error_t pca9685ReadBytes(uint8_t reg, uint8_t *buffer, size_t length)
{
uint32_t i;
/* Try to avoid buffer overflow */
ASSERT(length <= I2C_BUFSIZE, ERROR_BUFFEROVERFLOW);
/* Read and write need to be handled in separate transactions or the
PCA9685 increments the current register one step ahead of where
we should be. */
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = _pca9685Address;
I2CMasterBuffer[1] = reg;
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = length;
I2CMasterBuffer[0] = _pca9685Address | PCA9685_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Fill the buffer with the I2C response */
for ( i = 0; i < length; i++ )
{
buffer[i] = I2CSlaveBuffer[i];
}
return ERROR_NONE;
}
err_t adxl345GetXYZ(int16_t *x, int16_t *y, int16_t *z)
{
int32_t i2cState;
if (!_adxl345Initialised)
{
ASSERT_STATUS(adxl345Init());
}
I2CWriteLength = 2;
I2CReadLength = 6;
I2CMasterBuffer[0] = ADXL345_ADDRESS;
I2CMasterBuffer[1] = ADXL345_REG_DATAX0;
I2CMasterBuffer[2] = ADXL345_ADDRESS | ADXL345_READBIT;
i2cState = i2cEngine();
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cState);
/* Shift values to create properly formed integer */
*x = (I2CSlaveBuffer[1] << 8) | (I2CSlaveBuffer[0]);
*y = (I2CSlaveBuffer[3] << 8) | (I2CSlaveBuffer[2]);
*z = (I2CSlaveBuffer[5] << 8) | (I2CSlaveBuffer[4]);
return ERROR_NONE;
}
error_t mpl115a2ReadPressureTemp(uint16_t *pressure, uint16_t *temp)
{
I2CWriteLength = 3;
I2CReadLength = 1;
I2CMasterBuffer[0] = MPL115A2_ADDRESS;
I2CMasterBuffer[1] = MPL115A2_REGISTER_STARTCONVERSION;
I2CMasterBuffer[2] = 0x00; // Why is this necessary to get results?
i2cEngine();
/* Wait a bit for the conversion to complete (3ms max) */
delay(4);
I2CWriteLength = 2;
I2CReadLength = 4;
I2CMasterBuffer[0] = MPL115A2_ADDRESS;
I2CMasterBuffer[1] = MPL115A2_REGISTER_PRESSURE_MSB;
I2CMasterBuffer[2] = MPL115A2_ADDRESS | MPL115A2_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Shift values to create properly formed integers */
*pressure = ((I2CSlaveBuffer[0] << 8) | (I2CSlaveBuffer[1])) >> 6;
*temp = ((I2CSlaveBuffer[2] << 8) | (I2CSlaveBuffer[3])) >> 6;
return ERROR_NONE;
}
error_t mpl115a2ReadCoefficients(void)
{
int16_t a0coeff;
int16_t b1coeff;
int16_t b2coeff;
int16_t c12coeff;
I2CWriteLength = 2;
I2CReadLength = 8;
I2CMasterBuffer[0] = MPL115A2_ADDRESS;
I2CMasterBuffer[1] = MPL115A2_REGISTER_A0_COEFF_MSB;
I2CMasterBuffer[2] = MPL115A2_ADDRESS | MPL115A2_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
a0coeff = (I2CSlaveBuffer[0] << 8 ) | I2CSlaveBuffer[1];
b1coeff = (I2CSlaveBuffer[2] << 8 ) | I2CSlaveBuffer[3];
b2coeff = (I2CSlaveBuffer[4] << 8 ) | I2CSlaveBuffer[5];
c12coeff = ((I2CSlaveBuffer[6] << 8 ) | I2CSlaveBuffer[7]) >> 2;
_mpl115a2_a0 = (float)a0coeff / 8;
_mpl115a2_b1 = (float)b1coeff / 8192;
_mpl115a2_b2 = (float)b2coeff / 16384;
_mpl115a2_c12 = (float)c12coeff / 4194304;
return ERROR_NONE;
}
err_t tsl2561WriteCmd (uint8_t cmd)
{
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = TSL2561_ADDRESS;
I2CMasterBuffer[1] = cmd;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
error_t lsm303accelWrite8(uint8_t addr, uint8_t reg, uint8_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = addr;
I2CMasterBuffer[1] = reg;
I2CMasterBuffer[2] = (value);
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
static err_t adxl345Write8 (uint8_t reg, uint8_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = ADXL345_ADDRESS;
I2CMasterBuffer[1] = reg;
I2CMasterBuffer[2] = value;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
err_t tsl2561Write8 (uint8_t reg, uint32_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = TSL2561_ADDRESS;
I2CMasterBuffer[1] = reg;
I2CMasterBuffer[2] = (value & 0xFF);
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
error_t tcs34725Write8 (uint8_t reg, uint8_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = TCS34725_ADDRESS;
I2CMasterBuffer[1] = TCS34725_COMMAND_BIT | reg;
I2CMasterBuffer[2] = value;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
error_t lm75bWrite8 (uint8_t reg, uint32_t value)
{
I2CWriteLength = 3;
I2CReadLength = 0;
I2CMasterBuffer[0] = LM75B_ADDRESS; // I2C device address
I2CMasterBuffer[1] = reg; // Command register
I2CMasterBuffer[2] = (value & 0xFF); // Value to write
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
error_t cmd_i2cWriteWrapper(uint8_t addr, uint8_t len, uint8_t* values)
{
uint8_t i;
I2CWriteLength = len;
I2CReadLength = 0;
I2CMasterBuffer[0] = (addr << 1);
/* Copy payload into the buffer */
for (i=0;i<len-1;i++)
{
I2CMasterBuffer[i+1] = values[i];
}
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
static err_t adxl345Read8(uint8_t reg, uint8_t *value)
{
I2CWriteLength = 2;
I2CReadLength = 1;
I2CMasterBuffer[0] = ADXL345_ADDRESS;
I2CMasterBuffer[1] = reg;
/* Append address w/read bit */
I2CMasterBuffer[2] = ADXL345_ADDRESS | ADXL345_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Shift values to create properly formed integer */
*value = I2CSlaveBuffer[0];
return ERROR_NONE;
}
error_t tcs34725Read8(uint8_t reg, uint8_t *value)
{
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = TCS34725_ADDRESS;
I2CMasterBuffer[1] = TCS34725_COMMAND_BIT | reg;
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = 1;
I2CMasterBuffer[0] = TCS34725_ADDRESS | TCS34725_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
*value = I2CSlaveBuffer[0];
return ERROR_NONE;
}
error_t tcs34725Read16(uint8_t reg, uint16_t *value)
{
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = TCS34725_ADDRESS;
I2CMasterBuffer[1] = TCS34725_COMMAND_BIT | reg;
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = 2;
I2CMasterBuffer[0] = TCS34725_ADDRESS | TCS34725_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Shift values to create properly formed integer (low byte first) */
*value = (I2CSlaveBuffer[0] | (I2CSlaveBuffer[1] << 8));
return ERROR_NONE;
}
error_t lsm303accelRead8(uint8_t addr, uint8_t reg, uint8_t *value)
{
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = addr;
I2CMasterBuffer[1] = reg;
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = 1;
I2CMasterBuffer[0] = addr | 0x01;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
/* Send received value back to the caller */
*value = I2CSlaveBuffer[0];
return ERROR_NONE;
}
error_t lm75bRead16(uint8_t reg, int32_t *value)
{
I2CWriteLength = 2;
I2CReadLength = 2;
I2CMasterBuffer[0] = LM75B_ADDRESS;
I2CMasterBuffer[1] = reg;
I2CMasterBuffer[2] = LM75B_ADDRESS | LM75B_READBIT;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
// Shift values to create properly formed integer
*value = ((I2CSlaveBuffer[0] << 8) | I2CSlaveBuffer[1]) >> 5;
// Sign extend negative numbers
if (I2CSlaveBuffer[0] & 0x80)
{
// Negative number
*value |= 0xFFFFFC00;
}
return ERROR_NONE;
}
error_t pca9685WriteBytes(uint8_t reg, uint8_t *buffer, size_t length)
{
uint32_t i;
/* Try to avoid buffer overflow */
ASSERT(length <= I2C_BUFSIZE - 2, ERROR_BUFFEROVERFLOW);
/* Fill write buffer */
for ( i = 2; i < length+2; i++ )
{
I2CMasterBuffer[i] = buffer[i-2];
}
/* Write transaction */
I2CWriteLength = 2+length;
I2CReadLength = 0;
I2CMasterBuffer[0] = _pca9685Address;
I2CMasterBuffer[1] = reg;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
return ERROR_NONE;
}
error_t lsm303accelRead48(uint8_t addr, uint8_t reg, uint8_t buffer[6])
{
/* Write transaction */
I2CWriteLength = 2;
I2CReadLength = 0;
I2CMasterBuffer[0] = addr;
I2CMasterBuffer[1] = reg | (0x80);
i2cEngine();
/* Read transaction */
I2CWriteLength = 0;
I2CReadLength = 6;
I2CMasterBuffer[0] = addr | 0x01;
/* Check if we got an ACK or TIMEOUT error */
ASSERT_I2C_STATUS(i2cEngine());
uint8_t i;
for (i = 0; i < 6; i++)
{
buffer[i] = I2CSlaveBuffer[i];
}
return ERROR_NONE;
}