error_t mpl115a2ReadPressureTemp(uint16_t *pressure, uint16_t *temp)
{
I2CWriteLength = 3;
I2CReadLength = 1;
I2CMasterBuffer[0] = MPL115A2_ADDRESS;
I2CMasterBuffer[1] = MPL115A2_REGISTER_STARTCONVERSION;
I2CMasterBuffer[2] = 0x00; // Why is this necessary to get results?
i2cEngine();
/* Wait a bit for the conversion to complete (3ms max) */
delay(4);
I2CWriteLength = 2;
I2CReadLength = 4;
I2CMasterBuffer[0] = MPL115A2_ADDRESS;
I2CMasterBuffer[1] = MPL115A2_REGISTER_PRESSURE_MSB;
I2CMasterBuffer[2] = MPL115A2_ADDRESS | MPL115A2_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Shift values to create properly formed integers */
*pressure = ((I2CSlaveBuffer[0] << 8) | (I2CSlaveBuffer[1])) >> 6;
*temp = ((I2CSlaveBuffer[2] << 8) | (I2CSlaveBuffer[3])) >> 6;
return ERROR_NONE;
}
mpl115a2Error_t mpl115a2ReadPressureTemp(uint16_t *pressure, uint16_t *temp)
{
// Clear write buffers
uint32_t i;
for ( i = 0; i < I2C_BUFSIZE; i++ )
{
I2CMasterBuffer[i] = 0x00;
I2CSlaveBuffer[i] = 0x00;
}
I2CWriteLength = 3;
I2CReadLength = 1;
I2CMasterBuffer[0] = MPL115A2_ADDRESS;
I2CMasterBuffer[1] = MPL115A2_REGISTER_STARTCONVERSION;
I2CMasterBuffer[2] = 0x00; // Why is this necessary to get results?
i2cEngine();
// Wait a bit for the conversion to complete (3ms max)
systickDelay(5);
I2CWriteLength = 2;
I2CReadLength = 4;
I2CMasterBuffer[0] = MPL115A2_ADDRESS;
I2CMasterBuffer[1] = MPL115A2_REGISTER_PRESSURE_MSB;
I2CMasterBuffer[2] = MPL115A2_ADDRESS | MPL115A2_READBIT;
i2cEngine();
// Shift values to create properly formed integers
*pressure = ((I2CSlaveBuffer[0] << 8) | (I2CSlaveBuffer[1])) >> 6;
*temp = ((I2CSlaveBuffer[2] << 8) | (I2CSlaveBuffer[3])) >> 6;
return MPL115A2_ERROR_OK;
}
error_t pca9685ReadBytes(uint8_t reg, uint8_t *buffer, size_t length)
{
uint32_t i;
/* Try to avoid buffer overflow */
ASSERT(length <= I2C_BUFSIZE, ERROR_BUFFEROVERFLOW);
/* Read and write need to be handled in separate transactions or the
PCA9685 increments the current register one step ahead of where
we should be. */
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = _pca9685Address;
I2CMasterBuffer[1] = reg;
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = length;
I2CMasterBuffer[0] = _pca9685Address | PCA9685_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Fill the buffer with the I2C response */
for ( i = 0; i < length; i++ )
{
buffer[i] = I2CSlaveBuffer[i];
}
return ERROR_NONE;
}
static uint8_t lkGetI2C(uint8_t cr) {
I2CMasterBuffer[0] = LK_I2C_WRITE;
I2CMasterBuffer[1] = cr;
I2CWriteLength = 2;
I2CReadLength = 0;
i2cEngine();
I2CMasterBuffer[0] = LK_I2C_READ;
I2CMasterBuffer[1] = cr;
I2CWriteLength = 2;
I2CReadLength = 1;
i2cEngine();
return I2CSlaveBuffer[0];
}
static uint32_t adxl345ReadMultiByte(uint8_t address, uint8_t reg, uint8_t numBytes, uint8_t value[])
{
// Clear write buffers
uint32_t i;
for (i = 0; i < I2C_BUFSIZE; i++ )
{
I2CMasterBuffer[i] = 0x00;
}
I2CWriteLength = 0;
I2CReadLength = numBytes;
I2CMasterBuffer[0] = address; // I2C device address
I2CMasterBuffer[1] = reg; // Command register
// Append address w/read bit
I2CMasterBuffer[2] = address | adxl345_READBIT;
uint32_t returned = i2cEngine();
if(returned == i2c_ok)
{
int i;
for(i = 0; i < numBytes; i++)
{
value[i] = I2CSlaveBuffer[i];
}
}
return returned;
}
mpl115a2Error_t mpl115a2ReadCoefficients(void)
{
int16_t a0coeff;
int16_t b1coeff;
int16_t b2coeff;
int16_t c12coeff;
// Clear write buffers
uint32_t i;
for ( i = 0; i < I2C_BUFSIZE; i++ )
{
I2CMasterBuffer[i] = 0x00;
I2CSlaveBuffer[i] = 0x00;
}
I2CWriteLength = 2;
I2CReadLength = 8;
I2CMasterBuffer[0] = MPL115A2_ADDRESS;
I2CMasterBuffer[1] = MPL115A2_REGISTER_A0_COEFF_MSB;
I2CMasterBuffer[2] = MPL115A2_ADDRESS | MPL115A2_READBIT;
i2cEngine();
a0coeff = (I2CSlaveBuffer[0] << 8 ) | I2CSlaveBuffer[1];
b1coeff = (I2CSlaveBuffer[2] << 8 ) | I2CSlaveBuffer[3];
b2coeff = (I2CSlaveBuffer[4] << 8 ) | I2CSlaveBuffer[5];
c12coeff = ((I2CSlaveBuffer[6] << 8 ) | I2CSlaveBuffer[7]) >> 2;
_mpl115a2_a0 = (float)a0coeff / 8;
_mpl115a2_b1 = (float)b1coeff / 8192;
_mpl115a2_b2 = (float)b2coeff / 16384;
_mpl115a2_c12 = (float)c12coeff / 4194304;
return MPL115A2_ERROR_OK;
}
error_t mpl115a2ReadCoefficients(void)
{
int16_t a0coeff;
int16_t b1coeff;
int16_t b2coeff;
int16_t c12coeff;
I2CWriteLength = 2;
I2CReadLength = 8;
I2CMasterBuffer[0] = MPL115A2_ADDRESS;
I2CMasterBuffer[1] = MPL115A2_REGISTER_A0_COEFF_MSB;
I2CMasterBuffer[2] = MPL115A2_ADDRESS | MPL115A2_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
a0coeff = (I2CSlaveBuffer[0] << 8 ) | I2CSlaveBuffer[1];
b1coeff = (I2CSlaveBuffer[2] << 8 ) | I2CSlaveBuffer[3];
b2coeff = (I2CSlaveBuffer[4] << 8 ) | I2CSlaveBuffer[5];
c12coeff = ((I2CSlaveBuffer[6] << 8 ) | I2CSlaveBuffer[7]) >> 2;
_mpl115a2_a0 = (float)a0coeff / 8;
_mpl115a2_b1 = (float)b1coeff / 8192;
_mpl115a2_b2 = (float)b2coeff / 16384;
_mpl115a2_c12 = (float)c12coeff / 4194304;
return ERROR_NONE;
}
// Grabs line sensor data using i2c and dumps into LineSensor array.
// Returns 1 if successful, 0 if encountered a timeout error
// (timeout probably means the line sensor isn't connected correctly)
int readLineSensor(char data[])
{
int i;
char cmd = 0x84; //1 CH# 01 XX for request conversion. e.g 1 000 01 00 is for channel 2
for(i=0; i<I2C_BUFSIZE; i++)
{
I2CWriteLength = 2;
I2CReadLength = 1;
I2CMasterBuffer[0] = ADS7830;
I2CMasterBuffer[1] = cmd;
I2CMasterBuffer[2] = ADS7830 | 1;
cmd += 0x10; // Increment Channel to read
if (i2cEngine() > MAX_TIMEOUT) // Run I2C sensor
{
return 0;
}
data[i] = I2CSlaveBuffer[0]; //sadly after each transaction the RdIndex is returned to 0, could change i2c driver...
}
// Clean the buffer after use
clearI2CBuffer();
return 1;
}
static i2c_error itg3200ReadMultiByte(uint8_t address, uint8_t reg, uint8_t numBytes, uint8_t value[])
{
// Clear write buffers
uint32_t i;
for (i = 0; i < I2C_BUFSIZE; i++ )
{
I2CMasterBuffer[i] = 0x00;
}
I2CWriteLength = 0;
I2CReadLength = numBytes;
I2CMasterBuffer[0] = address; // I2C device address
I2CMasterBuffer[1] = reg; // Command register
// Append address w/read bit
I2CMasterBuffer[2] = address | itg3200_READBIT;
i2c_error returned = i2cEngine();
if(returned == i2c_ok)
{
// Shift values to create properly formed integer
int i;
for(i = 0; i < numBytes; i++)
{
value[i] = I2CSlaveBuffer[i];
}
}
return returned;
}
pn532_error_t pn532_bus_i2c_WriteData (const byte_t * pbtData, const size_t szData)
{
uint32_t i;
uint32_t i2cState;
// Send the specified bytes
I2CWriteLength = szData+1;
I2CReadLength = 0;
I2CMasterBuffer[0] = PN532_I2C_ADDRESS; // I2C device address
for ( i = 0; i < szData; i++ )
{
I2CMasterBuffer[i+1] = pbtData[i];
}
i2cState = i2cEngine();
// Check if we got an ACK
if ((i2cState == I2CSTATE_NACK) || (i2cState == I2CSTATE_SLA_NACK))
{
// I2C slave didn't acknowledge the master transfer
// The PN532 probably isn't connected properly or the
// bus select pins are in the wrong state
return PN532_ERROR_I2C_NACK;
}
if (i2cState == I2CSTATE_TIMEOUT)
{
// The most likely cause of this is missing pullups on I2C
return PN532_ERROR_I2C_TIMEOUT;
}
return PN532_ERROR_NONE;
}
// Grabs line sensor data using i2c and dumps into LineSensor array.
// Returns 1 if successful, 0 if encountered a timeout error
// (timeout probably means the line sensor isn't connected correctly)
int readLineSensor(int LineSensor[8]) {
int i;
char cmd;
gpioSetValue(2, 10, 1);
for(i=0; i<8; i++) //clear i2c buffers
{
I2CMasterBuffer[i] = 0;
I2CSlaveBuffer[i] = 0;
}
cmd = 0x84; //1 CH# 01 XX for request conversion. e.g 1 000 01 00 is for channel 2
for(i=0; i<8; i++)
{
////printf("Reading channel %d\n\r", i);
I2CWriteLength = 2;
I2CReadLength = 1;
I2CMasterBuffer[0] = ADS7830_ADDR;
I2CMasterBuffer[1] = cmd;
cmd += 0x10; //increment channel
I2CMasterBuffer[2] = ADS7830_ADDR | READ_BIT; //not included in writelength b/c its a repeated start
int timeout = i2cEngine(); //run the transaction and waits for value to be read back
if (timeout > MAX_TIMEOUT) {
//printf("ERROR: timeout (device not connected correctly)\n\r");
return 0;
}
LineSensor[i] = I2CSlaveBuffer[0]; //> 100 ? 999 : 0; //sadly after each transaction the RdIndex is returned to 0, could change i2c driver...
}
return 1;
}
err_t adxl345GetXYZ(int16_t *x, int16_t *y, int16_t *z)
{
int32_t i2cState;
if (!_adxl345Initialised)
{
ASSERT_STATUS(adxl345Init());
}
I2CWriteLength = 2;
I2CReadLength = 6;
I2CMasterBuffer[0] = ADXL345_ADDRESS;
I2CMasterBuffer[1] = ADXL345_REG_DATAX0;
I2CMasterBuffer[2] = ADXL345_ADDRESS | ADXL345_READBIT;
i2cState = i2cEngine();
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cState);
/* Shift values to create properly formed integer */
*x = (I2CSlaveBuffer[1] << 8) | (I2CSlaveBuffer[0]);
*y = (I2CSlaveBuffer[3] << 8) | (I2CSlaveBuffer[2]);
*z = (I2CSlaveBuffer[5] << 8) | (I2CSlaveBuffer[4]);
return ERROR_NONE;
}
static uint32_t adxl345ReadByte(uint8_t address, uint8_t reg, int *value)
{
// Clear write buffers
uint32_t i;
for (i = 0; i < I2C_BUFSIZE; i++ )
{
I2CMasterBuffer[i] = 0x00;
}
I2CSlaveBuffer[0] = 0x00;
I2CWriteLength = 0;
I2CReadLength = 1;
I2CMasterBuffer[0] = address; // I2C device address
I2CMasterBuffer[1] = reg; // Command register
// Append address w/read bit
I2CMasterBuffer[2] = address | adxl345_READBIT;
uint32_t returned = i2cEngine();
if(returned == i2c_ok)
{
// Shift values to create properly formed integer
*value = I2CSlaveBuffer[0];
}
return returned;
}
isl12022mError_t isl12022mReadBuffer(uint8_t address, uint8_t reg, uint8_t *buffer, uint32_t len)
{
if (len > I2C_BUFSIZE)
return ISL12022M_ERROR_I2C_BUFFEROVERFLOW;
// Clear write buffers
uint32_t i;
for ( i = 0; i < I2C_BUFSIZE; i++ )
{
I2CMasterBuffer[i] = 0x00;
}
I2CWriteLength = 2;
I2CReadLength = len;
I2CMasterBuffer[0] = address;
I2CMasterBuffer[1] = reg; // Command register
// Append address w/read bit
I2CMasterBuffer[2] = address | ISL12022M_READBIT;
i2cEngine();
// Push response into buffer
for ( i = 0; i < len; i++ )
{
buffer[i] = I2CSlaveBuffer[i];
}
return ISL12022M_ERROR_OK;
}
static uint32_t lkSetI2C(uint8_t cr, uint8_t value) {
I2CMasterBuffer[0] = LK_I2C_WRITE;
I2CMasterBuffer[1] = cr;
I2CMasterBuffer[2] = value;
I2CWriteLength = 3;
I2CReadLength = 0;
return i2cEngine();
}
error_t tcs34725Read8(uint8_t reg, uint8_t *value)
{
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = TCS34725_ADDRESS;
I2CMasterBuffer[1] = TCS34725_COMMAND_BIT | reg;
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = 1;
I2CMasterBuffer[0] = TCS34725_ADDRESS | TCS34725_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
*value = I2CSlaveBuffer[0];
return ERROR_NONE;
}
err_t tsl2561WriteCmd (uint8_t cmd)
{
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = TSL2561_ADDRESS;
I2CMasterBuffer[1] = cmd;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
error_t tcs34725Read16(uint8_t reg, uint16_t *value)
{
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = TCS34725_ADDRESS;
I2CMasterBuffer[1] = TCS34725_COMMAND_BIT | reg;
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = 2;
I2CMasterBuffer[0] = TCS34725_ADDRESS | TCS34725_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Shift values to create properly formed integer (low byte first) */
*value = (I2CSlaveBuffer[0] | (I2CSlaveBuffer[1] << 8));
return ERROR_NONE;
}
error_t tcs34725Write8 (uint8_t reg, uint8_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = TCS34725_ADDRESS;
I2CMasterBuffer[1] = TCS34725_COMMAND_BIT | reg;
I2CMasterBuffer[2] = value;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
err_t tsl2561Write8 (uint8_t reg, uint32_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = TSL2561_ADDRESS;
I2CMasterBuffer[1] = reg;
I2CMasterBuffer[2] = (value & 0xFF);
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
static err_t adxl345Write8 (uint8_t reg, uint8_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = ADXL345_ADDRESS;
I2CMasterBuffer[1] = reg;
I2CMasterBuffer[2] = value;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
error_t lsm303accelWrite8(uint8_t addr, uint8_t reg, uint8_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = addr;
I2CMasterBuffer[1] = reg;
I2CMasterBuffer[2] = (value);
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
error_t lsm303accelRead8(uint8_t addr, uint8_t reg, uint8_t *value)
{
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = addr;
I2CMasterBuffer[1] = reg;
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = 1;
I2CMasterBuffer[0] = addr | 0x01;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Send received value back to the caller */
*value = I2CSlaveBuffer[0];
return ERROR_NONE;
}
error_t lm75bWrite8 (uint8_t reg, uint32_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = LM75B_ADDRESS; // I2C device address
I2CMasterBuffer[1] = reg; // Command register
I2CMasterBuffer[2] = (value & 0xFF); // Value to write
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
pn532_error_t pn532_bus_Wakeup(void)
{
pn532_error_t error = PN532_ERROR_NONE;
byte_t abtWakeUp[] = { 0x55,0x55,0x00,0x00,0x00,0x00,0x00,0xff,0x03,0xfd,0xd4,0x14,0x01,0x17,0x00,0x00,0xff,0x03,0xfd,0xd4,0x14,0x01,0x17,0x00 };
pn532_pcb_t *pn532 = pn532GetPCB();
#ifdef PN532_DEBUGMODE
PN532_DEBUG("Sending Wakeup Sequence%s", CFG_PRINTF_NEWLINE);
#endif
error = pn532_bus_i2c_WriteData(abtWakeUp,sizeof(abtWakeUp));
if (error)
{
#ifdef PN532_DEBUGMODE
PN532_DEBUG("Wakeup Failed (Error: %d)%s", error, CFG_PRINTF_NEWLINE);
#endif
return error;
}
systickDelay(100);
// Wait for the IRQ/Ready flag to indicate a response is ready
if (!(pn532_bus_i2c_WaitForReady(PN532_I2C_TIMEOUT)))
{
#ifdef PN532_DEBUGMODE
PN532_DEBUG ("Timed out waiting for IRQ/Ready%s", CFG_PRINTF_NEWLINE);
#endif
error = PN532_ERROR_READYSTATUSTIMEOUT;
}
// Read and discard the ACK frame
I2CWriteLength = 0;
I2CReadLength = 7; // ACK + Ready bit = 7
I2CMasterBuffer[0] = PN532_I2C_ADDRESS | PN532_I2C_READBIT;
i2cEngine();
systickDelay(1);
// Wait for the IRQ/Ready flag to indicate a response is ready
if (!(pn532_bus_i2c_WaitForReady(PN532_I2C_TIMEOUT)))
{
error = PN532_ERROR_READYSTATUSTIMEOUT;
}
#ifdef PN532_DEBUGMODE
PN532_DEBUG("Wakeup Complete%s", CFG_PRINTF_NEWLINE);
#endif
pn532->state = PN532_STATE_READY;
return error;
}
error_t lsm303accelRead48(uint8_t addr, uint8_t reg, uint8_t buffer[6])
{
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = addr;
I2CMasterBuffer[1] = reg | (0x80);
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = 6;
I2CMasterBuffer[0] = addr | 0x01;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
uint8_t i;
for (i = 0; i < 6; i++)
{
buffer[i] = I2CSlaveBuffer[i];
}
return ERROR_NONE;
}
static i2c_error itg3200WriteByte (uint8_t address, uint8_t reg, uint32_t value)
{
// Clear write buffers
for ( i = 0; i < I2C_BUFSIZE; i++ )
{
I2CMasterBuffer[i] = 0x00;
}
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = address; // I2C device address
I2CMasterBuffer[1] = reg; // Command register
I2CMasterBuffer[2] = (value & 0xFF); // Value to write
return i2cEngine();
}
static err_t adxl345Read8(uint8_t reg, uint8_t *value)
{
I2CWriteLength = 2;
I2CReadLength = 1;
I2CMasterBuffer[0] = ADXL345_ADDRESS;
I2CMasterBuffer[1] = reg;
/* Append address w/read bit */
I2CMasterBuffer[2] = ADXL345_ADDRESS | ADXL345_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Shift values to create properly formed integer */
*value = I2CSlaveBuffer[0];
return ERROR_NONE;
}
static HMC5843Error_e HMC5843Write8 (uint8_t reg, uint32_t value)
{
// Clear write buffers
for ( i = 0; i < I2C_BUFSIZE; i++ )
{
I2CMasterBuffer[i] = 0x00;
}
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = HMC5843_ADDRESS; // I2C device address
I2CMasterBuffer[1] = reg; // Command register
I2CMasterBuffer[2] = (value & 0xFF); // Value to write
i2cEngine();
return HMC5843_ERROR_OK;
}
tsl2561Error_t tsl2561WriteCmd (uint8_t cmd)
{
// Clear write buffers
uint32_t i;
for ( i = 0; i < I2C_BUFSIZE; i++ )
{
I2CMasterBuffer[i] = 0x00;
}
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = TSL2561_ADDRESS; // I2C device address
I2CMasterBuffer[1] = cmd; // Command register
i2cEngine();
return TSL2561_ERROR_OK;
}
