示例#1
0
文件: PCA9685.cpp 项目: DIMOSUS/Rover
/*!
 \param freq desired frequency. 40Hz to 1000Hz using internal 25MHz oscillator.
 */
void PCA9685::setPWMFreq(int freq) {

    uint8_t prescale_val = (CLOCK_FREQ / 4096 / freq)  - 1;
    bcm2835_i2c_set_baudrate(400000);
    bcm2835_i2c_setSlaveAddress(addr);

    pca_sendBuf[0] = MODE1;
    pca_sendBuf[1] = 0x10;
    bcm2835_i2c_write (pca_sendBuf, 2);

    pca_sendBuf[0] = PRE_SCALE;
    pca_sendBuf[1] = prescale_val;
    bcm2835_i2c_write (pca_sendBuf, 2);

    pca_sendBuf[0] = MODE1;
    pca_sendBuf[1] = 0x80;
    bcm2835_i2c_write (pca_sendBuf, 2);

    pca_sendBuf[0] = MODE2;
    pca_sendBuf[1] = 0x04;
    bcm2835_i2c_write (pca_sendBuf, 2);
    //i2c->write_byte(MODE1, 0x10); //sleep
    //i2c->write_byte(PRE_SCALE, prescale_val); // multiplyer for PWM frequency
    //i2c->write_byte(MODE1, 0x80); //restart
    //i2c->write_byte(MODE2, 0x04); //totem pole (default)
}
示例#2
0
文件: PCA9685.cpp 项目: DIMOSUS/Rover
/*!
 \param led channel to set PWM value for
 \param on_value 0-4095 value to turn on the pulse
 \param off_value 0-4095 value to turn off the pulse
 */
void PCA9685::setPWM(uint8_t led, int on_value, int off_value) {
    bcm2835_i2c_set_baudrate(400000);
    bcm2835_i2c_setSlaveAddress(addr);

    pca_sendBuf[0] = LED0_ON_L + LED_MULTIPLYER * (led - 1);
    pca_sendBuf[1] = on_value & 0xFF;
    bcm2835_i2c_write (pca_sendBuf, 2);

    pca_sendBuf[0] = LED0_ON_H + LED_MULTIPLYER * (led - 1);
    pca_sendBuf[1] = on_value >> 8;
    bcm2835_i2c_write (pca_sendBuf, 2);

    pca_sendBuf[0] = LED0_OFF_L + LED_MULTIPLYER * (led - 1);
    pca_sendBuf[1] = off_value & 0xFF;
    //std::cout << (int)pca_sendBuf[1] << std::endl;
    bcm2835_i2c_write (pca_sendBuf, 2);

    pca_sendBuf[0] = LED0_OFF_H + LED_MULTIPLYER * (led - 1);
    pca_sendBuf[1] = off_value >> 8;
    //std::cout << (int)pca_sendBuf[1] << std::endl;
    bcm2835_i2c_write (pca_sendBuf, 2);

    //i2c->write_byte(LED0_ON_L + LED_MULTIPLYER * (led - 1), on_value & 0xFF);
    //i2c->write_byte(LED0_ON_H + LED_MULTIPLYER * (led - 1), on_value >> 8);
    //i2c->write_byte(LED0_OFF_L + LED_MULTIPLYER * (led - 1), off_value & 0xFF);
    //i2c->write_byte(LED0_OFF_H + LED_MULTIPLYER * (led - 1), off_value >> 8);
}
示例#3
0
	uint8_t I2C_Bus::write_register(char reg, const char *buf, const uint32_t len) const
	{
		uint8_t status = bcm2835_i2c_write(&reg, 1);
		if (status != BCM2835_I2C_REASON_OK)
		{
			return status;
		}
		return bcm2835_i2c_write(buf, len);
	}
示例#4
0
文件: mlx.c 项目: hammondpickle/piws
int main(int argc, char **argv)
{
  unsigned char buf[6];
  unsigned char i,reg;
  double temp=0,calc=0, skytemp,atemp;
  FILE *flog;
  flog=fopen("mlxlog.csv", "a");
    bcm2835_init();
    bcm2835_i2c_begin();
    bcm2835_i2c_set_baudrate(25000);
    // set address...........................................................................................
    bcm2835_i2c_setSlaveAddress(0x5a);
    printf("\nOk, your device is working!!\n");
    while(1) {
      time_t t = time(NULL);
      struct tm tm = *localtime(&t);
      calc=0;
      reg=7;
      for(i=0;i<AVG;i++){
	bcm2835_i2c_begin();
	bcm2835_i2c_write (&reg, 1);
	bcm2835_i2c_read_register_rs(&reg,&buf[0],3);
	temp = (double) (((buf[1]) << 8) + buf[0]);
	temp = (temp * 0.02)-0.01;
	temp = temp - 273.15;
	calc+=temp;
	sleep(1);
      }
      skytemp=calc/AVG;
      calc=0;
      reg=6;
      for(i=0;i<AVG;i++){
	bcm2835_i2c_begin();
	bcm2835_i2c_write (&reg, 1);
	bcm2835_i2c_read_register_rs(&reg,&buf[0],3);
	temp = (double) (((buf[1]) << 8) + buf[0]);
	temp = (temp * 0.02)-0.01;
	temp = temp - 273.15;
	calc+=temp;
	sleep(1);
      }
      atemp=calc/AVG;
      printf("%02d-%02d %02d:%02d:%02d\n    Tambi=%04.2f C, Tobj=%04.2f C\n", tm.tm_mon + 1, tm.tm_mday, tm.tm_hour, tm.tm_min, tm.tm_sec,atemp,skytemp);
      fprintf(flog,"%04d-%02d-%02d %02d:%02d:%02d,%04.2f,%04.02f\n",tm.tm_year+1900, tm.tm_mon +1, tm.tm_mday,tm.tm_hour, tm.tm_min, tm.tm_sec,atemp,skytemp);
      fflush(flog);
      sleep(LOGTIME-(2*AVG));
    }
    printf("[done]\n");
}
示例#5
0
void mcp7941x_set_date_time(struct rtc_time *t) {
	static char cmd[]  = {MCP7941X_RTCC_TCR_SECONDS};
	char reg[] =  {0,0,0,0,0,0,0};

	reg[MCP7941X_RTCC_TCR_SECONDS] = DEC2BCD(t->tm_sec & 0x7f);
	reg[MCP7941X_RTCC_TCR_MINUTES] = DEC2BCD(t->tm_min & 0x7f);
	reg[MCP7941X_RTCC_TCR_HOURS]   = DEC2BCD(t->tm_hour & 0x1f);
	reg[MCP7941X_RTCC_TCR_DAY]     = DEC2BCD(t->tm_wday & 0x07);
	reg[MCP7941X_RTCC_TCR_DATE]    = DEC2BCD(t->tm_mday & 0x3f);
	reg[MCP7941X_RTCC_TCR_MONTH]   = DEC2BCD(t->tm_mon & 0x1f);
	reg[MCP7941X_RTCC_TCR_YEAR]    = DEC2BCD(t->tm_year);

	reg[MCP7941X_RTCC_TCR_SECONDS] |=  MCP7941X_RTCC_BIT_ST;
	reg[MCP7941X_RTCC_TCR_DAY] |= MCP7941X_RTCC_BIT_VBATEN;

	char data[8];
	data[0] = cmd[1];
	data[1] = reg[0];
	data[2] = reg[1];
	data[3] = reg[2];
	data[4] = reg[3];
	data[5] = reg[4];
	data[6] = reg[5];
	data[7] = reg[6];
	
	mcp7941x_setup();
	
	bcm2835_i2c_write(data, sizeof(data)/sizeof(char));
}
示例#6
0
int WriteRegister(int REG,int value)
{

	regaddr[0]=REG;
	regaddr[1]=value;
	return(bcm2835_i2c_write(regaddr, 2));
}
示例#7
0
文件: PCA9685.cpp 项目: DIMOSUS/Rover
//! Sets PCA9685 mode to 00
void PCA9685::reset() {
    bcm2835_init();
    bcm2835_i2c_set_baudrate(400000);
    bcm2835_i2c_setSlaveAddress(addr);

    pca_sendBuf[0] = MODE1;
    pca_sendBuf[1] = 0x00;
    bcm2835_i2c_write (pca_sendBuf, 2);

    pca_sendBuf[0] = MODE2;
    pca_sendBuf[1] = 0x04;
    bcm2835_i2c_write (pca_sendBuf, 2);

    //i2c->write_byte(MODE1, 0x00); //Normal mode
    //i2c->write_byte(MODE2, 0x04); //totem pole
}
示例#8
0
// Read bytesToRead sequentially, starting at addressToRead into the dest byte array
void readRegisters(char addressToRead, int bytesToRead, char* dest)
{
    //Set Address to read
    bcm2835_i2c_write(&addressToRead, 1);

    //Get reading
    bcm2835_i2c_read_register_rs(&addressToRead,dest,bytesToRead);

}
示例#9
0
/**
 *@brief Writes a byte value to a register address
 *@param reg Address of sensor register.
 *@param data Data byte to be written on register.
 *@return none
 */
void I2C_WriteByteRegister(unsigned char reg,unsigned char data)
{
    unsigned char wr_buf[2];

    wr_buf[0] = reg;
    wr_buf[1] = data;

    bcm2835_i2c_write((const char *)wr_buf, 2);
}
示例#10
0
文件: i2c.c 项目: DavoudiDavoud/ali
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;
}
示例#11
0
/**
 *@brief Writes a word value (16 bit) to a register address.
 *@param reg Address of sensor register.
 *@param data Data word to be written on word size register.
 *@return none
 */
void I2C_WriteWordRegister(unsigned char reg, unsigned char* data)
{
    unsigned char wr_buf[3];

    wr_buf[0] = reg;
    wr_buf[1] = data[0];
    wr_buf[2] = data[1];

    bcm2835_i2c_write((const char *)wr_buf, 3);
}
示例#12
0
uint8_t MAG3110_WRITE_REGISTER(char reg, char value)
{
	/* care the end of string '\n' here */
	char data[2];
	data[0] = reg;
	data[1] = value;

    bcm2835_i2c_setSlaveAddress(MAG3110_I2C_ADDRESS);
    bcm2835_i2c_write(data, 2); 
    
}
示例#13
0
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;
}
示例#14
0
文件: MPU6050.cpp 项目: albi08/AF_HF
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;


}
示例#15
0
/**
 *@brief Writes a byte value to a register address
 *@param reg Address of sensor register.
 *@param data Data byte to be written on register.
 *@return none
 */
void I2C_WriteByteRegister(unsigned char address,unsigned char reg,unsigned char data)
{
	
	bcm2835_i2c_setSlaveAddress(address);
	
	unsigned char wr_buf[2];

	wr_buf[0] = reg;
	wr_buf[1] = data;

	bcm2835_i2c_write((const char *)wr_buf, 2);
}
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;
  }
}
示例#17
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;
}
示例#18
0
/**
 *@brief Writes a word value (16 bit) to a register address.
 *@param reg Address of sensor register.
 *@param data Data word to be written on word size register.
 *@return none
 */
void I2C_WriteWordRegister(unsigned char address,unsigned char reg, unsigned char* data)
{
	
	bcm2835_i2c_setSlaveAddress(address);
	
	unsigned char wr_buf[3];
	
	wr_buf[0] = reg;
	wr_buf[1] = data[0];
	wr_buf[2] = data[1];

	bcm2835_i2c_write((const char *)wr_buf, 3);
}
示例#19
0
static PyObject *
PyBCM2835_i2c_write(PyObject *self, PyObject *args)
{
	char *buf;
	int buf_len;
	uint32_t len;

	if (!PyArg_ParseTuple(args,"s#i",&buf, &buf_len,&len)) {
		return NULL;
	}

	uint8_t rtn = bcm2835_i2c_write(buf, len);
	return Py_BuildValue("i",rtn);
}
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;
  }
}
示例#21
0
/**
 *@brief Writes a buffer array to the registers
 *@param reg	Address of sensor register, address autoincrements
 *@param data	Pointer to byte data buffer array
 *@param length	length of buffer array
 *@return none
 */
void I2C_WriteByteArray(char reg, char* data, unsigned int length)
{
	char* wr_buf = (char*) malloc(sizeof(char) * length);
	if (wr_buf==NULL) 
	{
		printf("Error allocating memory!\n"); //print an error message
	}
	
	wr_buf[0] = reg;
	for(unsigned int i = 1;i<length;i++)
	{
		wr_buf[i] = data[i];
	}

	bcm2835_i2c_write((const char *)wr_buf, length);
}
示例#22
0
void mcp7941x_get_date_time(struct rtc_time *t) {
	static char cmd[]  = {MCP7941X_RTCC_TCR_SECONDS};
	char reg[] =  {0,0,0,0,0,0,0};

	mcp7941x_setup();

	bcm2835_i2c_write(cmd, sizeof(cmd)/sizeof(char));
	bcm2835_i2c_read(reg, sizeof(reg)/sizeof(char));

	t->tm_sec  = BCD2DEC(reg[MCP7941X_RTCC_TCR_SECONDS] & 0x7f);
	t->tm_min  = BCD2DEC(reg[MCP7941X_RTCC_TCR_MINUTES] & 0x7f);
	t->tm_hour = BCD2DEC(reg[MCP7941X_RTCC_TCR_HOURS] & 0x3f);
	t->tm_wday = BCD2DEC(reg[MCP7941X_RTCC_TCR_DAY] & 0x07);
	t->tm_mday = BCD2DEC(reg[MCP7941X_RTCC_TCR_DATE] & 0x3f);
	t->tm_mon  = BCD2DEC(reg[MCP7941X_RTCC_TCR_MONTH] & 0x1f);
	t->tm_year = BCD2DEC(reg[MCP7941X_RTCC_TCR_YEAR]);
}
//uint8_t bcm2835_i2c_write(const char * buf, uint32_t len);
/// Call bcm2835_i2c_write with 2 parameters
/// \par            Refer
///    - bi_send_buff
///    - buf *(uint32_t **)(buff+1)
///    - len *(uint32_t *)(buff+5)
/// \par            Modify
void ope_i2c_write(void)
{
uint8_t ret;
uint8_t *buf;
uint32_t len;

    get_int_code();
    buf = *(uint32_t **)(buff+1);
    get_int_code();
    len = *(uint32_t *)(buff+5);
    
    ret = bcm2835_i2c_write( bi_send_buff, *((uint32_t *)(buff+5))  );
    set_ope_code( OPE_I2C_WRITE );
    set_byte_code( ret );
    put_reply();
    mark_sync();
}
示例#24
0
文件: MPU6050.cpp 项目: albi08/AF_HF
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);


}
示例#25
0
/**
 * @ingroup I2C-RTC
 *
 * @param slave_address
 * @return
 */
uint8_t mcp7941x_start (const uint8_t slave_address) {
#if !defined(BARE_METAL) && !defined(__AVR_ARCH__)
	if (bcm2835_init() != 1)
		return MCP7941X_ERROR;
#endif
	FUNC_PREFIX(i2c_begin());

	if (slave_address <= 0)
		i2c_mcp7941x_slave_address = MCP7941X_DEFAULT_SLAVE_ADDRESS;
	else
		i2c_mcp7941x_slave_address = slave_address;

	mcp7941x_setup();

	if (bcm2835_i2c_write(NULL, 0) == 0)
		return MCP7941X_OK;

	return MCP7941X_ERROR;
}
示例#26
0
/*
*	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");		
}
示例#27
0
/**
 *@brief Writes a byte value to the I2C bus. This assumes the register pointer is preset.
 *@param bdata	Send single byte to I2C bus
 *@return none
 */
void I2C_WriteByte(unsigned char address,char bdata)
{
	bcm2835_i2c_setSlaveAddress(address);
	char data = bdata;
	bcm2835_i2c_write(&data, 1);
}
示例#28
0
inline void ArduiPi_OLED::fastI2Cwrite(char* tbuf, uint32_t len) {
  bcm2835_i2c_write(tbuf, len);
}
示例#29
0
/**
 *@brief Writes a byte value to the I2C bus. This assumes the register pointer is preset.
 *@param bdata	Send single byte to I2C bus
 *@return none
 */
void I2C_WriteByte(char bdata)
{   char data = bdata;
    bcm2835_i2c_write(&data, 1);
}
示例#30
0
int MAG3110_WRITE_REGISTER(char reg, char val) {
	char x = reg;
	char c = val;
	bcm2835_i2c_setSlaveAddress(14);
	bcm2835_i2c_write(&x, 2);
}