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);
}
Esempio n. 2
0
// 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);
}
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 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;
}
Esempio n. 6
0
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;
}
Esempio n. 7
0
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;
}
Esempio n. 8
0
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;
}
Esempio n. 9
0
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;
}
Esempio n. 10
0
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;
}
Esempio n. 11
0
//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);
}
Esempio n. 12
0
// 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
}
Esempio n. 13
0
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;
}
Esempio n. 15
0
// 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;
}
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*");
} 
Esempio n. 17
0
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();
} 
Esempio n. 18
0
// ************ 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();
	
}