void DisplayPrint(const char* str)
{
static const uint8_t SPACE[16] = {0x0};
char c;
uint16_t rowEndDistance = 0;
I2C_SetSlaveAddr(DISPLAY_ADDRESS);
if( I2C_Write(&CTRL_BYTE_DATA, 1) != I2C_OK ) {
Abort(ERR_DISPLAY);
}
while(c=*str++) {
rowEndDistance = DISPLAY_W_DOTS - currentColumn_ - 1;
if(c!='\n') {
const tImage* img = Font.chars[c-0x20].image;
if(rowEndDistance<img->width) {
if( I2C_ContinueWrite(SPACE, rowEndDistance+1) != I2C_OK) {
Abort(ERR_DISPLAY);
}
IncrementCurrentPos(rowEndDistance+1);
}
if( I2C_ContinueWrite(img->data, img->width) != I2C_OK) {
Abort(ERR_DISPLAY);
}
IncrementCurrentPos(img->width);
}
else {
IncrementCurrentPos(rowEndDistance+1);
DisplaySetPos_(currentColumn_, currentRow_);
}
}
I2C_Stop();
}
void I2C0_Init(void)
{
/* Open I2C0 and set clock to 100k */
I2C_Open(I2C0, 100000);
/* Get I2C0 Bus Clock */
printf("I2C clock %d Hz\n", I2C_GetBusClockFreq(I2C0));
/* Set I2C0 2 Slave Addresses */
I2C_SetSlaveAddr(I2C0, 0, 0x15, I2C_GCMODE_DISABLE); /* Slave Address : 0x15 */
I2C_SetSlaveAddr(I2C0, 1, 0x35, I2C_GCMODE_DISABLE); /* Slave Address : 0x35 */
/* Enable I2C0 interrupt */
I2C_EnableInt(I2C0);
NVIC_EnableIRQ(I2C0_IRQn);
}
void DisplayInit(void)
{
BoardDisplayReset();
I2C_SetSlaveAddr(DISPLAY_ADDRESS);
static const uint8_t INIT[] = {
0x80, 0x1, // jump to page 111
0x80, 0x10, // addressing mode (is vertical)
0x80, 0x0E, // jump to page 110
0x80, 0x06, // set D,E 0x4,D,E
0x80, 0x08, // mirror X, Y
0x80, 0x12, // bias
0x80, 0x84, // mux rate
0x80, 0x01, // jump to page 101
0x80, 0x0D,
0x80, 0x05, // Vlcd ctrl
0x80, 0x08, // Vlcd x 2
0x80, 0x10, // Temp coef
0x80, 0x80+50, // V op
0x80, 0x01, // jump to page 011
0x80, 0x0B,
0x80, 0x04, // power mode
0x80, 0x58 // top row swap / bottom row swap
};
I2C_Write(INIT, sizeof INIT);
I2C_Stop();
DisplaySetPos(0,0);
}
void I2C3_Init(void)
{
/* Open I2C3 and set clock to 100k */
I2C_Open(I2C3, 100000);
/* Get I2C3 Bus Clock */
printf("I2C clock %d Hz\n", I2C_GetBusClockFreq(I2C3));
/* Set I2C3 4 Slave Addresses */
I2C_SetSlaveAddr(I2C3, 0, 0x15, I2C_GCMODE_DISABLE); /* Slave Address : 0x15 */
I2C_SetSlaveAddr(I2C3, 1, 0x35, I2C_GCMODE_DISABLE); /* Slave Address : 0x35 */
I2C_SetSlaveAddr(I2C3, 2, 0x55, I2C_GCMODE_DISABLE); /* Slave Address : 0x55 */
I2C_SetSlaveAddr(I2C3, 3, 0x75, I2C_GCMODE_DISABLE); /* Slave Address : 0x75 */
I2C_EnableInt(I2C3);
NVIC_EnableIRQ(I2C3_IRQn);
}
void Init_MPU6050(void)
{
I2C_SetSlaveAddr(MPU6050_I2C_PORT, 0, MPU6050_I2C_SLA, I2C_GCMODE_DISABLE);
MPU6050_I2C_SingleWrite(MPU6050_PWR_MGMT_1, 0x01); // CLL_SEL=0: internal 8MHz, TEMP_DIS=0, SLEEP=0
MPU6050_I2C_SingleWrite(MPU6050_SMPLRT_DIV, 0x01); // Gyro output sample rate = Gyro Output Rate/(1+SMPLRT_DIV)
MPU6050_I2C_SingleWrite(MPU6050_CONFIG, 0x01); // set TEMP_OUT_L, DLPF=2 (Fs=1KHz)
MPU6050_I2C_SingleWrite(MPU6050_GYRO_CONFIG, 0x18); // bit[4:3] 0=+-250d/s,1=+-500d/s,2=+-1000d/s,3=+-2000d/s
MPU6050_I2C_SingleWrite(MPU6050_ACCEL_CONFIG, 0x00);// bit[4:3] 0=+-2g,1=+-4g,2=+-8g,3=+-16g, ACC_HPF=On (5Hz)
}
void I2C0_Init(void)
{
/* Open I2C module and set bus clock */
I2C_Open(I2C0, 100000);
/* Get I2C0 Bus Clock */
printf("I2C clock %d Hz\n", I2C_GetBusClockFreq(I2C0));
/* Set I2C 4 Slave Addresses */
I2C_SetSlaveAddr(I2C0, 0, 0x15, 0); /* Slave Address : 0x15 */
I2C_SetSlaveAddr(I2C0, 1, 0x35, 0); /* Slave Address : 0x35 */
I2C_SetSlaveAddr(I2C0, 2, 0x55, 0); /* Slave Address : 0x55 */
I2C_SetSlaveAddr(I2C0, 3, 0x75, 0); /* Slave Address : 0x75 */
/* Enable I2C interrupt */
I2C_EnableInt(I2C0);
NVIC_EnableIRQ(I2C0_IRQn);
}
void DisplaySetVop(uint8_t v)
{
I2C_SetSlaveAddr(DISPLAY_ADDRESS);
WriteCmd(0x01);// jump to page 101
WriteCmd(0x0D);
v|=0x80;
WriteCmd(v);// V op
I2C_Stop();
}
void DisplaySetMirror(int mirrorX, int mirrorY)
{
I2C_SetSlaveAddr(DISPLAY_ADDRESS);
WriteCmd(0x1);// jump to page 111
WriteCmd(0x0E);// jump to page 110
mirrorX &= 1;
mirrorY &= 1;
WriteCmd(0x08 + (mirrorX << 2) + (mirrorY << 1));// mirror X, Y
I2C_Stop();
}
void DisplaySetInversion(int v)
{
I2C_SetSlaveAddr(DISPLAY_ADDRESS);
WriteCmd(0x1);// jump to page 111
WriteCmd(0x0E);// jump to page 110
if(v!=0)
WriteCmd(0x07);
else
WriteCmd(0x06);
I2C_Stop();
}
void DisplayPut(const void* data, uint16_t size)
{
I2C_SetSlaveAddr(DISPLAY_ADDRESS);
if( I2C_Write(&CTRL_BYTE_DATA, 1) != I2C_OK ) {
Abort(ERR_DISPLAY);
}
if( I2C_ContinueWrite(data, size) != I2C_OK ) {
Abort(ERR_DISPLAY);
}
I2C_Stop();
IncrementCurrentPos(size);
}
void TwoWire::begin(uint8_t address) {
IRQn_Type irq=I2C0_IRQn;
NVIC_DisableIRQ(irq);
NVIC_ClearPendingIRQ(irq);
NVIC_SetPriority(irq, 3);
NVIC_EnableIRQ(irq);
I2C_Open(i2c,I2C_CLOCK);
status = SLAVE_IDLE;
I2C_SetSlaveAddr(i2c, 0, address, 0); /* Slave Address */
I2C_EnableInt(i2c);
I2C_SET_CONTROL_REG(i2c, I2C_SI_AA); /* I2C enter no address SLV mode */
}
// internal func without stopping i2c
static void DisplaySetPos_(uint8_t X, uint8_t Y)
{
if( X>=DISPLAY_W_DOTS || Y>=DISPLAY_ROWS )
return;
I2C_SetSlaveAddr(DISPLAY_ADDRESS);
WriteCmd(1);
WriteCmd(0x40|Y);
if( X > 127 ) {
WriteCmd(0x24); //XM0=1
WriteCmd(0x80 | (X-127));
}
else {
WriteCmd(0x20); //XM0=0
WriteCmd(0x80|X);
}
}
void I2C1_Init(void)
{
/* Open I2C1 and set clock to 100k */
I2C_Open(I2C1, 400000);
/* Get I2C1 Bus Clock */
printf("I2C1 clock %d Hz\n", I2C_GetBusClockFreq(I2C1));
/* Set I2C1 2 Slave Addresses */
I2C_SetSlaveAddr(I2C1, 0, SLAVE_ADDRESS, I2C_GCMODE_DISABLE); /* Set Slave Address */
I2C_EnableInt(I2C1);
NVIC_EnableIRQ(I2C1_IRQn);
/* I2C enter no address SLV mode */
I2C_SET_CONTROL_REG(I2C1, I2C_SI | I2C_AA);
}
void DisplayClear(void)
{
uint16_t i = 0;
static const uint16_t CLR[64] = {0x0};
I2C_SetSlaveAddr(DISPLAY_ADDRESS);
if( I2C_Write(&CTRL_BYTE_DATA, 1) != I2C_OK ) {
Abort(ERR_DISPLAY);
}
while(i<DISPLAY_W_DOTS*DISPLAY_H_DOTS/8) {
if( I2C_ContinueWrite(CLR, sizeof CLR) != I2C_OK ) {
Abort(ERR_DISPLAY);
}
i+=sizeof(CLR);
}
I2C_Stop();
DisplaySetPos(0,0);
}
// **********************************************************************
// I2C Slave Initialize called by I2CWakeUpInit
// **********************************************************************
void I2C_MS_Slave_Init()
{
// =============PIN SETTNG==================
#ifdef I2C_MS_PORT0
CLK_EnableModuleClock(I2C0_MODULE);
/* Set I2C PA multi-function pins */
SYS->GPE_MFPH &= ~(SYS_GPE_MFPH_PE12MFP_Msk | SYS_GPE_MFPH_PE13MFP_Msk);
SYS->GPE_MFPH |= ( SYS_GPE_MFPH_PE12MFP_I2C0_SCL | SYS_GPE_MFPH_PE13MFP_I2C0_SDA);
#else
CLK_EnableModuleClock(I2C1_MODULE);
/* Set I2C PA multi-function pins */
SYS->GPC_MFPL &= ~SYS_GPC_MFPL_PC4MFP_Msk;
SYS->GPC_MFPL |= SYS_GPC_MFPL_PC4MFP_I2C1_SCL;
SYS->GPE_MFPL &= ~SYS_GPE_MFPL_PE0MFP_Msk;
SYS->GPE_MFPL |= SYS_GPE_MFPL_PE0MFP_I2C1_SDA;
#endif
/* Open I2C module and set bus clock */
I2C_Open(I2C_MS_PORT, 100000);
/* Get I2C0 Bus Clock */
printf("I2C MS Slave clock %d Hz\n", I2C_GetBusClockFreq(I2C_MS_PORT));
/* Set I2C 4 Slave Addresses */
#if 1
I2C_SetSlaveAddr(I2C_MS_PORT, 0, devNum+0x14, 0);
#else
if(devNum == 1)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x15, 0); /* Slave Address : 21,Buzzer */
else if(devNum == 2)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x16, 0); /* Slave Address : 22,Led */
else if(devNum == 3)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x17, 0); /* Slave Address : 23,AHRS */
else if(devNum == 4)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x18, 0); /* Slave Address : 24,SONAR */
else if(devNum == 5)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x19, 0); /* Slave Address : 25,TEMPERATURE */
else if(devNum == 6)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x1a, 0); /* Slave Address : 26,Gas */
else if(devNum == 7)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x1b, 0); /* Slave Address : 27,IR */
else if(devNum == 8)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x1c, 0); /* Slave Address : 28,KEY */
else if(devNum == 9)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x1d, 0); /* Slave Address : 29, Reserved device 9 */
else if(devNum == 10)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x1e, 0); /* Slave Address : 30, Reserved device 10 */
else if(devNum == 11)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x1f, 0); /* Slave Address : 31, Reserved device 11 */
else if(devNum == 12)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x20, 0); /* Slave Address : 32, Reserved device 12 */
else if(devNum == 13)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x21, 0); /* Slave Address : 33, Reserved device 13 */
else if(devNum == 14)
I2C_SetSlaveAddr(I2C_MS_PORT, 0, 0x22, 0); /* Slave Address : 34, Reserved device 14 */
#endif
I2C_SetSlaveAddr(I2C_MS_PORT, 1, 0x35, 0); /* Slave Address : 0x35 */
I2C_SetSlaveAddr(I2C_MS_PORT, 2, 0x55, 0); /* Slave Address : 0x55 */
I2C_SetSlaveAddr(I2C_MS_PORT, 3, 0x75, 0); /* Slave Address : 0x75 */
/* Enable I2C interrupt */
I2C_EnableInt(I2C_MS_PORT);
#ifdef I2C_MS_PORT0
NVIC_EnableIRQ(I2C0_IRQn);
#else
NVIC_EnableIRQ(I2C1_IRQn);
#endif
#ifdef I2C_MS_PORT0
s_I2C0HandlerFn = (I2C_FUNC)I2C_MS_Slave;
#else
s_I2C1HandlerFn = (I2C_FUNC)I2C_MS_Slave;
#endif
/* Enable I2C wake-up */
I2C_EnableWakeup(I2C_MS_PORT);
/* Set I2C0 enter Not Address SLAVE mode */
I2C_SET_CONTROL_REG(I2C_MS_PORT, I2C_CTL_SI_AA);
}
