
//读16位无符号数据
uint16_t    readu16_date(u8 addr,u8 reg);
//读16位有符号数据
int16_t     reads16_date(u8 addr,u8 reg);
//读32位无符号数据
uint32_t    readu32_date(u8 addr,u8 reg);

#endif

#include "px4flow.h"
#include "include.h"
#include "myiic.h"

//读指定寄存器指定字节数数据
u8 flow_read_data(u8 addr,u8 reg,u8 len,u8 *buf)
{
    IIC_Start();
    IIC_Send_Byte((addr<<)|);//发送器件地址+写命令
    if(IIC_Wait_Ack())    //等待应答
    {
        IIC_Stop();
        ;
    }
    IIC_Send_Byte(reg);    //写寄存器地址
    IIC_Wait_Ack();        //等待应答
    IIC_Start();
    IIC_Send_Byte((addr<<)|);//发送器件地址+读命令
    IIC_Wait_Ack();        //等待应答
    while(len)
    {
        )*buf=IIC_Read_Byte();//读数据,发送nACK
        );        //读数据,发送ACK
        len--;
        buf++;
    }
    IIC_Stop();    //产生一个停止条件
    ;
}
//读8位无符号数据
uint8_t     readu8_date(u8 addr,u8 reg)
{
    u8 buff[];
    uint8_t date;
    flow_read_data(addr,reg,,buff);
    date = buff[];
    return date;
}
//读16位无符号数据
uint16_t    readu16_date(u8 addr,u8 reg)
{
    u8 buff[];
    uint16_t date;
    flow_read_data(addr,reg,,buff);
    date = buff[] <<  | buff[];
    return date;

}
//读16位有符号数据
int16_t     reads16_date(u8 addr,u8 reg)
{
    u8 buff[];
    int16_t date;
    flow_read_data(addr,reg,,buff);
    date = buff[] <<  | buff[];
    return date;
}
//读32位无符号数据
uint32_t    readu32_date(u8 addr,u8 reg)
{
    u8 buff[];
    int16_t date;
    flow_read_data(addr,reg,,buff);
    date = buff[] <<  | buff[] <<  | buff[] <<  | buff[];
    return date;
}