int main(int argc, char **argv) {
printf("Running ... \n");
// parse the command line
if (comparse(argc, argv) == EXIT_FAILURE) return showusage (EXIT_FAILURE);
if (!bcm2835_init())
{
printf("bcm2835_init failed. Are you running as root??\n");
return 1;
}
// I2C begin if specified
if (init == I2C_BEGIN)
{
if (!bcm2835_i2c_begin())
{
printf("bcm2835_i2c_begin failed. Are you running as root??\n");
return 1;
}
}
// If len is 0, no need to continue, but do I2C end if specified
if (len == 0) {
if (init == I2C_END) bcm2835_i2c_end();
printf("... done!\n");
return EXIT_SUCCESS;
}
bcm2835_i2c_setSlaveAddress(slave_address);
bcm2835_i2c_setClockDivider(clk_div);
fprintf(stderr, "Clock divider set to: %d\n", clk_div);
fprintf(stderr, "len set to: %d\n", len);
fprintf(stderr, "Slave address set to: %d\n", slave_address);
if (mode == MODE_READ) {
for (i=0; i<MAX_LEN; i++) buf[i] = 'n';
data = bcm2835_i2c_read(buf, len);
printf("Read Result = %d\n", data);
for (i=0; i<MAX_LEN; i++) {
if(buf[i] != 'n') printf("Read Buf[%d] = %x\n", i, buf[i]);
}
}
if (mode == MODE_WRITE) {
data = bcm2835_i2c_write(wbuf, len);
printf("Write Result = %d\n", data);
}
// This I2C end is done after a transfer if specified
if (init == I2C_END) bcm2835_i2c_end();
bcm2835_close();
printf("... done!\n");
return 0;
}
/** Enable or disable I2C,
* @param isEnabled true = enable, false = disable
*/
void I2Cdev::enable(bool isEnabled) {
if ( set_I2C_pins ){
if (isEnabled)
bcm2835_i2c_end();
else
bcm2835_i2c_begin() ;
}
}
/*
* Enable or disable I2C,
* @param isEnabled true = enable, false = disable
*/
void i2c_enable(int isEnabled) {
if (I2C_SET_PINS) {
if (isEnabled) {
bcm2835_i2c_end();
} else {
bcm2835_i2c_begin() ;
}
}
}
int readPage(int aI2CDevice, char aPage, unsigned char* aTagBuffer, int* aTagBufferLen)
{
int ret = BCM2835_I2C_REASON_ERROR_NACK; // Just needs to be not BCM2835_I2C_REASON_OK
int i;
struct s_cmdResponse* resp;
/* Set up command to select a tag */
cmdBuffer[0] = 2;
cmdBuffer[1] = SL030_READ_PAGE;
cmdBuffer[2] = aPage;
int tries = 0;
while ((tries++ < 12) && (ret != BCM2835_I2C_REASON_OK))
{
bcm2835_i2c_begin();
bcm2835_i2c_setSlaveAddress(SL030_ID);
ret = bcm2835_i2c_write(cmdBuffer, 3);
#if DEBUG
printf("write returned %d\n", ret);
#endif
usleep(12000);
memset(cmdBuffer, 0, CMD_BUF_LEN);
ret = bcm2835_i2c_read(cmdBuffer, cmdBufferLen);
bcm2835_i2c_end();
}
#if DEBUG
printf("read returned %d\n", ret);
for (i = 0; i < cmdBufferLen; i++)
{
printf("%02x ", cmdBuffer[i]);
}
printf("\n");
#endif
resp = (struct s_cmdResponse*)cmdBuffer;
#if DEBUG
printf("Length: %d\n", resp->iLength);
printf("Status: %d\n", resp->iStatus);
printf("Status: %u\n", (char)resp->iStatus);
#endif
if ((resp->iStatus == 0) && (resp->iLength > 2))
{
/* We found a tag! */
/* Copy the ID across */
/* drop 2 bytes from iLength: one each for command and status */
*aTagBufferLen = (resp->iLength - 2 > MAX_TAG_ID_LENGTH ? MAX_TAG_ID_LENGTH : resp->iLength-2);
memcpy(aTagBuffer, resp->iTag, *aTagBufferLen);
return 1;
}
else
{
return 0;
}
}
int main(int argc, char **argv) {
int first = 0x03, last = 0x77;
int flags = 0;
int version = 0;
while (1 + flags < argc && argv[1 + flags][0] == '-') {
switch (argv[1 + flags][1]) {
case 'V': version = 1; break;
case 'a':
first = 0x00;
last = 0x7F;
break;
default:
fprintf(stderr, "Warning: Unsupported flag \"-%c\"!\n", argv[1 + flags][1]);
//help(); // TODO
exit(1);
}
flags++;
}
if (version) {
fprintf(stderr, "i2cdetect version %s\n", VERSION);
exit(0);
}
if (bcm2835_init() != 1) {
fprintf(stderr, "bcm2835_init() failed\n");
exit(1);
}
bcm2835_i2c_begin();
bcm2835_i2c_setClockDivider(BCM2835_I2C_CLOCK_DIVIDER_2500); // 100kHz
int address;
for (address = 0x00; address <= 0x7F; address++) {
if (address < first || address > last) {
continue;
}
bcm2835_i2c_setSlaveAddress(address);
if (bcm2835_i2c_write(NULL, 0) == 0) {
printf("0x%.2X : 0x%.2X : %s\n", address, address << 1, lookup_device(address));
}
}
bcm2835_i2c_end();
bcm2835_close();
return 0;
}
/**
*@brief Initializes the I2C peripheral
*@param address Address the I2C peripheral is communicating with.
*@return none
*/
void I2C_Initialize(unsigned char address)
{
if (!bcm2835_init()) //Configure I2C pins
{
printf("BCM libray error.\n");
}
bcm2835_i2c_end(); //Close I2C peripheral to reconfigure it
bcm2835_i2c_begin(); //Set pins as I2C
bcm2835_i2c_set_baudrate(baudrate); //Set I2C baudrate
bcm2835_i2c_setClockDivider(BCM2835_I2C_CLOCK_DIVIDER_2500); //100 Khz
bcm2835_i2c_setSlaveAddress(address); //Set device address
}
int checkForTag(int aI2CDevice, unsigned char* aTagBuffer, int* aTagBufferLen)
{
int ret = 0;
int i;
struct s_cmdResponse* resp;
/* Set up command to select a tag */
cmdBuffer[0] = 1;
cmdBuffer[1] = SL030_CMD_SELECT;
bcm2835_i2c_begin();
bcm2835_i2c_setSlaveAddress(SL030_ID);
ret = bcm2835_i2c_write(cmdBuffer, 2);
#if DEBUG
printf("write returned %d\n", ret);
#endif
usleep(30000);
memset(cmdBuffer, 0, CMD_BUF_LEN);
ret = bcm2835_i2c_read(cmdBuffer, cmdBufferLen);
bcm2835_i2c_end();
#if DEBUG
printf("read returned %d\n", ret);
for (i = 0; i < cmdBufferLen; i++)
{
printf("%02x ", cmdBuffer[i]);
}
printf("\n");
#endif
resp = (struct s_cmdResponse*)cmdBuffer;
#if DEBUG
printf("Length: %d\n", resp->iLength);
printf("Status: %d\n", resp->iStatus);
printf("Status: %u\n", (char)resp->iStatus);
#endif
/* We'll get a status of 128 for success on a Pi 1, and 0 for any later Pi models */
if ( ((resp->iStatus == 128) || (resp->iStatus == 0)) && (resp->iLength > 2) )
{
/* We found a tag! */
/* Copy the ID across */
/* drop 3 bytes from iLength: one each for command, status and tag type */
*aTagBufferLen = (resp->iLength - 3 > MAX_TAG_ID_LENGTH ? MAX_TAG_ID_LENGTH : resp->iLength-3);
memcpy(aTagBuffer, resp->iTag, *aTagBufferLen);
return 1;
}
else
{
return 0;
}
}
IMU::IMU(void)
{
char buf[1];
bcm2835_init();
bcm2835_i2c_begin();
bcm2835_i2c_setSlaveAddress(MPU6050_ADDRESS);
WriteRegister(SMPRT_DIV,0x07); // Set the sample rate to 1000Hz - 8kHz/(7+1) = 1000Hz
WriteRegister(CONFIG,0x00); // Disable FSYNC and set 260 Hz Acc filtering, 256 Hz Gyro filtering, 8 KHz sampling
WriteRegister(GYRO_CONFIG,0x00); //250dpi
WriteRegister(ACCEL_CONFIG,0x00); //2g resolution
WriteRegister(PWR_MGMT_1,0x00); //sleep mode disabled
regaddr[0]=WHO_AM_I;
bcm2835_i2c_write(regaddr, 1);
bcm2835_i2c_read(buf, 1);
if(buf[0]==0x88)
{
printf("sensor config was successful WHO_AM_I: %x\n",buf[0]);
}
else
{
printf("sensor config was unsuccessful, %x\n",buf[0]);
}
bcm2835_i2c_end();
///////////SETUP VARIABLES
ReadGyr();
ReadAccel();
#ifdef RESTRICT_PITCH // Eq. 25 and 26
KFData.roll = atan2(AData.y, AData.z) * RAD_TO_DEG;
KFData.pitch = atan(-AData.x / sqrt(AData.y * AData.y + AData.z * AData.z)) * RAD_TO_DEG;
#else // Eq. 28 and 29
KFData.roll = atan(AData.y / sqrt(AData.x * AData.x + AData.z * AData.z)) * RAD_TO_DEG;
KFData.pitch = atan2(-AData.x, AData.z) * RAD_TO_DEG;
#endif
kalmanX.setAngle(KFData.roll); // Set starting angle
kalmanY.setAngle(KFData.pitch);
}
void ArduiPi_OLED::close(void)
{
// De-Allocate memory for OLED buffer if any
if (poledbuff)
free(poledbuff);
poledbuff = NULL;
// Release Raspberry SPI
if ( isSPI() )
bcm2835_spi_end();
// Release Raspberry I2C
if ( isI2C() )
bcm2835_i2c_end();
// Release Raspberry I/O control
bcm2835_close();
}
/*
* Function: i2c_test
* Description: be used to test I2C related functions by using the PCF8574 module
*/
void i2c_test(void)
{
uint8_t i2cWBuf[10] = {0x00};
uint8_t i2cRBuf[10] = {0X00};
printf("--------------->Test I2C With Pcf8574<--------------\n");
i2cWBuf[0] = 0x40;
bcm2835_i2c_begin();
bcm2835_i2c_setSlaveAddress(PCF8574_ADDR); //set the slave address
bcm2835_i2c_set_baudrate(400000); //set the speed of the SDA 400kb/s
bcm2835_i2c_write(i2cWBuf,1);
bcm2835_i2c_read(i2cRBuf, 1);
if(i2cWBuf[0] == i2cRBuf[0])
printf("I2C interface work well !...\n");
else
printf("I2C interface work bad!...\n");
bcm2835_i2c_end();
printf("==============Test Over Of I2C=================\n");
}
int ReadRegisterPair(int REG_H)
{
char buf[1];
int ret;
int value = 0;
bcm2835_i2c_begin();
bcm2835_i2c_setSlaveAddress(MPU6050_ADDRESS);
regaddr[0]=REG_H;
ret = BCM2835_I2C_REASON_ERROR_DATA;
while(ret != BCM2835_I2C_REASON_OK)
{
//This is the basic operation to read an register
//regaddr[0] is the register address
//buf[0] is the value
bcm2835_i2c_write(regaddr, 1);
ret = bcm2835_i2c_read(buf, 1);
//printf("%d\n",ret);
}
value = buf[0]<<8;
regaddr[0]=(REG_H+1);
ret = BCM2835_I2C_REASON_ERROR_DATA;
while(ret != BCM2835_I2C_REASON_OK)
{
bcm2835_i2c_write(regaddr, 1);
ret = bcm2835_i2c_read(buf, 1);
}
value += buf[0];
if (value & 1<<15)
{
value -= 1<<16;
}
bcm2835_i2c_end();
//printf("%d ",value);
return value;
}
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
char temp[1]; //temporary values
int ret;
int ad[2];
bcm2835_i2c_begin();
bcm2835_i2c_setSlaveAddress(0x29); // addr pin attached to ground
bcm2835_i2c_set_baudrate(1000); // Default
temp[0] = 0xa0; //select the control register
bcm2835_i2c_write(temp,1);
temp[0] = 0x03; //Power up the device
bcm2835_i2c_write(temp,1);
bcm2835_delay(500);
bcm2835_i2c_read(temp,1);
printf("%x - if 33 the device is turned on\n",temp[0]);
temp[0] = 0xac; //Channel 0 lower byte
bcm2835_i2c_write(temp,1);
bcm2835_i2c_read(temp,1);
ad[1]= (int)temp[0];
temp[0] = 0xad; //channel 0 upper byte
bcm2835_i2c_write(temp,1);
bcm2835_i2c_read(temp,1);
ad[0] = (int)temp[0];
printf("ad value:%d\n",ad[0]*256+ad[1]);
bcm2835_i2c_end();
bcm2835_close();
return 0;
}
void mcp7941x_end (void) {
bcm2835_i2c_end();
bcm2835_close();
}
static PyObject *
PyBCM2835_i2c_end(PyObject *self)
{
bcm2835_i2c_end();
Py_RETURN_NONE;
}
int end_all(I2CVariables *i2c_var) {
bcm2835_i2c_end();
return I2CVariables_end(i2c_var);
}
//void bcm2835_i2c_end(void);
/// Call bcm2835_i2c_end
/// \par Refer
/// \par Modify
void ope_i2c_end(void)
{
bcm2835_i2c_end();
}
/**
*@brief Closes the I2C peripheral
*@param none
*@return none
*/
void I2C_Close(void)
{
bcm2835_i2c_end();
}
