unsigned int srf08_ping(unsigned char range_unit)
{
union i2c_union {
unsigned int rx_word;
unsigned char rx_byte[2];
} i2c;
I2C_START_TX(address);
i2c_transmit(SRF08_COMMAND);
i2c_transmit(range_unit);
i2c_stop();
/* INSTEAD OF WAITING USING A DELAY LOOP, POLL SRF08 FOR COMPLETION OF RANGING */
do{
I2C_START_TX(address);
i2c_transmit(SRF08_ECHO_1);
I2C_START_RX(address);
i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE); /* get high byte msb first */
i2c.rx_byte[0]=i2c_receive(I2C_QUIT);
i2c_stop();
}while(i2c.rx_byte[0] >= 0xFF);
I2C_START_TX(address);
i2c_transmit(SRF08_ECHO_1);
I2C_START_RX(address);
i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE); /* get high byte msb first */
i2c.rx_byte[0]=i2c_receive(I2C_QUIT); /* get low byte msb first */
i2c_stop();
return(i2c.rx_word);
}
void airspeed_amsys_read_periodic( void ) {
#ifndef SITL
if (airspeed_amsys_i2c_trans.status == I2CTransDone)
#ifndef MEASURE_AMSYS_TEMPERATURE
i2c_receive(&AIRSPEED_AMSYS_I2C_DEV, &airspeed_amsys_i2c_trans, AIRSPEED_AMSYS_ADDR, 2);
#else
i2c_receive(&AIRSPEED_AMSYS_I2C_DEV, &airspeed_amsys_i2c_trans, AIRSPEED_AMSYS_ADDR, 4);
#endif
#else // SITL
extern float sim_air_speed;
stateSetAirspeed_f(&sim_air_speed);
#endif //SITL
}
void ms5607_init( ms5607_conf_t *conf){
uint8_t address = 0xEE;
uint16_t value = 0;
for( uint8_t i = 0; i < 6 ; ++i){
i2c_transmit(address, 1, 0 );
i2c_transmit(0xA2 + 2*i, 0, 1);
i2c_transmit(address | 0x01, 1, 0 );
value = i2c_receive(0,0);
value <<= 8;
value |= i2c_receive(1,1);
conf->coeffs[i] = value;
}
}
int eps_slave_ping(struct command_context *ctx) {
i2c_frame_t * frame;
frame = csp_buffer_get(I2C_MTU);
frame->dest = slave_node;
frame->data[0] = CSP_PING; // Ping port
frame->data[1] = 0x55;
frame->len = 2;
frame->len_rx = 3;
frame->retries = 0;
if (i2c_send(0, frame, 0) != E_NO_ERR) {
csp_buffer_free(frame);
return CMD_ERROR_NOMEM;
}
if (i2c_receive(0, &frame, 20) == E_NO_ERR) {
printf("Received a reply from EPS!\r\n");
} else {
printf("No reply from EPS\r\n");
}
csp_buffer_free(frame);
return CMD_ERROR_NONE;
}
/*******************************************************************************
* error_t hmc5883l_rawdata_read(vector_int16_t* magnetic_field)
*
* Description:
* Read HMC5883L raw magnetic field data. Magnetic field data is stored as a
* 3-dimensional 16-bit unsigned integer vector where only the lowest 12-bits
* contain data. Possible errors are reported to the calling function.
*
* Parameters:
* magnetic_field memory address of 3-dimensional magnetic field vector
*
* Return:
* error ERR_OK - completed without error
* ERR_FAIL - failed to write register
*
* Example:
* error = hmc5883l_rawdata_read(&magnetic_field);
*
* Note:
*
* History:
* pka, 03/SEP/2015, initial code
******************************************************************************/
error_t hmc5883l_rawdata_read(vector_int16_t* magnetic_field)
{
uint8_t tmp[6];
tmp[0] = HMC5883L_DATA_X_MSB;
/* Transmit START condition and slave address + WRITE. Write register
* address and generate STOP condition. */
if (i2c_transmit(HMC5883L_SLAVE_ADDR, tmp, 1) != ERR_OK)
{
return ERR_FAIL;
}
/* Transmit START condition and slave address + READ. Read register value
* and generate STOP condition. */
if (i2c_receive(HMC5883L_SLAVE_ADDR, tmp, 6) != ERR_OK)
{
return ERR_FAIL;
}
/* Create 3-dimensional magnetic field vector. Note: The HMC5883L provides
* raw data in the order X, Z, Y. */
magnetic_field->x = (tmp[0] << 8) | tmp[1];
magnetic_field->y = (tmp[4] << 8) | tmp[5];
magnetic_field->z = (tmp[2] << 8) | tmp[3];
return ERR_OK;
}
int eps_slave_hk2(struct command_context *ctx) {
printf("Requesting EPS HK2 data\r\n");
eps_hk_t * chkparam;
i2c_frame_t * frame;
frame = csp_buffer_get(I2C_MTU);
frame->dest = slave_node;
frame->data[0] = EPS_PORT_HK;
frame->data[1] = 0;
frame->len = 2;
frame->len_rx = 2 + (uint8_t) sizeof(eps_hk_t);
frame->retries = 0;
if (i2c_send(0, frame, 0) != E_NO_ERR) {
csp_buffer_free(frame);
return CMD_ERROR_NOMEM;
}
if (i2c_receive(0, &frame, 20) != E_NO_ERR)
return CMD_ERROR_FAIL;
chkparam = (eps_hk_t *)&frame->data[2];
eps_hk_unpack(chkparam);
eps_hk_print(chkparam);
csp_buffer_free(frame);
return CMD_ERROR_NONE;
}
void ms45xx_i2c_periodic(void)
{
// Initiate next read
if (ms45xx_trans.status == I2CTransDone) {
i2c_receive(&MS45XX_I2C_DEV, &ms45xx_trans, MS45XX_I2C_ADDR, 4);
}
}
/* needs 29ms delay from humid trigger measurement */
void humid_sht_p_humid( void ) {
if (sht_status == SHT2_GET_HUMID) {
/* read humid */
sht_status = SHT2_READ_HUMID;
i2c_receive(&SHT_I2C_DEV, &sht_trans, SHT_SLAVE_ADDR, 3);
}
}
/* needs 85ms delay from temp trigger measurement */
void humid_sht_p_temp( void ) {
if (sht_status == SHT2_GET_TEMP) {
/* get temp */
sht_status = SHT2_READ_TEMP;
i2c_receive(&SHT_I2C_DEV, &sht_trans, SHT_SLAVE_ADDR, 3);
}
}
irom static io_error_t read_register(string_t *error_message, int address, int reg, int *value)
{
uint8_t i2cbuffer[2];
i2c_error_t error;
i2cbuffer[0] = reg;
if((error = i2c_send(address, 1, &i2cbuffer[0])) != i2c_error_ok)
{
if(error_message)
i2c_error_format_string(error_message, error);
return(io_error);
}
if((error = i2c_receive(address, 1, &i2cbuffer[1])) != i2c_error_ok)
{
if(error_message)
i2c_error_format_string(error_message, error);
return(io_error);
}
*value = i2cbuffer[1];
return(io_ok);
}
void i2c_init_early(void)
{
LTRACE_ENTRY;
/* enable clocks on i2c 0-2 */
RMWREG32(CM_FCLKEN1_CORE, 15, 3, 0x7),
RMWREG32(CM_ICLKEN1_CORE, 15, 3, 0x7),
i2c_reset_bus(0);
i2c_reset_bus(1);
i2c_reset_bus(2);
#if 0
// write something into a reg
char buf[2];
i2c_write_reg(0, 0x4b, 0x14, 0x99);
i2c_write_reg(0, 0x4b, 0x15, 0x98);
i2c_read_reg(0, 0x4b, 0x15, buf);
printf("0x%hhx\n", buf[0]);
i2c_read_reg(0, 0x4b, 0x14, buf);
printf("0x%hhx\n", buf[0]);
int i;
for (i=0; i < 255; i++) {
char buf[1];
buf[0] = i;
i2c_transmit(0, 0x4b, buf, 1);
i2c_receive(0, 0x4b, buf, sizeof(buf));
printf("0x%hhx\n", buf[0]);
}
#endif
LTRACE_EXIT;
}
//------------------------------------------------------------------------------
// void i2c_receiveinit(uint8_t slave_address,
// uint8_t prescale)
//
// This function initializes the USCI module for master-receive operation.
//
// IN: uint8_t slave_address => Slave Address
// uint8_t prescale => SCL clock adjustment
//-----------------------------------------------------------------------------
//static volatile uint8_t rx_byte_tot = 0;
void i2c_receiveinit(uint8_t slave_address, uint8_t byte_ctr, uint8_t *rx_buf) {
// wait for bus to be free before setting MSTA (assuming we're in a multi-master environment or still sending something else)
while(i2c_busy()) /* wait */;
// assert: rx_byte_ctr <= 0
// assert: tx_byte_ctr <= 0
tx_buf_ptr = 0;
tx_byte_ctr = 0; // indicate that nothing is to be received
rx_byte_ctr = byte_ctr;
rx_buf_ptr = rx_buf;
// clockdiv
//*I2CFDR = 0x20; // 150 khz for redbee econotag
// assume being master, thus no addres has to be set
*I2CCR = I2C_MEN |
#ifdef I2C_NON_BLOCKING
I2C_MIEN |
#endif
I2C_MSTA | I2C_MTX | I2C_RXAK; // start condition is triggered
// write out address of slave
*I2CDR = (slave_address & 0x7f) <<1 | 0x01;
#ifndef I2C_NON_BLOCKING
i2c_receive();
#endif
}
//
// Receive from a slave I2C device
// Assumes first byte is the address.
// Length is the address, register to read
// and the value to be read
//
static int i2c_receive_flash( BYTE i2c_a, int mem_a, BYTE *b, BYTE len )
{
BYTE c;
// Wait for stop
while(I2CS & bmSTOP);
// Send address field
I2CS = bmSTART;
I2DAT = i2c_a&0xFE;// LSB = 0
// Wait for ACK
while(!((c=I2CS)&bmDONE));//Wait done
//check ACK
if((c&bmBERR)||(!(c&bmACK))) goto leave;
// MSB of Address
I2DAT = mem_a>>8;
// Wait for Done
while(!((c=I2CS)&1));
// LSB of Address
I2DAT = mem_a&0xFF;
// Wait for Done
while(!((c=I2CS)&bmDONE));
//
// The address is set up so we now need
// to read its contents
//
i2c_receive( i2c_a, b, len );
return 0;
leave:
I2CS |= bmSTOP;
return -1;
}
status_t i2c_read_reg_bytes(int bus, uint8_t address, uint8_t reg, uint8_t *val, size_t cnt)
{
int err = i2c_transmit(bus, address, ®, 1);
if (err < 0)
return err;
return i2c_receive(bus, address, val, cnt);
}
int i2c_read_reg(int bus, uint8_t address, uint8_t reg, uint8_t *val)
{
int err = i2c_transmit(bus, address, ®, 1);
if (err < 0)
return err;
return i2c_receive(bus, address, val, 1);
}
void dust_gp2y_periodic(void)
{
if (dust_gp2y_status == DUST_GP2Y_IDLE) {
i2c_receive(&GP2Y_I2C_DEV, &gp2y_trans, GP2Y_SLAVE_ADDR, 2);
} else if (dust_gp2y_status == DUST_GP2Y_UNINIT && sys_time.nb_sec > 1) {
dust_gp2y_status = DUST_GP2Y_IDLE;
}
}
void imu_read_data(struct IMU* data) {
uint8_t values[6];
uint8_t reg = GYRO_OUT_X_L | 0x80; //Set high bit for auto address increment
i2c_transmit(GYRO_ADDR, ®, 1);
i2c_receive(GYRO_ADDR, &values, 6);
data->gyro.x = (int16_t)(values[0] | (values[1]<<8));
data->gyro.y = (int16_t)(values[2] | (values[3]<<8));
data->gyro.z = (int16_t)(values[4] | (values[5]<<8));
reg = ACCEL_OUT_X_L_A | 0x80; //Set high bit for auto address increment
i2c_transmit(ACCEL_ADDR, ®, 1);
i2c_receive(ACCEL_ADDR, &values, 6);
data->accel.x = (int16_t)(values[0] | (values[1]<<8));
data->accel.y = (int16_t)(values[2] | (values[3]<<8));
data->accel.z = (int16_t)(values[4] | (values[5]<<8));
}
void ArduIMU_periodic(void)
{
//Frequence defined in conf/modules/ins_arduimu.xml
if (ardu_ins_trans.status == I2CTransDone) {
i2c_receive(&ARDUIMU_I2C_DEV, &ardu_ins_trans, ArduIMU_SLAVE_ADDR, NB_DATA * 2);
}
}
void airspeed_ets_read_periodic( void ) {
#ifndef SITL
if (airspeed_ets_i2c_trans.status == I2CTransDone)
i2c_receive(&AIRSPEED_ETS_I2C_DEV, &airspeed_ets_i2c_trans, AIRSPEED_ETS_ADDR, 2);
#else // SITL
extern float sim_air_speed;
stateSetAirspeed_f(&sim_air_speed);
#endif //SITL
}
void baro_amsys_read_periodic(void)
{
// Initiate next read
if (baro_amsys_i2c_trans.status == I2CTransDone) {
#ifndef MEASURE_AMSYS_TEMPERATURE
i2c_receive(&BARO_AMSYS_I2C_DEV, &baro_amsys_i2c_trans, BARO_AMSYS_ADDR, 2);
#else
i2c_receive(&BARO_AMSYS_I2C_DEV, &baro_amsys_i2c_trans, BARO_AMSYS_ADDR, 4);
#endif
}
#ifdef BARO_AMSYS_SYNC_SEND
DOWNLINK_SEND_AMSYS_BARO(DefaultChannel, DefaultDevice, &pBaroRaw, &baro_amsys_p, &baro_amsys_offset, &ref_alt_init,
&baro_amsys_abs_altitude, &baro_amsys_altitude, &baro_amsys_temp);
#else
RunOnceEvery(10, DOWNLINK_SEND_AMSYS_BARO(DefaultChannel, DefaultDevice, &pBaroRaw, &baro_amsys_p, &baro_amsys_offset,
&ref_alt_init, &baro_amsys_abs_altitude, &baro_amsys_altitude, &baro_amsys_temp));
#endif
}
void baro_ets_read_periodic( void ) {
// Initiate next read
if (!baro_ets_delay_done) {
if (SysTimeTimer(baro_ets_delay_time) < USEC_OF_SEC(BARO_ETS_START_DELAY)) return;
else baro_ets_delay_done = TRUE;
}
if (baro_ets_i2c_trans.status == I2CTransDone) {
i2c_receive(&BARO_ETS_I2C_DEV, &baro_ets_i2c_trans, BARO_ETS_ADDR, 2);
}
}
void eos_remote_handle_message(unsigned char* message) {
unsigned char slave_address = message[0];
unsigned char msg_datalen = message[3];
if (EOS_DISABLE_REMOTE)
return;
if (slave_address > 127)
return;
if (!TI_USCI_I2C_slave_present(slave_address)) {
return;
}
static unsigned char leadin_bytes[] = {0xbb, 0x88};
i2c_transmit(slave_address, &leadin_bytes[0], 2);
i2c_transmit(slave_address, message, 5 + msg_datalen);
unsigned char response[40];
unsigned char response_length[1];
unsigned char count = 0;
while (++count) {
i2c_receive(slave_address, &response_length[0], 1);
if (response_length[0] != 0x01) {
break;
// 0x01 means the slave has an unprocessed packet
// in its queue, so keep trying
}
if (count == 20) return; // cancel after "timeout"
}
if (response_length[0] > 0 && response_length[0] < 40) {
i2c_receive(slave_address, &response[0], response_length[0]);
eosprotocol_send_message(response, response_length[0]);
}
}
uint8_t I2CWire::receiveFrom(uint8_t address, uint16 quantity)
{
// clamp to buffer length
if(quantity > BUFFER_LENGTH)
quantity = BUFFER_LENGTH;
rxposition = 0;
if ( i2c_receive(&i2cbuf, rxbuffer, quantity) ) {
return (rxlength = quantity);
}
return 0;
}
void lm75_getTemp(struct lm75 *s)
{
uint8_t data[2];
// retrieve temp data from LM75
data[0] = (uint8_t)TEMP_ADDR;
i2c_transmit(s->i2cAddr, data, 1);
i2c_receive(s->i2cAddr, data, 2);
// discard lower 0.5°C bit
s->temperature = (int8_t)data[0];
}
void wind_gfi_event(void)
{
if (pcf_trans.status == I2CTransSuccess) {
if (pcf_status == PCF_SET_OE_LSB) {
pcf_status = PCF_READ_LSB;
i2c_receive(&PCF_I2C_DEV, &pcf_trans, PCF_SLAVE_ADDR, 2);
} else if (pcf_status == PCF_READ_LSB) {
/* read lower byte direction info */
pcf_direction = pcf_trans.buf[0];
/* OE low, SEL low (for high data) */
pcf_trans.buf[0] = 0xFF;
pcf_trans.buf[1] = 0x3F;
pcf_status = PCF_SET_OE_MSB;
i2c_transmit(&PCF_I2C_DEV, &pcf_trans, PCF_SLAVE_ADDR, 2);
} else if (pcf_status == PCF_SET_OE_MSB) {
pcf_status = PCF_READ_MSB;
i2c_receive(&PCF_I2C_DEV, &pcf_trans, PCF_SLAVE_ADDR, 2);
} else if (pcf_status == PCF_READ_MSB) {
float fpcf_direction;
/* read higher byte direction info */
pcf_direction |= pcf_trans.buf[0] << 8;
/* OE high, SEL high */
pcf_trans.buf[0] = 0xFF;
pcf_trans.buf[1] = 0xFF;
pcf_status = PCF_IDLE;
i2c_transmit(&PCF_I2C_DEV, &pcf_trans, PCF_SLAVE_ADDR, 2);
/* 2048 digits per 360 degrees */
fpcf_direction = fmod((pcf_direction * (360. / 2048.)) + ZERO_OFFSET_DEGREES, 360.);
DOWNLINK_SEND_TMP_STATUS(DefaultChannel, DefaultDevice, &pcf_direction, &fpcf_direction);
} else if (pcf_status == PCF_IDLE) {
pcf_trans.status = I2CTransDone;
}
}
}
uint32_t ms5607_read_d1(){
uint8_t address = 0xEE;
uint32_t value = 0;
i2c_transmit(address, 1, 0);
i2c_transmit(0x42, 0, 1);
i2c_transmit(address, 1, 0);
i2c_transmit(0x00, 0, 1);
_delay_ms(10);
i2c_transmit(address | 0x01, 1, 0);
value = i2c_receive(0, 0);
value <<= 8;
value |= i2c_receive(0, 0);
value <<= 8;
value |= i2c_receive(1, 1);
return value;
}
unsigned int srf08_read_register(unsigned char srf08_register)
{
union i2c_union {
unsigned int rx_word;
unsigned char rx_byte[2];
} i2c;
I2C_START_TX(address);
i2c_transmit(srf08_register);
I2C_START_RX(address);
/* get high byte msb first */
if(srf08_register>=2) { i2c.rx_byte[1]=i2c_receive(I2C_CONTINUE); }
/* get low byte msb first */
i2c.rx_byte[0]=i2c_receive(I2C_QUIT);
i2c_stop();
return(i2c.rx_word);
}
void airspeed_ets_read_periodic( void ) {
#ifndef SITL
if (!airspeed_ets_delay_done) {
if (SysTimeTimer(airspeed_ets_delay_time) < USEC_OF_SEC(AIRSPEED_ETS_START_DELAY)) return;
else airspeed_ets_delay_done = TRUE;
}
if (airspeed_ets_i2c_trans.status == I2CTransDone)
i2c_receive(&AIRSPEED_ETS_I2C_DEV, &airspeed_ets_i2c_trans, AIRSPEED_ETS_ADDR, 2);
#elif !defined USE_NPS
extern float sim_air_speed;
stateSetAirspeed_f(&sim_air_speed);
#endif //SITL
}
static int i2c_read_hand(int hand) {
uint8_t buf[5];
i2c_status_t ret = i2c_receive(I2C_ADDR(hand), buf, sizeof(buf), I2C_TIMEOUT);
if (ret != I2C_STATUS_SUCCESS)
return 1;
if (buf[0] != TWI_REPLY_KEYDATA)
return 2;
int start_row = hand ? ROWS_PER_HAND : 0;
uint8_t *out = &rows[start_row];
memcpy(out, &buf[1], 4);
return 0;
}
void i2c_read_registers(uint8_t bus_num, uint8_t slave_addr, uint8_t reg_addr, uint8_t numBytes, uint8_t* spaceToWrite) {
uint8_t i2c_packet[1] = {reg_addr};
//transmit reg address to gyro
i2c_init_transmit(bus_num,slave_addr);
while ( i2c_busy(bus_num) );
i2c_transmit(bus_num,sizeof(i2c_packet),i2c_packet);
while ( i2c_busy(bus_num) );
__delay_cycles(I2C_BUS_FREE_TIME);
//read what gyro has to say
i2c_init_receive(bus_num,slave_addr);
while ( i2c_busy(bus_num) );
i2c_receive(bus_num,numBytes,spaceToWrite);
while ( i2c_busy(bus_num) );
__delay_cycles(I2C_BUS_FREE_TIME);
}