static int
mraa_grovepi_read_internal(int function, int pin)
{
uint8_t data[5];
uint8_t result[3];
data[0] = GROVEPI_REGISTER;
data[1] = function;
data[2] = pin;
data[3] = 0;
data[4] = 0;
if (mraa_i2c_write(grovepi_bus, data, 5) != MRAA_SUCCESS) {
syslog(LOG_WARNING, "grovepi: failed to write command to i2c bus /dev/i2c-%d", grovepi_bus->busnum);
return -1;
}
if (mraa_i2c_write_byte(grovepi_bus, 1) != MRAA_SUCCESS) {
syslog(LOG_WARNING, "grovepi: failed to write to i2c bus /dev/i2c-%d", grovepi_bus->busnum);
return -1;
}
if (function == GROVEPI_GPIO_READ) {
if (mraa_i2c_read(grovepi_bus, result, 1) != 1) {
syslog(LOG_WARNING, "grovepi: failed to read result from i2c bus /dev/i2c-%d", grovepi_bus->busnum);
return -1;
}
return result[0];
}
if (function == GROVEPI_AIO_READ) {
if (mraa_i2c_read(grovepi_bus, result, 3) != 3) {
syslog(LOG_WARNING, "grovepi: failed to read result from i2c bus /dev/i2c-%d", grovepi_bus->busnum);
return -1;
}
return (result[1] << 8) | result [2];
}
return -1;
}
atlsci_status_ret_t atlsci_status(int sensor_type) {
int ret = -1;
uint8_t rx_buffer[STRING_SIZE] = {0};
char * status_msg = "STATUS";
int success = 0;
ret = set_sensor_address(i2c_context, sensor_type);
if (ret == MRAA_SUCCESS)
{
ret = send_string(i2c_context, status_msg);
if (ret == MRAA_SUCCESS)
{
ret = mraa_i2c_read(i2c_context, rx_buffer, sizeof(rx_buffer));
success = ATLSCI_SUCCESS_BYTE_INDICATOR;
}
else
{
log_mraa_response("atlsci_status()", ret);
}
}
else
{
log_mraa_response("atlsci_status()", ret);
}
return parse_atlsci_status(rx_buffer, success);
}
/*
* Run the read command 'r' to read the data obtained from the sensor
*
* Return message format:
* For ORP, pH, D.O.:
* 1 DATA null
* where DATA represents many bytes.
* For Conductivity:
* 1 EC , TDS, SAL , SG null
* where EC, TDS, SAL, SG represent many bytes
*/
atlsci_read_ret_t atlsci_read(int sensor_type) {
int ret = -1;
uint8_t rx_buffer[STRING_SIZE] = {0};
ret = set_sensor_address(i2c_context, sensor_type);
if (ret == MRAA_SUCCESS)
{
ret = send_string(i2c_context, "r");
if (ret == MRAA_SUCCESS)
{
ret = mraa_i2c_read(i2c_context,
rx_buffer,
sizeof(rx_buffer));
return parse_atlsci_read(sensor_type, rx_buffer);
}
else
{
log_mraa_response("atlsci_read()", ret);
}
}
else
{
log_mraa_response("atlsci_read()", ret);
}
return parse_atlsci_read_fail();
}
atlsci_led_ret_t atlsci_led(int sensor_type, int action)
{
char * led_on = "L,1"; //Turn on LEDs
char * led_off = "L,0"; //Turn off LEDs
char * led_query = "L,?"; //Query LEDs
uint8_t rx_buffer[STRING_SIZE] = {0};
int ret = set_sensor_address(i2c_context, sensor_type);
switch (action)
{
case ATLSCI_LED_ON: ret = send_string(i2c_context, led_on); break;
case ATLSCI_LED_OFF: ret = send_string(i2c_context, led_off); break;
case ATLSCI_LED_QUERY: ret = send_string(i2c_context, led_query); break;
default: ret = -1; break;
}
if (ret == MRAA_SUCCESS)
{
ret = mraa_i2c_read(i2c_context, rx_buffer, sizeof(rx_buffer));
if(action == ATLSCI_LED_QUERY)
printf("%s\n", rx_buffer);
return parse_atlsci_led(rx_buffer, action);
}
log_mraa_response("atlsci_led()", ret);
return parse_atlsci_led(rx_buffer, action);
}
/*
* Temperature compensation is only enable for pH, DO, and Conductivity sensor.
* ORP does not have this feature. The value that it takes is expressed in float value nn.n
*/
atlsci_temp_comp_ret_t atlsci_temp_comp(int sensor_type, atlsci_temp_comp_param param, float value)
{
atlsci_temp_comp_ret_t ret;
uint8_t rx_buffer[STRING_SIZE] = {0};
char cal_temp[TEMP_COMP_SIZE] = "T,";
int success = set_sensor_address(i2c_context, sensor_type);
char *pt_cal = cal_temp;
switch(param)
{
case SET_TEMPERATURE: sprintf(pt_cal + TEMP_COMP_INDEX, "%.1f", value);
success = send_string(i2c_context, cal_temp); break;
case QUERY_TEMPERATURE: success = send_string (i2c_context, cal_query); break;
default: return atlsci_temp_comp_fail(param);
}
if (success == MRAA_SUCCESS)
{
success = mraa_i2c_read(i2c_context, rx_buffer, sizeof(rx_buffer));
if(param == QUERY_TEMPERATURE)
printf("%s\n", rx_buffer);
//First bit of rx_buffer will be '1' if write is successful
ret.success = (int)rx_buffer[0];
}
else
{
log_mraa_response("atlsci_temp_comp()", success);
ret.success = -1;
}
return ret;
}
mraa_result_t mag_update() {
mraa_result_t result;
int bytesRead;
result = mraa_i2c_write_byte(mag_context, HMC5883L_DATA_REG);
if (result != MRAA_SUCCESS) {
printError("unable to write to compass (9)");
return result;
}
bytesRead = mraa_i2c_read(mag_context, mag_rx_tx_buf, DATA_REG_SIZE);
if (bytesRead != DATA_REG_SIZE) {
printError("unable to read from compass (10)");
return result;
}
// x
mag_coor[0] = (mag_rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | mag_rx_tx_buf[HMC5883L_X_LSB_REG];
// z
mag_coor[2] = (mag_rx_tx_buf[HMC5883L_Z_MSB_REG] << 8 ) | mag_rx_tx_buf[HMC5883L_Z_LSB_REG];
// y
mag_coor[1] = (mag_rx_tx_buf[HMC5883L_Y_MSB_REG] << 8 ) | mag_rx_tx_buf[HMC5883L_Y_LSB_REG];
save_log_value(RAW_COMPASS_X, mag_coor[0], 1);
save_log_value(RAW_COMPASS_Y, mag_coor[1], 1);
save_log_value(RAW_COMPASS_Z, mag_coor[2], 1);
save_log_value(HEADING, mag_heading(), 1);
save_log_value(DIRECTION, mag_direction(), 1);
return MRAA_SUCCESS;
}
mrb_value
mrb_mraa_i2c_read(mrb_state *mrb, mrb_value self){
mraa_i2c_context i2c;
mrb_int length;
uint8_t *rbuf;
mrb_int num_of_read;
int ai, i;
mrb_value mrv_rbuf;
Data_Get_Struct(mrb, self, &mrb_mraa_i2c_ctx_type, i2c);
mrb_get_args(mrb, "i", &length);
rbuf = (uint8_t*)mrb_malloc(mrb, sizeof(uint8_t) * length);
memset(rbuf, 0, sizeof(uint8_t) * length);
num_of_read = mraa_i2c_read(i2c, rbuf, length);
mrv_rbuf = mrb_ary_new_capa(mrb, num_of_read);
ai = mrb_gc_arena_save(mrb);
for (i = 0; i < num_of_read; i++){
mrb_ary_push(mrb, mrv_rbuf, mrb_fixnum_value(rbuf[i]));
mrb_gc_arena_restore(mrb, ai);
}
mrb_free(mrb, rbuf);
return mrb_assoc_new(mrb, mrv_rbuf, mrb_fixnum_value(num_of_read));
}
static atlsci_cal_ret_t atlsci_cal_conductivity(atlsci_cal_param_t param, int value)
{
atlsci_cal_ret_t ret;
int success = set_sensor_address(i2c_context, ATLSCI_CONDUCTIVITY);
uint8_t rx_buffer[STRING_SIZE] = {0};
char cal_dry[CONDUCTIVITY_CAL_DRY_SIZE] = "Cal,dry";
char cal_one[CONDUCTIVITY_CAL_ONE_SIZE] = "Cal,one,";
char cal_low[CONDUCTIVITY_CAL_LOW_SIZE] = "Cal,low,";
char cal_high[CONDUCTIVITY_CAL_HIGH_SIZE] = "Cal,high,";
char *pt_cal = NULL;
switch(param.cal_conductivity)
{
case CONDUCTIVITY_CALIBRATION_CLEAR: success = send_string(i2c_context, cal_clear); break;
case CONDUCTIVITY_CALIBRATION_QUERY: success = send_string(i2c_context, cal_query); break;
case CONDUCTIVITY_DRY_CALIBRATION: success = send_string(i2c_context, cal_dry); break;
case CONDUCTIVITY_SINGLE_CALIBRATION_POINT: pt_cal = cal_one;
sprintf((pt_cal + CONDUCTIVITY_INDEX_ONE), "%d", value); //set value to end of string
success = send_string(i2c_context, cal_one); break;
case CONDUCTIVITY_LOW_DUAL_CALIBRATION_POINT: pt_cal = cal_low;
sprintf((pt_cal + CONDUCTIVITY_INDEX_LOW), "%d", value);
success = send_string(i2c_context, cal_low); break;
case CONDUCTIVITY_HIGH_DUAL_CALIBRATION_POINT: pt_cal = cal_high;
sprintf((pt_cal + CONDUCTIVITY_INDEX_HIGH), "%d", value);
success = send_string(i2c_context, cal_high); break;
default: return atlsci_cal_fail(param);
}
if (success == MRAA_SUCCESS)
{
success = mraa_i2c_read(i2c_context, rx_buffer, sizeof(rx_buffer));
if(param.cal_conductivity == CONDUCTIVITY_CALIBRATION_QUERY)
{
ret.query = malloc(QUERY_SIZE);
uint8_t * rx_ptr = rx_buffer; rx_ptr++;
sprintf(ret.query, "%s", rx_ptr);
//ret.query = rx_buffer;
}
//printf("%s\n", rx_buffer);
//First bit of rx_buffer will be '1' if write is successful
ret.success = (int)rx_buffer[0];
}
else
{
log_mraa_response("atlsci_cal_conductivity()", success);
ret.success = -1;
}
return ret;
}
static atlsci_cal_ret_t atlsci_cal_ph(atlsci_cal_param_t param, float value)
{
atlsci_cal_ret_t ret;
int success = set_sensor_address(i2c_context, ATLSCI_PH);
uint8_t rx_buffer[STRING_SIZE] = {0};
char cal_low[PH_CAL_LOW_SIZE] = "Cal,low,";
char cal_mid[PH_CAL_MID_SIZE] = "Cal,mid,";
char cal_high[PH_CAL_HIGH_SIZE] = "Cal,high";
char *pt_cal = NULL;
switch(param.cal_ph)
{
case PH_CALIBRATION_CLEAR: success = send_string(i2c_context, cal_clear); break;
case PH_CALIBRATION_QUERY: success = send_string(i2c_context, cal_query); break;
case PH_LOW_CALIBRATION_POINT: pt_cal = cal_low;
sprintf(pt_cal + PH_INDEX_LOW, "%.2f", value);
success = send_string(i2c_context, cal_low); break;
case PH_MID_CALIBRATION_POINT: pt_cal = cal_mid;
sprintf((pt_cal + PH_INDEX_MID), "%.2f", value);
success = send_string(i2c_context, cal_mid); break;
case PH_HIGH_CALIBRATION_POINT: pt_cal = cal_high;
sprintf((pt_cal + PH_INDEX_HIGH), "%.2f", value);
success = send_string(i2c_context, cal_high); break;
default: return atlsci_cal_fail(param);
}
if (success == MRAA_SUCCESS)
{
success = mraa_i2c_read(i2c_context, rx_buffer, sizeof(rx_buffer));
if(param.cal_ph == PH_CALIBRATION_QUERY)
{
ret.query = malloc(QUERY_SIZE);
//ret.query = rx_buffer;
uint8_t * rx_ptr = rx_buffer; rx_ptr++;
sprintf(ret.query, "%s", rx_ptr);
}
//First bit of rx_buffer will be '1' if write is successful
ret.success = (int)rx_buffer[0];
}
else
{
log_mraa_response("atlsci_cal_ph()", success);
ret.success = -1;
}
return ret;
}
int
main(int argc, char **argv)
{
mraa_init();
float direction = 0;
int16_t x = 0, y = 0, z = 0;
char rx_tx_buf[MAX_BUFFER_LENGTH];
//! [Interesting]
mraa_i2c_context i2c;
i2c = mraa_i2c_init(0);
mraa_i2c_address(i2c, HMC5883L_I2C_ADDR);
rx_tx_buf[0] = HMC5883L_CONF_REG_B;
rx_tx_buf[1] = GA_1_3_REG;
mraa_i2c_write(i2c, rx_tx_buf, 2);
//! [Interesting]
mraa_i2c_address(i2c, HMC5883L_I2C_ADDR);
rx_tx_buf[0] = HMC5883L_MODE_REG;
rx_tx_buf[1] = HMC5883L_CONT_MODE;
mraa_i2c_write(i2c, rx_tx_buf, 2);
for(;;) {
mraa_i2c_address(i2c, HMC5883L_I2C_ADDR);
mraa_i2c_write_byte(i2c, HMC5883L_DATA_REG);
mraa_i2c_address(i2c, HMC5883L_I2C_ADDR);
mraa_i2c_read(i2c, rx_tx_buf, DATA_REG_SIZE);
x = (rx_tx_buf[HMC5883L_X_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_X_LSB_REG] ;
z = (rx_tx_buf[HMC5883L_Z_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Z_LSB_REG] ;
y = (rx_tx_buf[HMC5883L_Y_MSB_REG] << 8 ) | rx_tx_buf[HMC5883L_Y_LSB_REG] ;
//scale and calculate direction
direction = atan2(y * SCALE_0_92_MG, x * SCALE_0_92_MG);
//check if the signs are reversed
if (direction < 0)
direction += 2 * M_PI;
printf("Compass scaled data x : %f, y : %f, z : %f\n", x * SCALE_0_92_MG, y * SCALE_0_92_MG, z * SCALE_0_92_MG) ;
printf("Heading : %f\n", direction * 180/M_PI) ;
}
}
static atlsci_cal_ret_t atlsci_cal_orp(atlsci_cal_param_t param, int value)
{
atlsci_cal_ret_t ret;
uint8_t rx_buffer[STRING_SIZE] = {0};
char cal_single[ORP_CAL_SIZE] = "Cal,";
int success = set_sensor_address(i2c_context, ATLSCI_ORP);
char *pt_cal = cal_single;
switch(param.cal_orp)
{
case ORP_CALIBRATION_CLEAR: success = send_string(i2c_context, cal_clear); break;
case ORP_CALIBRATION_QUERY: success = send_string(i2c_context, cal_query); break;
case ORP_SINGLE_CALIBRATION_POINT: sprintf((pt_cal + ORP_INDEX), "%d", value);
success = send_string(i2c_context, cal_single); break;
default: return atlsci_cal_fail(param);
}
if (success == MRAA_SUCCESS)
{
success = mraa_i2c_read(i2c_context, rx_buffer, sizeof(rx_buffer));
if(param.cal_orp == ORP_CALIBRATION_QUERY)
{
ret.query = malloc(QUERY_SIZE);
uint8_t * rx_ptr = rx_buffer; rx_ptr++;
sprintf(ret.query, "%s", rx_ptr);
//ret.query = rx_buffer;
}
//printf("%s\n", rx_buffer);
//First bit of rx_buffer will be '1' if write is successful
ret.success = (int)rx_buffer[0];
}
else
{
log_mraa_response("atlsci_cal_orp()", success);
ret.success = -1;
}
return ret;
}
static atlsci_cal_ret_t atlsci_cal_dissolved_oxygen(atlsci_cal_param_t param)
{
atlsci_cal_ret_t ret;
int success = set_sensor_address(i2c_context, ATLSCI_DO);
uint8_t rx_buffer[STRING_SIZE] = {0};
char * cal_atmospheric_oxygen_level = "Cal";
char * cal_0 = "Cal,0";
switch(param.cal_do)
{
case DO_CALIBRATION_CLEAR: success = send_string(i2c_context, cal_clear); break;
case DO_CALIBRATION_QUERY: success = send_string(i2c_context, cal_query); break;
case DO_ATMOSPHERIC_CALIBRATION: success = send_string(i2c_context, cal_atmospheric_oxygen_level); break;
case DO_ZERO_LEVEL_CALIBRATION: success = send_string(i2c_context, cal_0); break;
default: return atlsci_cal_fail(param);
}
if (success == MRAA_SUCCESS)
{
success = mraa_i2c_read(i2c_context, rx_buffer, sizeof(rx_buffer));
if(param.cal_do == DO_CALIBRATION_QUERY)
{
ret.query = malloc(QUERY_SIZE);
uint8_t * rx_ptr = rx_buffer; rx_ptr++;
sprintf(ret.query, "%s", rx_ptr);
//ret.query = (char *)rx_buffer;
//ret.query = rx_buffer;
}
//printf("%s\n", rx_buffer);
//First bit of rx_buffer will be '1' if write is successful
ret.success = (int)rx_buffer[0];
}
else
{
log_mraa_response("atlsci_cal_do()", success);
ret.success = -1;
}
return ret;
}
mraa_result_t gyro_update() {
mraa_result_t result;
result = mraa_i2c_write_byte(gyro_context, ITG3200_TEMP_H);
if (result != MRAA_SUCCESS) {
printError("unable to write to gyro (5)");
return result;
}
result = mraa_i2c_read(gyro_context, gyro_buffer, DATA_REG_SIZE);
if (result != MRAA_SUCCESS) {
printError("unable to read from gyro (6)");
return result;
}
//temp
//
gyro_temperature = (gyro_buffer[0] << 8 ) | gyro_buffer[1];
// x
gyro_rotation[0] = ((gyro_buffer[2] << 8 ) | gyro_buffer[3]) + gyro_offsets[0];
// y
gyro_rotation[1] = ((gyro_buffer[4] << 8 ) | gyro_buffer[5]) + gyro_offsets[1];
// z
gyro_rotation[2] = ((gyro_buffer[6] << 8 ) | gyro_buffer[7]) + gyro_offsets[2];
save_log_value(RAW_TEMP, gyro_temperature, 1);
save_log_value(TEMP, gyro_getTemperature(), 1);
save_log_value(RAW_ANG_X, gyro_rotation[0], 1);
save_log_value(RAW_ANG_Y, gyro_rotation[1], 1);
save_log_value(RAW_ANG_Z, gyro_rotation[2], 1);
float* ang = gyro_getRotation();
save_log_value(ANG_X, ang[0], 1);
save_log_value(ANG_Y, ang[1], 1);
save_log_value(ANG_Z, ang[2], 1);
return MRAA_SUCCESS;
}
mraa_result_t
i2c_get(int bus, uint8_t device_address, uint8_t register_address, uint8_t* data)
{
mraa_result_t status = MRAA_SUCCESS;
mraa_i2c_context i2c = mraa_i2c_init(bus);
if (i2c == NULL) {
return MRAA_ERROR_NO_RESOURCES;
}
status = mraa_i2c_address(i2c, device_address);
if (status != MRAA_SUCCESS) {
goto i2c_get_exit;
}
status = mraa_i2c_write_byte(i2c, register_address);
if (status != MRAA_SUCCESS) {
goto i2c_get_exit;
}
status = mraa_i2c_read(i2c, data, 1) == 1 ? MRAA_SUCCESS : MRAA_ERROR_UNSPECIFIED;
if (status != MRAA_SUCCESS) {
goto i2c_get_exit;
}
i2c_get_exit:
mraa_i2c_stop(i2c);
return status;
}
// I2C read helper
static int readBytes(const ecezo_context dev, uint8_t *buffer, int len)
{
assert(dev != NULL);
assert(dev->i2c != NULL);
bool done = false;
int rv;
int retries = 10;
while (!done && (retries-- > 0))
{
if ((rv = mraa_i2c_read(dev->i2c, buffer, len)) < 0)
{
printf("%s: mraa_i2c_read(code) failed.\n", __FUNCTION__);
return rv;
}
#if defined(ECEZO_DEBUG)
printf("CODE: %02x\n", buffer[0]);
#endif
if (buffer[0] == 0xff || buffer[0] == 0x02)
{
// no data available, or error
return -1;
}
else if (buffer[0] == 0x01)
{
// data is ready
done = true;
// now we need to move the data one byte down so the rest
// of this driver can work as-is.
memmove(buffer, (buffer + 1), len - 1);
}
else
{
// buffer[0] 0xfe - data is pending. wait and loop again.
upm_delay_ms(CMD_DELAY);
}
}
if (retries <= 0)
{
printf("%s: timed out waiting for correct response.\n", __FUNCTION__);
return -1;
}
#if defined(ECEZO_DEBUG)
printf("%s: Got %d bytes\n", __FUNCTION__, rv);
for (int i=0; i<rv; i++)
{
printf("%02x (%c) ", buffer[i],
isprint(buffer[i]) ? buffer[i] : '@');
}
printf("\n");
#endif // ECEZO_DEBUG
return rv;
}
/**
* Read length bytes from the bus into *data pointer
*
* @param data Data to read into
* @param length Size of read in bytes to make
* @return pointer to std::string
*/
int read(uint8_t *data, int length) {
return mraa_i2c_read(m_i2c, data, length);
}
