upm_result_t
lis3dh_write_reg(const lis3dh_context dev, uint8_t reg, uint8_t val)
{
assert(dev != NULL);
if (dev->spi) {
// Mask off 0x80 for writing
reg &= 0x7F;
uint8_t pkt[2] = { reg, val };
_csOn(dev);
if (mraa_spi_transfer_buf(dev->spi, pkt, NULL, 2)) {
_csOff(dev);
printf("%s: mraa_spi_transfer_buf() failed.", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
_csOff(dev);
} else {
if (mraa_i2c_write_byte_data(dev->i2c, val, reg)) {
printf("%s: mraa_i2c_write_byte_data() failed.", __FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
}
return UPM_SUCCESS;
}
static upm_result_t kx122_write_register(const kx122_context dev, uint8_t reg, uint8_t val)
{
if(dev->using_spi){
reg &= SPI_WRITE;
uint8_t spi_data[2] = {reg,val};
kx122_chip_select_on(dev);
if(mraa_spi_transfer_buf(dev->spi,spi_data,NULL,(sizeof(spi_data) / sizeof(uint8_t))) != MRAA_SUCCESS){
printf("%s: mraa_spi_transfer_buf() failed.\n", __FUNCTION__);
kx122_chip_select_off(dev);
return UPM_ERROR_OPERATION_FAILED;
}
kx122_chip_select_off(dev);
return UPM_SUCCESS;
}
else{
if(mraa_i2c_write_byte_data(dev->i2c,val,reg) != MRAA_SUCCESS){
printf("%s: mraa_i2c_write_byte_data() failed.\n",__FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
}
void MPU9250_I2C_Write(uint8_t address, uint8_t value)
{
//Set MPU Device Address
mraa_i2c_address(MPU9250_i2c, MPU_ADDR);
//Write Command and Data
mraa_i2c_write_byte_data(MPU9250_i2c, value, address);
}
void set_gyro_scale(mraa_i2c_context gyro, gyro_scale_t g_scale)
{
// We need to preserve the other bytes in CTRL_REG4_G. So, first read it:
uint8_t temp = mraa_i2c_read_byte_data(gyro, CTRL_REG4_G);
// Then mask out the gyro scale bits:
temp &= 0xFF^(0x3 << 4);
// Then shift in our new scale bits:
temp |= g_scale << 4;
// And write the new register value back into CTRL_REG4_G:
mraa_i2c_write_byte_data(gyro, temp, CTRL_REG4_G);
}
void set_accel_scale(mraa_i2c_context accel, accel_scale_t a_scale)
{
// We need to preserve the other bytes in CTRL_REG2_XM. So, first read it:
uint8_t temp = mraa_i2c_read_byte_data(accel, CTRL_REG2_XM);
// Then mask out the accel scale bits:
temp &= 0xFF^(0x3 << 3);
// Then shift in our new scale bits:
temp |= a_scale << 3;
// And write the new register value back into CTRL_REG2_XM:
mraa_i2c_write_byte_data(accel, temp, CTRL_REG2_XM);
}
void set_mag_ODR(mraa_i2c_context mag, mag_odr_t m_rate)
{
// We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
uint8_t temp = mraa_i2c_read_byte_data(mag, CTRL_REG5_XM);
// Then mask out the mag ODR bits:
temp &= 0xFF^(0x7 << 2);
// Then shift in our new ODR bits:
temp |= (m_rate << 2);
// And write the new register value back into CTRL_REG5_XM:
mraa_i2c_write_byte_data(mag, temp, CTRL_REG5_XM);
}
void set_gyro_ODR(mraa_i2c_context gyro, gyro_odr_t g_rate)
{
// We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
uint8_t temp = mraa_i2c_read_byte_data(gyro, CTRL_REG1_G);
// Then mask out the gyro ODR bits:
temp &= 0xFF^(0xF << 4);
// Then shift in our new ODR bits:
temp |= (g_rate << 4);
// And write the new register value back into CTRL_REG1_G:
mraa_i2c_write_byte_data(gyro, temp, CTRL_REG1_G);
}
void set_accel_ODR(mraa_i2c_context accel, accel_odr_t a_rate)
{
// We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
uint8_t temp = mraa_i2c_read_byte_data(accel, CTRL_REG1_XM);
// Then mask out the accel ODR bits:
temp &= 0xFF^(0xF << 4);
// Then shift in our new ODR bits:
temp |= (a_rate << 4);
// And write the new register value back into CTRL_REG1_XM:
mraa_i2c_write_byte_data(accel, temp, CTRL_REG1_XM);
}
void main(){
devAddr = MPU6050_DEFAULT_ADDRESS;
i2c = mraa_i2c_init(0);
/** Power on and prepare for general usage.
* This will activate the device and take it out of sleep mode (which must be done
* after start-up). This function also sets both the accelerometer and the gyroscope
* to their most sensitive settings, namely +/- 2g and +/- 250 degrees/sec, and sets
* the clock source to use the X Gyro for reference, which is slightly better than
* the default internal clock source.
*/
mraa_i2c_address(i2c,devAddr);
mraa_i2c_write_byte_data(i2c,MPU6050_CLOCK_PLL_XGYRO,MPU6050_RA_PWR_MGMT_1);
mraa_i2c_write_byte_data(i2c,MPU6050_RA_GYRO_CONFIG,MPU6050_GYRO_FS_250);
mraa_i2c_write_byte_data(i2c,MPU6050_RA_ACCEL_CONFIG,MPU6050_ACCEL_FS_2);
int ev1=every(20,getangle,-1);
int ev2=every(50,print,-1);
while(1){
timeupdate();
}
}
void set_mag_scale(mraa_i2c_context mag, mag_scale_t m_scale)
{
// We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
uint8_t temp = mraa_i2c_read_byte_data(mag, CTRL_REG6_XM);
// Then mask out the mag scale bits:
temp &= 0xFF^(0x3 << 5);
// Then shift in our new scale bits:
temp |= m_scale << 5;
// And write the new register value back into CTRL_REG6_XM:
mraa_i2c_write_byte_data(mag, temp, CTRL_REG6_XM);
}
upm_result_t bno055_write_reg(const bno055_context dev,
uint8_t reg, uint8_t val)
{
assert(dev != NULL);
if (mraa_i2c_write_byte_data(dev->i2c, val, reg))
{
printf("%s: mraa_i2c_write_byte_data() failed\n",
__FUNCTION__);
return UPM_ERROR_OPERATION_FAILED;
}
return UPM_SUCCESS;
}
mrb_value
mrb_mraa_i2c_write_reg(mrb_state *mrb, mrb_value self){
mraa_i2c_context i2c;
mrb_int wdata;
mrb_int reg;
mraa_result_t result;
Data_Get_Struct(mrb, self, &mrb_mraa_i2c_ctx_type, i2c);
mrb_get_args(mrb, "ii", &wdata, ®);
result = mraa_i2c_write_byte_data(i2c, wdata & 0xFF, reg);
return mrb_fixnum_value(result);
}
mraa_result_t
i2c_set(int bus, uint8_t device_address, uint8_t register_address, uint8_t data)
{
mraa_result_t status = MRAA_SUCCESS;
mraa_i2c_context i2c = mraa_i2c_init(bus);
if (i2c == NULL) {
return MRAA_ERROR_NO_RESOURCES;
}
status = mraa_i2c_address(i2c, device_address);
if (status != MRAA_SUCCESS) {
fprintf(stderr, "Could not set i2c device address\n");
goto i2c_set_exit;
}
status = mraa_i2c_write_byte_data(i2c, data, register_address);
if (status != MRAA_SUCCESS) {
fprintf(stderr, "Could not write to i2c register. Status = %d\n", status);
goto i2c_set_exit;
}
i2c_set_exit:
mraa_i2c_stop(i2c);
return status;
}
void gWriteByte(mraa_i2c_context gyro, uint8_t subAddress, uint8_t data)
{
mraa_i2c_write_byte_data(gyro, data, subAddress);
}
void xmWriteByte(mraa_i2c_context xm, uint8_t subAddress, uint8_t data)
{
mraa_i2c_write_byte_data(xm, data, subAddress);
}
mraa_i2c_context mag_init()
{
mraa_i2c_context mag;
mag = mraa_i2c_init(1);
if (mag == NULL) {
fprintf(stderr, "Failed to initialize I2C.\n");
exit(1);
}
mraa_i2c_address(mag, XM_ADDR);
uint8_t mag_id = mraa_i2c_read_byte_data(mag, WHO_AM_I_XM);
if (mag_id != 0x49) {
fprintf(stderr, "Accelerometer/Magnetometer ID does not match.\n");
}
/* CTRL_REG5_XM enables temp sensor, sets mag resolution and data rate
Bits (7-0): TEMP_EN M_RES1 M_RES0 M_ODR2 M_ODR1 M_ODR0 LIR2 LIR1
TEMP_EN - Enable temperature sensor (0=disabled, 1=enabled)
M_RES[1:0] - Magnetometer resolution select (0=low, 3=high)
M_ODR[2:0] - Magnetometer data rate select
000=3.125Hz, 001=6.25Hz, 010=12.5Hz, 011=25Hz, 100=50Hz, 101=100Hz
LIR2 - Latch interrupt request on INT2_SRC (cleared by reading INT2_SRC)
0=interrupt request not latched, 1=interrupt request latched
LIR1 - Latch interrupt request on INT1_SRC (cleared by readging INT1_SRC)
0=irq not latched, 1=irq latched */
//xmWriteByte(CTRL_REG5_XM, 0x94); // Mag data rate - 100 Hz, enable temperature sensor
mraa_i2c_write_byte_data(mag, 0x94, CTRL_REG5_XM);
/* CTRL_REG6_XM sets the magnetometer full-scale
Bits (7-0): 0 MFS1 MFS0 0 0 0 0 0
MFS[1:0] - Magnetic full-scale selection
00:+/-2Gauss, 01:+/-4Gs, 10:+/-8Gs, 11:+/-12Gs */
//xmWriteByte(CTRL_REG6_XM, 0x00); // Mag scale to +/- 2GS
mraa_i2c_write_byte_data(mag, 0x00, CTRL_REG6_XM);
/* CTRL_REG7_XM sets magnetic sensor mode, low power mode, and filters
AHPM1 AHPM0 AFDS 0 0 MLP MD1 MD0
AHPM[1:0] - HPF mode selection
00=normal (resets reference registers), 01=reference signal for filtering,
10=normal, 11=autoreset on interrupt event
AFDS - Filtered acceleration data selection
0=internal filter bypassed, 1=data from internal filter sent to FIFO
MLP - Magnetic data low-power mode
0=data rate is set by M_ODR bits in CTRL_REG5
1=data rate is set to 3.125Hz
MD[1:0] - Magnetic sensor mode selection (default 10)
00=continuous-conversion, 01=single-conversion, 10 and 11=power-down */
//xmWriteByte(CTRL_REG7_XM, 0x00); // Continuous conversion mode
mraa_i2c_write_byte_data(mag, 0x00, CTRL_REG7_XM);
/* CTRL_REG4_XM is used to set interrupt generators on INT2_XM
Bits (7-0): P2_TAP P2_INT1 P2_INT2 P2_INTM P2_DRDYA P2_DRDYM P2_Overrun P2_WTM
*/
//xmWriteByte(CTRL_REG4_XM, 0x04); // Magnetometer data ready on INT2_XM (0x08)
mraa_i2c_write_byte_data(mag, 0x04, CTRL_REG4_XM);
/* INT_CTRL_REG_M to set push-pull/open drain, and active-low/high
Bits[7:0] - XMIEN YMIEN ZMIEN PP_OD IEA IEL 4D MIEN
XMIEN, YMIEN, ZMIEN - Enable interrupt recognition on axis for mag data
PP_OD - Push-pull/open-drain interrupt configuration (0=push-pull, 1=od)
IEA - Interrupt polarity for accel and magneto
0=active-low, 1=active-high
IEL - Latch interrupt request for accel and magneto
0=irq not latched, 1=irq latched
4D - 4D enable. 4D detection is enabled when 6D bit in INT_GEN1_REG is set
MIEN - Enable interrupt generation for magnetic data
0=disable, 1=enable) */
//xmWriteByte(INT_CTRL_REG_M, 0x09); // Enable interrupts for mag, active-low, push-pull
mraa_i2c_write_byte_data(mag, 0x09, INT_CTRL_REG_M);
return mag;
}
/**
* Fast call for single byte write to LSM9DS0 Accelerometer / Magnetometer
*
*/
void lsm_xm_write(unsigned char reg, unsigned char value) {
mraa_i2c_address(i2c, LSM_ADDRESS_XM);
if(mraa_i2c_write_byte_data(i2c, value, reg) != MRAA_SUCCESS) {
printf("write single byte to LSM9DS0 XM failed...\n");
}
}
/**
* Write a byte to an i2c register
*
* @param reg Register to write to
* @param data Value to write to register
* @return Result of operation
*/
mraa_result_t writeReg(uint8_t reg, uint8_t data) {
return mraa_i2c_write_byte_data(m_i2c, data, reg);
}
mraa_i2c_context accel_init()
{
mraa_i2c_context accel;
accel = mraa_i2c_init(1);
if (accel == NULL) {
fprintf(stderr, "Failed to initialize I2C.\n");
exit(1);
}
mraa_i2c_address(accel, XM_ADDR);
uint8_t accel_id = mraa_i2c_read_byte_data(accel, WHO_AM_I_XM);
if (accel_id != 0x49) {
fprintf(stderr, "Accelerometer/Magnetometer ID does not match.\n");
}
/* CTRL_REG0_XM (0x1F) (Default value: 0x00)
Bits (7-0): BOOT FIFO_EN WTM_EN 0 0 HP_CLICK HPIS1 HPIS2
BOOT - Reboot memory content (0: normal, 1: reboot)
FIFO_EN - Fifo enable (0: disable, 1: enable)
WTM_EN - FIFO watermark enable (0: disable, 1: enable)
HP_CLICK - HPF enabled for click (0: filter bypassed, 1: enabled)
HPIS1 - HPF enabled for interrupt generator 1 (0: bypassed, 1: enabled)
HPIS2 - HPF enabled for interrupt generator 2 (0: bypassed, 1 enabled) */
//xmWriteByte(CTRL_REG0_XM, 0x00);
mraa_i2c_write_byte_data(accel, 0x00, CTRL_REG0_XM);
/* CTRL_REG1_XM (0x20) (Default value: 0x07)
Bits (7-0): AODR3 AODR2 AODR1 AODR0 BDU AZEN AYEN AXEN
AODR[3:0] - select the acceleration data rate:
0000=power down, 0001=3.125Hz, 0010=6.25Hz, 0011=12.5Hz,
0100=25Hz, 0101=50Hz, 0110=100Hz, 0111=200Hz, 1000=400Hz,
1001=800Hz, 1010=1600Hz, (remaining combinations undefined).
BDU - block data update for accel AND mag
0: Continuous update
1: Output registers aren't updated until MSB and LSB have been read.
AZEN, AYEN, and AXEN - Acceleration x/y/z-axis enabled.
0: Axis disabled, 1: Axis enabled */
//xmWriteByte(CTRL_REG1_XM, 0x57); // 100Hz data rate, x/y/z all enabled
mraa_i2c_write_byte_data(accel, 0x57, CTRL_REG1_XM);
//Serial.println(xmReadByte(CTRL_REG1_XM));
/* CTRL_REG2_XM (0x21) (Default value: 0x00)
Bits (7-0): ABW1 ABW0 AFS2 AFS1 AFS0 AST1 AST0 SIM
ABW[1:0] - Accelerometer anti-alias filter bandwidth
00=773Hz, 01=194Hz, 10=362Hz, 11=50Hz
AFS[2:0] - Accel full-scale selection
000=+/-2g, 001=+/-4g, 010=+/-6g, 011=+/-8g, 100=+/-16g
AST[1:0] - Accel self-test enable
00=normal (no self-test), 01=positive st, 10=negative st, 11=not allowed
SIM - SPI mode selection
0=4-wire, 1=3-wire */
//xmWriteByte(CTRL_REG2_XM, 0x00); // Set scale to 2g
mraa_i2c_write_byte_data(accel, 0x00, CTRL_REG2_XM);
/* CTRL_REG3_XM is used to set interrupt generators on INT1_XM
Bits (7-0): P1_BOOT P1_TAP P1_INT1 P1_INT2 P1_INTM P1_DRDYA P1_DRDYM P1_EMPTY
*/
// Accelerometer data ready on INT1_XM (0x04)
//xmWriteByte(CTRL_REG3_XM, 0x04);
mraa_i2c_write_byte_data(accel, 0x04, CTRL_REG3_XM);
return accel;
}
mraa_i2c_context gyro_init()
{
mraa_i2c_context gyro;
gyro = mraa_i2c_init(1);
if (gyro == NULL) {
fprintf(stderr, "Failed to initialize I2C.\n");
exit(1);
}
mraa_i2c_address(gyro, GYRO_ADDR);
uint8_t gyro_id = mraa_i2c_read_byte_data(gyro, WHO_AM_I_G);
if (gyro_id != 0xD4) {
fprintf(stderr, "Gyroscope ID does not match.\n");
}
/* CTRL_REG1_G sets output data rate, bandwidth, power-down and enables
Bits[7:0]: DR1 DR0 BW1 BW0 PD Zen Xen Yen
DR[1:0] - Output data rate selection
00=95Hz, 01=190Hz, 10=380Hz, 11=760Hz
BW[1:0] - Bandwidth selection (sets cutoff frequency)
Value depends on ODR. See datasheet table 21.
PD - Power down enable (0=power down mode, 1=normal or sleep mode)
Zen, Xen, Yen - Axis enable (o=disabled, 1=enabled) */
//gWriteByte(CTRL_REG1_G, 0x0F); // Normal mode, enable all axes
mraa_i2c_write_byte_data(gyro, 0x0F, CTRL_REG1_G);
/* CTRL_REG2_G sets up the HPF
Bits[7:0]: 0 0 HPM1 HPM0 HPCF3 HPCF2 HPCF1 HPCF0
HPM[1:0] - High pass filter mode selection
00=normal (reset reading HP_RESET_FILTER, 01=ref signal for filtering,
10=normal, 11=autoreset on interrupt
HPCF[3:0] - High pass filter cutoff frequency
Value depends on data rate. See datasheet table 26.
*/
//gWriteByte(CTRL_REG2_G, 0x00); // Normal mode, high cutoff frequency
mraa_i2c_write_byte_data(gyro, 0x00, CTRL_REG2_G);
/* CTRL_REG3_G sets up interrupt and DRDY_G pins
Bits[7:0]: I1_IINT1 I1_BOOT H_LACTIVE PP_OD I2_DRDY I2_WTM I2_ORUN I2_EMPTY
I1_INT1 - Interrupt enable on INT_G pin (0=disable, 1=enable)
I1_BOOT - Boot status available on INT_G (0=disable, 1=enable)
H_LACTIVE - Interrupt active configuration on INT_G (0:high, 1:low)
PP_OD - Push-pull/open-drain (0=push-pull, 1=open-drain)
I2_DRDY - Data ready on DRDY_G (0=disable, 1=enable)
I2_WTM - FIFO watermark interrupt on DRDY_G (0=disable 1=enable)
I2_ORUN - FIFO overrun interrupt on DRDY_G (0=disable 1=enable)
I2_EMPTY - FIFO empty interrupt on DRDY_G (0=disable 1=enable) */
// Int1 enabled (pp, active low), data read on DRDY_G:
//gWriteByte(CTRL_REG3_G, 0x88);
mraa_i2c_write_byte_data(gyro, 0x88, CTRL_REG3_G);
/* CTRL_REG4_G sets the scale, update mode
Bits[7:0] - BDU BLE FS1 FS0 - ST1 ST0 SIM
BDU - Block data update (0=continuous, 1=output not updated until read
BLE - Big/little endian (0=data LSB @ lower address, 1=LSB @ higher add)
FS[1:0] - Full-scale selection
00=245dps, 01=500dps, 10=2000dps, 11=2000dps
ST[1:0] - Self-test enable
00=disabled, 01=st 0 (x+, y-, z-), 10=undefined, 11=st 1 (x-, y+, z+)
SIM - SPI serial interface mode select
0=4 wire, 1=3 wire */
//gWriteByte(CTRL_REG4_G, 0x00); // Set scale to 245 dps
mraa_i2c_write_byte_data(gyro, 0x00, CTRL_REG4_G);
/* CTRL_REG5_G sets up the FIFO, HPF, and INT1
Bits[7:0] - BOOT FIFO_EN - HPen INT1_Sel1 INT1_Sel0 Out_Sel1 Out_Sel0
BOOT - Reboot memory content (0=normal, 1=reboot)
FIFO_EN - FIFO enable (0=disable, 1=enable)
HPen - HPF enable (0=disable, 1=enable)
INT1_Sel[1:0] - Int 1 selection configuration
Out_Sel[1:0] - Out selection configuration */
//gWriteByte(CTRL_REG5_G, 0x00);
mraa_i2c_write_byte_data(gyro, 0x00, CTRL_REG5_G);
return gyro;
}
