static int
mraa_grovepi_read_internal(int function, int pin)
{
uint8_t data[5];
uint8_t result[3];
data[0] = GROVEPI_REGISTER;
data[1] = function;
data[2] = pin;
data[3] = 0;
data[4] = 0;
if (mraa_i2c_write(grovepi_bus, data, 5) != MRAA_SUCCESS) {
syslog(LOG_WARNING, "grovepi: failed to write command to i2c bus /dev/i2c-%d", grovepi_bus->busnum);
return -1;
}
if (mraa_i2c_write_byte(grovepi_bus, 1) != MRAA_SUCCESS) {
syslog(LOG_WARNING, "grovepi: failed to write to i2c bus /dev/i2c-%d", grovepi_bus->busnum);
return -1;
}
if (function == GROVEPI_GPIO_READ) {
if (mraa_i2c_read(grovepi_bus, result, 1) != 1) {
syslog(LOG_WARNING, "grovepi: failed to read result from i2c bus /dev/i2c-%d", grovepi_bus->busnum);
return -1;
}
return result[0];
}
if (function == GROVEPI_AIO_READ) {
if (mraa_i2c_read(grovepi_bus, result, 3) != 3) {
syslog(LOG_WARNING, "grovepi: failed to read result from i2c bus /dev/i2c-%d", grovepi_bus->busnum);
return -1;
}
return (result[1] << 8) | result [2];
}
return -1;
}
mraa_result_t mag_update() {
mraa_result_t result;
int bytesRead;
result = mraa_i2c_write_byte(mag_context, HMC5883L_DATA_REG);
if (result != MRAA_SUCCESS) {
printError("unable to write to compass (9)");
return result;
}
bytesRead = mraa_i2c_read(mag_context, mag_rx_tx_buf, DATA_REG_SIZE);
if (bytesRead != DATA_REG_SIZE) {
printError("unable to read from compass (10)");
return result;
}
// x
mag_coor[0] = (mag_rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | mag_rx_tx_buf[HMC5883L_X_LSB_REG];
// z
mag_coor[2] = (mag_rx_tx_buf[HMC5883L_Z_MSB_REG] << 8 ) | mag_rx_tx_buf[HMC5883L_Z_LSB_REG];
// y
mag_coor[1] = (mag_rx_tx_buf[HMC5883L_Y_MSB_REG] << 8 ) | mag_rx_tx_buf[HMC5883L_Y_LSB_REG];
save_log_value(RAW_COMPASS_X, mag_coor[0], 1);
save_log_value(RAW_COMPASS_Y, mag_coor[1], 1);
save_log_value(RAW_COMPASS_Z, mag_coor[2], 1);
save_log_value(HEADING, mag_heading(), 1);
save_log_value(DIRECTION, mag_direction(), 1);
return MRAA_SUCCESS;
}
mrb_value
mrb_mraa_i2c_write_byte(mrb_state *mrb, mrb_value self){
mraa_i2c_context i2c;
mrb_int wdata;
mraa_result_t result;
Data_Get_Struct(mrb, self, &mrb_mraa_i2c_ctx_type, i2c);
mrb_get_args(mrb, "i", &wdata);
result = mraa_i2c_write_byte(i2c, wdata & 0xFF);
return mrb_fixnum_value(result);
}
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) ;
}
}
static upm_result_t expandWrite(const lcm1602_context dev,
uint8_t value)
{
assert(dev != NULL);
// invalid for gpio
if (!dev->isI2C)
return UPM_ERROR_NO_RESOURCES;
uint8_t buffer = value | dev->backlight;
if (mraa_i2c_write_byte(dev->i2c, buffer))
{
printf("%s: mraa_i2c_write_byte() failed\n", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
mraa_result_t gyro_update() {
mraa_result_t result;
result = mraa_i2c_write_byte(gyro_context, ITG3200_TEMP_H);
if (result != MRAA_SUCCESS) {
printError("unable to write to gyro (5)");
return result;
}
result = mraa_i2c_read(gyro_context, gyro_buffer, DATA_REG_SIZE);
if (result != MRAA_SUCCESS) {
printError("unable to read from gyro (6)");
return result;
}
//temp
//
gyro_temperature = (gyro_buffer[0] << 8 ) | gyro_buffer[1];
// x
gyro_rotation[0] = ((gyro_buffer[2] << 8 ) | gyro_buffer[3]) + gyro_offsets[0];
// y
gyro_rotation[1] = ((gyro_buffer[4] << 8 ) | gyro_buffer[5]) + gyro_offsets[1];
// z
gyro_rotation[2] = ((gyro_buffer[6] << 8 ) | gyro_buffer[7]) + gyro_offsets[2];
save_log_value(RAW_TEMP, gyro_temperature, 1);
save_log_value(TEMP, gyro_getTemperature(), 1);
save_log_value(RAW_ANG_X, gyro_rotation[0], 1);
save_log_value(RAW_ANG_Y, gyro_rotation[1], 1);
save_log_value(RAW_ANG_Z, gyro_rotation[2], 1);
float* ang = gyro_getRotation();
save_log_value(ANG_X, ang[0], 1);
save_log_value(ANG_Y, ang[1], 1);
save_log_value(ANG_Z, ang[2], 1);
return MRAA_SUCCESS;
}
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;
}
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;
}
/**
* Write a byte on the bus
*
* @param data The byte to send on the bus
* @return Result of operation
*/
mraa_result_t writeByte(uint8_t data) {
return mraa_i2c_write_byte(m_i2c, data);
}
/**
* Write a byte on the bus
*
* @param data The byte to send on the bus
* @return Result of operation
*/
Result
writeByte(uint8_t data)
{
return (Result) mraa_i2c_write_byte(m_i2c, data);
}
