uint8 find_i2c_device(uint8 address)
{
uint8 stat;
uint8 dat;
for(;address<100;address++)
{
stat=I2C_1_MasterClearStatus();
dat=0; //read reg at byte 1.
I2C_1_MasterWriteBuf(address,&dat,1,I2C_1_MODE_COMPLETE_XFER); //send write reg request at address
not_done:
stat = I2C_1_MasterStatus();
if(stat & I2C_1_MSTAT_XFER_INP)
goto not_done;
if(stat & I2C_1_MSTAT_ERR_XFER)
continue;
if(stat & I2C_1_MSTAT_ERR_ADDR_NAK)
continue;
stat=I2C_1_MasterReadBuf(address,&dat,1,I2C_1_MODE_COMPLETE_XFER); //send write reg request at address
return address;
}
return 0; //not found
}
void Color_Sensor(Let *let, Color *color)
{
uint8 r=0,g=0,b=0,x=0;
unsigned char txReadStatus = 0x03;
unsigned char rxBuf[8] = {1,0,0,0,0,0,0,0};
char value[40];
Sensor_LED_Write(1);
I2C_1_MasterWriteBuf(0x2A,(uint8*)&txReadStatus,1,I2C_1_MODE_COMPLETE_XFER);
while(0u==(I2C_1_MasterStatus() & I2C_1_MSTAT_WR_CMPLT));
I2C_1_MasterClearStatus();
I2C_1_MasterReadBuf(0x2A,(uint8 *)&rxBuf,8,I2C_1_MODE_COMPLETE_XFER);
while(0u==(I2C_1_MasterStatus() & I2C_1_MSTAT_RD_CMPLT));
I2C_1_MasterClearStatus();
r = rxBuf[0]<< 8|rxBuf[1];
g = rxBuf[2]<< 8|rxBuf[3];
b = rxBuf[4]<< 8|rxBuf[5];
if((r < 10) || (g < 10) || (b < 10))
{
return;
}
if(g > color->g_max)
{
color->g_max = g;
}
if(g < color->g_min)
{
color->g_min = g;
}
I2C_LCD_1_Clear();
//色判断して構造体に格納
if((r > b) && (g > b))
{
if((r > 90) && (g > 100))
{
let->color = YELLO;
I2C_LCD_Position(1u,7u);
I2C_LCD_1_PrintString("YELLO");
}
else //if(r > g)
{
let->color = RED;
I2C_LCD_Position(1u,7u);
I2C_LCD_1_PrintString("RED");
}
}
else if((r < b) && (r < g))
{
let->color = BLUE;
I2C_LCD_Position(1u,7u);
I2C_LCD_1_PrintString("BLUE");
}
if((color->g_max - color->g_min) > 30)
{
let->color = MISS;
I2C_LCD_Position(1u,7u);
I2C_LCD_1_PrintString("MISS");
}
sprintf(value, "r=%3d g=%3d",r,g);
I2C_LCD_Position(0u,0u);
I2C_LCD_1_PrintString(value);
sprintf(value, "b=%3d",b);
I2C_LCD_Position(1u,0u);
I2C_LCD_1_PrintString(value);
/*
sprintf(value, "r=%3d g=%3d b=%3d\n",r,g,b);
UART_Line_Sensor_PutString(value);
*/
return;
}
