uint8_t TW88Write(uint8_t regAddr, uint8_t data)
{
int8_t retries;
retries=3;
while(I2C_GetFlagStatus(I2C1, I2C_ISR_BUSY) != RESET) { if ((retries--)>0) Delay(1); else return 0;}
//I2C_TransferHandling(I2C1, TW88_I2C_ADDR, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2C1, TW88_I2C_ADDR, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
retries=3;
while(I2C_GetFlagStatus(I2C1, I2C_ISR_TXIS) == RESET) {if ((retries--)>0) Delay(1); else return 0; }
//send the register address
I2C_SendData(I2C1, (uint8_t) regAddr);
retries=3;
while(I2C_GetFlagStatus(I2C1, I2C_ISR_TCR) == RESET){if ((retries--)>0) Delay(1); else return 0;}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2C1, TW88_I2C_ADDR, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
retries=3;
while(I2C_GetFlagStatus(I2C1, I2C_ISR_TXIS) == RESET) {if ((retries--)>0) Delay(1); else return 0;}
I2C_SendData(I2C1, data);
retries=3;
while(I2C_GetFlagStatus(I2C1, I2C_ISR_STOPF) == RESET) {if ((retries--)>0) Delay(1); else return 0;}
I2C_ClearFlag(I2C1, I2C_ICR_STOPCF);
return 1;
}
// Make this so we can handle if the nunchuk is disconnected
void f3d_i2c1_read_nunchuk (uint8_t device, uint8_t* buffer, uint16_t numbytes) {
tryagain: ;
int count = 100;
while (I2C_GetFlagStatus(I2C1, I2C_ISR_BUSY) != RESET){
}
I2C_TransferHandling(I2C1, 0xA4, 1, I2C_AutoEnd_Mode, I2C_Generate_Start_Write);
// This is where were screwing up
while ((I2C_GetFlagStatus(I2C1, I2C_ISR_TXIS) == RESET) && count){
asm("nop");
count--;
}
if (count <= 0) {
goto tryagain;
}
I2C_SendData(I2C1,0x00);
while(I2C_GetFlagStatus(I2C1, I2C_ISR_STOPF) == RESET){
}
I2C_ClearFlag(I2C1, I2C_ICR_STOPCF);
delay(1);
while (I2C_GetFlagStatus(I2C1, I2C_ISR_BUSY) != RESET) {
}
I2C_TransferHandling(I2C1, 0xA4, 6, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
while (numbytes--) {
while(I2C_GetFlagStatus(I2C1, I2C_ISR_RXNE) == RESET);
*buffer++ = I2C_ReceiveData(I2C1);
}
while (I2C_GetFlagStatus(I2C1, I2C_ISR_STOPF) == RESET);
I2C_ClearFlag(I2C1, I2C_ICR_STOPCF);
}
/**
* @brief Write to the configuration register of the LM75.
* @param RegValue: specifies the value to be written to LM75 configuration
* register.
* @retval None
*/
uint8_t LM75_WriteConfReg(uint8_t RegValue)
{
uint8_t LM75_BufferTX = 0;
LM75_BufferTX = (uint8_t)(RegValue);
/* Test on BUSY Flag */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_BUSY) != RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(LM75_I2C, LM75_ADDR, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_TXIS) == RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Send Register address */
I2C_SendData(LM75_I2C, (uint8_t)LM75_REG_CONF);
/* Wait until TCR flag is set */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_TCR) == RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(LM75_I2C, LM75_ADDR, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
/* Wait until TXIS flag is set */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_TXIS) == RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Write data to TXDR */
I2C_SendData(LM75_I2C, (uint8_t)LM75_BufferTX);
/* Wait until STOPF flag is set */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_STOPF) == RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Clear STOPF flag */
I2C_ClearFlag(LM75_I2C, I2C_ICR_STOPCF);
return LM75_OK;
}
/**
* @brief Read the configuration register from the LM75.
* @param None
* @retval LM75 configuration register value.
*/
uint8_t LM75_ReadConfReg(void)
{
uint8_t LM75_BufferRX[2] ={0,0};
/* Test on BUSY Flag */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_BUSY) != RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(LM75_I2C, LM75_ADDR, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_TXIS) == RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Send Register address */
I2C_SendData(LM75_I2C, (uint8_t)LM75_REG_CONF);
/* Wait until TC flag is set */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_TC) == RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(LM75_I2C, LM75_ADDR, 1, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
/* Wait until RXNE flag is set */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_RXNE) == RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Read data from RXDR */
LM75_BufferRX[0]= I2C_ReceiveData(LM75_I2C);
/* Wait until STOPF flag is set */
LM75Timeout = LM75_LONG_TIMEOUT;
while(I2C_GetFlagStatus(LM75_I2C, I2C_ISR_STOPF) == RESET)
{
if((LM75Timeout--) == 0) return LM75_TIMEOUT_UserCallback();
}
/* Clear STOPF flag */
I2C_ClearFlag(LM75_I2C, I2C_ICR_STOPCF);
/* Return Register value */
return (uint8_t)LM75_BufferRX[0];
}
void ADXL345_Read(uint8_t DeviceAddr, uint8_t RegAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
{
/* Test on BUSY Flag */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_BUSY) != RESET)
{
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(ADXL345_I2C, DeviceAddr, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_TXIS) == RESET)
{
}
if(NumByteToRead>1)
RegAddr |= 0x80;
/* Send Register address */
I2C_SendData(ADXL345_I2C, (uint8_t)RegAddr);
/* Wait until TC flag is set */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_TC) == RESET)
{
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(ADXL345_I2C, DeviceAddr, NumByteToRead, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
/* Wait until all data are received */
while (NumByteToRead)
{
/* Wait until RXNE flag is set */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_RXNE) == RESET)
{
}
/* Read data from RXDR */
*pBuffer = I2C_ReceiveData(ADXL345_I2C);
/* Point to the next location where the byte read will be saved */
pBuffer++;
/* Decrement the read bytes counter */
NumByteToRead--;
}
/* Wait until STOPF flag is set */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_STOPF) == RESET)
{
}
/* Clear STOPF flag */
I2C_ClearFlag(ADXL345_I2C, I2C_ICR_STOPCF);
}
/**
* @brief Writes one byte to the LSM303DLHC.
* @param DeviceAddr : specifies the slave address to be programmed.
* @param RegAddr : specifies the LSM303DLHC register to be written.
* @param pBuffer : pointer to the buffer containing the data to be written to the LSM303DLH.
* @retval LSM303DLHC Status
*/
uint16_t LSM303DLHC_Write(uint8_t DeviceAddr, uint8_t RegAddr, uint8_t* pBuffer) {
/* Test on BUSY Flag */
LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
while (I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_BUSY ) != RESET) {
if ((LSM303DLHC_Timeout--) == 0)
return LSM303DLHC_TIMEOUT_UserCallback();
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(LSM303DLHC_I2C, DeviceAddr, 1, I2C_Reload_Mode,
I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
while (I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_TXIS ) == RESET) {
if ((LSM303DLHC_Timeout--) == 0)
return LSM303DLHC_TIMEOUT_UserCallback();
}
/* Send Register address */
I2C_SendData(LSM303DLHC_I2C, (uint8_t) RegAddr);
/* Wait until TCR flag is set */
LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
while (I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_TCR ) == RESET) {
if ((LSM303DLHC_Timeout--) == 0)
return LSM303DLHC_TIMEOUT_UserCallback();
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(LSM303DLHC_I2C, DeviceAddr, 1, I2C_AutoEnd_Mode,
I2C_No_StartStop);
/* Wait until TXIS flag is set */
LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
while (I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_TXIS ) == RESET) {
if ((LSM303DLHC_Timeout--) == 0)
return LSM303DLHC_TIMEOUT_UserCallback();
}
/* Write data to TXDR */
I2C_SendData(LSM303DLHC_I2C, *pBuffer);
/* Wait until STOPF flag is set */
LSM303DLHC_Timeout = LSM303DLHC_LONG_TIMEOUT;
while (I2C_GetFlagStatus(LSM303DLHC_I2C, I2C_ISR_STOPF ) == RESET) {
if ((LSM303DLHC_Timeout--) == 0)
return LSM303DLHC_TIMEOUT_UserCallback();
}
/* Clear STOPF flag */
I2C_ClearFlag(LSM303DLHC_I2C, I2C_ICR_STOPCF );
return LSM303DLHC_OK ;
}
/* @brief Reads bytes from MPU6050
*
* @param SlaveAddr - Slave I2C address
* @param RegAddr - register address
* @param pBuffer - buffer to write to
* @ param NumByteToRead - number of bytes to read
*
* @retval @MPU6050_errorstatus
*/
MPU6050_errorstatus MPU6050_Read(uint8_t SlaveAddr, uint8_t RegAddr, uint8_t* pBuffer, uint16_t NumByteToRead)
{
/* Test if SDA line busy */
MPU6050_Timeout = MPU6050_LONG_TIMEOUT;
while(I2C_GetFlagStatus(MPU6050_I2C, I2C_FLAG_BUSY) != RESET)
{
if((MPU6050_Timeout--) == 0) return MPU6050_I2C_ERROR;
}
I2C_TransferHandling(MPU6050_I2C, SlaveAddr, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
MPU6050_Timeout = MPU6050_LONG_TIMEOUT;
while(I2C_GetFlagStatus(MPU6050_I2C, I2C_FLAG_TXIS) == RESET)
{
if((MPU6050_Timeout--) == 0) return MPU6050_I2C_ERROR;
}
if(NumByteToRead>1)
RegAddr |= 0x80;
I2C_SendData(MPU6050_I2C, (uint8_t)RegAddr);
MPU6050_Timeout = MPU6050_LONG_TIMEOUT;
while(I2C_GetFlagStatus(MPU6050_I2C, I2C_FLAG_TC) == RESET)
{
if((MPU6050_Timeout--) == 0) return MPU6050_I2C_TX_ERROR;
}
I2C_TransferHandling(MPU6050_I2C, SlaveAddr, NumByteToRead, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
while (NumByteToRead)
{
MPU6050_Timeout = MPU6050_LONG_TIMEOUT;
while(I2C_GetFlagStatus(MPU6050_I2C, I2C_FLAG_RXNE) == RESET)
{
if((MPU6050_Timeout--) == 0) return MPU6050_I2C_RX_ERROR;
}
*pBuffer = I2C_ReceiveData(MPU6050_I2C);
pBuffer++;
NumByteToRead--;
}
MPU6050_Timeout = MPU6050_LONG_TIMEOUT;
while(I2C_GetFlagStatus(MPU6050_I2C, I2C_FLAG_STOPF) == RESET)
{
if((MPU6050_Timeout--) == 0) return MPU6050_I2C_ERROR;
}
I2C_ClearFlag(MPU6050_I2C, I2C_FLAG_STOPF);
return MPU6050_NO_ERROR;
}
uint16_t I2C_Write(uint8_t deviceAddressess, uint8_t registerAddress, uint8_t* dataPointer)
{
I2C_Timeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2C, I2C_ISR_BUSY) != RESET)
{
if((I2C_Timeout--) == 0) return I2C_TIMEOUT_UserCallback();
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2C, deviceAddressess, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
I2C_Timeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2C, I2C_ISR_TXIS) == RESET)
{
if((I2C_Timeout--) == 0) return I2C_TIMEOUT_UserCallback();
}
/* Send Register address */
I2C_SendData(I2C, (uint8_t) registerAddress);
/* Wait until TCR flag is set */
I2C_Timeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2C, I2C_ISR_TCR) == RESET)
{
if((I2C_Timeout--) == 0) return I2C_TIMEOUT_UserCallback();
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2C, deviceAddressess, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
/* Wait until TXIS flag is set */
I2C_Timeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2C, I2C_ISR_TXIS) == RESET)
{
if((I2C_Timeout--) == 0) return I2C_TIMEOUT_UserCallback();
}
/* Write data to TXDR */
I2C_SendData(I2C, *dataPointer);
/* Wait until STOPF flag is set */
I2C_Timeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2C, I2C_ISR_STOPF) == RESET)
{
if((I2C_Timeout--) == 0) return I2C_TIMEOUT_UserCallback();
}
/* Clear STOPF flag */
I2C_ClearFlag(I2C, I2C_ICR_STOPCF);
return I2C_OK;
}
void I2C_WriteRegister(uint8_t addr, uint8_t reg, uint8_t val)
{
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_BUSY) == SET);
I2C_TransferHandling(I2C2, addr, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_TXIS) == RESET);
I2C_SendData(I2C2, reg);
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_TCR) == RESET);
I2C_TransferHandling(I2C2, addr, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_TXIS) == RESET);
I2C_SendData(I2C2, val);
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_STOPF) == RESET);
I2C_ClearFlag(I2C2, I2C_FLAG_STOPF);
}
/* Private functions ---------------------------------------------------------*/
int EEP_WriteData(uint8_t DevAddr, uint16_t RegAddr, uint8_t* DataBuf, uint16_t DataLen)
{
EEP_Timeout = EEP_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_BUSY))
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_TransferHandling(I2C2,DevAddr,2,I2C_Reload_Mode,I2C_Generate_Start_Write);
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_TXIS) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_SendData(I2C2,RegAddr>>8);
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_TXIS) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_SendData(I2C2,RegAddr&0xFF);
while(I2C_GetFlagStatus(I2C2,I2C_ISR_TCR) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_TransferHandling(I2C2,DevAddr,DataLen,I2C_AutoEnd_Mode,I2C_No_StartStop);
while(DataLen--)
{
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_TXIS) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_SendData(I2C2, *DataBuf);
DataBuf++;
}
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_STOPF) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_ClearFlag(I2C2, I2C_ICR_STOPCF);
return SUCCESS;
}
//
// Originally, 'endTransmission' was an f(void) function.
// It has been modified to take one parameter indicating
// whether or not a STOP should be performed on the bus.
// Calling endTransmission(false) allows a sketch to
// perform a repeated start.
//
// WARNING: Nothing in the library keeps track of whether
// the bus tenure has been properly ended with a STOP. It
// is very possible to leave the bus in a hung state if
// no call to endTransmission(true) is made. Some I2C
// devices will behave oddly if they do not see a STOP.
//
uint8_t TwoWire::endTransmission(uint8_t sendStop) {
uint32_t _millis;
_millis = millis();
while(I2C_GetFlagStatus(twi, I2C_FLAG_BUSY) != RESET)
{
if(EVENT_TIMEOUT < (millis() - _millis)) return 0;
}
if (sendStop == true)
{
I2C_TransferHandling(twi, txAddress, txBufferLength, I2C_AutoEnd_Mode, I2C_Generate_Start_Write);
}
else
{
I2C_TransferHandling(twi, txAddress, txBufferLength, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
}
uint8_t *pBuffer = txBuffer;
uint8_t NumByteToWrite = txBufferLength;
/* While there is data to be read */
while(NumByteToWrite--)
{
_millis = millis();
while(I2C_GetFlagStatus(twi, I2C_FLAG_TXIS) == RESET)
{
if(EVENT_TIMEOUT < (millis() - _millis)) return 0;
}
/* Send the current byte to slave */
I2C_SendData(twi, *pBuffer++);
}
_millis = millis();
if (sendStop == true)
{
while(I2C_GetFlagStatus(twi, I2C_FLAG_STOPF) == RESET)
{
if(EVENT_TIMEOUT < (millis() - _millis)) return 0;
}
}
else
{
while(I2C_GetFlagStatus(twi, I2C_FLAG_STOPF) == RESET)
{
if(EVENT_TIMEOUT < (millis() - _millis)) return 0;
}
}
// reset tx buffer iterator vars
txBufferLength = 0;
status = MASTER_IDLE;
return 0;
}
int EEP_ReadData(uint8_t DevAddr, uint16_t RegAddr, uint8_t* DataBuf, uint16_t DataLen)
{
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_BUSY))
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_TransferHandling(I2C2,DevAddr,2,I2C_SoftEnd_Mode,I2C_Generate_Start_Write);
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_TXIS) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_SendData(I2C2,RegAddr>>8);
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_TXIS) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_SendData(I2C2,RegAddr&0xFF);
while(I2C_GetFlagStatus(I2C2,I2C_ISR_TC) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
I2C_TransferHandling(I2C2,DevAddr,DataLen,I2C_AutoEnd_Mode,I2C_Generate_Start_Read);
while(DataLen)
{
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_RXNE) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
*DataBuf = I2C_ReceiveData(I2C2);
DataBuf++;
DataLen--;
}
while(I2C_GetFlagStatus(I2C2,I2C_FLAG_STOPF) == RESET)
{
if(EEP_Timeout-- == 0)
return ERROR;
}
return SUCCESS;
}
//We're really fortunate with the HMC5883L as it automatically
//increments the internal register counter with every read
//so we need to set the internal register pointer to the first data
//register (the X value register) and just read the next 6 pieces
//of data, X1, X2, Z1, Z2 Y1, Y2 and
//voila! We have the compass values!
uint8_t I2C_RdReg(int8_t Reg, int8_t *Data, uint8_t DCnt){
int8_t Cnt, SingleData = 0;
//As per, ensure the I2C peripheral isn't busy!
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_BUSY) == SET);
//Again, start another tranfer using the "transfer handling"
//function, the end bit being set in software this time
//round, generate a start condition and indicate you will
//be writing data to the HMC device.
I2C_TransferHandling(HMC_I2C, HMCAddr, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
//Wait until the transmit interrupt status is set
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_TXIS) == RESET);
//Send the address of the register you wish to read
I2C_SendData(HMC_I2C, (uint8_t)Reg);
//Wait until transfer is complete!
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_TC) == RESET);
//As per, start another transfer, we want to read DCnt
//amount of bytes. Generate a start condition and
//indicate that we want to read.
I2C_TransferHandling(HMC_I2C, HMCAddr, DCnt, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
//Read in DCnt pieces of data
for(Cnt = 0; Cnt<DCnt; Cnt++){
//Wait until the RX register is full of luscious data!
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_RXNE) == RESET);
//If we're only reading one byte, place that data direct into the
//SingleData variable. If we're reading more than 1 piece of data
//store in the array "Data" (a pointer from main)
if(DCnt > 1) Data[Cnt] = I2C_ReceiveData(HMC_I2C);
else SingleData = I2C_ReceiveData(HMC_I2C);
}
//Wait for the stop condition to be sent
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_STOPF) == RESET);
//Clear the stop flag for next transfers
I2C_ClearFlag(HMC_I2C, I2C_FLAG_STOPF);
//Return a single piece of data if DCnt was
//less than 1, otherwise 0 will be returned.
return SingleData;
}
/**
* @brief Checks the LM75 status.
* @param None
* @retval ErrorStatus: LM75 Status (ERROR or SUCCESS).
*/
ErrorStatus LM75_GetStatus(void)
{
uint32_t I2C_TimeOut = I2C_TIMEOUT;
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(LM75_I2C, LM75_ADDR, 0, I2C_AutoEnd_Mode, I2C_No_StartStop);
/* Clear NACKF and STOPF */
I2C_ClearFlag(LM75_I2C, I2C_ICR_NACKCF | I2C_ICR_STOPCF);
/* Generate start */
I2C_GenerateSTART(LM75_I2C, ENABLE);
/* Wait until timeout elapsed */
while ((I2C_GetFlagStatus(LM75_I2C, I2C_ISR_STOPF) == RESET) && (I2C_TimeOut-- != 0));
/* Check if Temp sensor is ready for use */
if ((I2C_GetFlagStatus(LM75_I2C, I2C_ISR_NACKF) != RESET) || (I2C_TimeOut == 0))
{
/* Clear NACKF and STOPF */
I2C_ClearFlag(LM75_I2C, I2C_ICR_NACKCF | I2C_ICR_STOPCF);
return ERROR;
}
else
{
/* Clear STOPF */
I2C_ClearFlag(LM75_I2C, I2C_ICR_STOPCF);
return SUCCESS;
}
}
int i2c_write(i2c_t *obj, int address, const char *data, int length, int stop) {
I2C_TypeDef *i2c = (I2C_TypeDef *)(obj->i2c);
int timeout;
int count;
if (length == 0) return 0;
// Configure slave address, nbytes, reload, end mode and start generation
I2C_TransferHandling(i2c, address, length, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
// Write all bytes
for (count = 0; count < length; count++) {
i2c_byte_write(obj, data[count]);
}
timeout = FLAG_TIMEOUT;
while(!I2C_GetFlagStatus(i2c, I2C_FLAG_TC)) {
timeout--;
if (timeout == 0) return 0;
}
if(stop) i2c_stop(obj);
return count;
}
uint8_t i2cReceiveS(I2C_TypeDef* I2Cx, const uint8_t addr, uint8_t *buffer, uint8_t len)
{
uint8_t timeout;
if (chSemWaitTimeout(&i2c1_semS, MS2ST(I2C_TIMEOUT)) != MSG_OK)
{
return 1;
}
I2C_TransferHandling(I2Cx, addr, len, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
while (len--)
{
timeout = 100;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET)
{
chThdSleepMicroseconds(50);
if (!timeout--)
{
chSemSignal(&i2c1_semS);
return 1;
}
};
*buffer++ = I2Cx->RXDR;
}
chSemSignal(&i2c1_semS);
return 0;
}
int i2c_read(i2c_t *obj, int address, char *data, int length, int stop) {
I2C_TypeDef *i2c = (I2C_TypeDef *)(obj->i2c);
int count;
int timeout;
int value;
// Configure slave address, nbytes, reload, end mode and start or stop generation
I2C_TransferHandling(i2c, address, length, I2C_SoftEnd_Mode, I2C_Generate_Start_Read);
// Read all bytes
for (count = 0; count < length; count++) {
value = i2c_byte_read(obj, 0);
data[count] = (char)value;
}
timeout = FLAG_TIMEOUT;
while (!I2C_GetFlagStatus(i2c, I2C_FLAG_TC)) {
timeout--;
if (timeout == 0) return -1;
}
if (stop) i2c_stop(obj);
return length;
}
/* sla includes also the r/w bit */
uint8_t u8g_i2c_start(uint8_t sla)
{
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY) == SET);
I2C_TransferHandling(I2C1, sla, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_TXIS) == RESET);
return 1;
}
void f3d_i2c1_read_nunchuk (uint8_t device, uint8_t* buffer, uint16_t numbytes) {
while (I2C_GetFlagStatus(I2C1, I2C_ISR_BUSY) != RESET);
I2C_TransferHandling(I2C1, 0xA4, 1, I2C_AutoEnd_Mode, I2C_Generate_Start_Write);
while (I2C_GetFlagStatus(I2C1, I2C_ISR_TXIS) == RESET);
I2C_SendData(I2C1,0x00);
while(I2C_GetFlagStatus(I2C1, I2C_ISR_STOPF) == RESET);
I2C_ClearFlag(I2C1, I2C_ICR_STOPCF);
delay(1);
while (I2C_GetFlagStatus(I2C1, I2C_ISR_BUSY) != RESET);
I2C_TransferHandling(I2C1, 0xA4, 6, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
while (numbytes--) {
while(I2C_GetFlagStatus(I2C1, I2C_ISR_RXNE) == RESET);
*buffer++ = I2C_ReceiveData(I2C1);
}
while (I2C_GetFlagStatus(I2C1, I2C_ISR_STOPF) == RESET);
I2C_ClearFlag(I2C1, I2C_ICR_STOPCF);
}
void f3d_i2c1_write(uint8_t device, uint8_t reg, uint8_t* value) {
while (I2C_GetFlagStatus(I2C1, I2C_ISR_BUSY) != RESET);
I2C_TransferHandling(I2C1, device, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
while (I2C_GetFlagStatus(I2C1, I2C_ISR_TXIS) == RESET);
I2C_SendData(I2C1,reg);
while(I2C_GetFlagStatus(I2C1, I2C_ISR_TCR) == RESET);
I2C_TransferHandling(I2C1, device, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
while(I2C_GetFlagStatus(I2C1, I2C_ISR_TXIS) == RESET);
I2C_SendData(I2C1, *value);
while(I2C_GetFlagStatus(I2C1, I2C_ISR_STOPF) == RESET);
I2C_ClearFlag(I2C1, I2C_ICR_STOPCF);
}
void ADXL345_Write(uint8_t DeviceAddr, uint8_t RegAddr, uint8_t* pBuffer)
{
/* Test on BUSY Flag */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_BUSY) != RESET)
{
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(ADXL345_I2C, DeviceAddr, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_TXIS) == RESET)
{
}
/* Send Register address */
I2C_SendData(ADXL345_I2C, (uint8_t) RegAddr);
/* Wait until TCR flag is set */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_TCR) == RESET)
{
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(ADXL345_I2C, DeviceAddr, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
/* Wait until TXIS flag is set */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_TXIS) == RESET)
{
}
/* Write data to TXDR */
I2C_SendData(ADXL345_I2C, *pBuffer);
/* Wait until STOPF flag is set */
while(I2C_GetFlagStatus(ADXL345_I2C, I2C_ISR_STOPF) == RESET)
{
}
/* Clear STOPF flag */
I2C_ClearFlag(ADXL345_I2C, I2C_ICR_STOPCF);
}
void I2C_WrReg(uint8_t Reg, uint8_t Val){
//Wait until I2C isn't busy
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_BUSY) == SET);
//"Handle" a transfer - The STM32F0 series has a shocking
//I2C interface... Regardless! Send the address of the HMC
//sensor down the I2C Bus and generate a start saying we're
//going to write one byte. I'll be completely honest,
//the I2C peripheral doesn't make too much sense to me
//and a lot of the code is from the Std peripheral library
I2C_TransferHandling(HMC_I2C, HMCAddr, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
//Ensure the transmit interrupted flag is set
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_TXIS) == RESET);
//Send the address of the register we wish to write to
I2C_SendData(HMC_I2C, Reg);
//Ensure that the transfer complete reload flag is
//set, essentially a standard TC flag
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_TCR) == RESET);
//Now that the HMC5883L knows which register
//we want to write to, send the address again
//and ensure the I2C peripheral doesn't add
//any start or stop conditions
I2C_TransferHandling(HMC_I2C, HMCAddr, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
//Again, wait until the transmit interrupted flag is set
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_TXIS) == RESET);
//Send the value you wish you write to the register
I2C_SendData(HMC_I2C, Val);
//Wait for the stop flag to be set indicating
//a stop condition has been sent
while(I2C_GetFlagStatus(HMC_I2C, I2C_FLAG_STOPF) == RESET);
//Clear the stop flag for the next potential transfer
I2C_ClearFlag(HMC_I2C, I2C_FLAG_STOPF);
}
void i2c_write(uint8_t* pBuffer, uint8_t num) {
uint8_t i = 0;
I2C_ITConfig(I2C2, I2C_IT_RXI | I2C_IT_TXI | I2C_IT_ADDRI | I2C_IT_STOPI, DISABLE);
while(I2C_GetFlagStatus(I2C2, I2C_ISR_BUSY) != RESET);
I2C_TransferHandling(I2C2, I2C_SLAVE, num, I2C_AutoEnd_Mode, I2C_Generate_Start_Write);
for(; i < num; i++) {
while(I2C_GetFlagStatus(I2C2, I2C_ISR_TXIS) == RESET);
I2C_SendData(I2C2, (uint8_t) I2C_SLAVE);
}
while(I2C_GetFlagStatus(I2C2, I2C_ISR_STOPF) == RESET);
I2C_ClearFlag(I2C2, I2C_ICR_STOPCF);
}
void i2c_start_transfer(mal_i2c_s *handle) {
handle->cmd = (volatile mal_i2c_cmd_e)handle->msg->packet.cmd;
// Reset variables
handle->state = (volatile mal_hspec_stm32f0_i2c_states_e)I2C_STATE_START;
handle->data_ptr = 0;
// Start transfer
uint32_t transfer_type = I2C_Generate_Start_Read;
if (MAL_I2C_WRITE == handle->cmd) {
transfer_type = I2C_Generate_Start_Write;
}
I2C_TransferHandling(handle->stm_handle, handle->msg->packet.address << 1, handle->msg->packet.packet_size,
I2C_SoftEnd_Mode, transfer_type);
}
uint8_t I2C_ReadReg(uint8_t addr, uint8_t reg, uint8_t *buffer, uint8_t length)
{
uint8_t count = 0;
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_BUSY) == SET);
I2C_TransferHandling(I2C2, addr, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_TXIS) == RESET);
I2C_SendData(I2C2, reg);
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_TC) == RESET);
I2C_TransferHandling(I2C2, addr, length, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
while(count < length){
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_RXNE) == RESET);
buffer[count] = I2C_ReceiveData(I2C2);
count++;
}
while(I2C_GetFlagStatus(I2C2, I2C_FLAG_STOPF) == RESET);
I2C_ClearFlag(I2C2, I2C_FLAG_STOPF);
return count;
}
void f3d_i2c1_read(uint8_t device, uint8_t reg, uint8_t* buffer, uint16_t numbytes) {
while (I2C_GetFlagStatus(I2C1, I2C_ISR_BUSY) != RESET); // Wait for I2C to become free
I2C_TransferHandling(I2C1, device, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write); // Send start and device address
while (I2C_GetFlagStatus(I2C1, I2C_ISR_TXIS) == RESET); // Confirm that the transmitter empty
if (numbytes>1) {
reg |=0x80; // indicate that the transfer will involve multiple bytes
}
I2C_SendData(I2C1,reg); // Send the register address
while (I2C_GetFlagStatus(I2C1, I2C_ISR_TC) == RESET);
I2C_TransferHandling(I2C1, device, numbytes, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
while (numbytes--) {
while(I2C_GetFlagStatus(I2C1, I2C_ISR_RXNE) == RESET);
*buffer++ = I2C_ReceiveData(I2C1);
}
while (I2C_GetFlagStatus(I2C1, I2C_ISR_STOPF) == RESET); // Wait for stop flag generation
I2C_ClearFlag(I2C1, I2C_ICR_STOPCF);
}
uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity, uint8_t sendStop) {
address <<= 1;
if (quantity > BUFFER_LENGTH)
quantity = BUFFER_LENGTH;
uint32_t _millis;
_millis = millis();
while(I2C_GetFlagStatus(twi, I2C_FLAG_BUSY) != RESET)
{
if(EVENT_TIMEOUT < (millis() - _millis)) return 0;
}
I2C_TransferHandling(twi, address, quantity, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
uint8_t *pBuffer = rxBuffer;
uint8_t numByteToRead = quantity;
uint8_t bytesRead = 0;
/* While there is data to be read */
while(numByteToRead)
{
_millis = millis();
while(I2C_GetFlagStatus(twi, I2C_FLAG_RXNE) == RESET)
{
if(EVENT_TIMEOUT < (millis() - _millis)) return 0;
}
/* Read a byte from the Slave */
*pBuffer = I2C_ReceiveData(twi);
bytesRead++;
/* Point to the next location where the byte read will be saved */
pBuffer++;
/* Decrement the read bytes counter */
numByteToRead--;
}
_millis = millis();
while(I2C_GetFlagStatus(twi, I2C_FLAG_STOPF) == RESET)
{
if(EVENT_TIMEOUT < (millis() - _millis)) return 0;
}
// set rx buffer iterator vars
rxBufferIndex = 0;
rxBufferLength = bytesRead;
return bytesRead;
}
int i2c_read(i2c_t *obj, int address, char *data, int length, int stop) {
I2C_TypeDef *i2c = (I2C_TypeDef *)(obj->i2c);
int count;
int value;
if (length == 0) return 0;
// Configure slave address, nbytes, reload, end mode and start or stop generation
I2C_TransferHandling(i2c, address, length, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
// Read all bytes
for (count = 0; count < length; count++) {
value = i2c_byte_read(obj, 0);
data[count] = (char)value;
}
return length;
}
int i2c_write(i2c_t *obj, int address, const char *data, int length, int stop) {
I2C_TypeDef *i2c = (I2C_TypeDef *)(obj->i2c);
//int timeout;
int count;
if (length == 0) return 0;
// [TODO] The stop is always sent even with I2C_SoftEnd_Mode. To be corrected.
// Configure slave address, nbytes, reload, end mode and start or stop generation
//if (stop) {
I2C_TransferHandling(i2c, address, length, I2C_AutoEnd_Mode, I2C_Generate_Start_Write);
//}
//else {
// I2C_TransferHandling(i2c, address, length, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
//}
// Write all bytes
for (count = 0; count < length; count++) {
if (i2c_byte_write(obj, data[count]) != 1) {
i2c_stop(obj);
return 0;
}
}
/*
if (stop) {
// Wait until STOPF flag is set
timeout = LONG_TIMEOUT;
while (I2C_GetFlagStatus(i2c, I2C_ISR_STOPF) == RESET) {
timeout--;
if (timeout == 0) {
return 0;
}
}
// Clear STOPF flag
I2C_ClearFlag(i2c, I2C_ICR_STOPCF);
}
*/
return count;
}
uint8_t u8g_i2c_send_byte(uint8_t data)
{
//Send the address of the register we wish to write to
I2C_SendData(I2C1, control);
//Ensure that the transfer complete reload flag is Set, essentially a standard
//TC flag
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_TCR) == RESET);
//Now that the HMC5883L knows which register we want to write to, send the address
//again and ensure the I2C peripheral doesn't add any start or stop conditions
I2C_TransferHandling(I2C1, 0x78, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
//Again, wait until the transmit interrupted flag is set
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_TXIS) == RESET);
//Send the value you wish you write to the register
I2C_SendData(I2C1, data);
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_TCR) == RESET);
return 1;
}