/**
* @brief Configures the selected IO Expander functionalities.
* @param DeviceAddr: The address of the IOExpander, could be : IOE_1_ADDR
* or IOE_2_ADDR.
* @param IOE_TEMPSENS_FCT: the functions to be configured. could be any
* combination of the following values:
* @arg IOE_IO_FCT : IO function
* @arg IOE_TS_FCT : Touch Screen function
* @arg IOE_ADC_FCT : ADC function
* @arg IOE_TEMPSENS_FCT : Temperature Sensor function
* @retval IOE_OK: if all initializations are OK. Other value if error.
*/
uint8_t IOE_FnctCmd(uint8_t DeviceAddr, uint8_t Fct, FunctionalState NewState)
{
uint8_t tmp = 0;
/* Get the register value */
tmp = I2C_ReadDeviceRegister(DeviceAddr, IOE_REG_SYS_CTRL2);
if (NewState != DISABLE)
{
/* Set the Functionalities to be Enabled */
tmp &= ~(uint8_t)Fct;
}
else
{
/* Set the Functionalities to be Disabled */
tmp |= (uint8_t)Fct;
}
/* Set the register value */
I2C_WriteDeviceRegister(DeviceAddr, IOE_REG_SYS_CTRL2, tmp);
/* If all OK return IOE_OK */
return IOE_OK;
}
/**
* @brief Enables or disables the Global interrupt.
* @param DeviceAddr: The address of the IOExpander, could be :I OE_1_ADDR
* or IOE_2_ADDR.
* @param NewState: could be ENABLE or DISABLE.
* @retval IOE_OK: if all initializations are OK. Other value if error.
*/
uint8_t IOE_GITCmd(uint8_t DeviceAddr, FunctionalState NewState)
{
uint8_t tmp = 0;
/* Read the Interrupt Control register */
I2C_ReadDeviceRegister(DeviceAddr, IOE_REG_INT_CTRL);
if (NewState != DISABLE)
{
/* Set the global interrupts to be Enabled */
tmp |= (uint8_t)IOE_GIT_EN;
}
else
{
/* Set the global interrupts to be Disabled */
tmp &= ~(uint8_t)IOE_GIT_EN;
}
/* Write Back the Interrupt Control register */
I2C_WriteDeviceRegister(DeviceAddr, IOE_REG_INT_CTRL, tmp);
/* If all OK return IOE_OK */
return IOE_OK;
}
/**
* @brief Configures the selected pin to be in Alternate function or not
* @param DeviceAddr: The address of the IOExpander, could be : IOE_1_ADDR
* or IOE_2_ADDR.
* @param IO_Pin: IO_Pin_x, Where x can be from 0 to 7.
* @param NewState: State of the AF for the selected pin, could be
* ENABLE or DISABLE.
* @retval IOE_OK: if all initializations are OK. Other value if error.
*/
uint8_t IOE_IOAFConfig(uint8_t DeviceAddr, uint8_t IO_Pin, FunctionalState NewState)
{
uint8_t tmp = 0;
/* Get the current state of the GPIO_AF register */
tmp = I2C_ReadDeviceRegister(DeviceAddr, IOE_REG_GPIO_AF);
if (NewState != DISABLE)
{
/* Enable the selected pins alternate function */
tmp |= (uint8_t)IO_Pin;
}
else
{
/* Disable the selected pins alternate function */
tmp &= ~(uint8_t)IO_Pin;
}
/* Write back the new value in GPIO_AF register */
I2C_WriteDeviceRegister(DeviceAddr, IOE_REG_GPIO_AF, tmp);
/* If all OK return IOE_OK */
return IOE_OK;
}
/**
* @brief Returns the status of the selected input IO pin.
* @param IO_Pin: The input pin to be read.
* IO_Pin_x: Where x can be from 0 to 7.
* @arg JOY_IO_PINS: Joystick IO pins (use IOE_JoyStickGetState for these pins)
* @retval None
*/
uint8_t IOE_ReadIOPin(uint32_t IO_Pin)
{
uint8_t DeviceAddr = 0;
uint8_t tmp = 0;
if (IO_Pin & IO1_IN_ALL_PINS)
{
DeviceAddr = IOE_1_ADDR;
}
else
{
return PARAM_ERROR;
}
/* Get all the Pins status */
tmp = I2C_ReadDeviceRegister(DeviceAddr, IOE_REG_GPIO_MP_STA);
if ((tmp & (uint8_t)IO_Pin) != 0)
{
return BitSet;
}
else
{
return BitReset;
}
}
/**
* @brief Configures The selected interrupts on the IO Expanders.
* @param IOE_ITSRC_Source: the source of the interrupts. Could be one or a
* combination of the following parameters:
* @arg IOE_ITSRC_TSC: Touch Screen interrupts.
* @retval IOE_OK: if all initializations are OK. Other value if error.
*/
uint8_t IOE_ITConfig(uint32_t IOE_ITSRC_Source)
{
/* Configure the Interrupt output pin to generate low level (INT_CTRL) */
IOE_ITOutConfig(Polarity_Low, Type_Level);
/* Manage the Touch Screen Interrupts */
if (IOE_ITSRC_Source & IOE_ITSRC_TSC)
{
/* Enable the Global interrupt */
IOE_GITCmd(IOE_1_ADDR, ENABLE);
/* Enable the Global GPIO Interrupt */
IOE_GITConfig(IOE_1_ADDR, (uint8_t)(IOE_GIT_TOUCH | IOE_GIT_FTH | IOE_GIT_FOV), ENABLE);
/* Read the GPIO_IT_STA to clear all pending bits if any */
I2C_ReadDeviceRegister(IOE_1_ADDR, IOE_REG_GPIO_INT_STA);
}
/* Configure the Interrupt line as EXTI source */
IOE_EXTI_Config();
/* If all OK return IOE_OK */
return IOE_OK;
}
/**
* @brief Returns the current Joystick status.
* @param None
* @retval The code of the Joystick key pressed:
* @arg JOY_NONE
* @arg JOY_IO_CENTER
* @arg JOY_DOWN
* @arg JOY_LEFT
* @arg JOY_RIGHT
* @arg JOY_UP
*/
JOY_State_TypeDef IOE_JoyStickGetState(void)
{
uint8_t tmp = 0;
/* Read the status of all pins */
tmp = (uint32_t)I2C_ReadDeviceRegister(IOE_2_ADDR, IOE_REG_GPIO_MP_STA);
/* Check the pressed keys */
if ((tmp & JOY_IO_NONE) == JOY_IO_NONE)
{
return (JOY_State_TypeDef)JOY_NONE;
}
else if (!(tmp & JOY_IO_CENTER))
{
return (JOY_State_TypeDef)JOY_CENTER;
}
else if (!(tmp & JOY_IO_DOWN))
{
return (JOY_State_TypeDef)JOY_DOWN;
}
else if (!(tmp & JOY_IO_LEFT))
{
return (JOY_State_TypeDef)JOY_LEFT;
}
else if (!(tmp & JOY_IO_RIGHT))
{
return (JOY_State_TypeDef)JOY_RIGHT;
}
else if (!(tmp & JOY_IO_UP))
{
return (JOY_State_TypeDef)JOY_UP;
}
else
{
return (JOY_State_TypeDef)JOY_NONE;
}
}
/**
* @brief Writes a value in a register of the device through I2C.
* @param DeviceAddr: The address of the IOExpander, could be : IOE_1_ADDR
* or IOE_2_ADDR.
* @param RegisterAddr: The target register adress
* @param RegisterValue: The target register value to be written
* @retval IOE_OK: if all operations are OK. Other value if error.
*/
uint8_t I2C_WriteDeviceRegister(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t RegisterValue)
{
uint32_t read_verif = 0;
uint8_t IOE_BufferTX = 0;
/* Get Value to be written */
IOE_BufferTX = RegisterValue;
/* Configure DMA Peripheral */
IOE_DMA_Config(IOE_DMA_TX, (uint8_t*)(&IOE_BufferTX));
/* Enable the I2C peripheral */
I2C_GenerateSTART(IOE_I2C, ENABLE);
/* Test on SB Flag */
IOE_TimeOut = TIMEOUT_MAX;
while (I2C_GetFlagStatus(IOE_I2C,I2C_FLAG_SB) == RESET)
{
if (IOE_TimeOut-- == 0) return(IOE_TimeoutUserCallback());
}
/* Transmit the slave address and enable writing operation */
I2C_Send7bitAddress(IOE_I2C, DeviceAddr, I2C_Direction_Transmitter);
/* Test on ADDR Flag */
IOE_TimeOut = TIMEOUT_MAX;
while (!I2C_CheckEvent(IOE_I2C, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
{
if (IOE_TimeOut-- == 0) return(IOE_TimeoutUserCallback());
}
/* Transmit the first address for r/w operations */
I2C_SendData(IOE_I2C, RegisterAddr);
/* Test on TXE FLag (data dent) */
IOE_TimeOut = TIMEOUT_MAX;
while ((!I2C_GetFlagStatus(IOE_I2C,I2C_FLAG_TXE)) && (!I2C_GetFlagStatus(IOE_I2C,I2C_FLAG_BTF)))
{
if (IOE_TimeOut-- == 0) return(IOE_TimeoutUserCallback());
}
/* Enable I2C DMA request */
I2C_DMACmd(IOE_I2C,ENABLE);
/* Enable DMA TX Channel */
DMA_Cmd(IOE_DMA_TX_CHANNEL, ENABLE);
/* Wait until DMA Transfer Complete */
IOE_TimeOut = TIMEOUT_MAX;
while (!DMA_GetFlagStatus(IOE_DMA_TX_TCFLAG))
{
if (IOE_TimeOut-- == 0) return(IOE_TimeoutUserCallback());
}
/* Wait until BTF Flag is set before generating STOP */
IOE_TimeOut = 2 * TIMEOUT_MAX;
while ((!I2C_GetFlagStatus(IOE_I2C,I2C_FLAG_BTF)))
{
}
/* Send STOP Condition */
I2C_GenerateSTOP(IOE_I2C, ENABLE);
/* Disable DMA TX Channel */
DMA_Cmd(IOE_DMA_TX_CHANNEL, DISABLE);
/* Disable I2C DMA request */
I2C_DMACmd(IOE_I2C,DISABLE);
/* Clear DMA TX Transfer Complete Flag */
DMA_ClearFlag(IOE_DMA_TX_TCFLAG);
#ifdef VERIFY_WRITTENDATA
/* Verify (if needed) that the loaded data is correct */
/* Read the just written register*/
read_verif = I2C_ReadDeviceRegister(DeviceAddr, RegisterAddr);
/* Load the register and verify its value */
if (read_verif != RegisterValue)
{
/* Control data wrongly tranfered */
read_verif = IOE_FAILURE;
}
else
{
/* Control data correctly transfered */
read_verif = 0;
}
#endif
/* Return the verifying value: 0 (Passed) or 1 (Failed) */
return read_verif;
}
/*
Register 3 - Configuration register
This register configures the directions of the I/O pins. If a bit in this register is set, the
corresponding port pin is enabled as an input with high-impedance output driver. If a bit in
this register is cleared, the corresponding port pin is enabled as an output. At reset, the
I/Os are configured as inputs with a weak pull-up to VDD.
*/
uint8_t PCA9536_REG_CX_READ(void)
{
/* Get all the Pins direction */
return I2C_ReadDeviceRegister(PCA9536_ADDRESS, PCA9536_REG_CX);;
}
/**
* @brief Writes a value in a register of the IOE through I2C.
* @param DeviceAddr: The address of the IOExpander, could be : IOE_1_ADDR
* or IOE_2_ADDR.
* @param RegisterAddr: The target register adress
* @param RegisterValue: The target register value to be written
* @retval IOE_OK: if all operations are OK. Other value if error.
*/
uint8_t I2C_WriteDeviceRegister(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t RegisterValue)
{
uint32_t read_verif = 0;
/* Reset all I2C2 registers */
I2C_SoftwareResetCmd(IOE_I2C, ENABLE);
I2C_SoftwareResetCmd(IOE_I2C, DISABLE);
TimeOut = TIMEOUT_MAX;
/* Enable the IOE_I2C peripheral */
I2C_Cmd(IOE_I2C, ENABLE);
/* Configure the I2C peripheral */
IOE_I2C_Config();
/* Begin the config sequence */
I2C_GenerateSTART(IOE_I2C, ENABLE);
/* Test on EV5 and clear it */
while (!I2C_CheckEvent(IOE_I2C, I2C_EVENT_MASTER_MODE_SELECT))
{
if (TimeOut-- == 0) return IOE_TIEMOUT;
}
/* Transmit the slave address and enable writing operation */
I2C_Send7bitAddress(IOE_I2C, DeviceAddr, I2C_Direction_Transmitter);
/* Test on EV6 and clear it */
while (!I2C_CheckEvent(IOE_I2C, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
{
if (TimeOut-- == 0) return IOE_TIEMOUT;
}
/* Transmit the first address for r/w operations */
I2C_SendData(IOE_I2C, RegisterAddr);
TimeOut = TIMEOUT_MAX;
/* Test on EV8 and clear it */
while (!I2C_CheckEvent(IOE_I2C, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
{
if (TimeOut-- == 0) return IOE_TIEMOUT;
}
/* Prepare the register value to be sent */
I2C_SendData(IOE_I2C, RegisterValue);
/* Test on EV8 and clear it */
while (!I2C_CheckEvent(IOE_I2C, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
{
if (TimeOut-- == 0) return IOE_TIEMOUT;
}
/* End the configuration sequence */
I2C_GenerateSTOP(IOE_I2C, ENABLE);
#ifdef VERIFY_WRITTENDATA
/* Verify (if needed) that the loaded data is correct */
/* Read the just written register*/
read_verif = I2C_ReadDeviceRegister(DeviceAddr, RegisterAddr);
/* Load the register and verify its value */
if (read_verif != RegisterValue)
{
/* Control data wrongly tranfered */
read_verif = IOE_FAILURE;
}
else
{
/* Control data correctly transfered */
read_verif = 0;
}
#endif
/* Return the verifying value: 0 (Passed) or 1 (Failed) */
return read_verif;
}
void Sensors_Read(uint8_t SensorType)
{
int g_x, g_y, g_z, a_x, a_y, a_z, m_x, m_y, m_z;
switch (SensorType)
{
case GYRO:
I2C_ReadDeviceRegister(I2C_COM1, ITG3200_ADDRESS, GYRO_XOUT_H_ITG | (1 << 7), MARG_SENSORS[GYRO]->ReadLength, (uint32_t) MARG_SENSORS[GYRO]->SensorRawValue);
//I2C_ReadDeviceRegister_async(I2C_COM1,L3G3200_ADDRESS, OUT_X_L_G | (1 << 7) ,MARG_SENSORS[GYRO]->ReadLength,(uint32_t)MARG_SENSORS[GYRO]->SensorRawValue);
g_x = ((int) ((int16_t) ((MARG_SENSORS[GYRO]->SensorRawValue[1]) | (MARG_SENSORS[GYRO]->SensorRawValue[0] << 8))));
g_y = ((int) ((int16_t) ((MARG_SENSORS[GYRO]->SensorRawValue[3]) | (MARG_SENSORS[GYRO]->SensorRawValue[2] << 8))));
g_z = ((int) ((int16_t) ((MARG_SENSORS[GYRO]->SensorRawValue[5]) | (MARG_SENSORS[GYRO]->SensorRawValue[4] << 8))));
sync_printf("GYRO: %d %d %d\r\n", g_x, g_y, g_z);
break;
/*init ITG3200*/
case ACC:
//I2C_ReadDeviceRegister(I2C_COM1,LSM303_ACC_ADDRESS, OUT_X_H_A | (1 << 7) ,MARG_SENSORS[ACC]->ReadLength,(uint32_t)MARG_SENSORS[ACC]->SensorRawValue);
I2C_ReadDeviceRegister(I2C_COM1, ADXL345_ADDRESS, Register_DataX_L | (1 << 7), MARG_SENSORS[ACC]->ReadLength, (uint32_t) MARG_SENSORS[ACC]->SensorRawValue); //ADXL345
a_x = ((int) ((int16_t) ((MARG_SENSORS[ACC]->SensorRawValue[0]) | (MARG_SENSORS[ACC]->SensorRawValue[1] << 8))));
a_y = ((int) ((int16_t) ((MARG_SENSORS[ACC]->SensorRawValue[2]) | (MARG_SENSORS[ACC]->SensorRawValue[3] << 8))));
a_z = ((int) ((int16_t) ((MARG_SENSORS[ACC]->SensorRawValue[4]) | (MARG_SENSORS[ACC]->SensorRawValue[5] << 8))));
sync_printf("ACC: %d %d %d\r\n", a_x, a_y, a_z);
break;
case MAG:
//I2C_ReadDeviceRegister(I2C_COM1,LSM303_MAG_ADDRESS, OUT_X_H_M | (1 << 7) ,MARG_SENSORS[MAG]->ReadLength,(uint32_t)MARG_SENSORS[MAG]->SensorRawValue);
I2C_ReadDeviceRegister(I2C_COM1, HMC5883L_ADDRESS, OUT_X_H_M | (1 << 7), MARG_SENSORS[MAG]->ReadLength, (uint32_t) MARG_SENSORS[MAG]->SensorRawValue);
m_x = ((int) ((int16_t) ((MARG_SENSORS[MAG]->SensorRawValue[1]) | (MARG_SENSORS[MAG]->SensorRawValue[0] << 8))));
m_y = ((int) ((int16_t) ((MARG_SENSORS[MAG]->SensorRawValue[3]) | (MARG_SENSORS[MAG]->SensorRawValue[2] << 8))));
m_z = ((int) ((int16_t) ((MARG_SENSORS[MAG]->SensorRawValue[5]) | (MARG_SENSORS[MAG]->SensorRawValue[4] << 8))));
sync_printf("%d %d %d\r\n", m_x, m_y, m_z);
break;
default:
I2C_ReadDeviceRegister(I2C_COM1, ITG3200_ADDRESS, GYRO_XOUT_H_ITG | (1 << 7), MARG_SENSORS[GYRO]->ReadLength, (uint32_t) MARG_SENSORS[GYRO]->SensorRawValue);
//I2C_ReadDeviceRegister_async(I2C_COM1,L3G3200_ADDRESS, OUT_X_L_G | (1 << 7) ,MARG_SENSORS[GYRO]->ReadLength,(uint32_t)MARG_SENSORS[GYRO]->SensorRawValue);
g_x = ((int) ((int16_t) ((MARG_SENSORS[GYRO]->SensorRawValue[1]) | (MARG_SENSORS[GYRO]->SensorRawValue[0] << 8))));
g_y = ((int) ((int16_t) ((MARG_SENSORS[GYRO]->SensorRawValue[3]) | (MARG_SENSORS[GYRO]->SensorRawValue[2] << 8))));
g_z = ((int) ((int16_t) ((MARG_SENSORS[GYRO]->SensorRawValue[5]) | (MARG_SENSORS[GYRO]->SensorRawValue[4] << 8))));
I2C_ReadDeviceRegister(I2C_COM1, ADXL345_ADDRESS, Register_DataX_L | (1 << 7), MARG_SENSORS[ACC]->ReadLength, (uint32_t) MARG_SENSORS[ACC]->SensorRawValue); //ADXL345
a_x = ((int) ((int16_t) ((MARG_SENSORS[ACC]->SensorRawValue[0]) | (MARG_SENSORS[ACC]->SensorRawValue[1] << 8))));
a_y = ((int) ((int16_t) ((MARG_SENSORS[ACC]->SensorRawValue[2]) | (MARG_SENSORS[ACC]->SensorRawValue[3] << 8))));
a_z = ((int) ((int16_t) ((MARG_SENSORS[ACC]->SensorRawValue[4]) | (MARG_SENSORS[ACC]->SensorRawValue[5] << 8))));
I2C_ReadDeviceRegister(I2C_COM1, HMC5883L_ADDRESS, OUT_X_H_M | (1 << 7), MARG_SENSORS[MAG]->ReadLength, (uint32_t) MARG_SENSORS[MAG]->SensorRawValue);
m_x = ((int) ((int16_t) ((MARG_SENSORS[MAG]->SensorRawValue[1]) | (MARG_SENSORS[MAG]->SensorRawValue[0] << 8))));
m_y = ((int) ((int16_t) ((MARG_SENSORS[MAG]->SensorRawValue[3]) | (MARG_SENSORS[MAG]->SensorRawValue[2] << 8))));
m_z = ((int) ((int16_t) ((MARG_SENSORS[MAG]->SensorRawValue[5]) | (MARG_SENSORS[MAG]->SensorRawValue[4] << 8))));
async_printf("%d %d %d %d %d %d %d %d %d\r\n", a_x, a_y, a_z, g_x, g_y, g_z, m_x, m_y, m_z);
break;
}
}
