void TLC59116_WriteReg(byte addr, byte reg, byte val) {
I2C1_Start();
I2C1_Wr(0xC0 | (addr << 1) | WRITE);
I2C1_Wr(AUTOINC_ALL | reg);
I2C1_Wr(val);
I2C1_Stop();
}
void TLC59116_ResetAll() {
I2C1_Start();
I2C1_Wr(0xD6);
I2C1_Wr(0xA5);
I2C1_Wr(0x5A);
I2C1_Stop();
}
//https://electrosome.com/wp-content/uploads/2012/05/data-write.png
void write_ds1307(unsigned short address, unsigned short w_data)
{
I2C1_Start();
I2C1_Wr(0xD0);
I2C1_Wr(address);
I2C1_Wr(w_data);
I2C1_Stop();
}
void escreve(unsigned short address, unsigned short dado)
{
I2C1_Start();
I2C1_Wr(0xA0); //endereco disp + escrever
I2C1_Wr(address);
I2C1_Wr(dado);
I2C1_Stop();
Delay_ms(10);
}
void TLC59116_WriteLEDs(byte addr, byte * val) {
I2C1_Start();
I2C1_Wr(0xC0 | (addr << 1) | WRITE);
I2C1_Wr(AUTOINC_ALL | LEDOUT0);
I2C1_Wr(val[0]);
I2C1_Wr(val[1]);
I2C1_Wr(val[2]);
I2C1_Wr(val[3]);
I2C1_Stop();
}
void setup_ds1621()
{
I2C1_Start();
I2C1_Wr(0x90); // connect to DS1621 (#0)
I2C1_Wr(0xAC); // Access Config
I2C1_Wr(0x02); // set for continuous conversion
I2C1_Repeated_Start();
I2C1_Wr(0x90); // restart
I2C1_Wr(0xEE); // start conversions
I2C1_Stop();
}
void Write_Time(unsigned char sec, unsigned char min, unsigned char hours, unsigned char day, unsigned char dayofweek, unsigned char month, unsigned char year) {
I2C1_Start(); // issue start signal
I2C1_Wr(DEVICEID_DS1307); // address DS1307 which is 0xD0
I2C1_Wr(0); // start from word at address (REG0)
I2C1_Wr(0x80 + sec); // write $80 to REG0. (pause counter + 0 sec)
I2C1_Wr(min); // write 0 to minutes word to (REG1)
I2C1_Wr(hours); // write 17 to hours word (24-hours mode)(REG2)
I2C1_Wr(dayofweek); // write 5 - Tuesday (REG3)
I2C1_Wr(day); // write 18 to date word (REG4)
I2C1_Wr(month); // write 10 (Oct) to month word (REG5)
I2C1_Wr(year); // write 12 to year word (REG6)
I2C1_Stop(); // issue stop signal
I2C1_Start(); // issue start signal
I2C1_Wr(DEVICEID_DS1307); // address DS1307 which is 0xD0
I2C1_Wr(0); // start from word at address 0
I2C1_Wr(0); // write 0 to REG0 (enable counting + 0 sec)
I2C1_Stop(); // issue stop signal
}
unsigned short le(unsigned short address)
{
unsigned short dado;
I2C1_Start();
I2C1_Wr(0xA0); //endereco disp + escrever
I2C1_Wr(address); //aponta p/ endereco dado
I2C1_Repeated_Start();
I2C1_Wr(0xA1); //endereco disp + ler
dado = I2C1_Rd(0u);//no acknowledge ?
I2C1_Stop();
return (dado);
}
//Address reference
//https://electrosome.com/wp-content/uploads/2012/05/Time-Keeper-Registers.png
//https://electrosome.com/wp-content/uploads/2012/05/Reading-Data-from-DS1307.jpg
unsigned short read_ds1307(unsigned short address)
{
unsigned short temp;
I2C1_Start();
I2C1_Wr(0xD0);
I2C1_Wr(address);
I2C1_Repeated_Start();
I2C1_Wr(0xD1);
temp = I2C1_Rd(0);
I2C1_Stop();
return(temp);
}
void MPU6050_get(int cmd, uint8_t read[6])
{
I2Cerror = 0;
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
if (I2Cerror == 0)
{
I2C1_SendByte(cmd);
I2C1_WaitAck();
if (I2Cerror == 0)
{
I2C1_Stop();
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFF));//ff-1(Read)
I2C1_WaitAck();
if (I2Cerror == 0)
{
read[0] = I2C1_ReceiveByte(); //receive
I2C1_Ack();
read[1] = I2C1_ReceiveByte(); //receive
I2C1_Ack();
read[2] = I2C1_ReceiveByte(); //receive
I2C1_Ack();
read[3] = I2C1_ReceiveByte(); //receive
I2C1_Ack();
read[4] = I2C1_ReceiveByte(); //receive
I2C1_Ack();
read[5] = I2C1_ReceiveByte(); //receive
I2C1_NoAck();
I2C1_Stop();
}
}
}
}
void Main()
{
Setup();
I2C_Master_Init();
I2C1_Init(100000);
while(1){
I2C1_Start();
I2C1_Wr(8 << 1);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(100);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Stop();
Delay_ms(500);
I2C1_Start();
I2C1_Wr(8 << 1);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Wr(0);
I2C1_Stop();
Delay_ms(500);
}
}
//***********************************************************
void MemWrt(unsigned int address,unsigned char data_m)
{
unsigned char Add_H,Add_L;
Add_H=((address&0xFF00)>>8);
Add_L=(address&0x00FF);
I2C1_Init(100000);
I2C1_Start();
I2C1_Wr(0xA0);
I2C1_Wr(Add_H);
I2C1_Wr(Add_L);
I2C1_Wr(data_m);
I2C1_Stop();
Delay_ml(20);
}//MemWrt
void Read_Time(unsigned char *sec, unsigned char *min, unsigned char *hr, unsigned char *week_day, unsigned char *day, unsigned char *mn, unsigned char *year) {
I2C1_Start();
I2C1_Wr(DEVICEID_DS1307);
I2C1_Wr(0);
I2C1_Repeated_Start();
I2C1_Wr(0xD1);
*sec =I2C1_Rd(1);
*min =I2C1_Rd(1);
*hr =I2C1_Rd(1);
*week_day =I2C1_Rd(1);
*day =I2C1_Rd(1);
*mn =I2C1_Rd(1);
*year =I2C1_Rd(0);
I2C1_Stop();
}
//***********************************************************
unsigned char MemRd(unsigned int address)
{
unsigned char data_m,Add_H,Add_L;
Add_H=((address&0xff00)>>8);
Add_L=(address&0x00FF);
I2C1_Init(100000);
I2C1_Start();
I2C1_Wr(0xA0);
I2C1_Wr(Add_H);
I2C1_Wr(Add_L);
I2C1_Repeated_Start();
I2C1_Wr(0xA1);
data_m = I2C1_Rd(0u);
I2C1_Stop();
return data_m;
}//MemRd
void Read_Compass(){
//Lcd_Out(1,1,"Read_Compass");
//delay_ms(1000);
I2C1_Start();
I2C1_Wr(0x3C); //sellecting magnatometer
I2C1_Wr(0x02);
I2C1_Wr(0x00); //single mode readinh
I2C1_Stop();
I2C1_Start();
Delay_ms(15);
if(I2c1_Is_Idle())
{
I2C1_Wr(0x3C);
I2C1_Wr(0x03);
I2C1_Repeated_Start();
I2C1_Wr(0x3D);
x_h=I2c1_Rd(0) ;
}
I2C1_Stop();
I2C1_Start();
Delay_ms(15);
if(I2c1_Is_Idle())
{
I2C1_Wr(0x3C);
I2C1_Wr(0x04);
I2C1_Repeated_Start();
I2C1_Wr(0x3D);
x_l=I2c1_Rd(0);
}
I2C1_Stop();
I2C1_Start();
Delay_ms(15);
if(I2c1_Is_Idle())
{
I2C1_Wr(0x3C);
I2C1_Wr(0x05);
I2C1_Repeated_Start();
I2C1_Wr(0x3D);
z_h=I2c1_Rd(0);
}
I2C1_Stop();
I2C1_Start();
Delay_ms(15);
if(I2c1_Is_Idle())
{
I2C1_Wr(0x3C);
I2C1_Wr(0x06);
I2C1_Repeated_Start();
I2C1_Wr(0x3D);
z_l=I2c1_Rd(0) ;
}
I2C1_Stop();
I2C1_Start();
Delay_ms(15);
if(I2c1_Is_Idle())
{
I2C1_Wr(0x3C);
I2C1_Wr(0x07);
I2C1_Repeated_Start();
I2C1_Wr(0x3D);
y_h=I2c1_Rd(0) ;
}
I2C1_Stop();
I2C1_Start();
Delay_ms(15);
if(I2c1_Is_Idle())
{
I2C1_Wr(0x3C);
I2C1_Wr(0x08);
I2C1_Repeated_Start();
I2C1_Wr(0x3D);
y_l=I2c1_Rd(0) ;
}
I2C1_Stop();
X_Value=convert(x_h,x_l);
Y_Value=convert(y_h,y_l);
// WordToStr(X_Value,to_LCD);
// Lcd_Out(1,1,to_LCD);
if(X_Value>=0 && Y_Value>=0){
//1
angle=atan((((double)Y_Value/(double)X_Value)));
angle=angle*((180)/(3.14159265));
}else if(X_Value<0 && Y_Value>=0){
//2
angle=atan((((double)Y_Value/((double)(-1)*X_Value))));
angle=angle*((180)/(3.14159265));
angle=180-angle;
}else if(X_Value<0 && Y_Value<0){
//3
angle=atan((((double)Y_Value/(double)X_Value)));
angle=angle*((180)/(3.14159265));
angle=angle+180;
}else if(X_Value>=0 && Y_Value<0){
//4
angle=atan(((((double)(-1)*Y_Value)/(double)X_Value)));
angle=angle*((180)/(3.14159265));
angle=360-angle;
}
if(X_value>=0){
}else{
X_value=(-1)*X_value;
}
if(Y_value>=0){
}else{
Y_value=(-1)*Y_value;
}
Delay_ms(100);
}
int MPU6050_Init(void)
{
uint8_t mpu_adr;
// Check to make sure there is a device out there and its on the
// correct address
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x75); // Who Am I
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(1);
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFF));//ff-1(Read)
I2C1_WaitAck();
mpu_adr = I2C1_ReceiveByte();//receive
I2C1_NoAck();
I2C1_Stop();
// if wrong address or no device then bail out with an error
if (mpu_adr != 0x68)
{
return -1;
}
Delay_ms(5);
// force a device reset
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x6B); // Force a reset
I2C1_WaitAck();
I2C1_SendByte(0x80);
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(150);
// set the internal clock to be the Z AXIS gyro
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x6B);
I2C1_WaitAck();
I2C1_SendByte(0x03); // clock source AKA - changed from 0x00 (internal clock)
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(5);
// turn off all sleep modes
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x6C);
I2C1_WaitAck();
I2C1_SendByte(0x00); // wake up ctrl
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(5);
// Set the sample rate on the accel and refresh rate on the gyro
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x19); // Sample output rate
I2C1_WaitAck();
I2C1_SendByte(0x00);
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(5);
// turn on the built in LPF
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x1A);
I2C1_WaitAck();
I2C1_SendByte(0x00); //low pass disable AKA - was 0x02 for 98hz
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(5);
// set the gyro scale
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x1B);
I2C1_WaitAck();
I2C1_SendByte(0x00); //set to 250LSB/Deg/s
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(5);
// set the accel scale
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x1C);
I2C1_WaitAck();
I2C1_SendByte(0x00); //set to accel to +/-2g scale AKA - was 0x08 for +/-4g
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(5);
// configure the interrupt(s) pin because we don't use it
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x37); // init pin config
I2C1_WaitAck();
I2C1_SendByte(0x00);
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(5);
// disable the interrupt pin(s)
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x38); // init enable
I2C1_WaitAck();
I2C1_SendByte(0x00);
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(5);
/*
// this was bad code and was removed
I2C1_Start();
I2C1_SendByte((MPU6050_ADDR & 0xFE));//fe-0(Write)
I2C1_WaitAck();
I2C1_SendByte(0x6A);
I2C1_WaitAck();
I2C1_SendByte(0x01); // reset signal paths
I2C1_WaitAck();
I2C1_Stop();
Delay_ms(5);
*/
return 0;
}
