From: Philipp Klaus Date: Wed, 13 Dec 2017 13:12:48 +0000 (+0100) Subject: rm */*~ (further backup files) X-Git-Url: https://jspc29.x-matter.uni-frankfurt.de/git/?a=commitdiff_plain;h=e11bfa0ef8ac03c2936725360a22a145096dafca;p=avr.git rm */*~ (further backup files) --- diff --git a/sensors/MagneticFieldSensor/twi/twi.c~ b/sensors/MagneticFieldSensor/twi/twi.c~ deleted file mode 100644 index 8b0a2b8..0000000 --- a/sensors/MagneticFieldSensor/twi/twi.c~ +++ /dev/null @@ -1,571 +0,0 @@ -/* - twi.c - TWI/I2C library for Atmega32U4 - - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts - - Modified 2017 by Adrian Weber to use I2C without Arduino librarys -*/ - -#include -#include -#include -#include -#include -#include -#include - -#ifndef cbi -#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) -#endif - -#ifndef sbi -#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) -#endif -#include "twi.h" - -static volatile uint8_t twi_state; -static volatile uint8_t twi_slarw; -static volatile uint8_t twi_sendStop; // should the transaction end with a stop -static volatile uint8_t twi_inRepStart; // in the middle of a repeated start - -static void (*twi_onSlaveTransmit)(void); -static void (*twi_onSlaveReceive)(uint8_t*, int); - -static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_masterBufferIndex; -static volatile uint8_t twi_masterBufferLength; - -static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_txBufferIndex; -static volatile uint8_t twi_txBufferLength; - -static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_rxBufferIndex; - -static volatile uint8_t twi_error; - - -/* - * Function twi_init - * Desc readys twi pins and sets twi bitrate - * Input none - * Output none - */ -void twi_init(void) -{ - // initialize state - twi_state = TWI_READY; - twi_sendStop = true; // default value - twi_inRepStart = false; - - // activate internal pullups for twi. - DDRD |= (1 << PC4); - DDRD |= (1 << PC5); - PORTD |= (1 << PC4); - PORTD |= (1 << PC5); - - // initialize twi prescaler and bit rate - cbi(TWSR, TWPS0); - cbi(TWSR, TWPS1); - TWBR = ((F_CPU / TWI_FREQ) - 16) / 2; - - sei(); - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ - - // enable twi module, acks, and twi interrupt - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); -} - -/* - * Function twi_disable - * Desc disables twi pins - * Input none - * Output none - */ -void twi_disable(void) -{ - // disable twi module, acks, and twi interrupt - TWCR &= ~(_BV(TWEN) | _BV(TWIE) | _BV(TWEA)); - - // deactivate internal pullups for twi. - DDRD |= (1 << PD0); - DDRD |= (1 << PD1); - PORTD |= (0 << PD0); - PORTD |= (0 << PD1); - -} - -/* - * Function twi_slaveInit - * Desc sets slave address and enables interrupt - * Input none - * Output none - */ -void twi_setAddress(uint8_t address) -{ - // set twi slave address (skip over TWGCE bit) - TWAR = address << 1; -} - -/* - * Function twi_setClock - * Desc sets twi bit rate - * Input Clock Frequency - * Output none - */ -void twi_setFrequency(uint32_t frequency) -{ - TWBR = ((F_CPU / frequency) - 16) / 2; - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ -} - -/* - * Function twi_readFrom - * Desc attempts to become twi bus master and read a - * series of bytes from a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes to read into array - * sendStop: Boolean indicating whether to send a stop at the end - * Output number of bytes read - */ -uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 0; - } - // wait until twi is ready, become master receiver - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MRX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length-1; // This is not intuitive, read on... - // On receive, the previously configured ACK/NACK setting is transmitted in - // response to the received byte before the interrupt is signalled. - // Therefor we must actually set NACK when the _next_ to last byte is - // received, causing that NACK to be sent in response to receiving the last - // expected byte of data. - - // build sla+w, slave device address + w bit - twi_slarw = TW_READ; - twi_slarw |= address << 1; - - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent ourselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); - - // wait for read operation to complete - while(TWI_MRX == twi_state){ - continue; - } - - if (twi_masterBufferIndex < length) - length = twi_masterBufferIndex; - - // copy twi buffer to data - for(i = 0; i < length; ++i){ - data[i] = twi_masterBuffer[i]; - } - - return length; -} - -/* - * Function twi_writeTo - * Desc attempts to become twi bus master and write a - * series of bytes to a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes in array - * wait: boolean indicating to wait for write or not - * sendStop: boolean indicating whether or not to send a stop at the end - * Output 0 .. success - * 1 .. length to long for buffer - * 2 .. address send, NACK received - * 3 .. data send, NACK received - * 4 .. other twi error (lost bus arbitration, bus error, ..) - */ -uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // wait until twi is ready, become master transmitter - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MTX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length; - - // copy data to twi buffer - for(i = 0; i < length; ++i){ - twi_masterBuffer[i] = data[i]; - } - - // build sla+w, slave device address + w bit - twi_slarw = TW_WRITE; - twi_slarw |= address << 1; - - - // if we're in a repeated start, then we've already sent the START - // in the ISR. Don't do it again. - // - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent outselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs - - - // wait for write operation to complete - while(wait && (TWI_MTX == twi_state)){ - continue; - } - - if (twi_error == 0xFF) - return 0; // success - else if (twi_error == TW_MT_SLA_NACK) - return 2; // error: address send, nack received - else if (twi_error == TW_MT_DATA_NACK) - return 3; // error: data send, nack received - else - return 4; // other twi error -} - -/* - * Function twi_transmit - * Desc fills slave tx buffer with data - * must be called in slave tx event callback - * Input data: pointer to byte array - * length: number of bytes in array - * Output 1 length too long for buffer - * 2 not slave transmitter - * 0 ok - */ -uint8_t twi_transmit(const uint8_t* data, uint8_t length) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // ensure we are currently a slave transmitter - if(TWI_STX != twi_state){ - return 2; - } - - // set length and copy data into tx buffer - twi_txBufferLength = length; - for(i = 0; i < length; ++i){ - twi_txBuffer[i] = data[i]; - } - - return 0; -} - -/* - * Function twi_attachSlaveRxEvent - * Desc sets function called before a slave read operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) ) -{ - twi_onSlaveReceive = function; -} - -/* - * Function twi_attachSlaveTxEvent - * Desc sets function called before a slave write operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveTxEvent( void (*function)(void) ) -{ - twi_onSlaveTransmit = function; -} - -/* - * Function twi_reply - * Desc sends byte or readys receive line - * Input ack: byte indicating to ack or to nack - * Output none - */ -void twi_reply(uint8_t ack) -{ - // transmit master read ready signal, with or without ack - if(ack){ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); - }else{ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); - } -} - -/* - * Function twi_stop - * Desc relinquishes bus master status - * Input none - * Output none - */ -void twi_stop(void) -{ - // send stop condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); - - // wait for stop condition to be exectued on bus - // TWINT is not set after a stop condition! - while(TWCR & _BV(TWSTO)){ - continue; - } - - // update twi state - twi_state = TWI_READY; -} - -/* - * Function twi_releaseBus - * Desc releases bus control - * Input none - * Output none - */ -void twi_releaseBus(void) -{ - // release bus - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); - - // update twi state - twi_state = TWI_READY; -} - -ISR(TWI_vect) -{ - switch(TW_STATUS){ - // All Master - case TW_START: // sent start condition - case TW_REP_START: // sent repeated start condition - // copy device address and r/w bit to output register and ack - TWDR = twi_slarw; - twi_reply(1); - break; - - // Master Transmitter - case TW_MT_SLA_ACK: // slave receiver acked address - case TW_MT_DATA_ACK: // slave receiver acked data - // if there is data to send, send it, otherwise stop - if(twi_masterBufferIndex < twi_masterBufferLength){ - // copy data to output register and ack - TWDR = twi_masterBuffer[twi_masterBufferIndex++]; - twi_reply(1); - }else{ - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - } - break; - case TW_MT_SLA_NACK: // address sent, nack received - twi_error = TW_MT_SLA_NACK; - twi_stop(); - break; - case TW_MT_DATA_NACK: // data sent, nack received - twi_error = TW_MT_DATA_NACK; - twi_stop(); - break; - case TW_MT_ARB_LOST: // lost bus arbitration - twi_error = TW_MT_ARB_LOST; - twi_releaseBus(); - break; - - // Master Receiver - case TW_MR_DATA_ACK: // data received, ack sent - // put byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - case TW_MR_SLA_ACK: // address sent, ack received - // ack if more bytes are expected, otherwise nack - if(twi_masterBufferIndex < twi_masterBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_MR_DATA_NACK: // data received, nack sent - // put final byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - break; - case TW_MR_SLA_NACK: // address sent, nack received - twi_stop(); - break; - // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case - - // Slave Receiver - case TW_SR_SLA_ACK: // addressed, returned ack - case TW_SR_GCALL_ACK: // addressed generally, returned ack - case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack - case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack - // enter slave receiver mode - twi_state = TWI_SRX; - // indicate that rx buffer can be overwritten and ack - twi_rxBufferIndex = 0; - twi_reply(1); - break; - case TW_SR_DATA_ACK: // data received, returned ack - case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack - // if there is still room in the rx buffer - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - // put byte in buffer and ack - twi_rxBuffer[twi_rxBufferIndex++] = TWDR; - twi_reply(1); - }else{ - // otherwise nack - twi_reply(0); - } - break; - case TW_SR_STOP: // stop or repeated start condition received - // ack future responses and leave slave receiver state - twi_releaseBus(); - // put a null char after data if there's room - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - twi_rxBuffer[twi_rxBufferIndex] = '\0'; - } - // callback to user defined callback - twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); - // since we submit rx buffer to "wire" library, we can reset it - twi_rxBufferIndex = 0; - break; - case TW_SR_DATA_NACK: // data received, returned nack - case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack - // nack back at master - twi_reply(0); - break; - - // Slave Transmitter - case TW_ST_SLA_ACK: // addressed, returned ack - case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack - // enter slave transmitter mode - twi_state = TWI_STX; - // ready the tx buffer index for iteration - twi_txBufferIndex = 0; - // set tx buffer length to be zero, to verify if user changes it - twi_txBufferLength = 0; - // request for txBuffer to be filled and length to be set - // note: user must call twi_transmit(bytes, length) to do this - twi_onSlaveTransmit(); - // if they didn't change buffer & length, initialize it - if(0 == twi_txBufferLength){ - twi_txBufferLength = 1; - twi_txBuffer[0] = 0x00; - } - // transmit first byte from buffer, fall - case TW_ST_DATA_ACK: // byte sent, ack returned - // copy data to output register - TWDR = twi_txBuffer[twi_txBufferIndex++]; - // if there is more to send, ack, otherwise nack - if(twi_txBufferIndex < twi_txBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_ST_DATA_NACK: // received nack, we are done - case TW_ST_LAST_DATA: // received ack, but we are done already! - // ack future responses - twi_reply(1); - // leave slave receiver state - twi_state = TWI_READY; - break; - - // All - case TW_NO_INFO: // no state information - break; - case TW_BUS_ERROR: // bus error, illegal stop/start - twi_error = TW_BUS_ERROR; - twi_stop(); - break; - } -} - diff --git a/sensors/MagneticFieldSensor/twi/twi.h~ b/sensors/MagneticFieldSensor/twi/twi.h~ deleted file mode 100644 index 5811a74..0000000 --- a/sensors/MagneticFieldSensor/twi/twi.h~ +++ /dev/null @@ -1,54 +0,0 @@ -/* - twi.h - TWI/I2C library for Wiring & Arduino - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -*/ - -#ifndef twi_h -#define twi_h - #include - - //#define ATMEGA8 - - #ifndef TWI_FREQ - #define TWI_FREQ 100000L - #endif - - #ifndef TWI_BUFFER_LENGTH - #define TWI_BUFFER_LENGTH 32 - #endif - - #define TWI_READY 0 - #define TWI_MRX 1 - #define TWI_MTX 2 - #define TWI_SRX 3 - #define TWI_STX 4 - - void twi_init(void); - void twi_disable(void); - void twi_setAddress(uint8_t); - void twi_setFrequency(uint32_t); - uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t); - uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t); - uint8_t twi_transmit(const uint8_t*, uint8_t); - void twi_attachSlaveRxEvent( void (*)(uint8_t*, int) ); - void twi_attachSlaveTxEvent( void (*)(void) ); - void twi_reply(uint8_t); - void twi_stop(void); - void twi_releaseBus(void); - -#endif - diff --git a/sensors/MagneticFieldSensor/uart/BME280.c~ b/sensors/MagneticFieldSensor/uart/BME280.c~ deleted file mode 100644 index 3a9e531..0000000 --- a/sensors/MagneticFieldSensor/uart/BME280.c~ +++ /dev/null @@ -1,294 +0,0 @@ -/****************************************************************************** -SparkFunBME280.cpp -BME280 Arduino and Teensy Driver -Marshall Taylor @ SparkFun Electronics -May 20, 2015 -https://github.com/sparkfun/BME280_Breakout - -Resources: -Uses Wire.h for i2c operation -Uses SPI.h for SPI operation - -Development environment specifics: -Arduino IDE 1.6.4 -Teensy loader 1.23 - -This code is released under the [MIT License](http://opensource.org/licenses/MIT). -Please review the LICENSE.md file included with this example. If you have any questions -or concerns with licensing, please contact techsupport@sparkfun.com. -Distributed as-is; no warranty is given. -******************************************************************************/ -//See SparkFunBME280.h for additional topology notes. - -#include "SparkFunBME280.h" -#include "stdint.h" -#include -#include "twi.h" - -//****************************************************************************// -// -// Settings and configuration -// -//****************************************************************************// - -//Constructor -- Specifies default configuration -/*BME280::BME280( void ) -{ - //Construct with these default settings if nothing is specified - - //Select interface mode - settings.commInterface = I2C_MODE; //Can be I2C_MODE, SPI_MODE - //Select address for I2C. Does nothing for SPI - settings.I2CAddress = 0x77; //Ignored for SPI_MODE - //Select CS pin for SPI. Does nothing for I2C - settings.chipSelectPin = 10; - settings.runMode = 0; - settings.tempOverSample = 0; - settings.pressOverSample = 0; - settings.humidOverSample = 0; - -} -*/ - -//****************************************************************************// -// -// Configuration section -// -// This uses the stored SensorSettings to start the IMU -// Use statements such as "mySensor.settings.commInterface = SPI_MODE;" to -// configure before calling .begin(); -// -//****************************************************************************// -uint8_t InitBME(BME280* bme280){ - - uint8_t dataToWrite = 0; //Temporary variable - - //Reading all compensation data, range 0x88:A1, 0xE1:E7 - - bme280->calibration.dig_T1 = ((uint16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_T1_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_T1_LSB_REG))); - bme280->calibration.dig_T2 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_T2_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_T2_LSB_REG))); - bme280->calibration.dig_T3 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_T3_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_T3_LSB_REG))); - - bme280->calibration.dig_P1 = ((uint16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P1_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P1_LSB_REG))); - bme280->calibration.dig_P2 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P2_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P2_LSB_REG))); - bme280->calibration.dig_P3 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P3_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P3_LSB_REG))); - bme280->calibration.dig_P4 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P4_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P4_LSB_REG))); - bme280->calibration.dig_P5 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P5_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P5_LSB_REG))); - bme280->calibration.dig_P6 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P6_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P6_LSB_REG))); - bme280->calibration.dig_P7 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P7_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P7_LSB_REG))); - bme280->calibration.dig_P8 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P8_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P8_LSB_REG))); - bme280->calibration.dig_P9 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P9_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P9_LSB_REG))); - - bme280->calibration.dig_H1 = ((uint8_t)(readRegister(bme280->settings.I2CAddress,BME280_DIG_H1_REG))); - bme280->calibration.dig_H2 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_H2_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_H2_LSB_REG))); - bme280->calibration.dig_H3 = ((uint8_t)(readRegister(bme280->settings.I2CAddress,BME280_DIG_H3_REG))); - bme280->calibration.dig_H4 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_H4_MSB_REG) << 4) + (readRegister(bme280->settings.I2CAddress,BME280_DIG_H4_LSB_REG) & 0x0F))); - bme280->calibration.dig_H5 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_H5_MSB_REG) << 4) + ((readRegister(bme280->settings.I2CAddress,BME280_DIG_H4_LSB_REG) >> 4) & 0x0F))); - bme280->calibration.dig_H6 = ((uint8_t)readRegister(bme280->settings.I2CAddress,BME280_DIG_H6_REG)); - -//Set the oversampling control words. - //config will only be writeable in sleep mode, so first insure that. - writeRegister(bme280->settings.I2CAddress,BME280_CTRL_MEAS_REG, 0x00); - - - //Set the config word - dataToWrite = (bme280->settings.tStandby << 0x5) & 0xE0; - dataToWrite |= (bme280->settings.filter << 0x02) & 0x1C; - writeRegister(bme280->settings.I2CAddress,BME280_CONFIG_REG, dataToWrite); - - - //Set ctrl_hum first, then ctrl_meas to activate ctrl_hum - dataToWrite = bme280->settings.humidOverSample & 0x07; //all other bits can be ignored - writeRegister(bme280->settings.I2CAddress,BME280_CTRL_HUMIDITY_REG, dataToWrite); - - - //set ctrl_meas - //First, set temp oversampling - dataToWrite = (bme280->settings.tempOverSample << 0x5) & 0xE0; - //Next, pressure oversampling - - dataToWrite |= (bme280->settings.pressOverSample << 0x02) & 0x1C; - //Last, set mode - dataToWrite |= (bme280->settings.runMode) & 0x03; - //Load the byte - writeRegister(bme280->settings.I2CAddress,BME280_CTRL_MEAS_REG, dataToWrite); - - return readRegister(bme280->settings.I2CAddress,0xD0); -} - - -//Strictly resets. Run .begin() afterwards -void reset( BME280* bme280) -{ - writeRegister(bme280->settings.I2CAddress,BME280_RST_REG, 0xB6); - -} - -//****************************************************************************// -// -// Pressure Section -// -//****************************************************************************// -float readFloatPressure( BME280 *bme280) -{ - - // Returns pressure in Pa as unsigned 32 bit integer in Q24.8 format (24 integer bits and 8 fractional bits). - // Output value of “24674867” represents 24674867/256 = 96386.2 Pa = 963.862 hPa - int32_t adc_P = ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_PRESSURE_MSB_REG) << 12) | ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_PRESSURE_LSB_REG) << 4) | ((readRegister(bme280->settings.I2CAddress,BME280_PRESSURE_XLSB_REG) >> 4) & 0x0F); - - int64_t var1, var2, p_acc; - var1 = ((int64_t)bme280->t_fine) - 128000; - var2 = var1 * var1 * (int64_t)bme280->calibration.dig_P6; - var2 = var2 + ((var1 * (int64_t)bme280->calibration.dig_P5)<<17); - var2 = var2 + (((int64_t)bme280->calibration.dig_P4)<<35); - var1 = ((var1 * var1 * (int64_t)bme280->calibration.dig_P3)>>8) + ((var1 * (int64_t)bme280->calibration.dig_P2)<<12); - var1 = (((((int64_t)1)<<47)+var1))*((int64_t)bme280->calibration.dig_P1)>>33; - if (var1 == 0) - { - return 0; // avoid exception caused by division by zero - } - p_acc = 1048576 - adc_P; - p_acc = (((p_acc<<31) - var2)*3125)/var1; - var1 = (((int64_t)bme280->calibration.dig_P9) * (p_acc>>13) * (p_acc>>13)) >> 25; - var2 = (((int64_t)bme280->calibration.dig_P8) * p_acc) >> 19; - p_acc = ((p_acc + var1 + var2) >> 8) + (((int64_t)bme280->calibration.dig_P7)<<4); - - return (float)p_acc / 256.0; - -} -/* -float readFloatAltitudeMeters( BME280* bme280 ) -{ - float heightOutput = 0; - - heightOutput = ((float)-45846.2)*(pow(((float)readFloatPressure(&bme280)/(float)101325), 0.190263) - (float)1); - return heightOutput; - -} - -float readFloatAltitudeFeet( BME280* bme280 ) -{ - float heightOutput = 0; - - heightOutput = readFloatAltitudeMeters( &bme280) * 3.28084; - return heightOutput; - -} -*/ -//****************************************************************************// -// -// Humidity Section -// -//****************************************************************************// -float readFloatHumidity( BME280* bme280 ) -{ - - // Returns humidity in %RH as unsigned 32 bit integer in Q22. 10 format (22 integer and 10 fractional bits). - // Output value of “47445” represents 47445/1024 = 46. 333 %RH - int32_t adc_H = ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_HUMIDITY_MSB_REG) << 8) | ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_HUMIDITY_LSB_REG)); - - int32_t var1; - var1 = (bme280->t_fine - ((int32_t)76800)); - var1 = (((((adc_H << 14) - (((int32_t)bme280->calibration.dig_H4) << 20) - (((int32_t)bme280->calibration.dig_H5) * var1)) + - ((int32_t)16384)) >> 15) * (((((((var1 * ((int32_t)bme280->calibration.dig_H6)) >> 10) * (((var1 * ((int32_t)bme280->calibration.dig_H3)) >> 11) + ((int32_t)32768))) >> 10) + ((int32_t)2097152)) * - ((int32_t)bme280->calibration.dig_H2) + 8192) >> 14)); - var1 = (var1 - (((((var1 >> 15) * (var1 >> 15)) >> 7) * ((int32_t)bme280->calibration.dig_H1)) >> 4)); - var1 = (var1 < 0 ? 0 : var1); - var1 = (var1 > 419430400 ? 419430400 : var1); - - return (float)(var1>>12) / 1024.0; - -} - - - -//****************************************************************************// -// -// Temperature Section -// -//****************************************************************************// - -float readTempC( BME280* bme280 ) -{ - // Returns temperature in DegC, resolution is 0.01 DegC. Output value of “5123” equals 51.23 DegC. - // t_fine carries fine temperature as global value - - //get the reading (adc_T); - int32_t adc_T = ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_TEMPERATURE_MSB_REG) << 12) | ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_TEMPERATURE_LSB_REG) << 4) | ((readRegister(bme280->settings.I2CAddress,BME280_TEMPERATURE_XLSB_REG) >> 4) & 0x0F); - - //By datasheet, calibrate - int64_t var1, var2; - - var1 = ((((adc_T>>3) - ((int32_t)bme280->calibration.dig_T1<<1))) * ((int32_t)bme280->calibration.dig_T2)) >> 11; - var2 = (((((adc_T>>4) - ((int32_t)bme280->calibration.dig_T1)) * ((adc_T>>4) - ((int32_t)bme280->calibration.dig_T1))) >> 12) * - ((int32_t)bme280->calibration.dig_T3)) >> 14; - bme280->t_fine = var1 + var2; - float output = (bme280->t_fine * 5 + 128) >> 8; - - output = output / 100; - - return output; -} - -/*float readTempF( BME280* bme280 ) -{ - float output = readTempC(&bme280); - output = (output * 9) / 5 + 32; - - return output; -}*/ - -//****************************************************************************// -// -// Utility -// -//****************************************************************************// -void readRegisterRegion(uint8_t Addr, uint8_t *outputPointer , uint8_t offset, uint8_t length) -{ - //define pointer that will point to the external space - ///uint8_t i = 0; - uint8_t c = 0; - twi_writeTo(Addr,&offset,1,1,true); - - for(int i = 0 ; i -#include "twi.h" -#include - -enum - { - BME280_REGISTER_DIG_T1 = 0x88, - BME280_REGISTER_DIG_T2 = 0x8A, - BME280_REGISTER_DIG_T3 = 0x8C, - - BME280_REGISTER_DIG_P1 = 0x8E, - BME280_REGISTER_DIG_P2 = 0x90, - BME280_REGISTER_DIG_P3 = 0x92, - BME280_REGISTER_DIG_P4 = 0x94, - BME280_REGISTER_DIG_P5 = 0x96, - BME280_REGISTER_DIG_P6 = 0x98, - BME280_REGISTER_DIG_P7 = 0x9A, - BME280_REGISTER_DIG_P8 = 0x9C, - BME280_REGISTER_DIG_P9 = 0x9E, - - BME280_REGISTER_DIG_H1 = 0xA1, - BME280_REGISTER_DIG_H2 = 0xE1, - BME280_REGISTER_DIG_H3 = 0xE3, - BME280_REGISTER_DIG_H4 = 0xE4, - BME280_REGISTER_DIG_H5 = 0xE5, - BME280_REGISTER_DIG_H6 = 0xE7, - - BME280_REGISTER_CHIPID = 0xD0, - BME280_REGISTER_VERSION = 0xD1, - BME280_REGISTER_SOFTRESET = 0xE0, - - BME280_REGISTER_CAL26 = 0xE1, // R calibration stored in 0xE1-0xF0 - - BME280_REGISTER_CONTROLHUMID = 0xF2, - BME280_REGISTER_STATUS = 0XF3, - BME280_REGISTER_CONTROL = 0xF4, - BME280_REGISTER_CONFIG = 0xF5, - BME280_REGISTER_PRESSUREDATA = 0xF7, - BME280_REGISTER_TEMPDATA = 0xFA, - BME280_REGISTER_HUMIDDATA = 0xFD -}; - - - -typedef struct - { - uint16_t dig_T1; - int16_t dig_T2; - int16_t dig_T3; - - uint16_t dig_P1; - int16_t dig_P2; - int16_t dig_P3; - int16_t dig_P4; - int16_t dig_P5; - int16_t dig_P6; - int16_t dig_P7; - int16_t dig_P8; - int16_t dig_P9; - - uint8_t dig_H1; - int16_t dig_H2; - uint8_t dig_H3; - int16_t dig_H4; - int16_t dig_H5; - int8_t dig_H6; -} bme280_calib_data; - -bme280_calib_data _bme280_calib; - -void setSampling(); - -uint8_t InitBME280(uint8_t Addr); -bool BME280isReadingCalibration(uint8_t Addr); -void readCoefficients(uint8_t Addr); - - -void write8(uint8_t Addr,uint8_t reg, uint8_t value); -uint8_t read8(uint8_t Addr, uint8_t reg); -int16_t readS16(uint8_t Addr, uint8_t reg); -uint16_t read16(uint8_t Addr, uint8_t reg); -uint16_t read16_LE(uint8_t Addr, uint8_t reg); -int16_t readS16_LE(uint8_t Addr, uint8_t reg); -uint32_t read24(uint8_t Addr, uint8_t reg); -int32_t readTemperature(uint8_t Addr); -int64_t readPressure(uint8_t Addr); -uint32_t readHumidity(uint8_t Addr); diff --git a/sensors/MagneticFieldSensor/uart/MagnetSensor.c~ b/sensors/MagneticFieldSensor/uart/MagnetSensor.c~ deleted file mode 100644 index 5ae763d..0000000 --- a/sensors/MagneticFieldSensor/uart/MagnetSensor.c~ +++ /dev/null @@ -1,151 +0,0 @@ -#include "MagnetSensor.h" - -uint8_t InitMagSensor(uint8_t Addr, uint16_t* Tref, float* SensX, float* SensY, float* SensZ) -{ - - // Write register command, AH = 0x00, AL = 0x5C, Hall plate spinning rate = DEFAULT, GAIN_SEL = 5(0x60, 0x00, 0x5C, 0x00) - // Address register, (0x00 << 2) - uint8_t txBuffer[4] = {0x60,0x00,0x5C,0x00}; - uint8_t status;uint8_t status2; - uint8_t ReadReg[3]; - uint8_t Gain,Res_x,Res_y,Res_z; - - - txBuffer[0] = 0x60; - txBuffer[1] = 0x00; - txBuffer[2] = 0x5C; - txBuffer[3] = 0x00; - - status2 = twi_writeTo(Addr, txBuffer, 4,1, true); - twi_readFrom(Addr, &status, 1, true); - - // Write register command, AH = 0x02, AL = 0xB4, RES for magnetic measurement = 1(0x60, 0x02, 0xB4, 0x08) - // Address register, (0x02 << 2) - txBuffer[1] = 0x02; - txBuffer[2] = 0xB4; - txBuffer[3] = 0x08; - twi_writeTo(Addr,txBuffer,4,1,true); - twi_readFrom(Addr, &status, 1, true); - - txBuffer[0] = 0x50; - txBuffer[1] = 0x90; - twi_writeTo(Addr,txBuffer,2,1,true); - twi_readFrom(Addr, ReadReg, 3, true); - uint16_t T_ref = ReadReg[1]<<8 | ReadReg[2]; - *Tref = T_ref; -uputsnl("Test51"); - //Read Gain; - txBuffer[1] = 0x00; - twi_writeTo(Addr,txBuffer,2,1,true); - twi_readFrom(Addr, ReadReg, 3, true); - - Gain = (ReadReg[2] & 0x70) >>4; - - //Read Resolution; - txBuffer[1] = 0x08; //Read Gain; - twi_writeTo(Addr,txBuffer,2,1,true); - twi_readFrom(Addr, ReadReg, 3, true); - - Res_x = (ReadReg[1] & 0x6) >>1; - Res_y = ((ReadReg[1] & 0x1) << 1)|((ReadReg[2] & 0x80) >>7); - Res_z = (ReadReg[2] & 0x60) >>5; - - *SensX = SensitivityXY(Gain,Res_x); - *SensY = SensitivityXY(Gain,Res_y); - *SensZ = SensitivityZ(Gain,Res_z); - - return status2; -} - - -void MeasureMagSens(uint8_t Addr, uint16_t Tref, float* SensX, float* SensY, float* SensZ){ - uint8_t MagData[9] = {255,255,255,255,255,255,255,255,255}; - char s[30]; - - char Num[2]; - sprintf(Num,"%1u",Addr-12); - - uint8_t dataTest = 0x3F; // Start Single Measurement - twi_writeTo(Addr,&dataTest,1,1, true); - - uint8_t status_1; - twi_readFrom(Addr, &status_1, 1, true); - - _delay_ms(100); - - uint8_t testdata2 = 0x4F;// Read Measured Values - twi_writeTo(Addr, &testdata2, 1, 1, true); - twi_readFrom(Addr,MagData, 9, true); - if (MagData[0] == 3) { - uint16_t tMag = (uint16_t)( MagData[1] * 256 + MagData[2]); - int16_t xMag = MagData[3] * 256 + MagData[4]; - int16_t yMag = MagData[5] * 256 + MagData[6]; - int16_t zMag = MagData[7] * 256 + MagData[8]; - int16_t temp_temp = (uint16_t)(tMag) - (uint16_t)(Tref); - float Temperature = 35.0 + (temp_temp/45.2); - uputs("M");uputs(Num);uputs("_T "); - sprintf(s,"%4.2f",Temperature); - uputsnl(s); - uputs("M");uputs(Num);uputs("_X "); - sprintf(s,"%4.3f",((float)xMag*(*SensX))); //muT - uputsnl(s); - uputs("M");uputs(Num);uputs("_Y "); - sprintf(s,"%4.3f",((float)yMag*(*SensY))); //muT - uputsnl(s); - uputs("M");uputs(Num);uputs("_Z "); - sprintf(s,"%4.3f",((float)zMag*(*SensZ))); //muT - uputsnl(s); - uputs("ERR Mag ");uputs(Num);uputsnl(" NO"); // ERROR INFORMATION FOR EPICS - } else { - uputs("ERR Mag ");uputs(Num);uputsnl(" CONNECTION"); - } -} - -float SensitivityXY(uint8_t Gain, uint8_t Res){ - float Sens =0.805; - /*if (Gain != 0) { - for (int i=1; i<=Gain;i++){ - if (i<3) { - logVal = 1; - } else if (i<5) { - logVal = 2; - } else { - logVal = 3; - } - Sens = roundf((Sens - 0.161/((float)logVal)) * 1000) / 1000; - } - sprintf(s,"LOG: %f",Sens); - uputsnl(s); - }*/ - - switch(Gain) { - case 0: Sens=0.805; break; - case 1: Sens=0.644; break; - case 2: Sens=0.483; break; - case 3: Sens=0.403; break; - case 4: Sens=0.322; break; - case 5: Sens=0.268; break; - case 6: Sens=0.215; break; - default: Sens=0.161; break; - } - - - return Sens*(float)pow(2,Res); -} - -float SensitivityZ(uint8_t Gain, uint8_t Res){ - float Sens =0.805; - switch(Gain) { - case 0: Sens=1.468; break; - case 1: Sens=1.174; break; - case 2: Sens=0.881; break; - case 3: Sens=0.734; break; - case 4: Sens=0.587; break; - case 5: Sens=0.489; break; - case 6: Sens=0.391; break; - default: Sens=0.294; break; - } - - - return Sens*(float)pow(2,Res); -} diff --git a/sensors/MagneticFieldSensor/uart/MagnetSensor.h~ b/sensors/MagneticFieldSensor/uart/MagnetSensor.h~ deleted file mode 100644 index 5a71ec7..0000000 --- a/sensors/MagneticFieldSensor/uart/MagnetSensor.h~ +++ /dev/null @@ -1,6 +0,0 @@ -#include "main.h" - -uint8_t InitMagSensor(uint8_t Addr, uint16_t* Tref, float *SensX, float* SensY, float *SensZ); -void MeasureMagSens(uint8_t Addr, uint16_t Tref, float* SensX, float* SensY, float* SensZ); -float SensitivityXY(uint8_t Gain, uint8_t Res); -float SensitivityZ(uint8_t Gain, uint8_t Res); diff --git a/sensors/MagneticFieldSensor/uart/Makefile~ b/sensors/MagneticFieldSensor/uart/Makefile~ deleted file mode 100644 index 75a44f2..0000000 --- a/sensors/MagneticFieldSensor/uart/Makefile~ +++ /dev/null @@ -1,233 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- - -# AVR-GCC Makefile template, derived from the WinAVR template (which -# is public domain), believed to be neutral to any flavor of "make" -# (GNU make, BSD make, SysV make) - - -MCU = atmega168pa -FORMAT = ihex -TARGET = main -SRC = $(TARGET).c uart/uart.c twi/twi.c MagnetSensor.c -ASRC = -OPT = 2 - -# Name of this Makefile (used for "make depend"). -MAKEFILE = Makefile - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 - -# Place -D or -U options here -CDEFS = -DF_CPU=16000000 - -# Place -I options here -CINCS = - - -CDEBUG = -g$(DEBUG) -CWARN = -Wall -Wstrict-prototypes -CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wl,--relax -#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) -CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) $(CTUNING) - - -#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs - - -#Additional libraries. - -# Minimalistic printf version -PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min - -# Floating point printf version (requires MATH_LIB = -lm below) -PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt - -PRINTF_LIB = - -# Minimalistic scanf version -SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min - -# Floating point + %[ scanf version (requires MATH_LIB = -lm below) -SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt - -SCANF_LIB = - -MATH_LIB = -lm - -# External memory options - -# 64 KB of external RAM, starting after internal RAM (ATmega128!), -# used for variables (.data/.bss) and heap (malloc()). -#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff - -# 64 KB of external RAM, starting after internal RAM (ATmega128!), -# only used for heap (malloc()). -#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff - -EXTMEMOPTS = - -#LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref -LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB_FLOAT) $(SCANF_LIB) $(MATH_LIB) - - -# Programming support using avrdude. Settings and variables. - -AVRDUDE_PROGRAMMER = dragon_jtag -AVRDUDE_PORT = usb - -AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex -#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep - - -# Uncomment the following if you want avrdude's erase cycle counter. -# Note that this counter needs to be initialized first using -Yn, -# see avrdude manual. -#AVRDUDE_ERASE_COUNTER = -y - -# Uncomment the following if you do /not/ wish a verification to be -# performed after programming the device. -AVRDUDE_NO_VERIFY = -V - -# Increase verbosity level. Please use this when submitting bug -# reports about avrdude. See -# to submit bug reports. -#AVRDUDE_VERBOSE = -v -v - -AVRDUDE_BASIC = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -AVRDUDE_FLAGS = $(AVRDUDE_BASIC) $(AVRDUDE_NO_VERIFY) $(AVRDUDE_VERBOSE) $(AVRDUDE_ERASE_COUNTER) - - -CC = avr-gcc -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm -AVRDUDE = avrdude -REMOVE = rm -f -MV = mv -f - -# Define all object files. -OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - -# Default target. -all: build - -build: elf hex eep - -elf: $(TARGET).elf -hex: $(TARGET).hex -eep: $(TARGET).eep -lss: $(TARGET).lss -sym: $(TARGET).sym - - -# Program the device. -program: $(TARGET).hex $(TARGET).eep - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) - - -size: - $(SIZE) -C --mcu=$(MCU) $(TARGET).elf - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(OBJCOPY) --debugging \ ---change-section-address .data-0x800000 \ ---change-section-address .bss-0x800000 \ ---change-section-address .noinit-0x800000 \ ---change-section-address .eeprom-0x810000 - - -coff: $(TARGET).elf - $(COFFCONVERT) -O coff-avr $(TARGET).elf $(TARGET).cof - - -extcoff: $(TARGET).elf - $(COFFCONVERT) -O coff-ext-avr $(TARGET).elf $(TARGET).cof - - -.SUFFIXES: .elf .hex .eep .lss .sym - -.elf.hex: - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ - -.elf.eep: - -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ - --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ - -# Create extended listing file from ELF output file. -.elf.lss: - $(OBJDUMP) -h -S $< > $@ - -# Create a symbol table from ELF output file. -.elf.sym: - $(NM) -n $< > $@ - - - -# Link: create ELF output file from object files. -$(TARGET).elf: $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) - - -# Compile: create object files from C source files. -.c.o: - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -.c.s: - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -.S.o: - $(CC) -c $(ALL_ASFLAGS) $< -o $@ - - - -# Target: clean project. -clean: - $(REMOVE) $(TARGET).hex $(TARGET).eep $(TARGET).cof $(TARGET).elf \ - $(TARGET).map $(TARGET).sym $(TARGET).lss \ - $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) - -depend: - if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ - then \ - sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ - $(MAKEFILE).$$$$ && \ - $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ - fi - echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ - >> $(MAKEFILE); \ - $(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE) - -.PHONY: all build elf hex eep lss sym program coff extcoff clean depend program_bootloader program_arduino program_leo - -program_bootloader: all - dfu-programmer $(MCU) erase && dfu-programmer $(MCU) flash $(TARGET).hex && dfu-programmer $(MCU) start - -# program_arduino: all -# avrdude -patmega32u4 -cavr109 -P$(PORT) -b 57600 -D -Uflash:w:$(TARGET).hex:i - -program_leo: all - avrdude -patmega32u4 -cavr109 -P/dev/ttyACM0 -b57600 -D -Uflash:w:$(TARGET).hex:i diff --git a/sensors/MagneticFieldSensor/uart/SparkFunBME280.c~ b/sensors/MagneticFieldSensor/uart/SparkFunBME280.c~ deleted file mode 100644 index 049fa70..0000000 --- a/sensors/MagneticFieldSensor/uart/SparkFunBME280.c~ +++ /dev/null @@ -1,347 +0,0 @@ -/****************************************************************************** -SparkFunBME280.cpp -BME280 Arduino and Teensy Driver -Marshall Taylor @ SparkFun Electronics -May 20, 2015 -https://github.com/sparkfun/BME280_Breakout - -Resources: -Uses Wire.h for i2c operation -Uses SPI.h for SPI operation - -Development environment specifics: -Arduino IDE 1.6.4 -Teensy loader 1.23 - -This code is released under the [MIT License](http://opensource.org/licenses/MIT). -Please review the LICENSE.md file included with this example. If you have any questions -or concerns with licensing, please contact techsupport@sparkfun.com. -Distributed as-is; no warranty is given. -******************************************************************************/ -//See SparkFunBME280.h for additional topology notes. - -#include "SparkFunBME280.h" -#include "stdint.h" -#include -#include "twi.h" - -//****************************************************************************// -// -// Settings and configuration -// -//****************************************************************************// - -//Constructor -- Specifies default configuration -/*BME280::BME280( void ) -{ - //Construct with these default settings if nothing is specified - - //Select interface mode - settings.commInterface = I2C_MODE; //Can be I2C_MODE, SPI_MODE - //Select address for I2C. Does nothing for SPI - settings.I2CAddress = 0x77; //Ignored for SPI_MODE - //Select CS pin for SPI. Does nothing for I2C - settings.chipSelectPin = 10; - settings.runMode = 0; - settings.tempOverSample = 0; - settings.pressOverSample = 0; - settings.humidOverSample = 0; - -} -*/ - -//****************************************************************************// -// -// Configuration section -// -// This uses the stored SensorSettings to start the IMU -// Use statements such as "mySensor.settings.commInterface = SPI_MODE;" to -// configure before calling .begin(); -// -//****************************************************************************// -uint8_t InitBME(BME280* bme280){ - - uint8_t dataToWrite = 0; //Temporary variable - - //Reading all compensation data, range 0x88:A1, 0xE1:E7 - - bme280->calibration.dig_T1 = ((uint16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_T1_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_T1_LSB_REG))); - bme280->calibration.dig_T2 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_T2_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_T2_LSB_REG))); - bme280->calibration.dig_T3 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_T3_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_T3_LSB_REG))); - - bme280->calibration.dig_P1 = ((uint16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P1_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P1_LSB_REG))); - bme280->calibration.dig_P2 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P2_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P2_LSB_REG))); - bme280->calibration.dig_P3 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P3_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P3_LSB_REG))); - bme280->calibration.dig_P4 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P4_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P4_LSB_REG))); - bme280->calibration.dig_P5 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P5_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P5_LSB_REG))); - bme280->calibration.dig_P6 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P6_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P6_LSB_REG))); - bme280->calibration.dig_P7 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P7_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P7_LSB_REG))); - bme280->calibration.dig_P8 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P8_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P8_LSB_REG))); - bme280->calibration.dig_P9 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P9_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P9_LSB_REG))); - - bme280->calibration.dig_H1 = ((uint8_t)(readRegister(bme280->settings.I2CAddress,BME280_DIG_H1_REG))); - bme280->calibration.dig_H2 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_H2_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_H2_LSB_REG))); - bme280->calibration.dig_H3 = ((uint8_t)(readRegister(bme280->settings.I2CAddress,BME280_DIG_H3_REG))); - bme280->calibration.dig_H4 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_H4_MSB_REG) << 4) + (readRegister(bme280->settings.I2CAddress,BME280_DIG_H4_LSB_REG) & 0x0F))); - bme280->calibration.dig_H5 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_H5_MSB_REG) << 4) + ((readRegister(bme280->settings.I2CAddress,BME280_DIG_H4_LSB_REG) >> 4) & 0x0F))); - bme280->calibration.dig_H6 = ((uint8_t)readRegister(bme280->settings.I2CAddress,BME280_DIG_H6_REG)); - -//Set the oversampling control words. - //config will only be writeable in sleep mode, so first insure that. - writeRegister(bme280->settings.I2CAddress,BME280_CTRL_MEAS_REG, 0x00); - - - //Set the config word - dataToWrite = (bme280->settings.tStandby << 0x5) & 0xE0; - dataToWrite |= (bme280->settings.filter << 0x02) & 0x1C; - writeRegister(bme280->settings.I2CAddress,BME280_CONFIG_REG, dataToWrite); - - - //Set ctrl_hum first, then ctrl_meas to activate ctrl_hum - dataToWrite = bme280->settings.humidOverSample & 0x07; //all other bits can be ignored - writeRegister(bme280->settings.I2CAddress,BME280_CTRL_HUMIDITY_REG, dataToWrite); - - - //set ctrl_meas - //First, set temp oversampling - dataToWrite = (bme280->settings.tempOverSample << 0x5) & 0xE0; - //Next, pressure oversampling - - dataToWrite |= (bme280->settings.pressOverSample << 0x02) & 0x1C; - //Last, set mode - dataToWrite |= (bme280->settings.runMode) & 0x03; - //Load the byte - writeRegister(bme280->settings.I2CAddress,BME280_CTRL_MEAS_REG, dataToWrite); - - return readRegister(bme280->settings.I2CAddress,0xD0); -} - -uint8_t InitBME280_( BME280* bme280) -{ - //Check the settings structure values to determine how to setup the device - uint8_t dataToWrite = 0; //Temporary variable - - //Reading all compensation data, range 0x88:A1, 0xE1:E7 - - bme280->calibration.dig_T1 = ((uint16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_T1_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_T1_LSB_REG))); - bme280->calibration.dig_T2 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_T2_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_T2_LSB_REG))); - bme280->calibration.dig_T3 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_T3_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_T3_LSB_REG))); - - bme280->calibration.dig_P1 = ((uint16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P1_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P1_LSB_REG))); - bme280->calibration.dig_P2 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P2_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P2_LSB_REG))); - bme280->calibration.dig_P3 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P3_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P3_LSB_REG))); - bme280->calibration.dig_P4 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P4_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P4_LSB_REG))); - bme280->calibration.dig_P5 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P5_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P5_LSB_REG))); - bme280->calibration.dig_P6 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P6_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P6_LSB_REG))); - bme280->calibration.dig_P7 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P7_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P7_LSB_REG))); - bme280->calibration.dig_P8 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P8_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P8_LSB_REG))); - bme280->calibration.dig_P9 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_P9_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_P9_LSB_REG))); - - bme280->calibration.dig_H1 = ((uint8_t)(readRegister(bme280->settings.I2CAddress,BME280_DIG_H1_REG))); - bme280->calibration.dig_H2 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_H2_MSB_REG) << 8) + readRegister(bme280->settings.I2CAddress,BME280_DIG_H2_LSB_REG))); - bme280->calibration.dig_H3 = ((uint8_t)(readRegister(bme280->settings.I2CAddress,BME280_DIG_H3_REG))); - bme280->calibration.dig_H4 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_H4_MSB_REG) << 4) + (readRegister(bme280->settings.I2CAddress,BME280_DIG_H4_LSB_REG) & 0x0F))); - bme280->calibration.dig_H5 = ((int16_t)((readRegister(bme280->settings.I2CAddress,BME280_DIG_H5_MSB_REG) << 4) + ((readRegister(bme280->settings.I2CAddress,BME280_DIG_H4_LSB_REG) >> 4) & 0x0F))); - bme280->calibration.dig_H6 = ((uint8_t)readRegister(bme280->settings.I2CAddress,BME280_DIG_H6_REG)); - - //Set the oversampling control words. - //config will only be writeable in sleep mode, so first insure that. - writeRegister(bme280->settings.I2CAddress,BME280_CTRL_MEAS_REG, 0x00); - - //Set the config word - dataToWrite = (bme280->settings.tStandby << 0x5) & 0xE0; - dataToWrite |= (bme280->settings.filter << 0x02) & 0x1C; - writeRegister(bme280->settings.I2CAddress,BME280_CONFIG_REG, dataToWrite); - - //Set ctrl_hum first, then ctrl_meas to activate ctrl_hum - dataToWrite = bme280->settings.humidOverSample & 0x07; //all other bits can be ignored - writeRegister(bme280->settings.I2CAddress,BME280_CTRL_HUMIDITY_REG, dataToWrite); - - //set ctrl_meas - //First, set temp oversampling - dataToWrite = (bme280->settings.tempOverSample << 0x5) & 0xE0; - //Next, pressure oversampling - dataToWrite |= (bme280->settings.pressOverSample << 0x02) & 0x1C; - //Last, set mode - dataToWrite |= (bme280->settings.runMode) & 0x03; - //Load the byte - writeRegister(bme280->settings.I2CAddress,BME280_CTRL_MEAS_REG, dataToWrite); - - return readRegister(bme280->settings.I2CAddress,0xD0); -} - -//Strictly resets. Run .begin() afterwards -void reset( BME280* bme280) -{ - writeRegister(bme280->settings.I2CAddress,BME280_RST_REG, 0xB6); - -} - -//****************************************************************************// -// -// Pressure Section -// -//****************************************************************************// -float readFloatPressure( BME280 *bme280) -{ - - // Returns pressure in Pa as unsigned 32 bit integer in Q24.8 format (24 integer bits and 8 fractional bits). - // Output value of “24674867” represents 24674867/256 = 96386.2 Pa = 963.862 hPa - int32_t adc_P = ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_PRESSURE_MSB_REG) << 12) | ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_PRESSURE_LSB_REG) << 4) | ((readRegister(bme280->settings.I2CAddress,BME280_PRESSURE_XLSB_REG) >> 4) & 0x0F); - - int64_t var1, var2, p_acc; - var1 = ((int64_t)bme280->t_fine) - 128000; - var2 = var1 * var1 * (int64_t)bme280->calibration.dig_P6; - var2 = var2 + ((var1 * (int64_t)bme280->calibration.dig_P5)<<17); - var2 = var2 + (((int64_t)bme280->calibration.dig_P4)<<35); - var1 = ((var1 * var1 * (int64_t)bme280->calibration.dig_P3)>>8) + ((var1 * (int64_t)bme280->calibration.dig_P2)<<12); - var1 = (((((int64_t)1)<<47)+var1))*((int64_t)bme280->calibration.dig_P1)>>33; - if (var1 == 0) - { - return 0; // avoid exception caused by division by zero - } - p_acc = 1048576 - adc_P; - p_acc = (((p_acc<<31) - var2)*3125)/var1; - var1 = (((int64_t)bme280->calibration.dig_P9) * (p_acc>>13) * (p_acc>>13)) >> 25; - var2 = (((int64_t)bme280->calibration.dig_P8) * p_acc) >> 19; - p_acc = ((p_acc + var1 + var2) >> 8) + (((int64_t)bme280->calibration.dig_P7)<<4); - - return (float)p_acc / 256.0; - -} -/* -float readFloatAltitudeMeters( BME280* bme280 ) -{ - float heightOutput = 0; - - heightOutput = ((float)-45846.2)*(pow(((float)readFloatPressure(&bme280)/(float)101325), 0.190263) - (float)1); - return heightOutput; - -} - -float readFloatAltitudeFeet( BME280* bme280 ) -{ - float heightOutput = 0; - - heightOutput = readFloatAltitudeMeters( &bme280) * 3.28084; - return heightOutput; - -} -*/ -//****************************************************************************// -// -// Humidity Section -// -//****************************************************************************// -float readFloatHumidity( BME280* bme280 ) -{ - - // Returns humidity in %RH as unsigned 32 bit integer in Q22. 10 format (22 integer and 10 fractional bits). - // Output value of “47445” represents 47445/1024 = 46. 333 %RH - int32_t adc_H = ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_HUMIDITY_MSB_REG) << 8) | ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_HUMIDITY_LSB_REG)); - - int32_t var1; - var1 = (bme280->t_fine - ((int32_t)76800)); - var1 = (((((adc_H << 14) - (((int32_t)bme280->calibration.dig_H4) << 20) - (((int32_t)bme280->calibration.dig_H5) * var1)) + - ((int32_t)16384)) >> 15) * (((((((var1 * ((int32_t)bme280->calibration.dig_H6)) >> 10) * (((var1 * ((int32_t)bme280->calibration.dig_H3)) >> 11) + ((int32_t)32768))) >> 10) + ((int32_t)2097152)) * - ((int32_t)bme280->calibration.dig_H2) + 8192) >> 14)); - var1 = (var1 - (((((var1 >> 15) * (var1 >> 15)) >> 7) * ((int32_t)bme280->calibration.dig_H1)) >> 4)); - var1 = (var1 < 0 ? 0 : var1); - var1 = (var1 > 419430400 ? 419430400 : var1); - - return (float)(var1>>12) / 1024.0; - -} - - - -//****************************************************************************// -// -// Temperature Section -// -//****************************************************************************// - -float readTempC( BME280* bme280 ) -{ - // Returns temperature in DegC, resolution is 0.01 DegC. Output value of “5123” equals 51.23 DegC. - // t_fine carries fine temperature as global value - - //get the reading (adc_T); - int32_t adc_T = ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_TEMPERATURE_MSB_REG) << 12) | ((uint32_t)readRegister(bme280->settings.I2CAddress,BME280_TEMPERATURE_LSB_REG) << 4) | ((readRegister(bme280->settings.I2CAddress,BME280_TEMPERATURE_XLSB_REG) >> 4) & 0x0F); - - //By datasheet, calibrate - int64_t var1, var2; - - var1 = ((((adc_T>>3) - ((int32_t)bme280->calibration.dig_T1<<1))) * ((int32_t)bme280->calibration.dig_T2)) >> 11; - var2 = (((((adc_T>>4) - ((int32_t)bme280->calibration.dig_T1)) * ((adc_T>>4) - ((int32_t)bme280->calibration.dig_T1))) >> 12) * - ((int32_t)bme280->calibration.dig_T3)) >> 14; - bme280->t_fine = var1 + var2; - float output = (bme280->t_fine * 5 + 128) >> 8; - - output = output / 100; - - return output; -} - -/*float readTempF( BME280* bme280 ) -{ - float output = readTempC(&bme280); - output = (output * 9) / 5 + 32; - - return output; -}*/ - -//****************************************************************************// -// -// Utility -// -//****************************************************************************// -void readRegisterRegion(uint8_t Addr, uint8_t *outputPointer , uint8_t offset, uint8_t length) -{ - //define pointer that will point to the external space - ///uint8_t i = 0; - uint8_t c = 0; - twi_writeTo(Addr,&offset,1,1,true); - - for(int i = 0 ; i -#include -#include -*/ -#include "TSL2591.h" - -void Init_TSL2591(TSL2591* tsl) -{ - tsl->_initialized = true; - tsl->_integration = TSL2591_INTEGRATIONTIME_100MS; - tsl->_gain = TSL2591_GAIN_MED; - TSL2591_setTiming(tsl, tsl->_integration); - TSL2591_setGain(tsl, tsl->_gain); - TSL2591_disable(); -} - - -void TSL2591_enable() -{ - // Enable the device by setting the control bit to 0x01 - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_ENABLE, TSL2591_ENABLE_POWERON | TSL2591_ENABLE_AEN | TSL2591_ENABLE_AIEN | TSL2591_ENABLE_NPIEN); -} - -void TSL2591_disable() -{ - // Disable the device by setting the control bit to 0x00 - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_ENABLE, TSL2591_ENABLE_POWEROFF); -} - -void TSL2591_setGain(TSL2591* tsl, tsl2591Gain_t gain) -{ - TSL2591_enable(); - tsl->_gain = gain; - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_CONTROL, tsl->_integration | tsl->_gain); - TSL2591_disable(); -} - -tsl2591Gain_t TSL2591_getGain(TSL2591* tsl) -{ - return tsl->_gain; -} - -void TSL2591_setTiming(TSL2591* tsl, tsl2591IntegrationTime_t integration) -{ - TSL2591_enable(); - tsl->_integration = integration; - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_CONTROL, tsl->_integration | tsl->_gain); - TSL2591_disable(); -} - -tsl2591IntegrationTime_t TSL2591_getTiming(TSL2591* tsl) -{ - return tsl->_integration; -} - -uint32_t TSL2591_calculateLux(TSL2591* tsl, uint16_t ch0, uint16_t ch1) -{ - float atime, again; - float cpl, lux1, lux2, lux; - uint32_t chan0, chan1; - - // Check for overflow conditions first - if ((ch0 == 0xFFFF) | (ch1 == 0xFFFF)) - { - // Signal an overflow - return 0; - } - - // Note: This algorithm is based on preliminary coefficients - // provided by AMS and may need to be updated in the future - - switch (tsl->_integration) - { - case TSL2591_INTEGRATIONTIME_100MS : - atime = 100.0F; - break; - case TSL2591_INTEGRATIONTIME_200MS : - atime = 200.0F; - break; - case TSL2591_INTEGRATIONTIME_300MS : - atime = 300.0F; - break; - case TSL2591_INTEGRATIONTIME_400MS : - atime = 400.0F; - break; - case TSL2591_INTEGRATIONTIME_500MS : - atime = 500.0F; - break; - case TSL2591_INTEGRATIONTIME_600MS : - atime = 600.0F; - break; - default: // 100ms - atime = 100.0F; - break; - } - - switch (tsl->_gain) - { - case TSL2591_GAIN_LOW : - again = 1.0F; - break; - case TSL2591_GAIN_MED : - again = 25.0F; - break; - case TSL2591_GAIN_HIGH : - again = 428.0F; - break; - case TSL2591_GAIN_MAX : - again = 9876.0F; - break; - default: - again = 1.0F; - break; - } - - // cpl = (ATIME * AGAIN) / DF - cpl = (atime * again) / TSL2591_LUX_DF; - - lux1 = ( (float)ch0 - (TSL2591_LUX_COEFB * (float)ch1) ) / cpl; - lux2 = ( ( TSL2591_LUX_COEFC * (float)ch0 ) - ( TSL2591_LUX_COEFD * (float)ch1 ) ) / cpl; - lux = lux1 > lux2 ? lux1 : lux2; - - // Alternate lux calculation - //lux = ( (float)ch0 - ( 1.7F * (float)ch1 ) ) / cpl; - - // Signal I2C had no errors - return (uint32_t)lux; -} - -uint32_t TSL2591_getFullLuminosity (TSL2591* tsl) -{ - // Enable the device - TSL2591_enable(); - - // Wait x ms for ADC to complete - for (uint8_t d=0; d<=tsl->_integration; d++) - { - _delay_ms(120); - } - - uint32_t x; - x = TSL2591_read16(TSL2591_COMMAND_BIT | TSL2591_REGISTER_CHAN1_LOW); - x <<= 16; - x |= TSL2591_read16(TSL2591_COMMAND_BIT | TSL2591_REGISTER_CHAN0_LOW); - - TSL2591_disable(); - - return x; -} - -uint16_t TSL2591_getLuminosity (TSL2591* tsl, uint8_t channel) -{ - uint32_t x = TSL2591_getFullLuminosity(tsl); - - if (channel == TSL2591_FULLSPECTRUM) - { - // Reads two byte value from channel 0 (visible + infrared) - return (x & 0xFFFF); - } - else if (channel == TSL2591_INFRARED) - { - // Reads two byte value from channel 1 (infrared) - return (x >> 16); - } - else if (channel == TSL2591_VISIBLE) - { - // Reads all and subtracts out just the visible! - return ( (x & 0xFFFF) - (x >> 16)); - } - - // unknown channel! - return 0; -} - -/*void TSL2591_registerInterrupt(TSL2591* tsl, uint16_t lowerThreshold, uint16_t upperThreshold) -{ - if (!tsl->_initialized) - { - if (!TSL2591_begin(tsl)) - { - return; - } - } - - TSL2591_enable(tsl); - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_THRESHOLD_NPAILTL, lowerThreshold); - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_THRESHOLD_NPAILTH, lowerThreshold >> 8); - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_THRESHOLD_NPAIHTL, upperThreshold); - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_THRESHOLD_NPAIHTH, upperThreshold >> 8); - TSL2591_disable(tsl); -} - -void TSL2591_registerInterrupt(TSL2591* tsl, uint16_t lowerThreshold, uint16_t upperThreshold, tsl2591Persist_t persist) -{ - if (!_initialized) - { - if (!TSL2591_begin(tsl)) - { - return; - } - } - - TSL2591_enable(tsl); - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_PERSIST_FILTER, persist); - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_THRESHOLD_AILTL, lowerThreshold); - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_THRESHOLD_AILTH, lowerThreshold >> 8); - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_THRESHOLD_AIHTL, upperThreshold); - TSL2591_write8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_THRESHOLD_AIHTH, upperThreshold >> 8); - TSL2591_disable(tsl); -} - -void TSL2591_clearInterrupt(TSL2591* tsl) -{ - if (!tsl->_initialized) - { - if (!TSL2591_begin(tsl)) - { - return; - } - } - - TSL2591_enable(tsl); - TSL2591_write8(TSL2591_CLEAR_INT); - TSL2591_disable(tsl); -} - - -uint8_t Adafruit_TSL2591_getStatus(TSL2591* tsl) -{ - if (!tsl->_initialized) - { - if (!TSL2591_begin(tsl)) - { - return 0; - } - } - - // Enable the device - TSL2591_enable(tsl); - uint8_t x; - x = TSL2591_read8(TSL2591_COMMAND_BIT | TSL2591_REGISTER_DEVICE_STATUS); - TSL2591_disable(tsl); - return x; -} -*/ - -uint8_t TSL2591_read8(uint8_t reg) -{ - uint8_t x; - twi_writeTo(TSL2591_ADDR, ®, 1,1, true); - twi_readFrom(TSL2591_ADDR, &x, 1, true); - - return x; -} - -uint16_t TSL2591_read16(uint8_t reg) -{ - uint16_t x[2]; - - twi_writeTo(TSL2591_ADDR, ®, 1,1, true); - twi_readFrom(TSL2591_ADDR, x, 2, true); - - x[1] <<= 8; - x[1] |= x[0]; - return x; -} - -void TSL2591_write8 (uint8_t reg, uint8_t value) -{ - uint8_t write_val[2] = {reg, value}; - twi_writeTo(TSL2591_ADDR, reg, 2,1, true); -} - - diff --git a/sensors/MagneticFieldSensor/uart/TSL2591.h~ b/sensors/MagneticFieldSensor/uart/TSL2591.h~ deleted file mode 100644 index e82ca7e..0000000 --- a/sensors/MagneticFieldSensor/uart/TSL2591.h~ +++ /dev/null @@ -1,120 +0,0 @@ -#include "main.h" - -#ifndef _TSL2591_H_ -#define _TSL2591_H_ - -#define TSL2591_VISIBLE (2) // channel 0 - channel 1 -#define TSL2591_INFRARED (1) // channel 1 -#define TSL2591_FULLSPECTRUM (0) // channel 0 - -#define TSL2591_ADDR (0x29) -#define TSL2591_READBIT (0x01) - -#define TSL2591_COMMAND_BIT (0xA0) // 1010 0000: bits 7 and 5 for 'command normal' -#define TSL2591_CLEAR_INT (0xE7) -#define TSL2591_TEST_INT (0xE4) -#define TSL2591_WORD_BIT (0x20) // 1 = read/write word (rather than byte) -#define TSL2591_BLOCK_BIT (0x10) // 1 = using block read/write - -#define TSL2591_ENABLE_POWEROFF (0x00) -#define TSL2591_ENABLE_POWERON (0x01) -#define TSL2591_ENABLE_AEN (0x02) // ALS Enable. This field activates ALS function. Writing a one activates the ALS. Writing a zero disables the ALS. -#define TSL2591_ENABLE_AIEN (0x10) // ALS Interrupt Enable. When asserted permits ALS interrupts to be generated, subject to the persist filter. -#define TSL2591_ENABLE_NPIEN (0x80) // No Persist Interrupt Enable. When asserted NP Threshold conditions will generate an interrupt, bypassing the persist filter - -#define TSL2591_LUX_DF (408.0F) -#define TSL2591_LUX_COEFB (1.64F) // CH0 coefficient -#define TSL2591_LUX_COEFC (0.59F) // CH1 coefficient A -#define TSL2591_LUX_COEFD (0.86F) // CH2 coefficient B - -enum -{ - TSL2591_REGISTER_ENABLE = 0x00, - TSL2591_REGISTER_CONTROL = 0x01, - TSL2591_REGISTER_THRESHOLD_AILTL = 0x04, // ALS low threshold lower byte - TSL2591_REGISTER_THRESHOLD_AILTH = 0x05, // ALS low threshold upper byte - TSL2591_REGISTER_THRESHOLD_AIHTL = 0x06, // ALS high threshold lower byte - TSL2591_REGISTER_THRESHOLD_AIHTH = 0x07, // ALS high threshold upper byte - TSL2591_REGISTER_THRESHOLD_NPAILTL = 0x08, // No Persist ALS low threshold lower byte - TSL2591_REGISTER_THRESHOLD_NPAILTH = 0x09, // etc - TSL2591_REGISTER_THRESHOLD_NPAIHTL = 0x0A, - TSL2591_REGISTER_THRESHOLD_NPAIHTH = 0x0B, - TSL2591_REGISTER_PERSIST_FILTER = 0x0C, - TSL2591_REGISTER_PACKAGE_PID = 0x11, - TSL2591_REGISTER_DEVICE_ID = 0x12, - TSL2591_REGISTER_DEVICE_STATUS = 0x13, - TSL2591_REGISTER_CHAN0_LOW = 0x14, - TSL2591_REGISTER_CHAN0_HIGH = 0x15, - TSL2591_REGISTER_CHAN1_LOW = 0x16, - TSL2591_REGISTER_CHAN1_HIGH = 0x17 -}; - -typedef enum -{ - TSL2591_INTEGRATIONTIME_100MS = 0x00, - TSL2591_INTEGRATIONTIME_200MS = 0x01, - TSL2591_INTEGRATIONTIME_300MS = 0x02, - TSL2591_INTEGRATIONTIME_400MS = 0x03, - TSL2591_INTEGRATIONTIME_500MS = 0x04, - TSL2591_INTEGRATIONTIME_600MS = 0x05, -} -tsl2591IntegrationTime_t; - -typedef enum -{ - // bit 7:4: 0 - TSL2591_PERSIST_EVERY = 0x00, // Every ALS cycle generates an interrupt - TSL2591_PERSIST_ANY = 0x01, // Any value outside of threshold range - TSL2591_PERSIST_2 = 0x02, // 2 consecutive values out of range - TSL2591_PERSIST_3 = 0x03, // 3 consecutive values out of range - TSL2591_PERSIST_5 = 0x04, // 5 consecutive values out of range - TSL2591_PERSIST_10 = 0x05, // 10 consecutive values out of range - TSL2591_PERSIST_15 = 0x06, // 15 consecutive values out of range - TSL2591_PERSIST_20 = 0x07, // 20 consecutive values out of range - TSL2591_PERSIST_25 = 0x08, // 25 consecutive values out of range - TSL2591_PERSIST_30 = 0x09, // 30 consecutive values out of range - TSL2591_PERSIST_35 = 0x0A, // 35 consecutive values out of range - TSL2591_PERSIST_40 = 0x0B, // 40 consecutive values out of range - TSL2591_PERSIST_45 = 0x0C, // 45 consecutive values out of range - TSL2591_PERSIST_50 = 0x0D, // 50 consecutive values out of range - TSL2591_PERSIST_55 = 0x0E, // 55 consecutive values out of range - TSL2591_PERSIST_60 = 0x0F, // 60 consecutive values out of range -} -tsl2591Persist_t; - -typedef enum -{ - TSL2591_GAIN_LOW = 0x00, // low gain (1x) - TSL2591_GAIN_MED = 0x10, // medium gain (25x) - TSL2591_GAIN_HIGH = 0x20, // medium gain (428x) - TSL2591_GAIN_MAX = 0x30, // max gain (9876x) -} -tsl2591Gain_t; - -typedef struct { - tsl2591Gain_t _gain; - tsl2591IntegrationTime_t _integration; - bool _initialized; -} TSL2591; - - - void Init_TSL2591 ( TSL2591* tsl ); - - void TSL2591_enable ( void ); - void TSL2591_disable ( void ); - void TSL2591_write8 ( uint8_t r, uint8_t v ); - uint16_t TSL2591_read16 ( uint8_t reg ); - uint8_t TSL2591_read8 ( uint8_t reg ); - - uint32_t TSL2591_calculateLux (TSL2591* tsl, uint16_t ch0, uint16_t ch1 ); - void TSL2591_setGain (TSL2591* tsl, tsl2591Gain_t gain ); - void TSL2591_setTiming (TSL2591* tsl, tsl2591IntegrationTime_t integration ); - uint16_t TSL2591_getLuminosity (TSL2591* tsl, uint8_t channel ); - uint32_t TSL2591_getFullLuminosity (TSL2591* tsl ); - - tsl2591IntegrationTime_t TSL2591_getTiming(TSL2591* tsl); - tsl2591Gain_t TSL2591_getGain(TSL2591* tsl); - - -#endif - diff --git a/sensors/MagneticFieldSensor/uart/main.c~ b/sensors/MagneticFieldSensor/uart/main.c~ deleted file mode 100644 index adba17c..0000000 --- a/sensors/MagneticFieldSensor/uart/main.c~ +++ /dev/null @@ -1,56 +0,0 @@ -/* - * main.c - * - * Created on: 07.03.2017 - * Author: Adrian Weber - */ -#include "main.h" - - -int main(void) -{ char s[30]; - uint8_t Status[4]={0,0,0,0}; - uint8_t Status_Mag[4]={0,0,0,0}; - uint16_t TRef[4]={0,0,0,0}; - float SensX[4]; - float SensY[4]; - float SensZ[4]; - - //For CLK setting - CLKPR = (0< -#include -#include -#include -#include -#include -#include -#include -#include -#include "uart/uart.h" -#include "MagnetSensor.h" -#include "twi/twi.h" -#include -#include - - -#ifndef F_CPU -#define F_CPU 16000000 -#endif - -# define USART_BAUDRATE 19200 -# define BAUD_PRESCALE (unsigned int)(1.0 * F_CPU / USART_BAUDRATE / 16 - 0.5); - -#define ADDR_MAG_0 0x0C -#define ADDR_MAG_1 0x0D -#define ADDR_MAG_2 0x0E -#define ADDR_MAG_3 0x0F - - - - -#ifndef __AVR_ATmega168PA__ -#define __AVR_ATmega168PA__ -#endif /* MAIN_H_ */ - - -#endif diff --git a/sensors/MagneticFieldSensor/uart/twi.c~ b/sensors/MagneticFieldSensor/uart/twi.c~ deleted file mode 100644 index a97a051..0000000 --- a/sensors/MagneticFieldSensor/uart/twi.c~ +++ /dev/null @@ -1,570 +0,0 @@ -/* - twi.c - TWI/I2C library for Atmega32U4 - - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts - - Modified 2017 by Adrian Weber to use I2C without Arduino librarys -*/ - -#include -#include -#include -#include -#include -#include -#include -#include "uart.h" - -#ifndef cbi -#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) -#endif - -#ifndef sbi -#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) -#endif -#include "twi.h" - -static volatile uint8_t twi_state; -static volatile uint8_t twi_slarw; -static volatile uint8_t twi_sendStop; // should the transaction end with a stop -static volatile uint8_t twi_inRepStart; // in the middle of a repeated start - -static void (*twi_onSlaveTransmit)(void); -static void (*twi_onSlaveReceive)(uint8_t*, int); - -static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_masterBufferIndex; -static volatile uint8_t twi_masterBufferLength; - -static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_txBufferIndex; -static volatile uint8_t twi_txBufferLength; - -static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_rxBufferIndex; - -static volatile uint8_t twi_error; - - -/* - * Function twi_init - * Desc readys twi pins and sets twi bitrate - * Input none - * Output none - */ -void twi_init(void) -{ - // initialize state - twi_state = TWI_READY; - twi_sendStop = true; // default value - twi_inRepStart = false; - - // activate internal pullups for twi. - DDRD |= (1 << PD0); - DDRD |= (1 << PD1); - PORTD |= (1 << PD0); - PORTD |= (1 << PD1); - - // initialize twi prescaler and bit rate - cbi(TWSR, TWPS0); - cbi(TWSR, TWPS1); - TWBR = ((F_CPU / TWI_FREQ) - 16) / 2; - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ - - // enable twi module, acks, and twi interrupt - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); -} - -/* - * Function twi_disable - * Desc disables twi pins - * Input none - * Output none - */ -void twi_disable(void) -{ - // disable twi module, acks, and twi interrupt - TWCR &= ~(_BV(TWEN) | _BV(TWIE) | _BV(TWEA)); - - // deactivate internal pullups for twi. - DDRD |= (1 << PD0); - DDRD |= (1 << PD1); - PORTD |= (0 << PD0); - PORTD |= (0 << PD1); - -} - -/* - * Function twi_slaveInit - * Desc sets slave address and enables interrupt - * Input none - * Output none - */ -void twi_setAddress(uint8_t address) -{ - // set twi slave address (skip over TWGCE bit) - TWAR = address << 1; -} - -/* - * Function twi_setClock - * Desc sets twi bit rate - * Input Clock Frequency - * Output none - */ -void twi_setFrequency(uint32_t frequency) -{ - TWBR = ((F_CPU / frequency) - 16) / 2; - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ -} - -/* - * Function twi_readFrom - * Desc attempts to become twi bus master and read a - * series of bytes from a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes to read into array - * sendStop: Boolean indicating whether to send a stop at the end - * Output number of bytes read - */ -uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 0; - } - // wait until twi is ready, become master receiver - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MRX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length-1; // This is not intuitive, read on... - // On receive, the previously configured ACK/NACK setting is transmitted in - // response to the received byte before the interrupt is signalled. - // Therefor we must actually set NACK when the _next_ to last byte is - // received, causing that NACK to be sent in response to receiving the last - // expected byte of data. - - // build sla+w, slave device address + w bit - twi_slarw = TW_READ; - twi_slarw |= address << 1; - - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent ourselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); - - // wait for read operation to complete - while(TWI_MRX == twi_state){ - continue; - } - - if (twi_masterBufferIndex < length) - length = twi_masterBufferIndex; - - // copy twi buffer to data - for(i = 0; i < length; ++i){ - data[i] = twi_masterBuffer[i]; - } - - return length; -} - -/* - * Function twi_writeTo - * Desc attempts to become twi bus master and write a - * series of bytes to a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes in array - * wait: boolean indicating to wait for write or not - * sendStop: boolean indicating whether or not to send a stop at the end - * Output 0 .. success - * 1 .. length to long for buffer - * 2 .. address send, NACK received - * 3 .. data send, NACK received - * 4 .. other twi error (lost bus arbitration, bus error, ..) - */ -uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // wait until twi is ready, become master transmitter - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MTX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length; - - // copy data to twi buffer - for(i = 0; i < length; ++i){ - twi_masterBuffer[i] = data[i]; - } - - // build sla+w, slave device address + w bit - twi_slarw = TW_WRITE; - twi_slarw |= address << 1; - - - // if we're in a repeated start, then we've already sent the START - // in the ISR. Don't do it again. - // - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent outselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs - - - // wait for write operation to complete - while(wait && (TWI_MTX == twi_state)){ - continue; - } - - if (twi_error == 0xFF) - return 0; // success - else if (twi_error == TW_MT_SLA_NACK) - return 2; // error: address send, nack received - else if (twi_error == TW_MT_DATA_NACK) - return 3; // error: data send, nack received - else - return 4; // other twi error -} - -/* - * Function twi_transmit - * Desc fills slave tx buffer with data - * must be called in slave tx event callback - * Input data: pointer to byte array - * length: number of bytes in array - * Output 1 length too long for buffer - * 2 not slave transmitter - * 0 ok - */ -uint8_t twi_transmit(const uint8_t* data, uint8_t length) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // ensure we are currently a slave transmitter - if(TWI_STX != twi_state){ - return 2; - } - - // set length and copy data into tx buffer - twi_txBufferLength = length; - for(i = 0; i < length; ++i){ - twi_txBuffer[i] = data[i]; - } - - return 0; -} - -/* - * Function twi_attachSlaveRxEvent - * Desc sets function called before a slave read operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) ) -{ - twi_onSlaveReceive = function; -} - -/* - * Function twi_attachSlaveTxEvent - * Desc sets function called before a slave write operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveTxEvent( void (*function)(void) ) -{ - twi_onSlaveTransmit = function; -} - -/* - * Function twi_reply - * Desc sends byte or readys receive line - * Input ack: byte indicating to ack or to nack - * Output none - */ -void twi_reply(uint8_t ack) -{ - // transmit master read ready signal, with or without ack - if(ack){ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); - }else{ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); - } -} - -/* - * Function twi_stop - * Desc relinquishes bus master status - * Input none - * Output none - */ -void twi_stop(void) -{ - // send stop condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); - - // wait for stop condition to be exectued on bus - // TWINT is not set after a stop condition! - while(TWCR & _BV(TWSTO)){ - continue; - } - - // update twi state - twi_state = TWI_READY; -} - -/* - * Function twi_releaseBus - * Desc releases bus control - * Input none - * Output none - */ -void twi_releaseBus(void) -{ - // release bus - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); - - // update twi state - twi_state = TWI_READY; -} - -ISR(TWI_vect) -{ - switch(TW_STATUS){ - // All Master - case TW_START: // sent start condition - case TW_REP_START: // sent repeated start condition - // copy device address and r/w bit to output register and ack - TWDR = twi_slarw; - twi_reply(1); - break; - - // Master Transmitter - case TW_MT_SLA_ACK: // slave receiver acked address - case TW_MT_DATA_ACK: // slave receiver acked data - // if there is data to send, send it, otherwise stop - if(twi_masterBufferIndex < twi_masterBufferLength){ - // copy data to output register and ack - TWDR = twi_masterBuffer[twi_masterBufferIndex++]; - twi_reply(1); - }else{ - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - } - break; - case TW_MT_SLA_NACK: // address sent, nack received - twi_error = TW_MT_SLA_NACK; - twi_stop(); - break; - case TW_MT_DATA_NACK: // data sent, nack received - twi_error = TW_MT_DATA_NACK; - twi_stop(); - break; - case TW_MT_ARB_LOST: // lost bus arbitration - twi_error = TW_MT_ARB_LOST; - twi_releaseBus(); - break; - - // Master Receiver - case TW_MR_DATA_ACK: // data received, ack sent - // put byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - case TW_MR_SLA_ACK: // address sent, ack received - // ack if more bytes are expected, otherwise nack - if(twi_masterBufferIndex < twi_masterBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_MR_DATA_NACK: // data received, nack sent - // put final byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - break; - case TW_MR_SLA_NACK: // address sent, nack received - twi_stop(); - break; - // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case - - // Slave Receiver - case TW_SR_SLA_ACK: // addressed, returned ack - case TW_SR_GCALL_ACK: // addressed generally, returned ack - case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack - case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack - // enter slave receiver mode - twi_state = TWI_SRX; - // indicate that rx buffer can be overwritten and ack - twi_rxBufferIndex = 0; - twi_reply(1); - break; - case TW_SR_DATA_ACK: // data received, returned ack - case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack - // if there is still room in the rx buffer - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - // put byte in buffer and ack - twi_rxBuffer[twi_rxBufferIndex++] = TWDR; - twi_reply(1); - }else{ - // otherwise nack - twi_reply(0); - } - break; - case TW_SR_STOP: // stop or repeated start condition received - // ack future responses and leave slave receiver state - twi_releaseBus(); - // put a null char after data if there's room - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - twi_rxBuffer[twi_rxBufferIndex] = '\0'; - } - // callback to user defined callback - twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); - // since we submit rx buffer to "wire" library, we can reset it - twi_rxBufferIndex = 0; - break; - case TW_SR_DATA_NACK: // data received, returned nack - case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack - // nack back at master - twi_reply(0); - break; - - // Slave Transmitter - case TW_ST_SLA_ACK: // addressed, returned ack - case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack - // enter slave transmitter mode - twi_state = TWI_STX; - // ready the tx buffer index for iteration - twi_txBufferIndex = 0; - // set tx buffer length to be zero, to verify if user changes it - twi_txBufferLength = 0; - // request for txBuffer to be filled and length to be set - // note: user must call twi_transmit(bytes, length) to do this - twi_onSlaveTransmit(); - // if they didn't change buffer & length, initialize it - if(0 == twi_txBufferLength){ - twi_txBufferLength = 1; - twi_txBuffer[0] = 0x00; - } - // transmit first byte from buffer, fall - case TW_ST_DATA_ACK: // byte sent, ack returned - // copy data to output register - TWDR = twi_txBuffer[twi_txBufferIndex++]; - // if there is more to send, ack, otherwise nack - if(twi_txBufferIndex < twi_txBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_ST_DATA_NACK: // received nack, we are done - case TW_ST_LAST_DATA: // received ack, but we are done already! - // ack future responses - twi_reply(1); - // leave slave receiver state - twi_state = TWI_READY; - break; - - // All - case TW_NO_INFO: // no state information - break; - case TW_BUS_ERROR: // bus error, illegal stop/start - twi_error = TW_BUS_ERROR; - twi_stop(); - break; - } -} - diff --git a/sensors/MagneticFieldSensor/uart/twi/twi.c~ b/sensors/MagneticFieldSensor/uart/twi/twi.c~ deleted file mode 100644 index 8b0a2b8..0000000 --- a/sensors/MagneticFieldSensor/uart/twi/twi.c~ +++ /dev/null @@ -1,571 +0,0 @@ -/* - twi.c - TWI/I2C library for Atmega32U4 - - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA - - Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts - - Modified 2017 by Adrian Weber to use I2C without Arduino librarys -*/ - -#include -#include -#include -#include -#include -#include -#include - -#ifndef cbi -#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) -#endif - -#ifndef sbi -#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) -#endif -#include "twi.h" - -static volatile uint8_t twi_state; -static volatile uint8_t twi_slarw; -static volatile uint8_t twi_sendStop; // should the transaction end with a stop -static volatile uint8_t twi_inRepStart; // in the middle of a repeated start - -static void (*twi_onSlaveTransmit)(void); -static void (*twi_onSlaveReceive)(uint8_t*, int); - -static uint8_t twi_masterBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_masterBufferIndex; -static volatile uint8_t twi_masterBufferLength; - -static uint8_t twi_txBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_txBufferIndex; -static volatile uint8_t twi_txBufferLength; - -static uint8_t twi_rxBuffer[TWI_BUFFER_LENGTH]; -static volatile uint8_t twi_rxBufferIndex; - -static volatile uint8_t twi_error; - - -/* - * Function twi_init - * Desc readys twi pins and sets twi bitrate - * Input none - * Output none - */ -void twi_init(void) -{ - // initialize state - twi_state = TWI_READY; - twi_sendStop = true; // default value - twi_inRepStart = false; - - // activate internal pullups for twi. - DDRD |= (1 << PC4); - DDRD |= (1 << PC5); - PORTD |= (1 << PC4); - PORTD |= (1 << PC5); - - // initialize twi prescaler and bit rate - cbi(TWSR, TWPS0); - cbi(TWSR, TWPS1); - TWBR = ((F_CPU / TWI_FREQ) - 16) / 2; - - sei(); - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ - - // enable twi module, acks, and twi interrupt - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); -} - -/* - * Function twi_disable - * Desc disables twi pins - * Input none - * Output none - */ -void twi_disable(void) -{ - // disable twi module, acks, and twi interrupt - TWCR &= ~(_BV(TWEN) | _BV(TWIE) | _BV(TWEA)); - - // deactivate internal pullups for twi. - DDRD |= (1 << PD0); - DDRD |= (1 << PD1); - PORTD |= (0 << PD0); - PORTD |= (0 << PD1); - -} - -/* - * Function twi_slaveInit - * Desc sets slave address and enables interrupt - * Input none - * Output none - */ -void twi_setAddress(uint8_t address) -{ - // set twi slave address (skip over TWGCE bit) - TWAR = address << 1; -} - -/* - * Function twi_setClock - * Desc sets twi bit rate - * Input Clock Frequency - * Output none - */ -void twi_setFrequency(uint32_t frequency) -{ - TWBR = ((F_CPU / frequency) - 16) / 2; - - /* twi bit rate formula from atmega128 manual pg 204 - SCL Frequency = CPU Clock Frequency / (16 + (2 * TWBR)) - note: TWBR should be 10 or higher for master mode - It is 72 for a 16mhz Wiring board with 100kHz TWI */ -} - -/* - * Function twi_readFrom - * Desc attempts to become twi bus master and read a - * series of bytes from a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes to read into array - * sendStop: Boolean indicating whether to send a stop at the end - * Output number of bytes read - */ -uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 0; - } - // wait until twi is ready, become master receiver - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MRX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length-1; // This is not intuitive, read on... - // On receive, the previously configured ACK/NACK setting is transmitted in - // response to the received byte before the interrupt is signalled. - // Therefor we must actually set NACK when the _next_ to last byte is - // received, causing that NACK to be sent in response to receiving the last - // expected byte of data. - - // build sla+w, slave device address + w bit - twi_slarw = TW_READ; - twi_slarw |= address << 1; - - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent ourselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA); - - // wait for read operation to complete - while(TWI_MRX == twi_state){ - continue; - } - - if (twi_masterBufferIndex < length) - length = twi_masterBufferIndex; - - // copy twi buffer to data - for(i = 0; i < length; ++i){ - data[i] = twi_masterBuffer[i]; - } - - return length; -} - -/* - * Function twi_writeTo - * Desc attempts to become twi bus master and write a - * series of bytes to a device on the bus - * Input address: 7bit i2c device address - * data: pointer to byte array - * length: number of bytes in array - * wait: boolean indicating to wait for write or not - * sendStop: boolean indicating whether or not to send a stop at the end - * Output 0 .. success - * 1 .. length to long for buffer - * 2 .. address send, NACK received - * 3 .. data send, NACK received - * 4 .. other twi error (lost bus arbitration, bus error, ..) - */ -uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // wait until twi is ready, become master transmitter - while(TWI_READY != twi_state){ - continue; - } - twi_state = TWI_MTX; - twi_sendStop = sendStop; - // reset error state (0xFF.. no error occured) - twi_error = 0xFF; - - // initialize buffer iteration vars - twi_masterBufferIndex = 0; - twi_masterBufferLength = length; - - // copy data to twi buffer - for(i = 0; i < length; ++i){ - twi_masterBuffer[i] = data[i]; - } - - // build sla+w, slave device address + w bit - twi_slarw = TW_WRITE; - twi_slarw |= address << 1; - - - // if we're in a repeated start, then we've already sent the START - // in the ISR. Don't do it again. - // - if (true == twi_inRepStart) { - // if we're in the repeated start state, then we've already sent the start, - // (@@@ we hope), and the TWI statemachine is just waiting for the address byte. - // We need to remove ourselves from the repeated start state before we enable interrupts, - // since the ISR is ASYNC, and we could get confused if we hit the ISR before cleaning - // up. Also, don't enable the START interrupt. There may be one pending from the - // repeated start that we sent outselves, and that would really confuse things. - twi_inRepStart = false; // remember, we're dealing with an ASYNC ISR - do { - TWDR = twi_slarw; - } while(TWCR & _BV(TWWC)); - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE); // enable INTs, but not START - } - else - // send start condition - TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA); // enable INTs - - - // wait for write operation to complete - while(wait && (TWI_MTX == twi_state)){ - continue; - } - - if (twi_error == 0xFF) - return 0; // success - else if (twi_error == TW_MT_SLA_NACK) - return 2; // error: address send, nack received - else if (twi_error == TW_MT_DATA_NACK) - return 3; // error: data send, nack received - else - return 4; // other twi error -} - -/* - * Function twi_transmit - * Desc fills slave tx buffer with data - * must be called in slave tx event callback - * Input data: pointer to byte array - * length: number of bytes in array - * Output 1 length too long for buffer - * 2 not slave transmitter - * 0 ok - */ -uint8_t twi_transmit(const uint8_t* data, uint8_t length) -{ - uint8_t i; - - // ensure data will fit into buffer - if(TWI_BUFFER_LENGTH < length){ - return 1; - } - - // ensure we are currently a slave transmitter - if(TWI_STX != twi_state){ - return 2; - } - - // set length and copy data into tx buffer - twi_txBufferLength = length; - for(i = 0; i < length; ++i){ - twi_txBuffer[i] = data[i]; - } - - return 0; -} - -/* - * Function twi_attachSlaveRxEvent - * Desc sets function called before a slave read operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveRxEvent( void (*function)(uint8_t*, int) ) -{ - twi_onSlaveReceive = function; -} - -/* - * Function twi_attachSlaveTxEvent - * Desc sets function called before a slave write operation - * Input function: callback function to use - * Output none - */ -void twi_attachSlaveTxEvent( void (*function)(void) ) -{ - twi_onSlaveTransmit = function; -} - -/* - * Function twi_reply - * Desc sends byte or readys receive line - * Input ack: byte indicating to ack or to nack - * Output none - */ -void twi_reply(uint8_t ack) -{ - // transmit master read ready signal, with or without ack - if(ack){ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA); - }else{ - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT); - } -} - -/* - * Function twi_stop - * Desc relinquishes bus master status - * Input none - * Output none - */ -void twi_stop(void) -{ - // send stop condition - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTO); - - // wait for stop condition to be exectued on bus - // TWINT is not set after a stop condition! - while(TWCR & _BV(TWSTO)){ - continue; - } - - // update twi state - twi_state = TWI_READY; -} - -/* - * Function twi_releaseBus - * Desc releases bus control - * Input none - * Output none - */ -void twi_releaseBus(void) -{ - // release bus - TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT); - - // update twi state - twi_state = TWI_READY; -} - -ISR(TWI_vect) -{ - switch(TW_STATUS){ - // All Master - case TW_START: // sent start condition - case TW_REP_START: // sent repeated start condition - // copy device address and r/w bit to output register and ack - TWDR = twi_slarw; - twi_reply(1); - break; - - // Master Transmitter - case TW_MT_SLA_ACK: // slave receiver acked address - case TW_MT_DATA_ACK: // slave receiver acked data - // if there is data to send, send it, otherwise stop - if(twi_masterBufferIndex < twi_masterBufferLength){ - // copy data to output register and ack - TWDR = twi_masterBuffer[twi_masterBufferIndex++]; - twi_reply(1); - }else{ - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - } - break; - case TW_MT_SLA_NACK: // address sent, nack received - twi_error = TW_MT_SLA_NACK; - twi_stop(); - break; - case TW_MT_DATA_NACK: // data sent, nack received - twi_error = TW_MT_DATA_NACK; - twi_stop(); - break; - case TW_MT_ARB_LOST: // lost bus arbitration - twi_error = TW_MT_ARB_LOST; - twi_releaseBus(); - break; - - // Master Receiver - case TW_MR_DATA_ACK: // data received, ack sent - // put byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - case TW_MR_SLA_ACK: // address sent, ack received - // ack if more bytes are expected, otherwise nack - if(twi_masterBufferIndex < twi_masterBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_MR_DATA_NACK: // data received, nack sent - // put final byte into buffer - twi_masterBuffer[twi_masterBufferIndex++] = TWDR; - if (twi_sendStop) - twi_stop(); - else { - twi_inRepStart = true; // we're gonna send the START - // don't enable the interrupt. We'll generate the start, but we - // avoid handling the interrupt until we're in the next transaction, - // at the point where we would normally issue the start. - TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ; - twi_state = TWI_READY; - } - break; - case TW_MR_SLA_NACK: // address sent, nack received - twi_stop(); - break; - // TW_MR_ARB_LOST handled by TW_MT_ARB_LOST case - - // Slave Receiver - case TW_SR_SLA_ACK: // addressed, returned ack - case TW_SR_GCALL_ACK: // addressed generally, returned ack - case TW_SR_ARB_LOST_SLA_ACK: // lost arbitration, returned ack - case TW_SR_ARB_LOST_GCALL_ACK: // lost arbitration, returned ack - // enter slave receiver mode - twi_state = TWI_SRX; - // indicate that rx buffer can be overwritten and ack - twi_rxBufferIndex = 0; - twi_reply(1); - break; - case TW_SR_DATA_ACK: // data received, returned ack - case TW_SR_GCALL_DATA_ACK: // data received generally, returned ack - // if there is still room in the rx buffer - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - // put byte in buffer and ack - twi_rxBuffer[twi_rxBufferIndex++] = TWDR; - twi_reply(1); - }else{ - // otherwise nack - twi_reply(0); - } - break; - case TW_SR_STOP: // stop or repeated start condition received - // ack future responses and leave slave receiver state - twi_releaseBus(); - // put a null char after data if there's room - if(twi_rxBufferIndex < TWI_BUFFER_LENGTH){ - twi_rxBuffer[twi_rxBufferIndex] = '\0'; - } - // callback to user defined callback - twi_onSlaveReceive(twi_rxBuffer, twi_rxBufferIndex); - // since we submit rx buffer to "wire" library, we can reset it - twi_rxBufferIndex = 0; - break; - case TW_SR_DATA_NACK: // data received, returned nack - case TW_SR_GCALL_DATA_NACK: // data received generally, returned nack - // nack back at master - twi_reply(0); - break; - - // Slave Transmitter - case TW_ST_SLA_ACK: // addressed, returned ack - case TW_ST_ARB_LOST_SLA_ACK: // arbitration lost, returned ack - // enter slave transmitter mode - twi_state = TWI_STX; - // ready the tx buffer index for iteration - twi_txBufferIndex = 0; - // set tx buffer length to be zero, to verify if user changes it - twi_txBufferLength = 0; - // request for txBuffer to be filled and length to be set - // note: user must call twi_transmit(bytes, length) to do this - twi_onSlaveTransmit(); - // if they didn't change buffer & length, initialize it - if(0 == twi_txBufferLength){ - twi_txBufferLength = 1; - twi_txBuffer[0] = 0x00; - } - // transmit first byte from buffer, fall - case TW_ST_DATA_ACK: // byte sent, ack returned - // copy data to output register - TWDR = twi_txBuffer[twi_txBufferIndex++]; - // if there is more to send, ack, otherwise nack - if(twi_txBufferIndex < twi_txBufferLength){ - twi_reply(1); - }else{ - twi_reply(0); - } - break; - case TW_ST_DATA_NACK: // received nack, we are done - case TW_ST_LAST_DATA: // received ack, but we are done already! - // ack future responses - twi_reply(1); - // leave slave receiver state - twi_state = TWI_READY; - break; - - // All - case TW_NO_INFO: // no state information - break; - case TW_BUS_ERROR: // bus error, illegal stop/start - twi_error = TW_BUS_ERROR; - twi_stop(); - break; - } -} - diff --git a/sensors/MagneticFieldSensor/uart/twi/twi.h~ b/sensors/MagneticFieldSensor/uart/twi/twi.h~ deleted file mode 100644 index 5811a74..0000000 --- a/sensors/MagneticFieldSensor/uart/twi/twi.h~ +++ /dev/null @@ -1,54 +0,0 @@ -/* - twi.h - TWI/I2C library for Wiring & Arduino - Copyright (c) 2006 Nicholas Zambetti. All right reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU - Lesser General Public License for more details. - - You should have received a copy of the GNU Lesser General Public - License along with this library; if not, write to the Free Software - Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -*/ - -#ifndef twi_h -#define twi_h - #include - - //#define ATMEGA8 - - #ifndef TWI_FREQ - #define TWI_FREQ 100000L - #endif - - #ifndef TWI_BUFFER_LENGTH - #define TWI_BUFFER_LENGTH 32 - #endif - - #define TWI_READY 0 - #define TWI_MRX 1 - #define TWI_MTX 2 - #define TWI_SRX 3 - #define TWI_STX 4 - - void twi_init(void); - void twi_disable(void); - void twi_setAddress(uint8_t); - void twi_setFrequency(uint32_t); - uint8_t twi_readFrom(uint8_t, uint8_t*, uint8_t, uint8_t); - uint8_t twi_writeTo(uint8_t, uint8_t*, uint8_t, uint8_t, uint8_t); - uint8_t twi_transmit(const uint8_t*, uint8_t); - void twi_attachSlaveRxEvent( void (*)(uint8_t*, int) ); - void twi_attachSlaveTxEvent( void (*)(void) ); - void twi_reply(uint8_t); - void twi_stop(void); - void twi_releaseBus(void); - -#endif - diff --git a/sensors/MagneticFieldSensor/uart/uart.c~ b/sensors/MagneticFieldSensor/uart/uart.c~ deleted file mode 100644 index b73721b..0000000 --- a/sensors/MagneticFieldSensor/uart/uart.c~ +++ /dev/null @@ -1,42 +0,0 @@ -/* - * uart.c - * - * Created on: 07.03.2017 - * Author: adria - */ -#include "main.h" - -void uinit() -{ - unsigned int baud = BAUD_PRESCALE; - - // Set baud rate - UBRR0H = (unsigned char)(baud>>8); - UBRR0L = (unsigned char)baud; - UCSR0A = 0; - //Disable receiver and Enable transmitter - UCSR0B |= (0 << RXCIE0) | (0 << TXCIE0) | (0 << UDRIE0) | (0 << RXEN0) | ( 1 << TXEN0);//(1<