static int es_read_reg(uint8_t reg_add, uint8_t *pData)
{
uint8_t data;
int res = 0;
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
res |= i2c_master_start(cmd);
res |= i2c_master_write_byte(cmd, ES8388_ADDR, 1 /*ACK_CHECK_EN*/);
res |= i2c_master_write_byte(cmd, reg_add, 1 /*ACK_CHECK_EN*/);
res |= i2c_master_stop(cmd);
res |= i2c_master_cmd_begin(0, cmd, 1000 / portTICK_RATE_MS);
i2c_cmd_link_delete(cmd);
cmd = i2c_cmd_link_create();
res |= i2c_master_start(cmd);
res |= i2c_master_write_byte(cmd, ES8388_ADDR | 0x01, 1 /*ACK_CHECK_EN*/);
res |= i2c_master_read_byte(cmd, &data, 0x01/*NACK_VAL*/);
res |= i2c_master_stop(cmd);
res |= i2c_master_cmd_begin(0, cmd, 1000 / portTICK_RATE_MS);
i2c_cmd_link_delete(cmd);
ES_ASSERT(res, "es_read_reg error", -1);
*pData = data;
return res;
}
void rtc_writeValue(time_t newTime) {
ESP_LOGD(tag, ">> writeValue: %ld", newTime);
struct tm tm;
gmtime_r(&newTime, &tm);
char buf[30];
ESP_LOGD(tag, " - %s", asctime_r(&tm, buf));
esp_err_t errRc;
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
ESP_ERROR_CHECK(i2c_master_start(cmd));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (RTC_ADDRESS << 1) | I2C_MASTER_WRITE, 1 /* expect ack */));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, 0x03, 1));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, intToBCD(tm.tm_sec), 1)); // seconds
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, intToBCD(tm.tm_min), 1 )); // minutes
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, intToBCD(tm.tm_hour), 1 )); // hours
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, intToBCD(tm.tm_mday), 1)); // date of month
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, intToBCD(tm.tm_wday+1), 1 )); // week day
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, intToBCD(tm.tm_mon+1), 1)); // month
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, intToBCD(tm.tm_year-100), 1)); // year
ESP_ERROR_CHECK(i2c_master_stop(cmd));
errRc = i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
if (errRc != 0) {
ESP_LOGE(tag, "i2c_master_cmd_begin: %d", errRc);
}
i2c_cmd_link_delete(cmd);
}
/*
* PCF8523 slightly changed its 7 bytes encoded in BCD:
* 03h - Seconds - 00-59
* 04h - Minutes - 00-59
* 05h - Hours - 00-23
* 06h - monthday - 01-31
* 07h - weekday - 00-06
* 08h - Month - 01-12
* 09h - Year - 00-99
*
*/
time_t rtc_readValue() {
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
ESP_ERROR_CHECK(i2c_master_start(cmd));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (RTC_ADDRESS << 1) | I2C_MASTER_WRITE, true /* expect ack */));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, 0x03, 1)); // start address
ESP_ERROR_CHECK(i2c_master_start(cmd));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (RTC_ADDRESS << 1) | I2C_MASTER_READ, true /* expect ack */));
uint8_t data[7];
ESP_ERROR_CHECK(i2c_master_read(cmd, data, 7, false));
ESP_ERROR_CHECK(i2c_master_stop(cmd));
COMMANDCHECKOKERR(i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS),"RTC COMMAND");
i2c_cmd_link_delete(cmd);
int i;
for (i=0; i<7; i++) {
ESP_LOGD(tag, "%d: 0x%.2x", i, data[i]);
}
struct tm tm;
tm.tm_sec = bcdToInt(data[0]);
tm.tm_min = bcdToInt(data[1]);
tm.tm_hour = bcdToInt(data[2]);
tm.tm_mday = bcdToInt(data[3]);
tm.tm_mon = bcdToInt(data[5]) - 1; // 0-11 - Note: The month on the PCF8523 is 1-12.
tm.tm_year = bcdToInt(data[6]) + 100; // Years since 1900
time_t readTime = mktime(&tm);
return readTime;
}
int i2c_scan(int argc, char** argv)
{
int count = 1;
if (argc > 1)
count = atoi(argv[1]);
printf("Scanning for I2C devices (%d)\n", count);
for (int j = 0; j < count; ++j)
{
printf(" 0 1 2 3 4 5 6 7 8 9 a b c d e f\n");
printf("00: ");
for (int i = 3; i < 0x78; ++i)
{
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (i << 1) | I2C_MASTER_WRITE, 1 /* expect ack */);
i2c_master_stop(cmd);
const auto espRc = i2c_master_cmd_begin(I2C_NUM_0, cmd, 10/portTICK_PERIOD_MS);
if (i%16 == 0)
printf("\n%.2x:", i);
if (espRc == 0)
printf(" %.2x", i);
else
printf(" --");
//ESP_LOGD(tag, "i=%d, rc=%d (0x%x)", i, espRc, espRc);
i2c_cmd_link_delete(cmd);
}
printf("\n");
vTaskDelay(100/portTICK_PERIOD_MS);
}
return 0;
}
int i2c_write_read(uint8_t stop, uint8_t slave, uint8_t rsize, uint8_t *rbuf, uint8_t wsize, uint8_t *wbuf)
{
if (rsize == 0 && wsize == 0) {
return ESP_OK;
}
i2c_cmd_handle_t cmd;
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
if (wsize) {
i2c_master_write_byte(cmd, ( slave << 1 ) | I2C_MASTER_WRITE, ACK_CHECK);
i2c_master_write(cmd, wbuf, wsize, ACK_CHECK);
if (!rsize) {
i2c_master_stop(cmd); \
esp_err_t ret = i2c_master_cmd_begin(I2C_NUM, cmd, 1000 / portTICK_RATE_MS); \
i2c_cmd_link_delete(cmd);
// I2C_FINISH;
return ret;
}
if (stop) { // rsize is nonzero
i2c_master_stop(cmd); \
esp_err_t ret = i2c_master_cmd_begin(I2C_NUM, cmd, 1000 / portTICK_RATE_MS); \
i2c_cmd_link_delete(cmd);
// I2C_FINISH;
if (ret)
return -1;
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
} else {
i2c_master_start(cmd);
}
i2c_master_write_byte(cmd, ( slave << 1 ) | I2C_MASTER_READ, ACK_CHECK);
} else {
// rsize must be nonzero because of the initial check at the top
i2c_master_write_byte(cmd, ( slave << 1 ) | I2C_MASTER_READ, ACK_CHECK);
}
if (rsize > 1) {
i2c_master_read(cmd, rbuf, rsize - 1, ACK_VAL);
}
i2c_master_read_byte(cmd, rbuf + rsize - 1, NACK_VAL);
I2C_FINISH;
return ret;
}
static int es_write_reg(uint8_t slave_add, uint8_t reg_add, uint8_t data)
{
int res = 0;
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
res |= i2c_master_start(cmd);
res |= i2c_master_write_byte(cmd, slave_add, 1 /*ACK_CHECK_EN*/);
res |= i2c_master_write_byte(cmd, reg_add, 1 /*ACK_CHECK_EN*/);
res |= i2c_master_write_byte(cmd, data, 1 /*ACK_CHECK_EN*/);
res |= i2c_master_stop(cmd);
res |= i2c_master_cmd_begin(0, cmd, 1000 / portTICK_RATE_MS);
i2c_cmd_link_delete(cmd);
ES_ASSERT(res, "es_write_reg error", -1);
return res;
}
/*
* HAL callback function as prescribed by the U8G2 library. This callback is invoked
* to handle I2C communications.
*/
uint8_t u8g2_esp32_i2c_byte_cb(u8x8_t *u8x8, uint8_t msg, uint8_t arg_int, void *arg_ptr) {
ESP_LOGD(TAG, "i2c_cb: Received a msg: %d, arg_int: %d, arg_ptr: %p", msg, arg_int, arg_ptr);
switch(msg) {
case U8X8_MSG_BYTE_SET_DC: {
if (u8g2_esp32_hal.dc != U8G2_ESP32_HAL_UNDEFINED) {
gpio_set_level(u8g2_esp32_hal.dc, arg_int);
}
break;
}
case U8X8_MSG_BYTE_INIT: {
if (u8g2_esp32_hal.sda == U8G2_ESP32_HAL_UNDEFINED ||
u8g2_esp32_hal.scl == U8G2_ESP32_HAL_UNDEFINED) {
break;
}
i2c_config_t conf;
conf.mode = I2C_MODE_MASTER;
ESP_LOGI(TAG, "sda_io_num %d", u8g2_esp32_hal.sda);
conf.sda_io_num = u8g2_esp32_hal.sda;
conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
ESP_LOGI(TAG, "scl_io_num %d", u8g2_esp32_hal.scl);
conf.scl_io_num = u8g2_esp32_hal.scl;
conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
ESP_LOGI(TAG, "clk_speed %d", I2C_MASTER_FREQ_HZ);
conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
ESP_LOGI(TAG, "i2c_param_config %d", conf.mode);
ESP_ERROR_CHECK(i2c_param_config(I2C_MASTER_NUM, &conf));
ESP_LOGI(TAG, "i2c_driver_install %d", I2C_MASTER_NUM);
ESP_ERROR_CHECK(i2c_driver_install(I2C_MASTER_NUM, conf.mode, I2C_MASTER_RX_BUF_DISABLE, I2C_MASTER_TX_BUF_DISABLE, 0));
break;
}
case U8X8_MSG_BYTE_SEND: {
uint8_t* data_ptr = (uint8_t*)arg_ptr;
ESP_LOG_BUFFER_HEXDUMP(TAG, data_ptr, arg_int, ESP_LOG_VERBOSE);
while( arg_int > 0 ) {
ESP_ERROR_CHECK(i2c_master_write_byte(handle_i2c, *data_ptr, ACK_CHECK_EN));
data_ptr++;
arg_int--;
}
break;
}
case U8X8_MSG_BYTE_START_TRANSFER: {
uint8_t i2c_address = u8x8_GetI2CAddress(u8x8);
handle_i2c = i2c_cmd_link_create();
ESP_LOGD(TAG, "Start I2C transfer to %02X.", i2c_address>>1);
ESP_ERROR_CHECK(i2c_master_start(handle_i2c));
ESP_ERROR_CHECK(i2c_master_write_byte(handle_i2c, i2c_address | I2C_MASTER_WRITE, ACK_CHECK_EN));
break;
}
case U8X8_MSG_BYTE_END_TRANSFER: {
ESP_LOGD(TAG, "End I2C transfer.");
ESP_ERROR_CHECK(i2c_master_stop(handle_i2c));
ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_MASTER_NUM, handle_i2c, I2C_TIMEOUT_MS / portTICK_RATE_MS));
i2c_cmd_link_delete(handle_i2c);
break;
}
}
return 0;
} // u8g2_esp32_i2c_byte_cb
void task_hmc5883l(void *ignore) {
ESP_LOGD(tag, ">> hmc5883l");
i2c_config_t conf;
conf.mode = I2C_MODE_MASTER;
conf.sda_io_num = PIN_SDA;
conf.scl_io_num = PIN_CLK;
conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
conf.master.clk_speed = 100000;
ESP_ERROR_CHECK(i2c_param_config(I2C_NUM_0, &conf));
ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM_0, I2C_MODE_MASTER, 0, 0, 0));
uint8_t data[6];
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1);
i2c_master_write_byte(cmd, 0x02, 1); // 0x02 = "Mode register"
i2c_master_write_byte(cmd, 0x00, 1); // 0x00 = "Continuous-Measurement Mode"
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
//Set value in "Configuration Register B"
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1);
i2c_master_write_byte(cmd, 0x01, 1); // 0x01 = "Configuration Register B"
i2c_master_write_byte(cmd, 0x20, 1); // 0x20 = default Gain setting
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
//Set active register to "Identification Register A"
cmd = i2c_cmd_link_create();
ESP_ERROR_CHECK(i2c_master_start(cmd));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, 10, 1)); //10 = 0x0A = "Identification Register A"
ESP_ERROR_CHECK(i2c_master_stop(cmd));
ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 100/portTICK_PERIOD_MS));
i2c_cmd_link_delete(cmd);
//Get data from Identification Register A, B and C
cmd = i2c_cmd_link_create();
ESP_ERROR_CHECK(i2c_master_start(cmd));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_READ, 1));
i2c_master_read_byte(cmd, data, 0);
i2c_master_read_byte(cmd, data+1, 0);
i2c_master_read_byte(cmd, data+2, 1);
ESP_ERROR_CHECK(i2c_master_stop(cmd));
ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 100/portTICK_PERIOD_MS));
i2c_cmd_link_delete(cmd);
while(1) {
//Set active registert to "Data Output X MSB Register"
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1);
i2c_master_write_byte(cmd, 0x03, 1); //0x03 = "Data Output X MSB Register"
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
//Read values for X, Y and Z
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_READ, 1);
i2c_master_read_byte(cmd, data, 0); //"Data Output X MSB Register"
i2c_master_read_byte(cmd, data+1, 0); //"Data Output X LSB Register"
i2c_master_read_byte(cmd, data+2, 0); //"Data Output Z MSB Register"
i2c_master_read_byte(cmd, data+3, 0); //"Data Output Z LSB Register"
i2c_master_read_byte(cmd, data+4, 0); //"Data Output Y MSB Register"
i2c_master_read_byte(cmd, data+5, 1); //"Data Output Y LSB Register "
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
short x = data[0] << 8 | data[1];
short z = data[2] << 8 | data[3];
short y = data[4] << 8 | data[5];
int angle = atan2((double)y,(double)x) * (180 / 3.14159265) + 180; // angle in degrees
ESP_LOGD(tag, "angle: %d, x: %d, y: %d, z: %d", angle, x, y, z);
vTaskDelay(1000/portTICK_PERIOD_MS);
}
vTaskDelete(NULL);
} // task_hmc5883l