// USED TO GET VALUES FROM I2C
void i2cMasterTransferNI(u08 deviceAddr, u08 sendlength, u08* senddata, u08 receivelength, u08* receivedata)
{
// disable TWI interrupt
cbi(TWCR, TWIE);
// send start condition
i2cSendStart();
i2cWaitForComplete();
// if there's data to be sent, do it
if(sendlength)
{
// send device address with write
i2cSendByte( deviceAddr & 0xFE );
i2cWaitForComplete();
// send data
while(sendlength)
{
i2cSendByte( *senddata++ );
i2cWaitForComplete();
sendlength--;
}
}
// if there's data to be received, do it
if(receivelength)
{
// send repeated start condition
i2cSendStart();
i2cWaitForComplete();
// send device address with read
i2cSendByte( deviceAddr | 0x01 );
i2cWaitForComplete();
// accept receive data and ack it
while(receivelength > 1)
{
i2cReceiveByte(TRUE);
i2cWaitForComplete();
*receivedata++ = i2cGetReceivedByte();
// decrement length
receivelength--;
}
// accept receive data and nack it (last-byte signal)
i2cReceiveByte(FALSE);
i2cWaitForComplete();
*receivedata++ = i2cGetReceivedByte();
}
// transmit stop condition
// leave with TWEA on for slave receiving
i2cSendStop();
while( !(inb(TWCR) & BV(TWSTO)) );
// enable TWI interrupt
sbi(TWCR, TWIE);
}
int16_t read_adxl345(char reg_adr)
{
char lsb, msb;
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(ADXL345_W); // write to this I2C address, R/*W cleared
i2cWaitForComplete();
i2cSendByte(reg_adr); //Read from a given address
i2cWaitForComplete();
i2cSendStart();
i2cSendByte(ADXL345_R); // read from this I2C address, R/*W Set
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
lsb = i2cGetReceivedByte(); //Read the LSB data
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
msb = i2cGetReceivedByte(); //Read the MSB data
i2cWaitForComplete();
i2cSendStop();
return( (msb<<8) | lsb);
}
uint16_t y_accel(void)
{
//0xA6 for a write
//0xA7 for a read
uint8_t dummy, yh, yl;
uint16_t yo;
//0x34 data registers
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA6); //write to ADXL
i2cWaitForComplete();
i2cSendByte(0x34); //Y0 data register
i2cWaitForComplete();
i2cSendStop(); //repeat start
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA7); //read from ADXL
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
yl = i2cGetReceivedByte(); //x low byte
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
dummy = i2cGetReceivedByte(); //must do a multiple byte read?
i2cWaitForComplete();
i2cSendStop();
//0x35 data registers
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA6); //write to ADXL
i2cWaitForComplete();
i2cSendByte(0x35); //Y1 data register
i2cWaitForComplete();
i2cSendStop(); //repeat start
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA7); //read from ADXL
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
yh = i2cGetReceivedByte(); //y high byte
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
dummy = i2cGetReceivedByte(); //must do a multiple byte read?
i2cWaitForComplete();
i2cSendStop();
yo = yl|(yh << 8);
return yo;
}
uint16_t z_accel(void)
{
//0xA6 for a write
//0xA7 for a read
uint8_t dummy, zh, zl;
uint16_t zo;
//0x36 data registers
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA6); //write to ADXL
i2cWaitForComplete();
i2cSendByte(0x36); //Z0 data register
i2cWaitForComplete();
i2cSendStop(); //repeat start
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA7); //read from ADXL
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
zl = i2cGetReceivedByte(); //z low byte
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
dummy = i2cGetReceivedByte(); //must do a multiple byte read?
i2cWaitForComplete();
i2cSendStop();
//0x37 data registers
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA6); //write to ADXL
i2cWaitForComplete();
i2cSendByte(0x37); //Z1 data register
i2cWaitForComplete();
i2cSendStop(); //repeat start
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA7); //read from ADXL
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
zh = i2cGetReceivedByte(); //z high byte
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
dummy = i2cGetReceivedByte(); //must do a multiple byte read?
i2cWaitForComplete();
i2cSendStop();
zo = zl|(zh << 8);
return zo;
}
uint16_t x_accel(void)
{
//0xA6 for a write
//0xA7 for a read
uint8_t dummy, xh, xl;
uint16_t xo;
//0x32 data registers
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA6); //write to ADXL
i2cWaitForComplete();
i2cSendByte(0x32); //X0 data register
i2cWaitForComplete();
i2cSendStop(); //repeat start
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA7); //read from ADXL
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
xl = i2cGetReceivedByte(); //x low byte
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
dummy = i2cGetReceivedByte(); //must do a multiple byte read?
i2cWaitForComplete();
i2cSendStop();
//0x33 data registers
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA6); //write to ADXL
i2cWaitForComplete();
i2cSendByte(0x33); //X1 data register
i2cWaitForComplete();
i2cSendStop(); //repeat start
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA7); //read from ADXL
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
xh = i2cGetReceivedByte(); //x high byte
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
dummy = i2cGetReceivedByte(); //must do a multiple byte read?
i2cWaitForComplete();
i2cSendStop();
xo = xl|(xh << 8);
return xo;
}
uint16_t z_gyro(void)
{
uint16_t xh, xl, data;
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(ITG3200_W); // write
i2cWaitForComplete();
i2cSendByte(0x21); // z high address
i2cWaitForComplete();
i2cSendStart();
i2cSendByte(ITG3200_R); // read
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
xh = i2cGetReceivedByte(); // Get MSB result
i2cWaitForComplete();
i2cSendStop();
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(ITG3200_W); // write
i2cWaitForComplete();
i2cSendByte(0x22); // z low address
i2cWaitForComplete();
i2cSendStart();
i2cSendByte(ITG3200_R); // read
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
xl = i2cGetReceivedByte(); // Get LSB result
i2cWaitForComplete();
i2cSendStop();
data = xl|(xh << 8);
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
return data;
}
uint8_t i2cMasterReceiveNI(uint8_t deviceAddr, uint8_t length, uint8_t *data)
{
uint8_t retval = I2C_OK;
// disable TWI interrupt
cbi(TWCR, TWIE);
// send start condition
i2cSendStart();
i2cWaitForComplete();
// send device address with read
i2cSendByte(deviceAddr | 0x01);
i2cWaitForComplete();
//rprintf("receive TWSR = 0x%x\n", TWSR);
// check if device is present and live
if (inb(TWSR) == TW_MR_SLA_ACK)
{
// accept receive data and ack it
while(length > 1)
{
i2cReceiveByte(TRUE);
i2cWaitForComplete();
*data++ = i2cGetReceivedByte();
// decrement length
length--;
}
// accept receive data and nack it (last-byte signal)
i2cReceiveByte(FALSE);
i2cWaitForComplete();
*data++ = i2cGetReceivedByte();
}
else
{
// device did not ACK it's address,
// data will not be transferred
// return error
retval = I2C_ERROR_NODEV;
}
// transmit stop condition
// leave with TWEA on for slave receiving
i2cSendStop();
// enable TWI interrupt
sbi(TWCR, TWIE);
return retval;
}
char ITG3200Read(unsigned char address)
{
char data;
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(ITG3200_W); // write 0xD2
i2cWaitForComplete();
i2cSendByte(address); // write register address
i2cWaitForComplete();
i2cSendStart();
i2cSendByte(ITG3200_R); // write 0xD3
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
data = i2cGetReceivedByte(); // Get MSB result
i2cWaitForComplete();
i2cSendStop();
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
return data;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Reads a single byte of data from the EEPROM chip
uint8_t ee_read(void)
{
// sequential read is:
// Master EEPROM
// Start->
// <-Ack
// Device->
// <-Ack
// <-Send Byte
// (N)Ack->
// Stop->
// The TWI control module knows to ack/nack the response to the slave
// when in master-receive mode
// send start condition
i2cSendStart();
i2cWaitForComplete();
// send SLA+R
i2cSendByte(_device | I2C_READ);
i2cWaitForComplete();
// nack the last byte sent
i2cNack();
i2cWaitForComplete();
uint8_t data = i2cGetReceivedByte();
// increment the address pointer
//incrementAddress();
return data;
}
uint8_t Daisy23::mpr_read(uint8_t address)
{
byte data;
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xB4); // write 0xB4
i2cWaitForComplete();
i2cSendByte(address); // write register address
i2cWaitForComplete();
i2cSendStart();
i2cSendByte(0xB5); // write 0xB5
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
data = i2cGetReceivedByte(); // Get MSB result
i2cWaitForComplete();
i2cSendStop();
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
return data;
}
byte DetectTouch::mpr121Read(uint8_t address)
{
byte data;
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(i2c_address); // write 0xB4
i2cWaitForComplete();
i2cSendByte(address); // write register address
i2cWaitForComplete();
i2cSendStart();
i2cSendByte(i2c_address+1); // write 0xB5
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
data = i2cGetReceivedByte(); // Get MSB result
i2cWaitForComplete();
i2cSendStop();
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
return data;
}
//Read a tmp102 sensor on a given temp_number or channel
int16_t tmp102Read(void)
{
uint8_t msb, lsb;
int16_t temp;
i2cSendStart(); // send start condition
i2cWaitForComplete();
i2cSendByte(TMP102_WRITE); // send WRITE address of TMP102
i2cWaitForComplete();
i2cSendByte(0x00); // set TMP102 pointer register to 0 (read temperature)
i2cWaitForComplete();
i2cSendStart(); // send repeated start condition
i2cWaitForComplete();
i2cSendByte(TMP102_READ); // send READ address of TMP102
i2cWaitForComplete();
i2cReceiveByte(true); // receives one byte from the bus and ACKs it
i2cWaitForComplete();
msb = i2cGetReceivedByte(); // reads the MSB (it is a 12 bit value!)
i2cWaitForComplete();
i2cReceiveByte(false); // receives one byte from the bus and NAKs it (last one)
i2cWaitForComplete();
lsb = i2cGetReceivedByte(); // reads the LSB
i2cWaitForComplete();
i2cSendStop(); // send stop condition
TWCR = 0; // stop everything
// Convert the number to an 8-bit degree Celsius value
temp = (msb<<8) | lsb; // combine those two values into one 16 bit value
temp >>= 4; // the values are left justified; fix that by shifting 4 right
// negative numbers are represented in two's complement, but we just shifted the value and thereby potentially messed it up
if(temp & (1<<11)) // Hence: if it is a negative number
temp |= 0xF800; // restore the uppermost bits
// The 12 bit value has 0.0625°C precision, which is too much for what we want (and the sensor is anyways only about 0.5°C precise)
// 0.0625 is 1/16 -> Dividing by 16 leaves 1°C precision for the output. Note that shifting >> 4 might go wrong here for negative numbers.
temp /= 16;
return(temp);
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Initiates an async read operation
void ee_readAHandler(void)
{
switch(_asyncStep)
{
// send a start signal
case ASYNC_NEXT_START:
_asyncStep = ASYNC_NEXT_DEVICE;
i2cSendStartAsync(ee_readAHandler);
break;
// send SLA+R
case ASYNC_NEXT_DEVICE:
if (i2cGetStatus() != TW_START)
{
_asyncError();
break;
}
_asyncStep = ASYNC_NEXT_NACK;
i2cSendByteAsync(_device | I2C_READ, ee_readAHandler);
break;
// setup TWI module to NACK the response
case ASYNC_NEXT_NACK:
if (i2cGetStatus() != TW_MR_SLA_ACK)
{
_asyncError();
break;
}
_asyncStep = ASYNC_NEXT_READ;
i2cNackA(ee_readAHandler);
break;
// capture the received data
case ASYNC_NEXT_READ:
if (i2cGetStatus() != TW_MR_DATA_NACK)
{
_asyncError();
break;
}
// read received data
_data = i2cGetReceivedByte();
i2cSendStop();
// mark transaction as complete
_eeComplete(_data);
// increment the address pointer
incrementAddress();
break;
}
}
// Read num_to_read registers sequentially, starting at address
// into the dest byte arra
void i2cReadRegisters(uint8_t i2c_7bit_address, uint8_t address,
uint8_t num_to_read, uint8_t * dest)
{
i2cSendStart();
i2cSendWriteAddress(i2c_7bit_address);
i2cSendData(address); // write register address
i2cSendRepeatedStart(); // repeated start
i2cSendReadAddress(i2c_7bit_address);
int j;
for (j=0; j<num_to_read-1; j++)
{
i2cReceiveByte(1);
dest[j] = i2cGetReceivedByte(); // Get data
}
i2cReceiveByte(0);
dest[j] = i2cGetReceivedByte(); // Get data
i2cSendStop();
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
}
void magnetometer(void)
{
/*
The magnetometer values must be read consecutively
in order to move the magnetometer pointer. Therefore the x, y, and z
outputs need to be kept in this function. To read the magnetometer
values, call the function magnetometer(), then global vars
x_mag, y_mag, z_mag.
*/
magnetometer_init();
uint8_t xh, xl, yh, yl, zh, zl;
//must read all six registers plus one to move the pointer back to 0x03
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0x3D); //write to HMC
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
xh = i2cGetReceivedByte(); //x high byte
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
xl = i2cGetReceivedByte(); //x low byte
i2cWaitForComplete();
x_mag = xl|(xh << 8);
i2cReceiveByte(TRUE);
i2cWaitForComplete();
zh = i2cGetReceivedByte();
i2cWaitForComplete(); //z high byte
i2cReceiveByte(TRUE);
i2cWaitForComplete();
zl = i2cGetReceivedByte(); //z low byte
i2cWaitForComplete();
z_mag = zl|(zh << 8);
i2cReceiveByte(TRUE);
i2cWaitForComplete();
yh = i2cGetReceivedByte(); //y high byte
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
yl = i2cGetReceivedByte(); //y low byte
i2cWaitForComplete();
y_mag = yl|(yh << 8);
i2cSendByte(0x3D); //must reach 0x09 to go back to 0x03
i2cWaitForComplete();
i2cSendStop();
}
//Reads two sequential 8 bit values from a given I2C address
//Returns one 16 bit value
uint16_t i2cRead_16(unsigned char i2c_address, unsigned char register_address)
{
char msb, lsb;
uint16_t data;
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(i2c_address<<1 & 0x0FE); // write to this I2C address, R/*W cleared
i2cWaitForComplete();
i2cSendByte(register_address); // write register address
i2cWaitForComplete();
i2cSendStart();
i2cSendByte(i2c_address<<1 | 0x01); // read from this I2C address, R/*W Set
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
lsb = i2cGetReceivedByte(); // Get MSB result
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
msb = i2cGetReceivedByte(); // Get LSB result
i2cWaitForComplete();
i2cSendStop();
data = msb << 8;
data |= lsb;
return data;
}
// read a single byte from address and return it as a byte
uint8_t i2cReadRegister(uint8_t i2c_7bit_address, uint8_t address)
{
uint8_t data;
i2cSendStart();
i2cSendWriteAddress(i2c_7bit_address);
i2cSendData(address); // write register address
i2cSendRepeatedStart(); // repeated start
i2cSendReadAddress(i2c_7bit_address);
i2cReceiveByte(0);
data = i2cGetReceivedByte(); // Get result
i2cSendStop();
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
return data;
}
// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
// Performs an asynchronous page read
void ee_readBytesHandler(void)
{
// setting the current page in the device requires setting up the
// device for a 'write' operation, but aborting the write before
// sending any data to the chip. a re-start is initiated with the
// device which starts the sequential read
switch (_asyncStep)
{
// send start signal
case ASYNC_MULTI_START:
_asyncStep = ASYNC_MULTI_DEVICE;
i2cSendStartAsync(ee_readBytesHandler);
break;
// send device address with write
case ASYNC_MULTI_DEVICE:
if (i2cGetStatus() != TW_START)
{
_asyncError();
break;
}
_asyncStep = ASYNC_MULTI_ADDRMSB;
i2cSendByteAsync(_device & I2C_WRITE, ee_readBytesHandler);
break;
// send address MSB
case ASYNC_MULTI_ADDRMSB:
if (i2cGetStatus() != TW_MT_SLA_ACK)
{
_asyncError();
break;
}
_asyncStep = ASYNC_MULTI_ADDRLSB;
i2cSendByteAsync(_address >> 8, ee_readBytesHandler);
break;
// send address LSB
case ASYNC_MULTI_ADDRLSB:
if (i2cGetStatus() != TW_MT_DATA_ACK)
{
_asyncError();
break;
}
_asyncStep = ASYNC_MULTI_READ;
i2cSendByteAsync(_address & 0xff, ee_readBytesHandler);
break;
// prepare appropriate reply for recceived byte(s)
case ASYNC_MULTI_READ:
_asyncStep = ASYNC_MULTI_NEXT;
if (_bufferLen)
i2cAckA(ee_readBytesHandler);
else
i2cNackA(ee_readBytesHandler);
break;
// get the byte and
case ASYNC_MULTI_NEXT:
if (_bufferLen > 0)
{
_bufferLen--;
*_pbuffer++ = i2cGetReceivedByte();
_asyncStep = ASYNC_MULTI_READ;
// increment the address pointer
incrementAddress();
}
else
_asyncStep = ASYNC_MULTI_STOP;
break;
// end the transaction
case ASYNC_MULTI_STOP:
if (i2cGetStatus() != TW_MT_DATA_ACK)
{
_asyncError();
break;
}
i2cSendStop();
_eeComplete(0);
break;
}
}
// ************ EDP Master operations ************
u08 edpSendCommand(u08 deviceAddr, u08 cmdLength, EdpCommand* edpCommand)
{
EdpReply* edpCommandReply = (EdpReply*)EdpCommandReplyBuffer;
u08* sendData;
u08* replyData;
u08 replyLength;
u08 checksum;
// initialize response variables
edpCommandReply->Length = 0;
EdpCommandReplyChecksum = 0;
#ifdef EDP_DEBUG
rprintf("\r\nBegin EdpSendCommand, TWSR:0x%x\r\n",inb(TWSR));
#endif
// disable TWI interrupt
cbi(TWCR, TWIE);
// clear TWI interface
//outb(TWCR, (inb(TWCR)&TWCR_CMD_MASK));
// send start condition
i2cSendStart();
i2cWaitForComplete();
#ifdef EDP_DEBUG
rprintf("Sent Start, TWSR:0x%x\r\n",inb(TWSR));
#endif
// send device address with write
i2cSendByte( (deviceAddr&0xFE) );
i2cWaitForComplete();
#ifdef EDP_DEBUG
rprintf("Sent Device Address+Write, TWSR:0x%x\r\n",inb(TWSR));
#endif
// check if device is present and live
if( i2cGetStatus() != TW_MT_SLA_ACK)
{
// device did not ACK it's address, command will not continue
// transmit stop condition
// leave with TWEA on for slave receiving
i2cSendStop();
while( !(inb(TWCR) & BV(TWSTO)) );
#ifdef EDP_DEBUG
rprintf("No Device!, Sent Stop, TWSR:0x%x\r\n",inb(TWSR));
#endif
// enable TWI interrupt
sbi(TWCR, TWIE);
// return error
return EDP_COMMAND_NODEV;
}
// send data
sendData = (u08*)edpCommand;
checksum = 0;
while(cmdLength)
{
i2cSendByte( *sendData );
i2cWaitForComplete();
#ifdef EDP_DEBUG
rprintf("Sent Data, TWSR:0x%x\r\n",inb(TWSR));
#endif
checksum += *sendData++;
cmdLength--;
}
// send the checksum
i2cSendByte( ~checksum );
i2cWaitForComplete();
#ifdef EDP_DEBUG
rprintf("Sent Checksum, TWSR:0x%x\r\n",inb(TWSR));
#endif
// send repeated start condition
i2cSendStart();
i2cWaitForComplete();
#ifdef EDP_DEBUG
rprintf("Sent Repeated Start, TWSR:0x%x\r\n",inb(TWSR));
#endif
// send device address with read
i2cSendByte( deviceAddr|0x01 );
i2cWaitForComplete();
#ifdef EDP_DEBUG
rprintf("Sent Device Address+Read, TWSR:0x%x\r\n",inb(TWSR));
#endif
// read response code, return NACK
i2cReceiveByte(FALSE);
i2cWaitForComplete();
#ifdef EDP_DEBUG
rprintf("Read Data, TWSR:0x%x\r\n",inb(TWSR));
#endif
EdpCommandResponseCode = i2cGetReceivedByte();
if(EdpCommandResponseCode==EDP_RESP_DATA_REPLY)
{
// a data reply is being sent
// send repeated start condition
i2cSendStart();
i2cWaitForComplete();
// send device address with read
i2cSendByte( deviceAddr|0x01 );
i2cWaitForComplete();
// get length, return ACK
i2cReceiveByte(TRUE);
i2cWaitForComplete();
edpCommandReply->Length = i2cGetReceivedByte();
// set temp variables
replyLength = edpCommandReply->Length;
replyData = edpCommandReply->Data;
// get data, return ACKs
// preset checksum with the datalength byte
checksum = replyLength;
while(replyLength > 1)
{
i2cReceiveByte(TRUE); // receive data byte and return ACK
i2cWaitForComplete();
*replyData = i2cGetReceivedByte();
checksum += *replyData++;
replyLength--;
}
// get last data (actually the checksum), return NACK (last-byte signal)
i2cReceiveByte(FALSE);
i2cWaitForComplete();
*replyData = i2cGetReceivedByte();
// add received checksum+1 to our checksum, the result should be zero
checksum += (*replyData) + 1;
// save the reply checksum
EdpCommandReplyChecksum = checksum;
}
// transmit stop condition
// leave with TWEA on for slave receiving
i2cSendStop();
while( !(inb(TWCR) & BV(TWSTO)) );
#ifdef EDP_DEBUG
rprintf("Sent Stop, TWSR:0x%x\r\n",inb(TWSR));
#endif
// enable TWI interrupt
sbi(TWCR, TWIE);
return EDP_COMMAND_OK;
}
void one_byte_r(uint8_t cmd)
{
i2cSendStart();
i2cWaitForComplete();
delay_us(10);
printf("TWSR is: %x\n", (TWSR & 0xFC));
// send slave device address with write
i2cSendByte(SLA_W);
i2cWaitForComplete();
delay_us(10);
printf("TWSR is: %x\n", (TWSR & 0xFC));
TWDR = cmd;
TWCR = (1<<TWINT)|(1<<TWEN);
i2cWaitForComplete();
delay_us(10);
i2cSendStart();
i2cWaitForComplete();
delay_us(10);
printf("TWSR is: %x\n", (TWSR & 0xFC));
// send slave device address with write
i2cSendByte(SLA_R);
i2cWaitForComplete();
delay_us(10);
printf("TWSR is: %x\n", (TWSR & 0xFC));
if( inb(TWSR) == TW_MR_SLA_ACK)
{
i2cReceiveByte(TRUE);
i2cWaitForComplete();
delay_us(10);
byte1 = i2cGetReceivedByte();
printf("\tbyte1 is: %x\n", byte1);
i2cReceiveByte(TRUE);
i2cWaitForComplete();
delay_us(10);
byte2 = i2cGetReceivedByte();
printf("\tbyte2 is: %x\n", byte2);
}
else
{
// device did not ACK it's address,
// data will not be transferred
// return error
//retval = I2C_ERROR_NODEV;
}
delay_us(10);
i2cSendStop();
}
void self_test(void)
{
//MAGNETOMETER
uint8_t xh, xl, yh, yl, zh, zl, hmc_flag = 0;
x_mag = 0;
y_mag = 0;
z_mag = 0;
magnetometer_init();
//must read all six registers plus one to move the pointer back to 0x03
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0x3D); //write to HMC
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
xh = i2cGetReceivedByte(); //x high byte
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
xl = i2cGetReceivedByte(); //x low byte
i2cWaitForComplete();
x_mag = xl|(xh << 8);
i2cReceiveByte(TRUE);
i2cWaitForComplete();
zh = i2cGetReceivedByte();
i2cWaitForComplete(); //z high byte
i2cReceiveByte(TRUE);
i2cWaitForComplete();
zl = i2cGetReceivedByte(); //z low byte
i2cWaitForComplete();
z_mag = zl|(zh << 8);
i2cReceiveByte(TRUE);
i2cWaitForComplete();
yh = i2cGetReceivedByte(); //y high byte
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
yl = i2cGetReceivedByte(); //y low byte
i2cWaitForComplete();
y_mag = yl|(yh << 8);
i2cSendByte(0x3D); //must reach 0x09 to go back to 0x03
i2cWaitForComplete();
i2cSendStop();
//if it gets to this point and there are values in x,y,z_mag, we can assume part is responding correctly
if((x_mag == y_mag) && (y_mag == z_mag)) hmc_flag = 0xFF;
else hmc_flag = 0;
//ACCELEROMETER
uint8_t x, dummy;
//0x32 data registers
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA6); //write to ADXL
i2cWaitForComplete();
i2cSendByte(0x00); //X0 data register
i2cWaitForComplete();
i2cSendStop(); //repeat start
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA7); //read from ADXL
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
x = i2cGetReceivedByte();
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
dummy = i2cGetReceivedByte();
i2cWaitForComplete();
i2cSendStop();
///////////////////////////////////
// Gyro////////////////////////////
///////////////////////////////////
char data;
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(ITG3200_W); // write 0xD2
i2cWaitForComplete();
i2cSendByte(0x00); // who am i
i2cWaitForComplete();
i2cSendStart();
i2cSendByte(ITG3200_R); // write 0xD3
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
data = i2cGetReceivedByte(); // Get MSB result
i2cWaitForComplete();
i2cSendStop();
cbi(TWCR, TWEN); // Disable TWI
sbi(TWCR, TWEN); // Enable TWI
int gyro_flag = 0;
int mag_flag = 0;
int accel_flag = 0;
if(data == 0x69)
{
printf("ITG: GOOD\n\r");
gyro_flag = 1;
}else printf("ITG: BAD\n\r");
if(hmc_flag == 0)
{
printf("HMC: GOOD\n\r");
mag_flag = 1;
}else printf("HMC: BAD\n\r");
if(x == 0xE5)
{
printf("ADXL: GOOD\n\r");
accel_flag = 1;
}else printf("ADXL: BAD\n\r");
if(gyro_flag ==1 && mag_flag == 1 && accel_flag == 1)
{
sbi(PORTB, 5);
delay_ms(1000);
cbi(PORTB, 5);
delay_ms(1000);
sbi(PORTB, 5);
delay_ms(1000);
cbi(PORTB, 5);
delay_ms(1000);
sbi(PORTB, 5);
delay_ms(1000);
cbi(PORTB, 5);
delay_ms(1000);
sbi(PORTB, 5);
delay_ms(1000);
cbi(PORTB, 5);
delay_ms(1000);
sbi(PORTB, 5);
delay_ms(1000);
cbi(PORTB, 5);
gyro_flag = 0;
mag_flag = 0;
accel_flag = 0;
}else sbi(PORTB, 5);
//while(!(UCSR0A & (1 << RXC0)));
config_menu();
}
void self_test(void)
{
//MAGNETOMETER
uint8_t a,b,c,d,e,f,g,h,i,j,k,l;
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0x3D); //read from HMC
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
status = i2cGetReceivedByte();
i2cWaitForComplete();
if(status == 0x10)
{
printf("MAG: GOOD\n\r");
}else printf("MAG: BAD\n\r");
a = i2cGetReceivedByte();
i2cWaitForComplete();
b = i2cGetReceivedByte();
i2cWaitForComplete();
c = i2cGetReceivedByte();
i2cWaitForComplete();
d = i2cGetReceivedByte();
i2cWaitForComplete();
e = i2cGetReceivedByte();
i2cWaitForComplete();
f = i2cGetReceivedByte();
i2cWaitForComplete();
g = i2cGetReceivedByte();
i2cWaitForComplete();
h = i2cGetReceivedByte();
i2cWaitForComplete();
i = i2cGetReceivedByte();
i2cWaitForComplete();
j = i2cGetReceivedByte();
i2cWaitForComplete();
k = i2cGetReceivedByte();
i2cWaitForComplete();
l = i2cGetReceivedByte();
i2cWaitForComplete();
i2cSendStop();
//ACCELEROMETER
uint8_t x, dummy;
//0x32 data registers
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA6); //write to ADXL
i2cWaitForComplete();
i2cSendByte(0x00); //X0 data register
i2cWaitForComplete();
i2cSendStop(); //repeat start
i2cSendStart();
i2cWaitForComplete();
i2cSendByte(0xA7); //read from ADXL
i2cWaitForComplete();
i2cReceiveByte(TRUE);
i2cWaitForComplete();
x = i2cGetReceivedByte();
i2cWaitForComplete();
i2cReceiveByte(FALSE);
i2cWaitForComplete();
dummy = i2cGetReceivedByte();
i2cWaitForComplete();
i2cSendStop();
if(x == 0xE5)
{
printf("ACCEL: GOOD\n\r");
}else printf("ACCEL: BAD\n\r");
//GYROS
printf("*must cycle power to perform another test*");
}