void twi_init(void)
/*
short: Init AVR TWI interface and set bitrate
inputs:
outputs:
notes: TWI clock is set to 100 kHz
Version : DMK, Initial code
*******************************************************************/
{
TWSR = 0;
TWBR = 32; // TWI clock set to 100kHz, prescaler = 0
// Init HT16K22. Page 32 datasheet
twi_start();
twi_tx(0xE0); // Display I2C addres + R/W bit
twi_tx(0x21); // Internal osc on (page 10 HT16K33)
twi_stop();
twi_start();
twi_tx(0xE0); // Display I2C address + R/W bit
twi_tx(0xA0); // HT16K33 pins all output
twi_stop();
twi_start();
twi_tx(0xE0); // Display I2C address + R/W bit
twi_tx(0xE3); // Display Dimming 4/16 duty cycle
twi_stop();
twi_start();
twi_tx(0xE0); // Display I2C address + R/W bit
twi_tx(0x81); // Display OFF - Blink On
twi_stop();
}
uint8_t twi_read_byte(void)
{
//uint8_t databyte;
twi_start();
if (twi_get_status() != 0x08)
return ERROR;
//select devise and send A2 A1 A0 address bits
twi_write(0xD0);
if (twi_get_status() != 0x18)
return ERROR;
twi_write(0x01);
if (twi_get_status() != 0x18)
return ERROR;
twi_read_ack();
twi_write(0xD1);
if (twi_get_status() != 0x18)
return ERROR;
twi_start();
twi_read_nack();
if (twi_get_status() != 0x58)
return ERROR;
twi_stop();
return SUCCESS;
}
/** \brief This function acquires data from the L3GD20 Gyro module, via i2c communication.
*/
void imu::gyro_position(void)
{
uint8_t x_l = 0;
uint8_t x_h = 0;
uint8_t y_l = 0;
uint8_t y_h = 0;
uint8_t z_l = 0;
uint8_t z_h = 0;
twi_start(); // Start Condition
twi_write(0b11010110); // SLA + W = 0x29 + w(0)
twi_write(0x28 | 0x80); //Set Address Pointer to data register location. Setting the MSB makes sure the data autoincrements
twi_start();
twi_write(0b11010111); //SLA + R = 0x29 + w(1)
x_l = twi_read(1);
x_h = twi_read(1);
y_l = twi_read(1);
y_h = twi_read(1);
z_l = twi_read(1);
z_h = twi_read(0);
twi_stop();
x_gyro = ( (uint16_t) x_h<<8)|(x_l) ; // HUGE PROBLEM HERE. DOUBLE CHECK
y_gyro = ( (uint16_t) y_h<<8)|(y_l) ;
z_gyro = ( (uint16_t) z_h<<8)|(z_l) ;
}
/** \brief This function acquires data from the LSM303DLHC accelerometer module.
*/
void imu::mag_position(void)
{
uint8_t x_l = 0;
uint8_t x_h = 0;
uint8_t z_l = 0;
uint8_t z_h = 0;
uint8_t y_l = 0;
uint8_t y_h = 0;
twi_start(); // Start Condition
twi_write(0b00111100); // SLA + W = 0x29 + w(0)
twi_write(0x03 | 0x80); //Set Address Pointer to data register location. Setting the MSB makes sure the data autoincrements
twi_start();
twi_write(0b00111101); //SLA + R = 0x29 + w(1)
x_l = twi_read(1);
x_h = twi_read(1);
y_l = twi_read(1);
y_h = twi_read(1);
z_l = twi_read(1);
z_h = twi_read(0);
twi_stop();
x_mag = (x_h<<8)|(x_l) ;
y_mag = (y_h<<8)|(y_l) ;
z_mag = (z_h<<8)|(z_l) ;
}
/**
* rtc_read_register() - read a register of realt time clock
*
* @address: address of realt time clock register
* @byte: pointer to address where the read byte will be stored in
*
* Return: TWI_OK on success, TWI_ERR on error
*/
uint8_t rtc_read_register(uint8_t address, uint8_t* byte)
{
rtc_disable_avr_interrupt();
uint8_t ret = 0;
ret |= twi_start();
if (ret != TWI_OK)
goto rtc_read_register_exit;
ret |= twi_send_slave_address(TWI_WRITE, RTC_ADDRESS);
if (ret != TWI_OK)
goto rtc_read_register_exit;
ret |= twi_send_byte(address);
if (ret != TWI_OK)
goto rtc_read_register_exit;
ret |= twi_start();
if (ret != TWI_OK)
goto rtc_read_register_exit;
ret |= twi_send_slave_address(TWI_READ, RTC_ADDRESS);
if (ret != TWI_OK)
goto rtc_read_register_exit;
ret |= twi_read_byte(TWI_NACK, byte);
twi_stop();
rtc_read_register_exit:
if (during_bitmask == FALSE) {
rtc_enable_avr_interrupt();
}
return ret;
}
int main( void )
{
twi_init(); // Init TWI interface
// Init HT16K22. Page 32 datasheet
twi_start();
twi_tx(0xE0); // Display I2C addres + R/W bit
twi_tx(0x21); // Internal osc on (page 10 HT16K33)
twi_stop();
twi_start();
twi_tx(0xE0); // Display I2C address + R/W bit
twi_tx(0xA0); // HT16K33 pins all output
twi_stop();
twi_start();
twi_tx(0xE0); // Display I2C address + R/W bit
twi_tx(0xE3); // Display Dimming 4/16 duty cycle
twi_stop();
twi_start();
twi_tx(0xE0); // Display I2C address + R/W bit
twi_tx(0x81); // Display OFF - Blink On
twi_stop();
twi_clear();
play_fill_animation();
clear_rows();
return 1;
}
char lsm303_whoami()
{
char a;
twi_start();
twi_send_address(LSM303::ADDRW); //write
twi_send_data(LSM303::WHO_AM_I); //WHOAMI
twi_start();
twi_send_address(LSM303::ADDRR); //read
twi_read_data(&a, 0);
twi_stop();
return a;
}
uint8_t i2c_readByte( uint8_t dev_addr, uint8_t data_addr ){
uint8_t data;
twi_start( );
twi_send( I2C_ADDR_WRITE(dev_addr) );
twi_send( data_addr );
twi_start( );
twi_send( I2C_ADDR_READ(dev_addr) );
data = twi_recv( 0 );
twi_stop();
return data;
}
uint16_t twi_read_2byte(uint8_t addr)
{
uint32_t tmp;
twi_start();
twi_write(addr << 1); /* slave addr */
twi_write(0x00); /* register addr */
twi_stop();
twi_start();
twi_write((addr << 1) | 0x1);/* slave addr + read */
tmp = twi_read();
tmp = (tmp << 8) | twi_read();
twi_stop();
return (tmp & 0xffff);
}
int32_t lps25h_read()
{
char xl, l, h;
twi_start();
twi_send_address(LPS25H::ADDRW);
twi_send_data(LPS25H::PRESS_OUT_XL|(1<<7));
twi_start();
twi_send_address(LPS25H::ADDRR); //read
twi_read_data(&xl, 1);
twi_read_data(&l, 1);
twi_read_data(&h, 0);
twi_stop();
return ((int32_t)h << 16) | ((int32_t)l << 8) | xl;
}
void twi_adc_query(void) {
/* keep sampling adc data */
twi_start(TWI_ADC_ADDR<<1);
/* start at AIN0, autoincrement through channels */
twi_write(1<<2 | (0 & 0x03));
twi_stop();
twi_start((TWI_ADC_ADDR<<1) | 1);
twi_read(1); /* discard result code of precious cycle */
for (uint8_t adc = 0; adc < TWI_ADC_CHANNELS; adc++) {
twi_adc_raw[adc] = twi_read(adc < TWI_ADC_CHANNELS-1);
/* scale to 10 bit values */
twi_adc_values[adc] = twi_adc_raw[adc]<<2;
}
}
void acc_query(void) {
uint8_t buf[6];
twi_start(ACC_ADDRESS<<1);
twi_write(0x32);
twi_start(ACC_ADDRESS<<1 | 1);
for (uint8_t i=0; i<sizeof(buf); i++) {
buf[i] = twi_read(i<sizeof(buf)-1);
}
twi_stop();
ACC_ORIENTATION(buf[1]<<8 | buf[0],
buf[3]<<8 | buf[2],
buf[5]<<8 | buf[4]);
}
/** \brief This function initializes the LSM303DLHC magnetometer module, via i2c communication.
*/
void imu::mag_init(void)
{
_delay_us(1);
twi_start();
twi_write(0b00111100); //Write SLA + W.
twi_write(0x00);
twi_write(0x14);
twi_stop();
_delay_us(1);
twi_start();
twi_write(0b00111100); //Write SLA + W.
twi_write(0x01);
twi_write(0x40);
twi_stop();
}
uint8_t i2c_readBytes( uint8_t dev_addr, uint8_t data_addr, uint8_t *data, uint8_t data_len ){
uint8_t i;
twi_start( );
twi_send( I2C_ADDR_WRITE(dev_addr) );
twi_send( data_addr );
twi_start( );
twi_send( I2C_ADDR_READ(dev_addr) );
for( i=0; i<data_len-1; ++i ){
data[i] = twi_recv( 1 );
}
data[i] = twi_recv( 0 );
twi_stop();
return data_len;
}
/* Read num bytes starting from regAddrStart. Each subsequent byte will be from the register above (newRegPtr = oldRegPtr + 1).
*
* Input: regAddrStart The register address to start reading bytes from
* data Location to store read data
* num The number of registers to be read
* Return: 0 Succeeded
* >0 Failed, see handle_error() for relavant error codes
*/
uint8_t twi_read_bytes(uint8_t regAddrStart, uint8_t *data, uint8_t num) {
uint8_t i, error;
/* Transmit start condition. */
if((error = twi_start())) return error;
/* Transmit slave address and write bit. */
if((error = twi_sla_w(IMU_ADDR))) return error;
/* Transmit to slave the register to be read. */
if((error = twi_write(regAddrStart))) return error;
/* Transmit repeated start condition. */
if((error = twi_start_r())) return error;
/* Transmit slave address and read bit. */
if((error = twi_sla_r(IMU_ADDR))) return error;
/* Read data from slave. */
for(i = 0; i < num; i++) {
if(i == num - 1) {
/* Last byte, return NACK. */
if((error = twi_read_nack(&data[i]))) return error;
} else {
if((error = twi_read_ack(&data[i]))) return error;
}
}
/* Transmit stop condition. */
twi_stop();
return 0;
}
void write_data(int row, int column){
twi_start();
twi_tx(0xE0); // Display I2C address + R/W bit
twi_tx(row); // Address
twi_tx(column); //column
twi_stop();
}
void bios(void) {
uart_start();
pwm_setup(2);
adc_start(1);
twi_start();
//button code
init_buttons();
//set the CPU_POW led pin to high to show we have power
DDRD |= (1<<CPU_POW);
PORTD |= (1<<CPU_POW);
//set the status leds as outputs
DDRD |= (1<<stat_led1);
DDRD |= (1<<stat_led2);
//if this is my dev board, pull them low because the leds are cathode
#if DEV
PORTD &= ~(1<<stat_led1)
& ~(1<<stat_led2);
#endif
#if DEBUG
uart_sendstr("0x01 - Hardware setup successful...");
uart_sendstr("Bios complete...");
uart_sendstr("Starting main code...");
#endif
return;
}
/** \brief Initialize the L3GD20 Gyro module, via i2c communication protocol.
* \details This function initializes the L3GD20 Gyro to acquire data at 95Hz, over
* a range of (+-)500 degrees per second.
*/
void imu::gyro_init(void)
{
_delay_us(1);
twi_start();
twi_write(0b11010110); //Write SLA + W.
twi_write(0x20); // Write SUB address to CTRL_REG1.
twi_write(0x0F); // Set data rate to 95Hz.
twi_stop();
_delay_ms(1); //_delay_us(1);
twi_start();
twi_write(0b11010110); //Write SLA + W.
twi_write(0x23); // Write SUB address to CTRL_REG4.
twi_write(0x10); // Set range to 500degrees/second
twi_stop();
}
void l3gd20h_write(char reg, char data)
{
twi_start();
twi_send_address(L3GD20H::ADDRW); //write
twi_send_data(reg);
twi_send_data(data);
twi_stop();
}
void write_data(unsigned char adress,unsigned char data)
{
twi_start();
twi_tx(0xE0); // Display I2C addres + R/W bit
twi_tx(adress); // Address
twi_tx(data); // data
twi_stop();
}
void lsm303_write(char reg, char data)
{
twi_start();
twi_send_address(LSM303::ADDRW); //write
twi_send_data(reg);
twi_send_data(data);
twi_stop();
}
/** \brief This function initializes the LSM303DLHC accelerometer module, via i2c communication.
*/
void imu::accl_init(void)
{
_delay_us(1);
twi_start();
twi_write(0b00110010); //Write SLA + W.
twi_write(0x20); // Write SUB address to CTRL_REG1.
twi_write(0x47); // Set data rate to 95Hz.
twi_stop();
}
void twi_write_2byte(uint16_t buf, uint8_t addr)
{
twi_start();
twi_write(addr << 1); /* slave addr */
twi_write(0x00); /* register addr */
twi_write(buf);
twi_write(buf >> 8);
twi_stop();
}
uint8_t i2c_writeByte( uint8_t dev_addr, uint8_t data_addr, uint8_t data ){
twi_start( );
twi_send( I2C_ADDR_WRITE(dev_addr) );
twi_send( data_addr );
twi_send( data );
twi_stop( );
return 0;
}
void l3gd20h_read(int16_t *x, int16_t *y, int16_t *z)
{
char xl, xh, yl, yh, zl, zh;
twi_start();
twi_send_address(L3GD20H::ADDRW);
twi_send_data(L3GD20H::OUT_X_L|(1<<7));
twi_start();
twi_send_address(L3GD20H::ADDRR); //read
twi_read_data(&xl, 1);
twi_read_data(&xh, 1);
twi_read_data(&yl, 1);
twi_read_data(&yh, 1);
twi_read_data(&zl, 1);
twi_read_data(&zh, 0);
twi_stop();
*x = (int16_t)(xh << 8 | xl);
*y = (int16_t)(yh << 8 | yl);
*z = (int16_t)(zh << 8 | zl);
}
void lps25h_init()
{
// 0xB0 = 0b10110000
// PD = 1 (active mode); ODR = 011 (12.5 Hz pressure & temperature output data rate)
twi_start();
twi_send_address(LPS25H::ADDRW); //write
twi_send_data(LPS25H::CTRL_REG1);
twi_send_data(0xB0);
twi_stop();
}
void lsm303_read_mag(int16_t *x, int16_t *y, int16_t *z)
{
char xl, xh, yl, yh, zl, zh;
twi_start();
twi_send_address(LSM303::ADDRW);
twi_send_data(LSM303::D_OUT_X_L_M|(1<<7));
twi_start();
twi_send_address(LSM303::ADDRR); //read
twi_read_data(&xl, 1);
twi_read_data(&xh, 1);
twi_read_data(&yl, 1);
twi_read_data(&yh, 1);
twi_read_data(&zl, 1);
twi_read_data(&zh, 0);
twi_stop();
*x = (int16_t)(xh << 8 | xl);
*y = (int16_t)(yh << 8 | yl);
*z = (int16_t)(zh << 8 | zl);
}
void twi_clear(void){
int i = 0x00;
for(; i <=0x0E; i += 0x02){
twi_start();
twi_tx(0xE0);
twi_tx(i);
twi_tx(0x00);
twi_stop();
}
}
void twi_data(PATTERN_STRUCT pattern[]) //geeft een simpele pattern weer
{
twi_start();
twi_tx(0xE0);
for (int i = 0; i < 8; i++)
{
twi_tx(pattern[i].address);
twi_tx(pattern[i].data);
}
twi_stop();
}
void twi_data_inverse(PATTERN_STRUCT pattern[]) //geeft pattern weer (inverted) nog niet getest!
{
twi_start();
twi_tx(0xE0);
for (int i = 0; i < 8; i++)
{
twi_tx(pattern[i].address);
twi_tx(pattern[i].data |~(0xFF));
}
twi_stop();
}
