Quadrotor

/*

  AeroQuad v2.1 - October 2010

  www.AeroQuad.com

  Copyright (c) 2010 Ted Carancho.  All rights reserved.

  An Open Source Arduino based multicopter.

  This program is free software: you can redistribute it and/or modify 

  it under the terms of the GNU General Public License as published by 

  the Free Software Foundation, either version 3 of the License, or 

  (at your option) any later version. 

  This program 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 General Public License for more details. 

  You should have received a copy of the GNU General Public License 

  along with this program. If not, see <http://www.gnu.org/licenses/>. 

*/

// I2C functions

void sendByteI2C(int deviceAddress, byte dataValue) {

  Wire.beginTransmission(deviceAddress);

  Wire.send(dataValue);

  Wire.endTransmission();

}

byte readByteI2C(int deviceAddress) {

    Wire.requestFrom(deviceAddress, 1);

    return Wire.receive();

}

int readWordI2C(int deviceAddress) {

  Wire.requestFrom(deviceAddress, 2);

  return (Wire.receive() << 8) | Wire.receive();

}

int readWordWaitI2C(int deviceAddress) {

  unsigned char msb, lsb;

  Wire.requestFrom(deviceAddress, 2); // request two bytes

  while(!Wire.available()); // wait until data available

  msb = Wire.receive();

  while(!Wire.available()); // wait until data available

  lsb = Wire.receive();

  return (((int)msb<<8) | ((int)lsb));

}

int readReverseWordI2C(int deviceAddress) {

  byte lowerByte;

  Wire.requestFrom(deviceAddress, 2);

  lowerByte = Wire.receive();

  return (Wire.receive() << 8) | lowerByte;

}

byte readWhoI2C(int deviceAddress) {

  // read the ID of the I2C device

  Wire.beginTransmission(deviceAddress);

  Wire.send(0x00);

  Wire.endTransmission();

  delay(100);

  Wire.requestFrom(deviceAddress, 1);

  return Wire.receive();

}

void updateRegisterI2C(int deviceAddress, byte dataAddress, byte dataValue) {

  Wire.beginTransmission(deviceAddress);

  Wire.send(dataAddress);

  Wire.send(dataValue);

  Wire.endTransmission();

}