From e5048f88cb9300dcea29fa367d5aa251f87da95f Mon Sep 17 00:00:00 2001 From: Adrian Weber Date: Mon, 21 Aug 2017 15:17:54 +0200 Subject: [PATCH] Magneticfield Sensor Board code --- sensors/MagneticFieldSensor | 1 - sensors/MagneticFieldSensor/MagnetSensor.c | 150 +++++ sensors/MagneticFieldSensor/MagnetSensor.c~ | 151 +++++ sensors/MagneticFieldSensor/MagnetSensor.h | 6 + sensors/MagneticFieldSensor/MagnetSensor.h~ | 6 + sensors/MagneticFieldSensor/Makefile | 233 +++++++ sensors/MagneticFieldSensor/Makefile~ | 233 +++++++ sensors/MagneticFieldSensor/main.c | 56 ++ sensors/MagneticFieldSensor/main.c~ | 56 ++ sensors/MagneticFieldSensor/main.h | 47 ++ sensors/MagneticFieldSensor/main.h~ | 47 ++ sensors/MagneticFieldSensor/readme | 3 + sensors/MagneticFieldSensor/twi.c~ | 570 +++++++++++++++++ sensors/MagneticFieldSensor/twi/twi.c | 571 ++++++++++++++++++ sensors/MagneticFieldSensor/twi/twi.c~ | 571 ++++++++++++++++++ sensors/MagneticFieldSensor/twi/twi.h | 52 ++ sensors/MagneticFieldSensor/twi/twi.h~ | 54 ++ sensors/MagneticFieldSensor/uart/BME280.c~ | 294 +++++++++ sensors/MagneticFieldSensor/uart/BME280.h~ | 88 +++ .../MagneticFieldSensor/uart/MagnetSensor.c | 150 +++++ .../MagneticFieldSensor/uart/MagnetSensor.c~ | 151 +++++ .../MagneticFieldSensor/uart/MagnetSensor.h | 6 + .../MagneticFieldSensor/uart/MagnetSensor.h~ | 6 + sensors/MagneticFieldSensor/uart/Makefile | 233 +++++++ sensors/MagneticFieldSensor/uart/Makefile~ | 233 +++++++ .../uart/SparkFunBME280.c~ | 347 +++++++++++ .../uart/SparkFunBME280.h~ | 175 ++++++ sensors/MagneticFieldSensor/uart/TSL2591.c~ | 274 +++++++++ sensors/MagneticFieldSensor/uart/TSL2591.h~ | 120 ++++ sensors/MagneticFieldSensor/uart/main.c | 56 ++ sensors/MagneticFieldSensor/uart/main.c~ | 56 ++ sensors/MagneticFieldSensor/uart/main.h | 47 ++ sensors/MagneticFieldSensor/uart/main.h~ | 47 ++ sensors/MagneticFieldSensor/uart/twi.c~ | 570 +++++++++++++++++ sensors/MagneticFieldSensor/uart/twi/twi.c | 571 ++++++++++++++++++ sensors/MagneticFieldSensor/uart/twi/twi.c~ | 571 ++++++++++++++++++ sensors/MagneticFieldSensor/uart/twi/twi.h | 52 ++ sensors/MagneticFieldSensor/uart/twi/twi.h~ | 54 ++ sensors/MagneticFieldSensor/uart/uart.c | 42 ++ sensors/MagneticFieldSensor/uart/uart.c~ | 42 ++ sensors/MagneticFieldSensor/uart/uart.h | 16 + 41 files changed, 7007 insertions(+), 1 deletion(-) delete mode 160000 sensors/MagneticFieldSensor create mode 100644 sensors/MagneticFieldSensor/MagnetSensor.c create mode 100644 sensors/MagneticFieldSensor/MagnetSensor.c~ create mode 100644 sensors/MagneticFieldSensor/MagnetSensor.h create mode 100644 sensors/MagneticFieldSensor/MagnetSensor.h~ create mode 100644 sensors/MagneticFieldSensor/Makefile create mode 100644 sensors/MagneticFieldSensor/Makefile~ create mode 100644 sensors/MagneticFieldSensor/main.c create mode 100644 sensors/MagneticFieldSensor/main.c~ create mode 100644 sensors/MagneticFieldSensor/main.h create mode 100644 sensors/MagneticFieldSensor/main.h~ create mode 100644 sensors/MagneticFieldSensor/readme create mode 100644 sensors/MagneticFieldSensor/twi.c~ create mode 100644 sensors/MagneticFieldSensor/twi/twi.c create mode 100644 sensors/MagneticFieldSensor/twi/twi.c~ create mode 100644 sensors/MagneticFieldSensor/twi/twi.h create mode 100644 sensors/MagneticFieldSensor/twi/twi.h~ create mode 100644 sensors/MagneticFieldSensor/uart/BME280.c~ create mode 100644 sensors/MagneticFieldSensor/uart/BME280.h~ create mode 100644 sensors/MagneticFieldSensor/uart/MagnetSensor.c create mode 100644 sensors/MagneticFieldSensor/uart/MagnetSensor.c~ create mode 100644 sensors/MagneticFieldSensor/uart/MagnetSensor.h create mode 100644 sensors/MagneticFieldSensor/uart/MagnetSensor.h~ create mode 100644 sensors/MagneticFieldSensor/uart/Makefile create mode 100644 sensors/MagneticFieldSensor/uart/Makefile~ create mode 100644 sensors/MagneticFieldSensor/uart/SparkFunBME280.c~ create mode 100644 sensors/MagneticFieldSensor/uart/SparkFunBME280.h~ create mode 100644 sensors/MagneticFieldSensor/uart/TSL2591.c~ create mode 100644 sensors/MagneticFieldSensor/uart/TSL2591.h~ create mode 100644 sensors/MagneticFieldSensor/uart/main.c create mode 100644 sensors/MagneticFieldSensor/uart/main.c~ create mode 100644 sensors/MagneticFieldSensor/uart/main.h create mode 100644 sensors/MagneticFieldSensor/uart/main.h~ create mode 100644 sensors/MagneticFieldSensor/uart/twi.c~ create mode 100644 sensors/MagneticFieldSensor/uart/twi/twi.c create mode 100644 sensors/MagneticFieldSensor/uart/twi/twi.c~ create mode 100644 sensors/MagneticFieldSensor/uart/twi/twi.h create mode 100644 sensors/MagneticFieldSensor/uart/twi/twi.h~ create mode 100644 sensors/MagneticFieldSensor/uart/uart.c create mode 100644 sensors/MagneticFieldSensor/uart/uart.c~ create mode 100644 sensors/MagneticFieldSensor/uart/uart.h diff --git a/sensors/MagneticFieldSensor b/sensors/MagneticFieldSensor deleted file mode 160000 index 79d1154..0000000 --- a/sensors/MagneticFieldSensor +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 79d115427dc03e0f81c89fbc4c88987791d3f74c diff --git a/sensors/MagneticFieldSensor/MagnetSensor.c b/sensors/MagneticFieldSensor/MagnetSensor.c new file mode 100644 index 0000000..a65b195 --- /dev/null +++ b/sensors/MagneticFieldSensor/MagnetSensor.c @@ -0,0 +1,150 @@ +#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; + //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/MagnetSensor.c~ b/sensors/MagneticFieldSensor/MagnetSensor.c~ new file mode 100644 index 0000000..5ae763d --- /dev/null +++ b/sensors/MagneticFieldSensor/MagnetSensor.c~ @@ -0,0 +1,151 @@ +#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/MagnetSensor.h b/sensors/MagneticFieldSensor/MagnetSensor.h new file mode 100644 index 0000000..5a71ec7 --- /dev/null +++ b/sensors/MagneticFieldSensor/MagnetSensor.h @@ -0,0 +1,6 @@ +#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/MagnetSensor.h~ b/sensors/MagneticFieldSensor/MagnetSensor.h~ new file mode 100644 index 0000000..5a71ec7 --- /dev/null +++ b/sensors/MagneticFieldSensor/MagnetSensor.h~ @@ -0,0 +1,6 @@ +#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/Makefile b/sensors/MagneticFieldSensor/Makefile new file mode 100644 index 0000000..8650df1 --- /dev/null +++ b/sensors/MagneticFieldSensor/Makefile @@ -0,0 +1,233 @@ +# 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 = atmega168p +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/Makefile~ b/sensors/MagneticFieldSensor/Makefile~ new file mode 100644 index 0000000..75a44f2 --- /dev/null +++ b/sensors/MagneticFieldSensor/Makefile~ @@ -0,0 +1,233 @@ +# 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/main.c b/sensors/MagneticFieldSensor/main.c new file mode 100644 index 0000000..91fcae8 --- /dev/null +++ b/sensors/MagneticFieldSensor/main.c @@ -0,0 +1,56 @@ +/* + * 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_ATmega168P__ +#define __AVR_ATmega168P__ +#endif /* MAIN_H_ */ + + +#endif diff --git a/sensors/MagneticFieldSensor/main.h~ b/sensors/MagneticFieldSensor/main.h~ new file mode 100644 index 0000000..b187c76 --- /dev/null +++ b/sensors/MagneticFieldSensor/main.h~ @@ -0,0 +1,47 @@ +/* + * main.h + * + * Created on: 07.03.2017 + * Author: Adrian Weber + */ + +#ifndef MAIN_H_ +#define MAIN_H_ + +#include +#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/readme b/sensors/MagneticFieldSensor/readme new file mode 100644 index 0000000..195e360 --- /dev/null +++ b/sensors/MagneticFieldSensor/readme @@ -0,0 +1,3 @@ +This project is made for a ATmega168Pa with 16MHz/5V. + +It is tested on a Pro Mini Developement board. diff --git a/sensors/MagneticFieldSensor/twi.c~ b/sensors/MagneticFieldSensor/twi.c~ new file mode 100644 index 0000000..a97a051 --- /dev/null +++ b/sensors/MagneticFieldSensor/twi.c~ @@ -0,0 +1,570 @@ +/* + 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/twi/twi.c b/sensors/MagneticFieldSensor/twi/twi.c new file mode 100644 index 0000000..1d6f2ed --- /dev/null +++ b/sensors/MagneticFieldSensor/twi/twi.c @@ -0,0 +1,571 @@ +/* + 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 << PC4); + DDRD |= (1 << PC5); + PORTD |= (1 << PC4); + PORTD |= (1 << PC5); + +} + +/* + * 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.c~ b/sensors/MagneticFieldSensor/twi/twi.c~ new file mode 100644 index 0000000..8b0a2b8 --- /dev/null +++ b/sensors/MagneticFieldSensor/twi/twi.c~ @@ -0,0 +1,571 @@ +/* + 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 new file mode 100644 index 0000000..be089ea --- /dev/null +++ b/sensors/MagneticFieldSensor/twi/twi.h @@ -0,0 +1,52 @@ +/* + 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 + + #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/twi/twi.h~ b/sensors/MagneticFieldSensor/twi/twi.h~ new file mode 100644 index 0000000..5811a74 --- /dev/null +++ b/sensors/MagneticFieldSensor/twi/twi.h~ @@ -0,0 +1,54 @@ +/* + 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~ new file mode 100644 index 0000000..3a9e531 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/BME280.c~ @@ -0,0 +1,294 @@ +/****************************************************************************** +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 new file mode 100644 index 0000000..a65b195 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/MagnetSensor.c @@ -0,0 +1,150 @@ +#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; + //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.c~ b/sensors/MagneticFieldSensor/uart/MagnetSensor.c~ new file mode 100644 index 0000000..5ae763d --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/MagnetSensor.c~ @@ -0,0 +1,151 @@ +#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 new file mode 100644 index 0000000..5a71ec7 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/MagnetSensor.h @@ -0,0 +1,6 @@ +#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/MagnetSensor.h~ b/sensors/MagneticFieldSensor/uart/MagnetSensor.h~ new file mode 100644 index 0000000..5a71ec7 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/MagnetSensor.h~ @@ -0,0 +1,6 @@ +#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 new file mode 100644 index 0000000..8650df1 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/Makefile @@ -0,0 +1,233 @@ +# 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 = atmega168p +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/Makefile~ b/sensors/MagneticFieldSensor/uart/Makefile~ new file mode 100644 index 0000000..75a44f2 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/Makefile~ @@ -0,0 +1,233 @@ +# 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~ new file mode 100644 index 0000000..049fa70 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/SparkFunBME280.c~ @@ -0,0 +1,347 @@ +/****************************************************************************** +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~ new file mode 100644 index 0000000..e82ca7e --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/TSL2591.h~ @@ -0,0 +1,120 @@ +#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 new file mode 100644 index 0000000..91fcae8 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/main.c @@ -0,0 +1,56 @@ +/* + * 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_ATmega168P__ +#define __AVR_ATmega168P__ +#endif /* MAIN_H_ */ + + +#endif diff --git a/sensors/MagneticFieldSensor/uart/main.h~ b/sensors/MagneticFieldSensor/uart/main.h~ new file mode 100644 index 0000000..b187c76 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/main.h~ @@ -0,0 +1,47 @@ +/* + * main.h + * + * Created on: 07.03.2017 + * Author: Adrian Weber + */ + +#ifndef MAIN_H_ +#define MAIN_H_ + +#include +#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~ new file mode 100644 index 0000000..a97a051 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/twi.c~ @@ -0,0 +1,570 @@ +/* + 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 new file mode 100644 index 0000000..1d6f2ed --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/twi/twi.c @@ -0,0 +1,571 @@ +/* + 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 << PC4); + DDRD |= (1 << PC5); + PORTD |= (1 << PC4); + PORTD |= (1 << PC5); + +} + +/* + * 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~ new file mode 100644 index 0000000..8b0a2b8 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/twi/twi.c~ @@ -0,0 +1,571 @@ +/* + 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 new file mode 100644 index 0000000..be089ea --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/twi/twi.h @@ -0,0 +1,52 @@ +/* + 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 + + #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/twi/twi.h~ b/sensors/MagneticFieldSensor/uart/twi/twi.h~ new file mode 100644 index 0000000..5811a74 --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/twi/twi.h~ @@ -0,0 +1,54 @@ +/* + 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 new file mode 100644 index 0000000..b73721b --- /dev/null +++ b/sensors/MagneticFieldSensor/uart/uart.c @@ -0,0 +1,42 @@ +/* + * 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<>8); + UBRR0L = (unsigned char)baud; + UCSR0A = 0; + //Disable receiver and Enable transmitter + UCSR0B |= (0 << RXCIE0) | (0 << TXCIE0) | (0 << UDRIE0) | (0 << RXEN0) | ( 1 << TXEN0);//(1<