// Setup the imu
LSM9DS0_t* imu_setup(uint8_t gAddr, uint8_t xmAddr)
{
LSM9DS0_t* imu;
imu->gx = 0;
imu->gy = 0;
imu->gz = 0;
imu->ax = 0;
imu->ay = 0;
imu->az = 0;
imu->mx = 0;
imu->my = 0;
imu->mz = 0;
imu->temperature = 0;
imu->gScale = G_SCALE_245DPS;
imu->aScale = A_SCALE_4G;
imu->mScale = M_SCALE_2GS;
imu->gRes = 0;
imu->aRes = 0;
imu->mRes = 0;
// setting up the i2c
imu->gyro = mraa_i2c_init(1);
mraa_i2c_address(imu->gyro, gAddr);
imu->xm = mraa_i2c_init(1);
mraa_i2c_address(imu->xm, xmAddr);
return imu;
}
void imuinit()
{
mraa_init();
i2c = mraa_i2c_init(1);
sendi2c( GYRO_I2C_ADDR, FIFO_CTRL_REG_G, 0 );
sendi2c( GYRO_I2C_ADDR, CTRL_REG1_G, 0x0F ); //Normal mode, enable all axes //0xFF ); //??unknown config??
sendi2c( GYRO_I2C_ADDR, CTRL_REG2_G, 0x00); // Normal mode, high cutoff frequency
sendi2c( GYRO_I2C_ADDR, CTRL_REG4_G, 0x10 ); // Set scale to 500 dps
sendi2c( GYRO_I2C_ADDR, CTRL_REG5_G, 0x00 ); // FIFO Disabled, HPF Disabled
sendi2c( XM_I2C_ADDR, FIFO_CTRL_REG, 0 );
sendi2c( XM_I2C_ADDR, CTRL_REG1_XM, 0xFF );
sendi2c( XM_I2C_ADDR, CTRL_REG2_XM, 0x00); //Set scale +/-2g
sendi2c( XM_I2C_ADDR, CTRL_REG4_XM, 0x30 );
sendi2c( XM_I2C_ADDR, CTRL_REG5_XM, 0x94);
sendi2c( XM_I2C_ADDR, CTRL_REG6_XM, 0x00);
sendi2c( XM_I2C_ADDR, CTRL_REG7_XM, 0x00);
/*
return;
while(1)
{
readGyro();
readAccel();
readMag();
printf("gx:%6.2f gy:%6.2f gz:%6.2f ax:%6.2f ay:%6.2f az:%6.2f mx:%6.2f my:%6.2f mz:%6.2f temp:%0.0f\n",gx,gy,gz,ax,ay,az,mx,my,mz,temp);
usleep(20000);
}
*/
}
mraa_result_t mag_init(int bus) {
mag_context = mraa_i2c_init(bus);
mraa_i2c_address(mag_context, HMC5883L_I2C_ADDR);
mraa_result_t result;
mag_rx_tx_buf[0] = HMC5883L_CONF_REG_B;
mag_rx_tx_buf[1] = GA_1_3_REG;
result = mraa_i2c_write(mag_context, mag_rx_tx_buf, 2);
if (result != MRAA_SUCCESS) {
printError("unable to write to compass (7)");
return result;
}
mag_rx_tx_buf[0] = HMC5883L_MODE_REG;
mag_rx_tx_buf[1] = HMC5883L_CONT_MODE;
result = mraa_i2c_write(mag_context, mag_rx_tx_buf, 2);
if (result != MRAA_SUCCESS) {
printError("unable to read from compass (8)");
return result;
}
mag_update();
return MRAA_SUCCESS;
}
mrb_value
mrb_mraa_i2c_init(mrb_state *mrb, mrb_value self){
mrb_int bus;
mrb_bool raw;
mraa_i2c_context i2c;
raw = false;
mrb_get_args(mrb, "i|b", &bus, &raw);
if (raw == false){
i2c = mraa_i2c_init(bus);
}
else {
i2c = mraa_i2c_init_raw(bus);
}
if (i2c == NULL){
mrb_raisef(mrb, E_RUNTIME_ERROR, "Failed to initialize BUS:%S.", mrb_fixnum_value(bus));
}
DATA_TYPE(self) = &mrb_mraa_i2c_ctx_type;
DATA_PTR(self) = i2c;
return self;
}
/**
* Instantiates an i2c bus. Multiple instances of the same bus can
* exist and the bus is not guarranteed to be on the correct address
* before read/write.
*
* @param bus The i2c bus to use
* @param raw Whether to disable pinmapper for your board
*/
I2c(int bus, bool raw=false) {
if (raw) {
m_i2c = mraa_i2c_init_raw(bus);
}
else {
m_i2c = mraa_i2c_init(bus);
}
if (m_i2c == NULL) {
throw std::invalid_argument("Invalid i2c bus");
}
}
int main()
{
uint8_t m[2];
m[0]=8;
m[1]=255;
mraa_init(); // can we put it in the beginning. Avoid repeating definition.
mraa_i2c_context pwm12;
pwm12 = mraa_i2c_init(2);
mraa_i2c_address(pwm12,12);
while(1)
mraa_i2c_write(pwm12,m,2);
return 0;
}
int
main(int argc, char **argv)
{
mraa_init();
float direction = 0;
int16_t x = 0, y = 0, z = 0;
char rx_tx_buf[MAX_BUFFER_LENGTH];
//! [Interesting]
mraa_i2c_context i2c;
i2c = mraa_i2c_init(0);
mraa_i2c_address(i2c, HMC5883L_I2C_ADDR);
rx_tx_buf[0] = HMC5883L_CONF_REG_B;
rx_tx_buf[1] = GA_1_3_REG;
mraa_i2c_write(i2c, rx_tx_buf, 2);
//! [Interesting]
mraa_i2c_address(i2c, HMC5883L_I2C_ADDR);
rx_tx_buf[0] = HMC5883L_MODE_REG;
rx_tx_buf[1] = HMC5883L_CONT_MODE;
mraa_i2c_write(i2c, rx_tx_buf, 2);
for(;;) {
mraa_i2c_address(i2c, HMC5883L_I2C_ADDR);
mraa_i2c_write_byte(i2c, HMC5883L_DATA_REG);
mraa_i2c_address(i2c, HMC5883L_I2C_ADDR);
mraa_i2c_read(i2c, rx_tx_buf, DATA_REG_SIZE);
x = (rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_X_LSB_REG] ;
z = (rx_tx_buf[HMC5883L_Z_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Z_LSB_REG] ;
y = (rx_tx_buf[HMC5883L_Y_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Y_LSB_REG] ;
//scale and calculate direction
direction = atan2(y * SCALE_0_92_MG, x * SCALE_0_92_MG);
//check if the signs are reversed
if (direction < 0)
direction += 2 * M_PI;
printf("Compass scaled data x : %f, y : %f, z : %f\n", x * SCALE_0_92_MG, y * SCALE_0_92_MG, z * SCALE_0_92_MG) ;
printf("Heading : %f\n", direction * 180/M_PI) ;
}
}
mraa_result_t gyro_init(int bus) {
//init bus and reset chip
gyro_context = mraa_i2c_init(bus);
mraa_i2c_address(gyro_context, ITG3200_I2C_ADDR);
mraa_result_t result;
gyro_buffer[0] = ITG3200_PWR_MGM;
gyro_buffer[1] = ITG3200_RESET;
result = mraa_i2c_write(gyro_context, gyro_buffer, 2);
if (result != MRAA_SUCCESS) {
printError("unable to write to gyro (4)");
return result;
}
gyro_calibrate();
gyro_update();
return MRAA_SUCCESS;
}
// i2c ublox init
ecezo_context ecezo_i2c_init(unsigned int bus, uint8_t addr)
{
// make sure MRAA is initialized
int mraa_rv;
if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
{
printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
return NULL;
}
ecezo_context dev =
(ecezo_context)malloc(sizeof(struct _ecezo_context));
if (!dev)
return NULL;
// zero out context
memset((void *)dev, 0, sizeof(struct _ecezo_context));
// initialize the MRAA contexts
if (!(dev->i2c = mraa_i2c_init(bus)))
{
printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
ecezo_close(dev);
return NULL;
}
if (mraa_i2c_address(dev->i2c, addr))
{
printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
ecezo_close(dev);
return NULL;
}
if (generic_init(dev))
{
printf("%s: generic_init() failed.\n", __FUNCTION__);
ecezo_close(dev);
return NULL;
}
return dev;
}
void main(){
devAddr = MPU6050_DEFAULT_ADDRESS;
i2c = mraa_i2c_init(0);
/** Power on and prepare for general usage.
* This will activate the device and take it out of sleep mode (which must be done
* after start-up). This function also sets both the accelerometer and the gyroscope
* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
* the clock source to use the X Gyro for reference, which is slightly better than
* the default internal clock source.
*/
mraa_i2c_address(i2c,devAddr);
mraa_i2c_write_byte_data(i2c,MPU6050_CLOCK_PLL_XGYRO,MPU6050_RA_PWR_MGMT_1);
mraa_i2c_write_byte_data(i2c,MPU6050_RA_GYRO_CONFIG,MPU6050_GYRO_FS_250);
mraa_i2c_write_byte_data(i2c,MPU6050_RA_ACCEL_CONFIG,MPU6050_ACCEL_FS_2);
int ev1=every(20,getangle,-1);
int ev2=every(50,print,-1);
while(1){
timeupdate();
}
}
void
i2c_detect_devices(int bus)
{
mraa_i2c_context i2c = mraa_i2c_init(bus);
if (i2c == NULL) {
return;
}
int addr;
for (addr = 0x0; addr < 0x80; ++addr) {
uint8_t value;
if ((addr) % 16 == 0)
printf("%02x: ", addr);
if (i2c_get(bus, addr, 0, &value) == MRAA_SUCCESS)
printf("%02x ", addr);
else
printf("-- ");
if ((addr + 1) % 16 == 0)
printf("\n");
}
}
mraa_result_t
i2c_set(int bus, uint8_t device_address, uint8_t register_address, uint8_t data)
{
mraa_result_t status = MRAA_SUCCESS;
mraa_i2c_context i2c = mraa_i2c_init(bus);
if (i2c == NULL) {
return MRAA_ERROR_NO_RESOURCES;
}
status = mraa_i2c_address(i2c, device_address);
if (status != MRAA_SUCCESS) {
fprintf(stderr, "Could not set i2c device address\n");
goto i2c_set_exit;
}
status = mraa_i2c_write_byte_data(i2c, data, register_address);
if (status != MRAA_SUCCESS) {
fprintf(stderr, "Could not write to i2c register. Status = %d\n", status);
goto i2c_set_exit;
}
i2c_set_exit:
mraa_i2c_stop(i2c);
return status;
}
mraa_result_t
i2c_get(int bus, uint8_t device_address, uint8_t register_address, uint8_t* data)
{
mraa_result_t status = MRAA_SUCCESS;
mraa_i2c_context i2c = mraa_i2c_init(bus);
if (i2c == NULL) {
return MRAA_ERROR_NO_RESOURCES;
}
status = mraa_i2c_address(i2c, device_address);
if (status != MRAA_SUCCESS) {
goto i2c_get_exit;
}
status = mraa_i2c_write_byte(i2c, register_address);
if (status != MRAA_SUCCESS) {
goto i2c_get_exit;
}
status = mraa_i2c_read(i2c, data, 1) == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
if (status != MRAA_SUCCESS) {
goto i2c_get_exit;
}
i2c_get_exit:
mraa_i2c_stop(i2c);
return status;
}
// init
bno055_context bno055_init(int bus, uint8_t addr)
{
bno055_context dev =
(bno055_context)malloc(sizeof(struct _bno055_context));
if (!dev)
return NULL;
// zero out context
memset((void *)dev, 0, sizeof(struct _bno055_context));
// make sure MRAA is initialized
int mraa_rv;
if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
{
printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
bno055_close(dev);
return NULL;
}
if (!(dev->i2c = mraa_i2c_init(bus)))
{
printf("%s: mraa_i2c_init() failed.\n", __FUNCTION__);
bno055_close(dev);
return NULL;
}
if (mraa_i2c_address(dev->i2c, addr) != MRAA_SUCCESS)
{
printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
bno055_close(dev);
return NULL;
}
_clear_data(dev);
// forcibly set page 0, so we are synced with the device
if (bno055_set_page(dev, 0, true))
{
printf("%s: bno055_set_page() failed.\n", __FUNCTION__);
bno055_close(dev);
return NULL;
}
// check the chip id. This has to be done after forcibly setting
// page 0, as that is the only page where the chip id is present.
uint8_t chipID = 0;
if (bno055_get_chip_id(dev, &chipID))
{
printf("%s: Could not read chip id\n", __FUNCTION__);
bno055_close(dev);
return NULL;
}
if (chipID != BNO055_CHIPID)
{
printf("%s: Invalid chip ID. Expected 0x%02x, got 0x%02x\n",
__FUNCTION__, BNO055_CHIPID, chipID);
bno055_close(dev);
return NULL;
}
upm_result_t urv = UPM_SUCCESS;
// set config mode
urv += bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_CONFIGMODE);
// default to internal clock
urv += bno055_set_clock_external(dev, false);
// we specifically avoid doing a reset so that if the device is
// already calibrated, it will remain so.
// we always use C for temperature
urv += bno055_set_temperature_units_celsius(dev);
// default to accelerometer temp
urv += bno055_set_temperature_source(dev, BNO055_TEMP_SOURCE_ACC);
// set accel units to m/s^2
urv += bno055_set_accelerometer_units(dev, false);
// set gyro units to degrees
urv += bno055_set_gyroscope_units(dev, false);
// set Euler units to degrees
urv += bno055_set_euler_units(dev, false);
// by default, we set the operating mode to the NDOF fusion mode
urv += bno055_set_operation_mode(dev, BNO055_OPERATION_MODE_NDOF);
// if any of those failed, bail
if (urv != UPM_SUCCESS)
{
printf("%s: Initial device configuration failed\n", __FUNCTION__);
bno055_close(dev);
return NULL;
}
return dev;
}
int main(int argc, char **argv)
{
printf("%s------------------------------------------------------------%s\n", ANSI_COLOUR_MAGENTA_BOLD, ANSI_COLOUR_RESET);
printf("%s-----------------------eGlove Project-----------------------%s\n", ANSI_COLOUR_MAGENTA_BOLD, ANSI_COLOUR_RESET);
printf("%s------------------------------------------------------------%s\n", ANSI_COLOUR_MAGENTA_BOLD, ANSI_COLOUR_RESET);
sleep(1); //1s delay
mraa_init();
MPU9250_GPIO_Init();
MPU9250_i2c = mraa_i2c_init(1);
signal(SIGINT, &sig_handler);
usleep(1000); //1ms delay
MPU9250_I2C_Init();
sleep(1); //1s delay
MPU9250_I2C_Config(SEN_COUNT);
sleep(1); //1s delay
printf("%s------------------------------------------------------------%s\n", ANSI_COLOUR_WHITE_BOLD, ANSI_COLOUR_RESET);
#ifdef GESTURE_SCAN
//Initialize Database
MPU9250_Alpha_Struct();
#endif
//Store First Time Instance
Timer = clock();
while(isrunning)
{
for(i = 0; i < SEN_COUNT; i++)
{
MPU9250_Loop();
#ifdef RAW_ANGLES
//Print Raw Angles
printf("%s[ SEN%d ] Raw Angles: Raw_X:%6.2lf Raw_Y:%6.2lf %s\n", Ansi_Colour_Bold, i, r[i].Raw_X, r[i].Raw_Y, ANSI_COLOUR_RESET);
#endif
#ifdef COMPLEMENTARY_ANGLES
//Print Complementary Filter Angles
printf("%s[ SEN%d ] CF Angles: C_X:%6.2lf C_Y:%6.2lf %s\n", Ansi_Colour_Bold, i, c[i].C_X, c[i].C_Y, ANSI_COLOUR_RESET);
#endif
s[i].Roll = c[i].C_X;
s[i].Pitch = c[i].C_Y;
#ifdef EULER_ANGLES
//Print Euler Angles
printf("\r%s[ SEN%d ] Euler Angles: Roll:%6.2lf Pitch:%6.2lf %s", Ansi_Colour_Bold, i, s[i].Roll, s[i].Pitch, ANSI_COLOUR_RESET);
#endif
// printf("%s------------------------------------------------------------%s\n", ANSI_COLOUR_WHITE_BOLD, ANSI_COLOUR_RESET);
dt = (double)(clock() - Timer) / CLOCKS_PER_SEC;
#ifdef LOOP_TIME
//Print Loop-time
printf("\rTime elapsed in s: %f", dt);
#endif
Timer = clock();
// printf("%s------------------------------------------------------------%s\n", ANSI_COLOUR_WHITE_BOLD, ANSI_COLOUR_RESET);
}
#ifdef GESTURE_SCAN
MPU9250_Gesture_Scan();
#endif
}
return MRAA_SUCCESS;
}
int main()
{
uint8_t event_type;
int exit_code;
mraa_init();
//Declaring opaque pointer to the internal struct_i2c
mraa_i2c_context i2c;
i2c = mraa_i2c_init(0);
//If no i2c connection is detected
if (i2c == NULL)
{
system("echo $(date) No I2C connection detected. >> log.txt");
return 0;
}
//Setting the i2c context address
mraa_i2c_address(i2c, I2C_ADDRESS);
//Reading a single byte from the i2c context.
event_type = mraa_i2c_read_byte(i2c);
if (event_type != -1)
{
if (event_type == 'A')
{
system("echo Entered event A >> log.txt");
}
else if (event_type == 'B')
{
system("echo Entered event B >> log.txt");
}
else
{
system("echo $(date) Wrong wake-up character received. >> log.txt");
}
//Waiting for one second to ensure program stability
sleep(1);
//Writing a single byte back to the i2c context
mraa_i2c_write_byte(i2c, 1);
//De-initializing the mraa_i2c_context device.
mraa_i2c_stop(i2c);
}
if (event_type == 'A' || event_type == 'B')
{
//Shutdown intel edison if program ran successfully.
system("shutdown -h now");
}
else
{
system("echo $(date) No data received!!!!! >> log.txt");
//De-initialize the mraa_i2c_context device
mraa_i2c_stop(i2c);
}
return 0;
}
lcm1602_context lcm1602_i2c_init(int bus, int address, bool is_expander,
uint8_t num_columns, uint8_t num_rows)
{
lcm1602_context dev =
(lcm1602_context)malloc(sizeof(struct _lcm1602_context));
if (!dev)
return NULL;
memset((void *)dev, 0, sizeof(struct _lcm1602_context));
// make sure MRAA is initialized
int mraa_rv;
if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
{
printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
lcm1602_close(dev);
return NULL;
}
// initialize the MRAA context
if (!(dev->i2c = mraa_i2c_init(bus)))
{
printf("%s: mraa_i2c_init failed.\n", __FUNCTION__);
lcm1602_close(dev);
return NULL;
}
// now check the address...
if (mraa_i2c_address(dev->i2c, address) != MRAA_SUCCESS)
{
printf("%s: mraa_i2c_address failed.\n", __FUNCTION__);
lcm1602_close(dev);
return NULL;
}
dev->isI2C = true;
dev->backlight = HD44780_BACKLIGHT;
dev->columns = num_columns;
dev->rows = num_rows;
// if we are not dealing with an expander we will only initialize
// the I2C context and bail, leaving it up to the caller to handle
// further communications (like JHD1313M1)
if (!is_expander)
return dev;
upm_delay_us(50000);
lcm1602_backlight_on(dev, true);
upm_delay_us(100000);
// try to put us into 4 bit mode
write4bits(dev, 0x03 << 4);
upm_delay_us(4500);
write4bits(dev, 0x30);
upm_delay_us(4500);
write4bits(dev,0x30);
upm_delay_us(150);
// Put us into 4 bit mode, for realz yo.
write4bits(dev, 0x20);
// Set number of lines
lcm1602_command(dev, HD44780_FUNCTIONSET | 0x0f);
// default display control
dev->displayControl = HD44780_DISPLAYON | HD44780_CURSOROFF
| HD44780_BLINKOFF;
lcm1602_command(dev, HD44780_DISPLAYCONTROL | dev->displayControl);
upm_delay_us(2000);
lcm1602_clear(dev);
// Set entry mode.
dev->entryDisplayMode = HD44780_ENTRYLEFT | HD44780_ENTRYSHIFTDECREMENT;
lcm1602_command(dev, HD44780_ENTRYMODESET | dev->entryDisplayMode);
lcm1602_home(dev);
return dev;
}
kx122_context kx122_init(int bus, int addr, int chip_select_pin, int spi_bus_frequency)
{
kx122_context dev = (kx122_context)malloc(sizeof(struct _kx122_context));
if(!dev){
return NULL;
}
dev->using_spi = false;
dev->i2c = NULL;
dev->spi = NULL;
dev->chip_select = NULL;
dev->gpio1 = NULL;
dev->gpio2 = NULL;
if(mraa_init() != MRAA_SUCCESS){
printf("%s: mraa_init() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
if(addr == -1){
dev->using_spi = true;
}
if(dev->using_spi){
if (spi_bus_frequency > 10000000){ // KX122 has a maximum SPI bus speed of 10MHz
printf("%s: bus frequency too high - KX122 has a maximum SPI bus speed of 10MHz.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
if (!(dev->spi = mraa_spi_init(bus))){
printf("%s: mraa_spi_init() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
if (!(dev->chip_select = mraa_gpio_init(chip_select_pin))){
printf("%s: mraa_gpio_init() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
mraa_gpio_dir(dev->chip_select,MRAA_GPIO_OUT);
mraa_spi_mode(dev->spi,MRAA_SPI_MODE0);
if (mraa_spi_frequency(dev->spi, spi_bus_frequency)){
printf("%s: mraa_spi_frequency() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
}
else{ //Using I2C
if (!(dev->i2c = mraa_i2c_init(bus))){
printf("%s: mraa_i2c_init() failed, used bus: %d\n", __FUNCTION__,bus);
kx122_close(dev);
return NULL;
}
if (mraa_i2c_address(dev->i2c, addr)){
printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
}
uint8_t who_am_i;
kx122_get_who_am_i(dev,&who_am_i);
if(who_am_i != KX122_WHO_AM_I_WIA_ID){
printf("%s: Wrong WHO AM I received, expected: 0x%x | got: 0x%x\n", __FUNCTION__,KX122_WHO_AM_I_WIA_ID,who_am_i);
kx122_close(dev);
return NULL;
}
kx122_set_default_values(dev);
kx122_device_init(dev,KX122_ODR_50,HIGH_RES,KX122_RANGE_2G);
return dev;
}
mraa_platform_t
mraa_grovepi_platform(mraa_board_t* board, const int i2c_bus)
{
mraa_board_t* b = (mraa_board_t*) calloc(1, sizeof(mraa_board_t));
if (b == NULL) {
return MRAA_NULL_PLATFORM;
}
grovepi_bus = mraa_i2c_init(i2c_bus);
if (grovepi_bus == NULL) {
syslog(LOG_WARNING, "grovepi: Failed to initialize i2c bus %d", i2c_bus);
free(b);
return MRAA_NULL_PLATFORM;
}
mraa_i2c_address(grovepi_bus, GROVEPI_ADDRESS);
b->platform_name = "grovepi";
b->platform_version = "1.2.7"; // TODO: add firmware query function
b->platform_type = MRAA_GROVEPI;
b->gpio_count = 10;
b->aio_count = 4;
b->adc_supported = 10;
b->phy_pin_count = 14;
b->pwm_min_period = 2048;
b->pwm_max_period = 2048;
b->pins = (mraa_pininfo_t*) calloc(b->phy_pin_count, sizeof(mraa_pininfo_t));
if (b->pins == NULL) {
free(b);
return MRAA_NULL_PLATFORM;
}
strncpy(b->pins[0].name, "IO0", 8);
b->pins[0].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
b->pins[0].gpio.pinmap = 0;
strncpy(b->pins[1].name, "IO1", 8);
b->pins[1].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
b->pins[1].gpio.pinmap = 1;
strncpy(b->pins[2].name, "IO2", 8);
b->pins[2].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
b->pins[2].gpio.pinmap = 2;
strncpy(b->pins[3].name, "IO3", 8);
b->pins[3].capabilities = (mraa_pincapabilities_t){ 1, 1, 1, 0, 0, 0, 0, 0 };
b->pins[3].gpio.pinmap = 3;
strncpy(b->pins[4].name, "IO4", 8);
b->pins[4].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
b->pins[4].gpio.pinmap = 4;
strncpy(b->pins[5].name, "IO5", 8);
b->pins[5].capabilities = (mraa_pincapabilities_t){ 1, 1, 1, 0, 0, 0, 0, 0 };
b->pins[5].gpio.pinmap = 5;
strncpy(b->pins[6].name, "IO6", 8);
b->pins[6].capabilities = (mraa_pincapabilities_t){ 1, 1, 1, 0, 0, 0, 0, 0 };
b->pins[6].gpio.pinmap = 6;
strncpy(b->pins[7].name, "IO7", 8);
b->pins[7].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
b->pins[7].gpio.pinmap = 7;
strncpy(b->pins[8].name, "IO8", 8);
b->pins[8].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 0, 0 };
b->pins[8].gpio.pinmap = 8;
strncpy(b->pins[9].name, "IO9", 8);
b->pins[9].capabilities = (mraa_pincapabilities_t){ 1, 1, 1, 0, 0, 0, 0, 0 };
b->pins[9].gpio.pinmap = 9;
strncpy(b->pins[10].name, "A0", 8);
b->pins[10].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
b->pins[10].gpio.pinmap = 10;
b->pins[10].aio.pinmap = 0;
strncpy(b->pins[11].name, "A1", 8);
b->pins[11].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
b->pins[11].gpio.pinmap = 11;
b->pins[11].aio.pinmap = 1;
strncpy(b->pins[12].name, "A2", 8);
b->pins[12].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
b->pins[12].gpio.pinmap = 12;
b->pins[12].aio.pinmap = 2;
strncpy(b->pins[13].name, "A3", 8);
b->pins[13].capabilities = (mraa_pincapabilities_t){ 1, 1, 0, 0, 0, 0, 1, 0 };
b->pins[13].gpio.pinmap = 13;
b->pins[13].aio.pinmap = 3;
b->adv_func = (mraa_adv_func_t*) calloc(1, sizeof(mraa_adv_func_t));
if (b->adv_func == NULL) {
free(b->pins);
free(b);
return MRAA_NULL_PLATFORM;
}
b->adv_func->gpio_init_internal_replace = &mraa_grovepi_gpio_init_internal_replace;
b->adv_func->gpio_mode_replace = &mraa_grovepi_gpio_mode_replace;
b->adv_func->gpio_dir_replace = &mraa_grovepi_gpio_dir_replace;
//TODO: add interrupt support
//b->adv_func->gpio_edge_mode_replace = &mraa_grovepi_gpio_edge_mode_replace;
//b->adv_func->gpio_interrupt_handler_init_replace = &mraa_grovepi_gpio_interrupt_handler_init_replace;
//b->adv_func->gpio_wait_interrupt_replace = &mraa_grovepi_gpio_wait_interrupt_replace;
b->adv_func->gpio_read_replace = &mraa_grovepi_gpio_read_replace;
b->adv_func->gpio_write_replace = &mraa_grovepi_gpio_write_replace;
b->adv_func->gpio_close_replace = &mraa_grovepi_gpio_close_replace;
b->adv_func->aio_init_internal_replace = &mraa_grovepi_aio_init_internal_replace;
b->adv_func->aio_read_replace = &mraa_grovepi_aio_read_replace;
b->adv_func->pwm_init_internal_replace = &mraa_grovepi_pwm_init_internal_replace;
b->adv_func->pwm_write_replace = &mraa_grovepi_pwm_write_replace;
b->adv_func->pwm_read_replace = &mraa_grovepi_pwm_read_replace;
b->adv_func->pwm_enable_replace = &mraa_grovepi_pwm_enable_replace;
b->adv_func->pwm_period_replace = &mraa_grovepi_pwm_period_replace;
board->sub_platform = b;
return b->platform_type;
}
// Init
lis3dh_context
lis3dh_init(int bus, int addr, int cs)
{
lis3dh_context dev = (lis3dh_context) malloc(sizeof(struct _lis3dh_context));
if (!dev) {
return NULL;
}
// Zero out context
memset((void*) dev, 0, sizeof(struct _lis3dh_context));
// Make sure MRAA is initialized
if (mraa_init() != MRAA_SUCCESS) {
printf("%s: mraa_init() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
if (addr < 0) {
// SPI
if (!(dev->spi = mraa_spi_init(bus))) {
printf("%s: mraa_spi_init() for bus %d failed\n", __FUNCTION__, bus);
lis3dh_close(dev);
return NULL;
}
// Only create CS context if we are actually using a valid pin.
// A hardware controlled pin should specify CS as -1.
if (cs >= 0) {
if (!(dev->gpioCS = mraa_gpio_init(cs))) {
printf("%s: mraa_gpio_init() for CS pin %d failed\n", __FUNCTION__, cs);
lis3dh_close(dev);
return NULL;
}
mraa_gpio_dir(dev->gpioCS, MRAA_GPIO_OUT);
}
mraa_spi_mode(dev->spi, MRAA_SPI_MODE0);
if (mraa_spi_frequency(dev->spi, 5000000)) {
printf("%s: mraa_spi_frequency() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
} else {
// I2C
if (!(dev->i2c = mraa_i2c_init(bus))) {
printf("%s: mraa_i2c_init() for bus %d failed\n", __FUNCTION__, bus);
lis3dh_close(dev);
return NULL;
}
if (mraa_i2c_address(dev->i2c, addr)) {
printf("%s: mraa_i2c_address() for address 0x%x failed\n", __FUNCTION__, addr);
lis3dh_close(dev);
return NULL;
}
}
// Check the chip id
uint8_t chipID = lis3dh_get_chip_id(dev);
if (chipID != LIS3DH_CHIPID) {
printf("%s: invalid chip id: %02x, expected %02x\n", __FUNCTION__, chipID, LIS3DH_CHIPID);
lis3dh_close(dev);
return NULL;
}
// Call devinit with default options
if (lis3dh_devinit(dev, LIS3DH_ODR_100HZ, LIS3DH_FS_2G, true)) {
printf("%s: lis3dh_devinit() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
return dev;
}
mraa_i2c_context mag_init()
{
mraa_i2c_context mag;
mag = mraa_i2c_init(1);
if (mag == NULL) {
fprintf(stderr, "Failed to initialize I2C.\n");
exit(1);
}
mraa_i2c_address(mag, XM_ADDR);
uint8_t mag_id = mraa_i2c_read_byte_data(mag, WHO_AM_I_XM);
if (mag_id != 0x49) {
fprintf(stderr, "Accelerometer/Magnetometer ID does not match.\n");
}
/* CTRL_REG5_XM enables temp sensor, sets mag resolution and data rate
Bits (7-0): TEMP_EN M_RES1 M_RES0 M_ODR2 M_ODR1 M_ODR0 LIR2 LIR1
TEMP_EN - Enable temperature sensor (0=disabled, 1=enabled)
M_RES[1:0] - Magnetometer resolution select (0=low, 3=high)
M_ODR[2:0] - Magnetometer data rate select
000=3.125Hz, 001=6.25Hz, 010=12.5Hz, 011=25Hz, 100=50Hz, 101=100Hz
LIR2 - Latch interrupt request on INT2_SRC (cleared by reading INT2_SRC)
0=interrupt request not latched, 1=interrupt request latched
LIR1 - Latch interrupt request on INT1_SRC (cleared by readging INT1_SRC)
0=irq not latched, 1=irq latched */
//xmWriteByte(CTRL_REG5_XM, 0x94); // Mag data rate - 100 Hz, enable temperature sensor
mraa_i2c_write_byte_data(mag, 0x94, CTRL_REG5_XM);
/* CTRL_REG6_XM sets the magnetometer full-scale
Bits (7-0): 0 MFS1 MFS0 0 0 0 0 0
MFS[1:0] - Magnetic full-scale selection
00:+/-2Gauss, 01:+/-4Gs, 10:+/-8Gs, 11:+/-12Gs */
//xmWriteByte(CTRL_REG6_XM, 0x00); // Mag scale to +/- 2GS
mraa_i2c_write_byte_data(mag, 0x00, CTRL_REG6_XM);
/* CTRL_REG7_XM sets magnetic sensor mode, low power mode, and filters
AHPM1 AHPM0 AFDS 0 0 MLP MD1 MD0
AHPM[1:0] - HPF mode selection
00=normal (resets reference registers), 01=reference signal for filtering,
10=normal, 11=autoreset on interrupt event
AFDS - Filtered acceleration data selection
0=internal filter bypassed, 1=data from internal filter sent to FIFO
MLP - Magnetic data low-power mode
0=data rate is set by M_ODR bits in CTRL_REG5
1=data rate is set to 3.125Hz
MD[1:0] - Magnetic sensor mode selection (default 10)
00=continuous-conversion, 01=single-conversion, 10 and 11=power-down */
//xmWriteByte(CTRL_REG7_XM, 0x00); // Continuous conversion mode
mraa_i2c_write_byte_data(mag, 0x00, CTRL_REG7_XM);
/* CTRL_REG4_XM is used to set interrupt generators on INT2_XM
Bits (7-0): P2_TAP P2_INT1 P2_INT2 P2_INTM P2_DRDYA P2_DRDYM P2_Overrun P2_WTM
*/
//xmWriteByte(CTRL_REG4_XM, 0x04); // Magnetometer data ready on INT2_XM (0x08)
mraa_i2c_write_byte_data(mag, 0x04, CTRL_REG4_XM);
/* INT_CTRL_REG_M to set push-pull/open drain, and active-low/high
Bits[7:0] - XMIEN YMIEN ZMIEN PP_OD IEA IEL 4D MIEN
XMIEN, YMIEN, ZMIEN - Enable interrupt recognition on axis for mag data
PP_OD - Push-pull/open-drain interrupt configuration (0=push-pull, 1=od)
IEA - Interrupt polarity for accel and magneto
0=active-low, 1=active-high
IEL - Latch interrupt request for accel and magneto
0=irq not latched, 1=irq latched
4D - 4D enable. 4D detection is enabled when 6D bit in INT_GEN1_REG is set
MIEN - Enable interrupt generation for magnetic data
0=disable, 1=enable) */
//xmWriteByte(INT_CTRL_REG_M, 0x09); // Enable interrupts for mag, active-low, push-pull
mraa_i2c_write_byte_data(mag, 0x09, INT_CTRL_REG_M);
return mag;
}
mraa_i2c_context gyro_init()
{
mraa_i2c_context gyro;
gyro = mraa_i2c_init(1);
if (gyro == NULL) {
fprintf(stderr, "Failed to initialize I2C.\n");
exit(1);
}
mraa_i2c_address(gyro, GYRO_ADDR);
uint8_t gyro_id = mraa_i2c_read_byte_data(gyro, WHO_AM_I_G);
if (gyro_id != 0xD4) {
fprintf(stderr, "Gyroscope ID does not match.\n");
}
/* CTRL_REG1_G sets output data rate, bandwidth, power-down and enables
Bits[7:0]: DR1 DR0 BW1 BW0 PD Zen Xen Yen
DR[1:0] - Output data rate selection
00=95Hz, 01=190Hz, 10=380Hz, 11=760Hz
BW[1:0] - Bandwidth selection (sets cutoff frequency)
Value depends on ODR. See datasheet table 21.
PD - Power down enable (0=power down mode, 1=normal or sleep mode)
Zen, Xen, Yen - Axis enable (o=disabled, 1=enabled) */
//gWriteByte(CTRL_REG1_G, 0x0F); // Normal mode, enable all axes
mraa_i2c_write_byte_data(gyro, 0x0F, CTRL_REG1_G);
/* CTRL_REG2_G sets up the HPF
Bits[7:0]: 0 0 HPM1 HPM0 HPCF3 HPCF2 HPCF1 HPCF0
HPM[1:0] - High pass filter mode selection
00=normal (reset reading HP_RESET_FILTER, 01=ref signal for filtering,
10=normal, 11=autoreset on interrupt
HPCF[3:0] - High pass filter cutoff frequency
Value depends on data rate. See datasheet table 26.
*/
//gWriteByte(CTRL_REG2_G, 0x00); // Normal mode, high cutoff frequency
mraa_i2c_write_byte_data(gyro, 0x00, CTRL_REG2_G);
/* CTRL_REG3_G sets up interrupt and DRDY_G pins
Bits[7:0]: I1_IINT1 I1_BOOT H_LACTIVE PP_OD I2_DRDY I2_WTM I2_ORUN I2_EMPTY
I1_INT1 - Interrupt enable on INT_G pin (0=disable, 1=enable)
I1_BOOT - Boot status available on INT_G (0=disable, 1=enable)
H_LACTIVE - Interrupt active configuration on INT_G (0:high, 1:low)
PP_OD - Push-pull/open-drain (0=push-pull, 1=open-drain)
I2_DRDY - Data ready on DRDY_G (0=disable, 1=enable)
I2_WTM - FIFO watermark interrupt on DRDY_G (0=disable 1=enable)
I2_ORUN - FIFO overrun interrupt on DRDY_G (0=disable 1=enable)
I2_EMPTY - FIFO empty interrupt on DRDY_G (0=disable 1=enable) */
// Int1 enabled (pp, active low), data read on DRDY_G:
//gWriteByte(CTRL_REG3_G, 0x88);
mraa_i2c_write_byte_data(gyro, 0x88, CTRL_REG3_G);
/* CTRL_REG4_G sets the scale, update mode
Bits[7:0] - BDU BLE FS1 FS0 - ST1 ST0 SIM
BDU - Block data update (0=continuous, 1=output not updated until read
BLE - Big/little endian (0=data LSB @ lower address, 1=LSB @ higher add)
FS[1:0] - Full-scale selection
00=245dps, 01=500dps, 10=2000dps, 11=2000dps
ST[1:0] - Self-test enable
00=disabled, 01=st 0 (x+, y-, z-), 10=undefined, 11=st 1 (x-, y+, z+)
SIM - SPI serial interface mode select
0=4 wire, 1=3 wire */
//gWriteByte(CTRL_REG4_G, 0x00); // Set scale to 245 dps
mraa_i2c_write_byte_data(gyro, 0x00, CTRL_REG4_G);
/* CTRL_REG5_G sets up the FIFO, HPF, and INT1
Bits[7:0] - BOOT FIFO_EN - HPen INT1_Sel1 INT1_Sel0 Out_Sel1 Out_Sel0
BOOT - Reboot memory content (0=normal, 1=reboot)
FIFO_EN - FIFO enable (0=disable, 1=enable)
HPen - HPF enable (0=disable, 1=enable)
INT1_Sel[1:0] - Int 1 selection configuration
Out_Sel[1:0] - Out selection configuration */
//gWriteByte(CTRL_REG5_G, 0x00);
mraa_i2c_write_byte_data(gyro, 0x00, CTRL_REG5_G);
return gyro;
}
mraa_i2c_context accel_init()
{
mraa_i2c_context accel;
accel = mraa_i2c_init(1);
if (accel == NULL) {
fprintf(stderr, "Failed to initialize I2C.\n");
exit(1);
}
mraa_i2c_address(accel, XM_ADDR);
uint8_t accel_id = mraa_i2c_read_byte_data(accel, WHO_AM_I_XM);
if (accel_id != 0x49) {
fprintf(stderr, "Accelerometer/Magnetometer ID does not match.\n");
}
/* CTRL_REG0_XM (0x1F) (Default value: 0x00)
Bits (7-0): BOOT FIFO_EN WTM_EN 0 0 HP_CLICK HPIS1 HPIS2
BOOT - Reboot memory content (0: normal, 1: reboot)
FIFO_EN - Fifo enable (0: disable, 1: enable)
WTM_EN - FIFO watermark enable (0: disable, 1: enable)
HP_CLICK - HPF enabled for click (0: filter bypassed, 1: enabled)
HPIS1 - HPF enabled for interrupt generator 1 (0: bypassed, 1: enabled)
HPIS2 - HPF enabled for interrupt generator 2 (0: bypassed, 1 enabled) */
//xmWriteByte(CTRL_REG0_XM, 0x00);
mraa_i2c_write_byte_data(accel, 0x00, CTRL_REG0_XM);
/* CTRL_REG1_XM (0x20) (Default value: 0x07)
Bits (7-0): AODR3 AODR2 AODR1 AODR0 BDU AZEN AYEN AXEN
AODR[3:0] - select the acceleration data rate:
0000=power down, 0001=3.125Hz, 0010=6.25Hz, 0011=12.5Hz,
0100=25Hz, 0101=50Hz, 0110=100Hz, 0111=200Hz, 1000=400Hz,
1001=800Hz, 1010=1600Hz, (remaining combinations undefined).
BDU - block data update for accel AND mag
0: Continuous update
1: Output registers aren't updated until MSB and LSB have been read.
AZEN, AYEN, and AXEN - Acceleration x/y/z-axis enabled.
0: Axis disabled, 1: Axis enabled */
//xmWriteByte(CTRL_REG1_XM, 0x57); // 100Hz data rate, x/y/z all enabled
mraa_i2c_write_byte_data(accel, 0x57, CTRL_REG1_XM);
//Serial.println(xmReadByte(CTRL_REG1_XM));
/* CTRL_REG2_XM (0x21) (Default value: 0x00)
Bits (7-0): ABW1 ABW0 AFS2 AFS1 AFS0 AST1 AST0 SIM
ABW[1:0] - Accelerometer anti-alias filter bandwidth
00=773Hz, 01=194Hz, 10=362Hz, 11=50Hz
AFS[2:0] - Accel full-scale selection
000=+/-2g, 001=+/-4g, 010=+/-6g, 011=+/-8g, 100=+/-16g
AST[1:0] - Accel self-test enable
00=normal (no self-test), 01=positive st, 10=negative st, 11=not allowed
SIM - SPI mode selection
0=4-wire, 1=3-wire */
//xmWriteByte(CTRL_REG2_XM, 0x00); // Set scale to 2g
mraa_i2c_write_byte_data(accel, 0x00, CTRL_REG2_XM);
/* CTRL_REG3_XM is used to set interrupt generators on INT1_XM
Bits (7-0): P1_BOOT P1_TAP P1_INT1 P1_INT2 P1_INTM P1_DRDYA P1_DRDYM P1_EMPTY
*/
// Accelerometer data ready on INT1_XM (0x04)
//xmWriteByte(CTRL_REG3_XM, 0x04);
mraa_i2c_write_byte_data(accel, 0x04, CTRL_REG3_XM);
return accel;
}
