/*Function: The clock timing will start */
void rtc_ds1307_start(void) // set the ClockHalt bit low to start the rtc
{
uint8 dta[2] = {0x00};
suli_i2c_write(__I2C_Device_RTC, DS1307_I2C_ADDRESS, dta, 1);
suli_i2c_read(__I2C_Device_RTC, DS1307_I2C_ADDRESS, dta, 1);
dta[1] = dta[0] & 0x7f;
dta[0] = 0x00;
suli_i2c_write(__I2C_Device_RTC, DS1307_I2C_ADDRESS, dta, 2);
}
/*Function: The clock timing will stop */
void rtc_ds1307_stop(void) // set the ClockHalt bit high to stop the rtc
{
uint8 dta[2] = {0x00};
suli_i2c_write(__I2C_Device_RTC, DS1307_I2C_ADDRESS, dta, 1);
suli_i2c_read(__I2C_Device_RTC, DS1307_I2C_ADDRESS, dta, 1);
dta[1] = dta[0] | 0x80;
dta[0] = 0x00;
suli_i2c_write(__I2C_Device_RTC, DS1307_I2C_ADDRESS, dta, 2);
}
bool GroveI2CMotorDriver::write_dcmotor_speed(uint8_t speed_m1, uint8_t speed_m2)
{
cmd[0] = MotorSpeedSet;
cmd[1] = speed_m1;
cmd[2] = speed_m2;
suli_i2c_write(i2c, i2c_addr, cmd, 3);
cmd[0] = DirectionSet;
cmd[1] = dir;
cmd[2] = Nothing;
suli_i2c_write(i2c, i2c_addr, cmd, 3);
return true;
}
static void setMeasurementMode(I2C_T *i2c, uint8_t mode)
{
//write(MODE_REGISTER, mode);
cmdbuf[0] = MODE_REGISTER;
cmdbuf[1] = mode;
suli_i2c_write(i2c, HMC5883L_ADDRESS, cmdbuf, 2);
}
// Writes val to address register on device
void writeTo(uint8 address, uint8 val)
{
uint8 dta_send[] = {address, val};
suli_i2c_write(__I2C_Device, ADXL345_DEVICE, dta_send, 2);
// suli_i2c_write(void * i2c_device, uint8 dev_addr, uint8 *data, uint8 len);
}
bool GroveI2CMotorDriver::write_enable_stepper_mode(uint8_t direction, uint8_t speed)
{
cmd[0] = EnableStepper;
cmd[1] = direction;
cmd[2] = speed;
suli_i2c_write(i2c, i2c_addr, cmd, 3);
return true;
}
bool GroveI2CMotorDriver::write_stepper_steps(uint8_t steps)
{
cmd[0] = Stepernu;
cmd[1] = steps;
cmd[2] = Nothing;
suli_i2c_write(i2c, i2c_addr, cmd, 3);
return true;
}
bool GroveI2CMotorDriver::write_disable_stepper_mode()
{
cmd[0] = UnenableStepper;
cmd[1] = Nothing;
cmd[2] = Nothing;
suli_i2c_write(i2c, i2c_addr, cmd, 3);
return true;
}
static void grove_compass_getxyz_raw(I2C_T *i2c, int16_t *x, int16_t *y, int16_t *z)
{
cmdbuf[0] = DATA_REGISTER_BEGIN;
suli_i2c_write(i2c, HMC5883L_ADDRESS, &cmdbuf[0], 1);
suli_i2c_read(i2c, HMC5883L_ADDRESS, databuf, 6);
*x = (databuf[0] << 8) | databuf[1];
*y = (databuf[2] << 8) | databuf[3];
*z = (databuf[4] << 8) | databuf[5];
}
bool GroveI2CMotorDriver::write_dcmotor1_change_direction()
{
dir = dir ^ 0x3;
cmd[0] = DirectionSet;
cmd[1] = dir;
cmd[2] = Nothing;
suli_i2c_write(i2c, i2c_addr, cmd, 3);
return true;
}
// Reads num bytes starting from address register on device in to _buff array
void readFrom(uint8 address, uint8 num, uint8 buff[])
{
//grove_hal_i2c_read(ADXL345_DEVICE, address, buff, num);
uint8 dta_send[] = {address};
suli_i2c_write(__I2C_Device, ADXL345_DEVICE, dta_send, 1);
suli_i2c_read(__I2C_Device, ADXL345_DEVICE, buff, num);
}
static int setScale(I2C_T *i2c, float gauss)
{
uint8_t regValue = 0x00;
if(gauss == 0.88)
{
regValue = 0x00;
m_Scale = 0.73;
}
else if(gauss == 1.3)
{
regValue = 0x01;
m_Scale = 0.92;
}
else if(gauss == 1.9)
{
regValue = 0x02;
m_Scale = 1.22;
}
else if(gauss == 2.5)
{
regValue = 0x03;
m_Scale = 1.52;
}
else if(gauss == 4.0)
{
regValue = 0x04;
m_Scale = 2.27;
}
else if(gauss == 4.7)
{
regValue = 0x05;
m_Scale = 2.56;
}
else if(gauss == 5.6)
{
regValue = 0x06;
m_Scale = 3.03;
}
else if(gauss == 8.1)
{
regValue = 0x07;
m_Scale = 4.35;
}
else
return -1;
// Setting is in the top 3 bits of the register.
regValue = regValue << 5;
//write(CONFIGURATION_REGISTERB, regValue);
cmdbuf[0] = CONFIGURATION_REGISTERB;
cmdbuf[1] = regValue;
suli_i2c_write(i2c, HMC5883L_ADDRESS, &cmdbuf[0], 2);
return true;
}
void rtc_ds1307_set_time(struct __time t)
{
uint8 dta[8] = {0x00, t.second, t.minute, t.hour, t.week, t.day, t.month, t.year};
for(int i=1; i<8; i++)
{
dta[i] = decToBcd(dta[i]);
}
suli_i2c_write(__I2C_Device_RTC, DS1307_I2C_ADDRESS, dta, 8);
}
bool GroveI2CMotorDriver::write_dcmotor1_break()
{
motor1_dir = dir & 0x3;
dir |= 0x3;
cmd[0] = DirectionSet;
cmd[1] = dir;
cmd[2] = Nothing;
suli_i2c_write(i2c, i2c_addr, cmd, 3);
return true;
}
/*Function: Read time and date from RTC */
void rtc_ds1307_get_time(struct __time * time_get)
{
uint8 dta[1] = {0x00};
suli_i2c_write(__I2C_Device_RTC, DS1307_I2C_ADDRESS, dta, 1);
suli_i2c_read(__I2C_Device_RTC, DS1307_I2C_ADDRESS, time_get->data, 7);
time_get->data[0] &= 0x7f;
time_get->data[2] &= 0x3f;
for(int i=0; i<7; i++)
{
time_get->data[i] = bcdToDec(time_get->data[i]);
}
}
GroveCompass::GroveCompass(int pinsda, int pinscl)
{
this->i2c = (I2C_T *)malloc(sizeof(I2C_T));
suli_i2c_init(i2c, pinsda, pinscl);
suli_delay_ms(5);
//uint8_t config;
//config = (0x01 << 5);
//suli_i2c_write_reg(i2c, HMC5883L_ADDRESS, CONFIGURATION_REGISTERB, &config, 1);
mode = MEASUREMENT_CONTINUOUS;
suli_i2c_write_reg(i2c, HMC5883L_ADDRESS, MODE_REGISTER, &mode, 1);
cmdbuf[0] = DATA_REGISTER_BEGIN;
suli_i2c_write(i2c, HMC5883L_ADDRESS, cmdbuf, 1);
}
bool grove_compass_write_setup(I2C_T *i2c)
{
uint8_t regValue = 0x00;
//setScale(i2c, (float)1.3); // Set the scale of the compass.
regValue = 0x01;
m_Scale = 0.92;
// Setting is in the top 3 bits of the register.
regValue = regValue << 5;
//write(CONFIGURATION_REGISTERB, regValue);
cmdbuf[0] = CONFIGURATION_REGISTERB;
cmdbuf[1] = regValue;
suli_i2c_write(i2c, HMC5883L_ADDRESS, cmdbuf, 2);
setMeasurementMode(i2c, MEASUREMENT_CONTINUOUS); // Set the measurement mode to Continuous
return true;
}
bool GroveCompass::read_compass_heading(float *heading_deg)
{
int16_t x,y,z;
float cx, cy, cz;
suli_i2c_read(i2c, HMC5883L_ADDRESS, databuf, 6);
x = (databuf[0] << 8) | databuf[1];
z = (databuf[2] << 8) | databuf[3];
y = (databuf[4] << 8) | databuf[5];
//Serial1.println(x);
//Serial1.println(y);
//Serial1.println(z);
cx = static_cast<float>(x);
cy = static_cast<float>(y);
cz = static_cast<float>(z);
float head = atan2f(cy, cx) - 0.0457;
// Correct for when signs are reversed.
if(head < 0)
head += 2*PI;
// Check for wrap due to addition of declination.
if(head > 2*PI)
head -= 2*PI;
// Convert radians to degrees for readability.
*heading_deg = head * 180 / PI;
cmdbuf[0] = DATA_REGISTER_BEGIN;
suli_i2c_write(i2c, HMC5883L_ADDRESS, cmdbuf, 1);
return true;
}
// send data
void oled_128x64_dta(unsigned char Data)
{
uint8 dta[2] = {SeeedOLED_Data_Mode, Data};
suli_i2c_write(__I2C_Device, SeeedOLED_Address, dta, 2);
}
// send command
void oled_128x64_cmd(unsigned char command)
{
uint8 dta[2] = {SeeedOLED_Command_Mode, command};
suli_i2c_write(__I2C_Device, SeeedOLED_Address, dta, 2);
}
