uint8_t MPU6050_Setup(void)
{
I2C_Setup();
uint8_t data[2] = {0,0};
data[0] = MPU6050_CLOCK_PLL_ZGYRO;
if(I2C_WriteData(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, data, 1))//电源管理，典型值：0x00(正常启用)
return 1;
delay_ms(2);
data[0] = 0x07;
if(I2C_WriteData(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SMPLRT_DIV, data, 1))//陀螺仪采样率，典型值：0x04，五分频
return 2;
delay_ms(2);
data[0] = MPU6050_CONFIG_DLPF_CFG_95HZ;
if(I2C_WriteData(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, data, 1))//低通滤波频率，典型值：0x02(截止频率100Hz)
return 3;
delay_ms(2);
data[0] = MPU6050_GYRO_CONFIG_FS_SEL_1000;
data[1] = MPU6050_ACCEL_CONFIG_HPF_5HZ|MPU6050_ACCEL_CONFIG_FS_SEL_8G;
I2C_WriteData(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, data, 2);//加速计自检、测量范围及高通滤波频率，典型值：0x10(不自检，8G，5Hz)
delay_ms(10);
__loop_cnt_acc__ = 0;
__loop_cnt_gyro__ = 0;
return 0;
}
//--------------------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------------------
int main(int argc, char **argv)
{
uint32 Counter;
int16 Temperature;
uint8 Humidity;
uint8 HwRev;
char Mode;
Counter = 0;
Mode = 0;
HwRev = GetRaspberryHwRevision();
if((argc > 1) && ((argv[1][0]=='S') || (argv[1][0]=='L') || (argv[1][0]=='C'))) Mode = argv[1][0];
if(!Mode)
{
printf("Raspi-SHT21 V3.0.0 by Martin Steppuhn (www.emsystech.de) [" __DATE__ " " __TIME__"]\n");
printf("Options:\n");
printf(" S : [20.0 99]\n");
printf(" L : [temperature=20.0][humidity=99]\n");
printf(" C : [Temperature,20,0][Humidity,99]\n");
printf("RaspberryHwRevision=%i\r\n",HwRev);
}
if(HwRev < 2) I2C_Open("/dev/i2c-0"); // Hardware Revision 1.0
else I2C_Open("/dev/i2c-1"); // Hardware Revision 2.0
I2C_Setup(I2C_SLAVE, 0x40);
if(I2cError)
{
I2C_PrintError();
exit(1);
}
SHT21_Read(&Temperature,&Humidity);
if(Sht21Error == 0)
{
if( Mode == 'S') printf("%.1f\t%u\n",((float)Temperature)/10,Humidity);
else if(Mode == 'L') printf("temperature=%.1f\nhumidity=%u\n",((float)Temperature)/10,Humidity);
else if(Mode == 'C') printf("Temperature,%.1f\nHumidity,%u\n",((float)Temperature)/10,Humidity);
else
{
while(1)
{
SHT21_Read(&Temperature,&Humidity);
if(Sht21Error == 0) printf("%lu\t%.1f\t%u\n",Counter++,((float)Temperature)/10,Humidity);
else { PrintSht21Error(); I2cError = 0; }
DelayMs(1000);
}
}
}
else
{
PrintSht21Error();
}
I2C_Close();
return(0);
}
uint8_t US_Setup(uint8_t port)
{
if(I2C_Setup(port, US_ADDR, US_I2C_WAIT)){
return 0;
}
A_Config(port, MASK_9V); // enable 9v on this port
return 1;
}
/*
* ----------------------------------------------------------------------------
* Function Name: I2C_Init
* Purpose:
* Params:
* Returns:
* Note:
* ----------------------------------------------------------------------------
*/
void I2C_Init(void)
{
switch (CSREPR & (BIT6|BIT7))
{
case SYS_CLK_100M :
/* I2C master mode, interrupt enable, fast mode in slave, 7-bits address, 400KHz at 100M */
I2C_Setup(I2C_ENB|I2C_FAST|I2C_MST_IE|I2C_7BIT|I2C_MASTER_MODE, 0x0031, 0x005A);
break;
case SYS_CLK_50M :
/* I2C master mode, interrupt enable, fast mode in slave, 7-bits address, 400KHz at 50M */
I2C_Setup(I2C_ENB|I2C_FAST|I2C_MST_IE|I2C_7BIT|I2C_MASTER_MODE, 0x0018, 0x005A);
break;
case SYS_CLK_25M :
/* I2C master mode, interrupt enable, fast mode in slave, 7-bits address, 400KHz at 25M */
I2C_Setup(I2C_ENB|I2C_FAST|I2C_MST_IE|I2C_7BIT|I2C_MASTER_MODE, 0x000c, 0x005A);
break;
}
}
BMP180::BMP180(unsigned int o, int rpi_version)
{
if ((o < BMP180_ULTRALOWPOWER) or (o > BMP180_ULTRAHIGHRES))
throw std::runtime_error("Invalid mode!");
else
oss = o;
if ((fd = I2C_Setup(BMP180_ADR, rpi_version)) < 0)
throw std::runtime_error("Failed to open I2C bus!");
else
{
this->LoadCalibration();
this->setBasePressure();
}
}
void Setup_MPU6050()
{
I2C_Setup();
//Sets sample rate to 1000/1+1 = 500Hz
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x01);
//Disable FSync, 48Hz DLPF
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_CONFIG, 0x03);
//Disable gyro self tests, scale of 500 degrees/s
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_GYRO_CONFIG, 0x04);
//Disable accel self tests, scale of +-4g, no DHPF
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_ACCEL_CONFIG, 0x04);
//Freefall threshold of <|0mg|
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_FF_THR, 0x00);
//Freefall duration limit of 0
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_FF_DUR, 0x00);
//Motion threshold of >0mg
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_MOT_THR, 0x00);
//Motion duration of >0s
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_MOT_DUR, 0x00);
//Zero motion threshold
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_ZRMOT_THR, 0x00);
//Zero motion duration threshold
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_ZRMOT_DUR, 0x00);
//Disable sensor output to FIFO buffer
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_FIFO_EN, 0x00);
//AUX I2C setup
//Sets AUX I2C to single master control, plus other config
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_MST_CTRL, 0x00);
//Setup AUX I2C slaves
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_ADDR, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_REG, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_CTRL, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_ADDR, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_REG, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_CTRL, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_ADDR, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_REG, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_CTRL, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_ADDR, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_REG, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_CTRL, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_ADDR, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_REG, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DO, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_CTRL, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV4_DI, 0x00);
//MPU6050_RA_I2C_MST_STATUS //Read-only
//Setup INT pin and AUX I2C pass through
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_INT_PIN_CFG, 0x00);
//Enable data ready interrupt
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_INT_ENABLE, 0x00);
//MPU6050_RA_DMP_INT_STATUS //Read-only
//MPU6050_RA_INT_STATUS 3A //Read-only
//MPU6050_RA_ACCEL_XOUT_H //Read-only
//MPU6050_RA_ACCEL_XOUT_L //Read-only
//MPU6050_RA_ACCEL_YOUT_H //Read-only
//MPU6050_RA_ACCEL_YOUT_L //Read-only
//MPU6050_RA_ACCEL_ZOUT_H //Read-only
//MPU6050_RA_ACCEL_ZOUT_L //Read-only
//MPU6050_RA_TEMP_OUT_H //Read-only
//MPU6050_RA_TEMP_OUT_L //Read-only
//MPU6050_RA_GYRO_XOUT_H //Read-only
//MPU6050_RA_GYRO_XOUT_L //Read-only
//MPU6050_RA_GYRO_YOUT_H //Read-only
//MPU6050_RA_GYRO_YOUT_L //Read-only
//MPU6050_RA_GYRO_ZOUT_H //Read-only
//MPU6050_RA_GYRO_ZOUT_L //Read-only
//MPU6050_RA_EXT_SENS_DATA_00 //Read-only
//MPU6050_RA_EXT_SENS_DATA_01 //Read-only
//MPU6050_RA_EXT_SENS_DATA_02 //Read-only
//MPU6050_RA_EXT_SENS_DATA_03 //Read-only
//MPU6050_RA_EXT_SENS_DATA_04 //Read-only
//MPU6050_RA_EXT_SENS_DATA_05 //Read-only
//MPU6050_RA_EXT_SENS_DATA_06 //Read-only
//MPU6050_RA_EXT_SENS_DATA_07 //Read-only
//MPU6050_RA_EXT_SENS_DATA_08 //Read-only
//MPU6050_RA_EXT_SENS_DATA_09 //Read-only
//MPU6050_RA_EXT_SENS_DATA_10 //Read-only
//MPU6050_RA_EXT_SENS_DATA_11 //Read-only
//MPU6050_RA_EXT_SENS_DATA_12 //Read-only
//MPU6050_RA_EXT_SENS_DATA_13 //Read-only
//MPU6050_RA_EXT_SENS_DATA_14 //Read-only
//MPU6050_RA_EXT_SENS_DATA_15 //Read-only
//MPU6050_RA_EXT_SENS_DATA_16 //Read-only
//MPU6050_RA_EXT_SENS_DATA_17 //Read-only
//MPU6050_RA_EXT_SENS_DATA_18 //Read-only
//MPU6050_RA_EXT_SENS_DATA_19 //Read-only
//MPU6050_RA_EXT_SENS_DATA_20 //Read-only
//MPU6050_RA_EXT_SENS_DATA_21 //Read-only
//MPU6050_RA_EXT_SENS_DATA_22 //Read-only
//MPU6050_RA_EXT_SENS_DATA_23 //Read-only
//MPU6050_RA_MOT_DETECT_STATUS //Read-only
//Slave out, dont care
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV0_DO, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV1_DO, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV2_DO, 0x00);
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_SLV3_DO, 0x00);
//More slave config
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_I2C_MST_DELAY_CTRL, 0x00);
//Reset sensor signal paths
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_SIGNAL_PATH_RESET, 0x00);
//Motion detection control
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_MOT_DETECT_CTRL, 0x00);
//Disables FIFO, AUX I2C, FIFO and I2C reset bits to 0
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_USER_CTRL, 0x00);
//Sets clock source to gyro reference w/ PLL
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0b00000010);
//Controls frequency of wakeups in accel low power mode plus the sensor standby modes
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_PWR_MGMT_2, 0x00);
//MPU6050_RA_BANK_SEL //Not in datasheet
//MPU6050_RA_MEM_START_ADDR //Not in datasheet
//MPU6050_RA_MEM_R_W //Not in datasheet
//MPU6050_RA_DMP_CFG_1 //Not in datasheet
//MPU6050_RA_DMP_CFG_2 //Not in datasheet
//MPU6050_RA_FIFO_COUNTH //Read-only
//MPU6050_RA_FIFO_COUNTL //Read-only
//Data transfer to and from the FIFO buffer
I2C_RegisterSet(I2C0, MPU6050_ADDRESS, MPU6050_RA_FIFO_R_W, 0x00);
//MPU6050_RA_WHO_AM_I //Read-only, I2C address
//printf("\f");
printf("\nMPU6050 Setup Complete");
}
int main(int argc, char **argv)
{
I16 card, err;
U16 card_num;
U32 I2C_ReadCmdAddr;
U32 I2C_ReadData;
U32 I2C_WriteCmdAddr;
U32 I2C_WriteData;
U16 I2C_SlaveAddr;
U32 vi = 0;
U16 PatType;
printf("This sample tests I2C Read/Write Operations.\n");
printf("It will write a byte-data to and then read from 0 ~ %d Cmd/Addr.\n", I2C_WRTCNT-1);
printf("Card Number? ");
scanf(" %hd", &card_num);
printf("I2C Slave Address? ");
scanf(" %hd", &I2C_SlaveAddr);
printf("Increasing or Decreasing Pattern? [0]Increasing [1]Decreasing ");
scanf(" %hd", &PatType);
PatType &= 0x1;
/*Open and initialize device*/
card = Register_Card(
PCI_7350, /*Card type*/
card_num /*Card number*/
);
if(card<0){
printf("Register_Card Error: %d\n", card);
exit(1);
}
/*
* Set AFI voltage level
* AFI0/AFI1 will be set to I2C mode automatically if I2C is enabled.
*/
err = DIO_VoltLevelConfig(
card, /*Card handle*/
P7350_PortAFI, /*AFI voltage level to be set*/
VoltLevel_3R3 /*Voltage level to be set*/
);
if(err<0){
printf("DIO_7350_SetVoltLevel Error: %d\n", err);
Release_Card(card);
exit(1);
}
/*Setup I2C*/
err = I2C_Setup(
card,
I2C_Port_A, /*I2C port to be set*/
0, /*Not used in 7350*/
0xff, /*The parameter is used to set Pre-clock in 7350*/
0 /*Not used in 7350*/
);
if(err<0){
printf("I2C_Setup Error: %d\n", err);
Release_Card(card);
exit(1);
}
/*
* Enable I2C
* AFI0/AFI1 will be set to I2C mode automatically.
*/
err = I2C_Control(
card,
I2C_Port_A,
I2C_ENABLE, /*Operation item*/
1 /*Enable opertion item*/
);
if(err<0){
printf("I2C_Control Error: %d\n", err);
Release_Card(card);
exit(1);
}
do{
/*Write*/
I2C_WriteCmdAddr = vi&0xff;
I2C_WriteData = (!PatType)? I2C_WriteCmdAddr:255-I2C_WriteCmdAddr;
err = I2C_Write(
card,
I2C_Port_A,
I2C_SlaveAddr, /*Slave device address*/
1, /*Address byte count to be written*/
1, /*Data byte count to be written*/
I2C_WriteCmdAddr, /*Cmd/Addr to be written*/
I2C_WriteData /*Data to be written*/
);
if(err<0){
printf("I2C_Write Error: %d\n", err);
I2C_Control(card, I2C_Port_A, I2C_ENABLE, 0);
Release_Card(card);
exit(1);
}
usleep(10000); //Wait for writing I2C EEPROM latency
/*Read*/
I2C_ReadCmdAddr = I2C_WriteCmdAddr;
err = I2C_Read(
card,
I2C_Port_A,
I2C_SlaveAddr, /*Slave device address*/
1, /*Address byte count to be read*/
1, /*Data byte count to be read*/
I2C_ReadCmdAddr, /*Cmd/Addr to be read*/
&I2C_ReadData /*read Data*/
);
if(err<0){
printf("I2C_Read Error: %d\n", err);
I2C_Control(card, I2C_Port_A, I2C_ENABLE, 0);
Release_Card(card);
exit(1);
}
printf("Read Addr(%ld): %ld\n", I2C_ReadCmdAddr, I2C_ReadData);
vi++;
}while((vi<256)&&(!kbhit()));
/*Disable I2C*/
err = I2C_Control(
card,
I2C_Port_A,
I2C_ENABLE, /*Opertion item*/
0 /*Disble opertion item*/
);
if(err<0){
printf("I2C_Control Error: %d\n", err);
Release_Card(card);
exit(1);
}
else
printf("I2C disabled\n");
printf("Press any key to exit...\n");
getch();
Release_Card(card);
return 0;
}
