/*----------------------------------------------------------------------*
* Read multiple bytes from RTC RAM. *
* Valid address range is 0x00 - 0xFF, no checking. *
* Number of bytes (nBytes) must be between 1 and 32 (Wire library *
* limitation). *
* Returns the I2C status (zero if successful). *
*----------------------------------------------------------------------*/
byte DS3232RTC::readRTC(byte addr, byte *values, byte nBytes)
{
i2cBeginTransmission(RTC_ADDR);
i2cWrite(addr);
if ( byte e = i2cEndTransmission() ) return e;
i2cRequestFrom( (uint8_t)RTC_ADDR, nBytes );
for (byte i=0; i<nBytes; i++) values[i] = i2cRead();
return 0;
}
static void mma8452Read(int16_t *accelData)
{
uint8_t buf[6];
i2cRead(MMA8452_ADDRESS, MMA8452_OUT_X_MSB, 6, buf);
accelData[0] = ((int16_t)(buf[0] << 8) | buf[1]);
accelData[1] = ((int16_t)(buf[2] << 8) | buf[3]);
accelData[2] = ((int16_t)(buf[4] << 8) | buf[5]);
}
bool hmc5883lDetect(void)
{
bool ack = false;
uint8_t sig = 0;
delay(50);
ack = i2cRead(MAG_ADDRESS, 0x0A, 1, &sig);
if (!ack)
{
delay(50);
ack = i2cRead(MAG_ADDRESS, 0x0A, 1, &sig);
}
if (!ack || sig != 'H')
return false;
return true;
}
bool ak8975Read(int16_t *magData)
{
bool ack;
UNUSED(ack);
uint8_t status;
uint8_t buf[6];
ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS1, 1, &status);
if (!ack || (status & BIT_STATUS1_REG_DATA_READY) == 0) {
return false;
}
#if 1 // USE_I2C_SINGLE_BYTE_READS
ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_HXL, 6, buf); // read from AK8975_MAG_REG_HXL to AK8975_MAG_REG_HZH
#else
for (uint8_t i = 0; i < 6; i++) {
ack = i2cRead(AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_HXL + i, 1, &buf[i]); // read from AK8975_MAG_REG_HXL to AK8975_MAG_REG_HZH
if (!ack) {
return false
}
}
#endif
ack = i2cRead(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_STATUS2, 1, &status);
if (!ack) {
return false;
}
if (status & BIT_STATUS2_REG_DATA_ERROR) {
return false;
}
if (status & BIT_STATUS2_REG_MAG_SENSOR_OVERFLOW) {
return false;
}
magData[X] = -(int16_t)(buf[1] << 8 | buf[0]) * 4;
magData[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * 4;
magData[Z] = -(int16_t)(buf[5] << 8 | buf[4]) * 4;
ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x01); // start reading again
return true;
}
static uint16_t ms56xx_prom(int8_t coef_num)
{
uint8_t rxbuf[2] = { 0, 0 };
#if defined(USE_BARO_SPI_MS5611) || defined(USE_BARO_SPI_MS5607)
ms56xxSpiReadCommand(CMD_PROM_RD + coef_num * 2, 2, rxbuf); // send PROM READ command
#else
i2cRead(BARO_I2C_INSTANCE, MS56XX_ADDR, CMD_PROM_RD + coef_num * 2, 2, rxbuf); // send PROM READ command
#endif
return rxbuf[0] << 8 | rxbuf[1];
}
/*
* get raw data
*/
void mpu6050_getRawData(char address, short* ax, short* ay, short* az, short* gx, short* gy, short* gz) {
i2cRead(address, MPU6050_ACCEL_XOUT_H, (unsigned char *)buffer, 14);
*ax = (((short)buffer[0]) << 8) | buffer[1];
*ay = (((short)buffer[2]) << 8) | buffer[3];
*az = (((short)buffer[4]) << 8) | buffer[5];
*gx = (((short)buffer[8]) << 8) | buffer[9];
*gy = (((short)buffer[10]) << 8) | buffer[11];
*gz = (((short)buffer[12]) << 8) | buffer[13];
}
bool mpu6050AccDetect(acc_t *acc)
{
uint8_t readBuffer[6];
uint8_t revision;
uint8_t productId;
if (!mpu6050Detect()) {
return false;
}
// There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
// See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
// determine product ID and accel revision
i2cRead(MPU6050_ADDRESS, MPU_RA_XA_OFFS_H, 6, readBuffer);
revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
if (revision) {
/* Congrats, these parts are better. */
if (revision == 1) {
mpuAccelTrim = MPU_6050_HALF_RESOLUTION;
} else if (revision == 2) {
mpuAccelTrim = MPU_6050_FULL_RESOLUTION;
} else {
failureMode(5);
}
} else {
i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &productId);
revision = productId & 0x0F;
if (!revision) {
failureMode(5);
} else if (revision == 4) {
mpuAccelTrim = MPU_6050_HALF_RESOLUTION;
} else {
mpuAccelTrim = MPU_6050_FULL_RESOLUTION;
}
}
acc->init = mpu6050AccInit;
acc->read = mpu6050AccRead;
acc->revisionCode = (mpuAccelTrim == MPU_6050_HALF_RESOLUTION ? 'o' : 'n'); // es/non-es variance between MPU6050 sensors, half of the naze boards are mpu6000ES.
return true;
}
// Read 3 gyro values into user-provided buffer. No overrun checking is done.
static void mpu3050Read(int16_t *gyroADC)
{
uint8_t buf[6];
i2cRead(MPU3050_ADDRESS, MPU3050_GYRO_OUT, 6, buf);
gyroADC[0] = (int16_t)((buf[0] << 8) | buf[1]);
gyroADC[1] = (int16_t)((buf[2] << 8) | buf[3]);
gyroADC[2] = (int16_t)((buf[4] << 8) | buf[5]);
}
// Return gyro temperature
uint8_t l3gd20GetTemp(int16_t * temp)
{
uint8_t value;
if (!i2cRead(L3GD20_ADDRESS, L3GD20_OUT_TEMP, 1, &value))
return MEMS_ERROR;
*temp = (int16_t) (value);
return MEMS_SUCCESS;
}
size_t TwoWire::requestFrom(uint8_t address, size_t size, bool sendStop)
{
if(size > I2C_BUFFER_LENGTH) {
size = I2C_BUFFER_LENGTH;
}
size_t read = (i2cRead(i2c, address, false, rxBuffer, size, sendStop) == 0)?size:0;
rxIndex = 0;
rxLength = read;
return read;
}
/* tmbslHdmiTxSysArgs_t definition is located into tmbslHdmiTx_type.h file. */
tmErrorCode_t TxI2cReadFunction(tmbslHdmiTxSysArgs_t *pSysArgs)
{
tmErrorCode_t errCode = TM_OK;
if (pSysArgs->slaveAddr == 0x70)
{
errCode = i2cRead(reg_TDA998X, (tmbslHdmiSysArgs_t *) pSysArgs);
}
else if (pSysArgs->slaveAddr == 0x34)
{
errCode = i2cRead(reg_TDA9989_CEC, (tmbslHdmiSysArgs_t *) pSysArgs);
}
else
{
errCode = ~TM_OK;
}
return errCode;
}
static void mpu6050GyroRead(int16_t *gyroData)
{
uint8_t buf[6];
i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf);
gyroData[0] = (int16_t)((buf[0] << 8) | buf[1]);
gyroData[1] = (int16_t)((buf[2] << 8) | buf[3]);
gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]);
}
void hmc5883lRead(int16_t *magData)
{
uint8_t buf[6];
i2cRead(MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
magData[0] = buf[0] << 8 | buf[1];
magData[1] = buf[2] << 8 | buf[3];
magData[2] = buf[4] << 8 | buf[5];
}
bool mag3110Read(int16_t *magData)
{
bool ack;
UNUSED(ack);
uint8_t status;
uint8_t buf[6];
ack = i2cRead(MAG3110_MAG_I2C_ADDRESS, MAG3110_MAG_REG_STATUS, 1, &status);
if (!ack || (status & BIT_STATUS_REG_DATA_READY) == 0) {
return false;
}
ack = i2cRead(MAG3110_MAG_I2C_ADDRESS, MAG3110_MAG_REG_HXL, 6, buf);
magData[X] = (int16_t)(buf[0] << 8 | buf[1]);
magData[Y] = (int16_t)(buf[2] << 8 | buf[3]);
magData[Z] = (int16_t)(buf[4] << 8 | buf[5]);
return true;
}
void hmc5883lRead(int16_t *magData)
{
uint8_t buf[6];
i2cRead(MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
// During calibration, magGain is 1.0, so the read returns normal non-calibrated values.
// After calibration is done, magGain is set to calculated gain values.
magData[X] = (int16_t)(buf[0] << 8 | buf[1]) * magGain[X];
magData[Z] = (int16_t)(buf[2] << 8 | buf[3]) * magGain[Z];
magData[Y] = (int16_t)(buf[4] << 8 | buf[5]) * magGain[Y];
}
// Return FIFO stored data level
uint8_t l3gd20GetFIFOLevel(void)
{
uint8_t level;
if (!i2cRead(L3GD20_ADDRESS, L3GD20_FIFO_SRC_REG, 1, &level))
return MEMS_ERROR;
level &= 0x0F;
return level;
}
static bool mpu3050ReadTemp(int16_t *tempData)
{
uint8_t buf[2];
if (!i2cRead(MPU3050_ADDRESS, MPU3050_TEMP_OUT, 2, buf, MPU3050_BUS)) {
return false;
}
*tempData = 35 + ((int32_t)(buf[0] << 8 | buf[1]) + 13200) / 280;
return true;
}
/*!
\brief Retrieve the value of the three ID registers.
Note: Both the HMC5843 and HMC5883L have the same 'H43' identification register values. (Looks like someone at Honeywell screwed up.)
\param id [out] Returns the three id register values.
*/
void HMC58X3::getID(char id[3])
{
unsigned char tx[2];
tx[0] = HMC58X3_R_IDA;
i2cWrite(HMC58X3_ADDR, tx, 1);
if (i2cRead(HMC58X3_ADDR, (unsigned char*)id, 3))
id[0] = id[1] = id[2] = 0;
UARTprintf("id %d %d %d %d %d %d\n", id[0], id[1], id[2], sizeof(int), sizeof(long int), sizeof(short));
} // getID().
/*
* Get RTC ready
*/
STATUS
m41t81_tod_init(void)
{
char byte;
int polls;
int status;
/*
* Reset HT bit to "0" to update registers with current time.
*/
status = i2cRead(M41T81_SMBUS_CHAN,
M41T81_CCR_ADDRESS,
I2C_DEVICE_TYPE_RTC_M41T48,
M41T81REG_AHR,
1,
&byte);
byte &= ~M41T81REG_AHR_HT;
status = i2cWrite(M41T81_SMBUS_CHAN,
M41T81_CCR_ADDRESS,
I2C_DEVICE_TYPE_RTC_M41T48,
M41T81REG_AHR,
1,
&byte);
/*
* Try to read from the device. If it does not
* respond, fail. We may need to do this for up to 300ms.
*/
for (polls = 0; polls < 300; polls++) {
taskDelay(1);
status = i2cRead(M41T81_SMBUS_CHAN,
M41T81_CCR_ADDRESS,
I2C_DEVICE_TYPE_RTC_M41T48,
0,
1,
&byte);
if (status == OK) break; /* read is ok */
}
return 0;
}
static void mpu6050GyroRead(int16_t *gyroADC)
{
uint8_t buf[6];
if (!i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf)) {
return;
}
gyroADC[0] = (int16_t)((buf[0] << 8) | buf[1]);
gyroADC[1] = (int16_t)((buf[2] << 8) | buf[3]);
gyroADC[2] = (int16_t)((buf[4] << 8) | buf[5]);
}
bool bma280Detect(accDev_t *acc)
{
uint8_t sig = 0;
bool ack = i2cRead(MPU_I2C_INSTANCE, BMA280_ADDRESS, 0x00, 1, &sig);
if (!ack || sig != 0xFB)
return false;
acc->initFn = bma280Init;
acc->readFn = bma280Read;
return true;
}
static void mpu6050AccRead(int16_t *accData)
{
uint8_t buf[6];
if (!i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf)) {
return;
}
accData[0] = (int16_t)((buf[0] << 8) | buf[1]);
accData[1] = (int16_t)((buf[2] << 8) | buf[3]);
accData[2] = (int16_t)((buf[4] << 8) | buf[5]);
}
int init3115(int i2cNum)
{
unsigned char data;
i2cDev = i2cOpen(i2cNum);
if (i2cDev < 0)
return 0;
i2cWrite(MPL3115_I2C_ID, MPL3115A2_CTRL_REG1, 0);
i2cRead(MPL3115_I2C_ID, MPL_3115_WHO_AM_I_REG, &data);
if (data == MPL_3115_WHO_AM_I)
{
i2cRead(MPL3115_I2C_ID, MPL3115A2_CTRL_REG1, &data);
i2cWrite(MPL3115_I2C_ID, MPL3115A2_CTRL_REG1, ACTIVE_MASK);
return 1;
}
return 0;
}
void PCF8574::i2cSend(){
PCFBUFFER = i2cRead(0x00);
for(int i=0;i<8;i++){
if(bitRead(PCFTRISA,i) == INPUT) bitWrite(PCFPORTA,i,bitRead(PCFBUFFER,i));
if(PCFPULL[i] == 1) bitWrite(PCFPORTA,i,1); // Required for unblock pull level
if(PCFPULL[i] == 2) bitWrite(PCFPORTA,i,0); // Required for unblock pull level
}
Wire1.beginTransmission(PCFaddress);
Wire1.write((uint8_t )PCFPORTA);
Wire1.endTransmission();
}
int8_t i2cread(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
{
if(i2cRead(addr,reg,len,buf))
{
return TRUE;
}
else
{
return FALSE;
}
//return FALSE;
}
int BMA180::getRegValue(int adr)
{
unsigned char tx[1];
unsigned char rx[1];
tx[0] = adr;
i2cWrite(address, tx, 1);
int result = i2cRead(address, rx, 1);
checkResult(result);
return (int)rx[0];
}
static void mpu6050AccRead(int16_t *accData)
{
uint8_t buf[6];
int16_t data[3];
i2cRead(MPU6050_ADDRESS, MPU_RA_ACCEL_XOUT_H, 6, buf);
data[0] = (int16_t)((buf[0] << 8) | buf[1]);
data[1] = (int16_t)((buf[2] << 8) | buf[3]);
data[2] = (int16_t)((buf[4] << 8) | buf[5]);
alignSensors(data, accData, accAlign);
}
// Read 3 gyro values into user-provided buffer. No overrun checking is done.
static void l3g4200dRead(int16_t *gyroData)
{
uint8_t buf[6];
int16_t data[3];
i2cRead(L3G4200D_ADDRESS, L3G4200D_AUTOINCR | L3G4200D_GYRO_OUT, 6, buf);
data[X] = (int16_t)((buf[0] << 8) | buf[1]) / 4;
data[Y] = (int16_t)((buf[2] << 8) | buf[3]) / 4;
data[Z] = (int16_t)((buf[4] << 8) | buf[5]) / 4;
alignSensors(data, gyroData, gyroAlign);
}
static void mpu6050GyroRead(int16_t *gyroData)
{
uint8_t buf[6];
int16_t data[3];
i2cRead(MPU6050_ADDRESS, MPU_RA_GYRO_XOUT_H, 6, buf);
data[0] = (int16_t)((buf[0] << 8) | buf[1]) / 4;
data[1] = (int16_t)((buf[2] << 8) | buf[3]) / 4;
data[2] = (int16_t)((buf[4] << 8) | buf[5]) / 4;
alignSensors(data, gyroData, gyroAlign);
}
static bool adxl345Read(int16_t *accelData)
{
uint8_t buf[8];
if (useFifo) {
int32_t x = 0;
int32_t y = 0;
int32_t z = 0;
uint8_t i = 0;
uint8_t samples_remaining;
do {
i++;
if (!i2cRead(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_DATA_OUT, 8, buf)) {
return false;
}
x += (int16_t)(buf[0] + (buf[1] << 8));
y += (int16_t)(buf[2] + (buf[3] << 8));
z += (int16_t)(buf[4] + (buf[5] << 8));
samples_remaining = buf[7] & 0x7F;
} while ((i < 32) && (samples_remaining > 0));
accelData[0] = x / i;
accelData[1] = y / i;
accelData[2] = z / i;
acc_samples = i;
} else {
if (!i2cRead(MPU_I2C_INSTANCE, ADXL345_ADDRESS, ADXL345_DATA_OUT, 6, buf)) {
return false;
}
accelData[0] = buf[0] + (buf[1] << 8);
accelData[1] = buf[2] + (buf[3] << 8);
accelData[2] = buf[4] + (buf[5] << 8);
}
return true;
}
