int main()
{
/*UART initiering*/
UART_1_Start();
UART_1_UartPutString("This is a unit test of accelerometer ADXL345\n\r\n");
/*I2C initiering*/
I2C_1_Start();
I2C_1_I2CMasterClearStatus();
/*Opsætter accellerometer til I2C*/
if(I2C_1_I2CMasterSendStart(ACCEL_ADDRESS, I2C_1_I2C_WRITE_XFER_MODE) == I2C_1_I2C_MSTR_NO_ERROR
&& I2C_1_I2CMasterWriteByte(PWR_CTRL_REG) == I2C_1_I2C_MSTR_NO_ERROR
&& I2C_1_I2CMasterWriteByte(PWR_MODE) == I2C_1_I2C_MSTR_NO_ERROR)
UART_1_UartPutString("Accelerometer ADXL345 initialized.\n\r\n");
UART_1_UartPutString("10000 reads, from reg DEVID, will now be performed.\n\rPlease wait.\n\r\n");
I2C_1_I2CMasterSendStop();
int errors = 0; //Variabel til at tælle fejl
int i;
for(i = 0; i < 10000; i++) //Forløkke som løber igennem læsningen 10000 gange. (fra DEVID)
{
if (I2C_1_I2CMasterSendStart(ACCEL_ADDRESS, I2C_1_I2C_WRITE_XFER_MODE) == I2C_1_I2C_MSTR_NO_ERROR) /* Tjekker om transfer er sket uden fejl */
{
if(I2C_1_I2CMasterWriteByte(DEVID) == I2C_1_I2C_MSTR_NO_ERROR)
{
if(I2C_1_I2CMasterSendRestart(ACCEL_ADDRESS, I2C_1_I2C_READ_XFER_MODE) == I2C_1_I2C_MSTR_NO_ERROR)
{
rawData = I2C_1_I2CMasterReadByte(I2C_1_I2C_NAK_DATA); //Læser og gemmer læsningen i rawData
I2C_1_I2CMasterSendStop();
if(rawData != 0xE5)errors++; //Hvis der læses andet end device ID, inkrementeres fejl.
}
else
{
I2C_1_I2CMasterSendStop(); /* Send Stop */
errors++;
}
}
else
{
errors++;
}
}
else
{
I2C_1_I2CMasterSendStop(); /* Send Stop */
errors++;
}
}
char errorString[32];
sprintf(errorString, "Finished reading.\n\rErrors: %d\n\r\n", errors); //Gemmer antal errors i en string
UART_1_UartPutString(errorString); //Udskriver hvor mange fejl.
char readingString[32];
sprintf(readingString, "Data from register: %d\n\r\n", rawData); // Gemmer rawData i som en string
UART_1_UartPutString(readingString); //Udskriver hvad der står på rawData i UART
while(1);
}
// Function sends 0x00 to request data from nunchuck
// Returns 0 if an error occurs
int NunchuckRequestData()
{
// Variable for errorhandling
uint8 writeNunchuckError;
I2C_1_I2CMasterClearStatus();
writeNunchuckError = I2C_1_I2CMasterSendStart(nunchuckUnitAddress, I2C_1_I2C_WRITE_XFER_MODE);
if (writeNunchuckError == I2C_1_I2C_MSTR_NO_ERROR)
{
// Error happens while sending byte
if(I2C_1_I2CMasterWriteByte(0x00)!= I2C_1_I2C_MSTR_NO_ERROR)
{
I2C_1_I2CMasterSendStop();
return 0;
}
I2C_1_I2CMasterSendStop();
}
else
{
I2C_1_I2CMasterSendStop();
return 0;
}
I2C_1_I2CMasterSendStop();
// No error occurred while sending byte
return 1;
}
// Function reads data into buffer
// Returns 0 if an error occurs
int NunchuckReadData(uint8* buffer)
{
// Variable for errorhandling
uint8 readNunchuckError;
I2C_1_I2CMasterClearStatus();
readNunchuckError = I2C_1_I2CMasterSendStart(nunchuckUnitAddress, I2C_1_I2C_READ_XFER_MODE);
if (readNunchuckError == I2C_1_I2C_MSTR_NO_ERROR)
{
// Reading data from Nunchuck
uint8 XAxisValue = I2C_1_I2CMasterReadByte(I2C_1_I2C_ACK_DATA);
uint8 YAxisValue = I2C_1_I2CMasterReadByte(I2C_1_I2C_ACK_DATA);
uint8 XAxisAccValue = I2C_1_I2CMasterReadByte(I2C_1_I2C_ACK_DATA);
uint8 YAxisAccValue = I2C_1_I2CMasterReadByte(I2C_1_I2C_ACK_DATA);
uint8 ZAxisAccValue = I2C_1_I2CMasterReadByte(I2C_1_I2C_ACK_DATA);
uint8 ButtonStates = I2C_1_I2CMasterReadByte(I2C_1_I2C_NAK_DATA);
// Decoding Nunchuck values
uint8 exactData0 = (XAxisValue ^ 0x17) + 0x17 - 15;
uint8 exactData1 = (YAxisValue ^ 0x17) + 0x17;
uint8 exactData2 = (ButtonStates ^0x17) + 0x17;
// Inserting exactData into buffer
// XAxisValue
buffer[0] = exactData0;
// YAxisValue
buffer[1] = exactData1;
// ButtonStates
buffer[2] = exactData2;
I2C_1_I2CMasterSendStop();
return 1;
}
// Error has occurred while reading data
else
{
I2C_1_I2CMasterSendStop();
return 0;
}
I2C_1_I2CMasterSendStop();
}
// Function sends handshake to nunchuck to initiate communication
// Returns 0 if an error occurs
int NunchuckSendHandshake()
{
// Variable for errorhandling
uint8 transferErrorStatus;
I2C_1_I2CMasterClearStatus();
transferErrorStatus = I2C_1_I2CMasterSendStart(nunchuckUnitAddress, I2C_1_I2C_WRITE_XFER_MODE);
if(transferErrorStatus == I2C_1_I2C_MSTR_NO_ERROR)
{
// Error happened while sending byte
if(I2C_1_I2CMasterWriteByte(0x40) != I2C_1_I2C_MSTR_NO_ERROR)
{
I2C_1_I2CMasterSendStop();
return 0;
}
// No error occurred while sending byte
else
{
// Error happens while sending byte
if (I2C_1_I2CMasterWriteByte(0x00) != I2C_1_I2C_MSTR_NO_ERROR)
{
I2C_1_I2CMasterSendStop();
return 0;
}
// No error occurred while sending byte
else
{
I2C_1_I2CMasterSendStop();
return 1;
}
}
I2C_1_I2CMasterSendStop();
}
else
{
I2C_1_I2CMasterSendStop();
return 0;
}
}
