Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
YKNCT_I2C.cpp@10:49ffdd5cf82e, 2019-04-17 (annotated)
- Committer:
- Tom0108
- Date:
- Wed Apr 17 10:32:03 2019 +0000
- Revision:
- 10:49ffdd5cf82e
- Parent:
- 9:f892d57a6714
- Child:
- 11:c7c764e21224
updata i2c
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Tom0108 | 0:c555f844eb8d | 1 | #include "YKNCT_I2C.h" |
Tom0108 | 0:c555f844eb8d | 2 | |
Tom0108 | 0:c555f844eb8d | 3 | Y_I2C::Y_I2C(PinName sda, PinName scl) : i2c(sda, scl) |
Tom0108 | 0:c555f844eb8d | 4 | { |
Tom0108 | 0:c555f844eb8d | 5 | i2c.frequency(100000); |
Tom0108 | 0:c555f844eb8d | 6 | } |
Tom0108 | 0:c555f844eb8d | 7 | |
Tom0108 | 7:5b22492a5a13 | 8 | void Y_I2C::Out_Set(OUT_I2C_Data_TypeDef *OUT_I2C_Data, uint8_t num, uint8_t value, uint8_t shift) |
Tom0108 | 7:5b22492a5a13 | 9 | { |
Tom0108 | 7:5b22492a5a13 | 10 | if(value==1) |
Tom0108 | 7:5b22492a5a13 | 11 | (OUT_I2C_Data+num) -> out_data |= 1<<shift; |
Tom0108 | 7:5b22492a5a13 | 12 | else |
Tom0108 | 7:5b22492a5a13 | 13 | (OUT_I2C_Data+num) -> out_data &= ~(1<<shift); |
Tom0108 | 7:5b22492a5a13 | 14 | } |
Tom0108 | 7:5b22492a5a13 | 15 | |
Tom0108 | 7:5b22492a5a13 | 16 | void Y_I2C::Out(OUT_I2C_Data_TypeDef *OUT_I2C_Data, uint8_t num) |
Tom0108 | 7:5b22492a5a13 | 17 | { |
Tom0108 | 9:f892d57a6714 | 18 | i2c.write((OUT_I2C_Data+num) -> DevAddress<<1, &(OUT_I2C_Data+num)->out_data, 1); |
Tom0108 | 9:f892d57a6714 | 19 | wait_us(1000); |
Tom0108 | 8:f7779710d64a | 20 | } |
Tom0108 | 8:f7779710d64a | 21 | |
Tom0108 | 8:f7779710d64a | 22 | void Y_I2C::In(IN_I2C_Data_TypeDef *IN_I2C_Data, uint8_t num) |
Tom0108 | 8:f7779710d64a | 23 | { |
Tom0108 | 9:f892d57a6714 | 24 | static char data; |
Tom0108 | 10:49ffdd5cf82e | 25 | uint8_t array=(IN_I2C_Data+num)->Number; |
Tom0108 | 9:f892d57a6714 | 26 | |
Tom0108 | 9:f892d57a6714 | 27 | i2c.read((IN_I2C_Data+num) -> DevAddress<<1, &data, 1); |
Tom0108 | 9:f892d57a6714 | 28 | |
Tom0108 | 10:49ffdd5cf82e | 29 | (IN_I2C_Data+num)->in_data=data&1<<array; |
Tom0108 | 3:397a179b4d9e | 30 | wait_us(1000); |
Tom0108 | 1:67d5ea2ff6c1 | 31 | } |
Tom0108 | 1:67d5ea2ff6c1 | 32 | |
Tom0108 | 8:f7779710d64a | 33 | void Y_I2C::Adc(ADC_I2C_Data_TypeDef *ADC_I2C_Data, uint8_t num) |
Tom0108 | 0:c555f844eb8d | 34 | { |
Tom0108 | 0:c555f844eb8d | 35 | static char data[8]= {0}; |
Tom0108 | 10:49ffdd5cf82e | 36 | uint8_t array=(ADC_I2C_Data+num)->Number; |
Tom0108 | 0:c555f844eb8d | 37 | |
Tom0108 | 9:f892d57a6714 | 38 | i2c.read((ADC_I2C_Data+num) -> DevAddress<<1, data, 8); |
Tom0108 | 9:f892d57a6714 | 39 | |
Tom0108 | 10:49ffdd5cf82e | 40 | (ADC_I2C_Data+num)->adc_data=data[array*2+1]<<8|data[array*2]; |
Tom0108 | 2:f5faf991cd86 | 41 | wait_us(1000); |
Tom0108 | 0:c555f844eb8d | 42 | } |
Tom0108 | 0:c555f844eb8d | 43 | |
Tom0108 | 9:f892d57a6714 | 44 | void Y_I2C::Enc(ENC_I2C_Data_TypeDef *ENC_I2C_Data, uint8_t num) |
Tom0108 | 3:397a179b4d9e | 45 | { |
Tom0108 | 3:397a179b4d9e | 46 | static char data[4]= {0}; |
Tom0108 | 3:397a179b4d9e | 47 | |
Tom0108 | 9:f892d57a6714 | 48 | i2c.read((ENC_I2C_Data+num) -> DevAddress<<1, data, 4); |
Tom0108 | 3:397a179b4d9e | 49 | |
Tom0108 | 9:f892d57a6714 | 50 | (ENC_I2C_Data+num)->enc_data=data[3]<<24|data[2]<<16|data[1]<<8|data[0]; |
Tom0108 | 3:397a179b4d9e | 51 | wait_us(1000); |
Tom0108 | 3:397a179b4d9e | 52 | } |
Tom0108 | 3:397a179b4d9e | 53 | |
Tom0108 | 9:f892d57a6714 | 54 | void Y_I2C::MD_I2C(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t num) |
Tom0108 | 2:f5faf991cd86 | 55 | { |
Tom0108 | 2:f5faf991cd86 | 56 | /* 送信データ |
Tom0108 | 2:f5faf991cd86 | 57 | [0] [ MD出力更新 | 0 | 0 | 0 | 0 | ブレーキ | 回転方向 | MD指定 ] |
Tom0108 | 2:f5faf991cd86 | 58 | [1] PWM値(7bit) |
Tom0108 | 2:f5faf991cd86 | 59 | */ |
Tom0108 | 0:c555f844eb8d | 60 | |
Tom0108 | 2:f5faf991cd86 | 61 | /* 送信データをMD更新フラグを立てて初期化 */ |
Tom0108 | 9:f892d57a6714 | 62 | (MD_I2C_Data + num)->pData[0] = 0x80; |
Tom0108 | 2:f5faf991cd86 | 63 | /* モーターの駆動状態によってデータセット */ |
Tom0108 | 9:f892d57a6714 | 64 | switch (MD_GET_DRIVE(MD_I2C_Data, num)) { |
Tom0108 | 2:f5faf991cd86 | 65 | /* ブレーキ,ブレーキビット 1,回転方向ビット 0 */ |
Tom0108 | 2:f5faf991cd86 | 66 | /* 0b00000100 */ |
Tom0108 | 2:f5faf991cd86 | 67 | case MD_BRAKE: |
Tom0108 | 9:f892d57a6714 | 68 | (MD_I2C_Data + num)->pData[0] |= 0x02 << 1; |
Tom0108 | 2:f5faf991cd86 | 69 | break; |
Tom0108 | 2:f5faf991cd86 | 70 | /* 正転,ブレーキビット 0,回転方向ビット 1 */ |
Tom0108 | 2:f5faf991cd86 | 71 | /* 0b00000001 */ |
Tom0108 | 2:f5faf991cd86 | 72 | case MD_FORWARD: |
Tom0108 | 9:f892d57a6714 | 73 | (MD_I2C_Data + num)->pData[0] |= 0x01 << 1; |
Tom0108 | 2:f5faf991cd86 | 74 | break; |
Tom0108 | 2:f5faf991cd86 | 75 | /* 逆転,ブレーキビット 0,回転方向ビット 0 */ |
Tom0108 | 2:f5faf991cd86 | 76 | /* 0b00000000 */ |
Tom0108 | 2:f5faf991cd86 | 77 | case MD_REVERSE: |
Tom0108 | 9:f892d57a6714 | 78 | (MD_I2C_Data + num)->pData[0] |= 0x00 << 1; |
Tom0108 | 2:f5faf991cd86 | 79 | break; |
Tom0108 | 2:f5faf991cd86 | 80 | } |
Tom0108 | 0:c555f844eb8d | 81 | |
Tom0108 | 2:f5faf991cd86 | 82 | /* PIC上の出力番号を指定 */ |
Tom0108 | 2:f5faf991cd86 | 83 | /* 0b00000000 or 0b00000001 */ |
Tom0108 | 9:f892d57a6714 | 84 | (MD_I2C_Data + num)->pData[0] |= (MD_I2C_Data + num)->Number; |
Tom0108 | 2:f5faf991cd86 | 85 | /* PWM値が100より大きかったら範囲内に補正 */ |
Tom0108 | 9:f892d57a6714 | 86 | if (MD_GET_PWM(MD_I2C_Data, num) > 99) |
Tom0108 | 9:f892d57a6714 | 87 | MD_SET_PWM(MD_I2C_Data, num, 99); |
Tom0108 | 1:67d5ea2ff6c1 | 88 | |
Tom0108 | 2:f5faf991cd86 | 89 | /* PWM(0~100)を0~127に変換して代入(オーバーフロー防止で16bitに一時変換) */ |
Tom0108 | 9:f892d57a6714 | 90 | (MD_I2C_Data + num)->pData[1] = (uint8_t)((uint16_t)MD_GET_PWM(MD_I2C_Data, num) * 127 / 100); |
Tom0108 | 2:f5faf991cd86 | 91 | |
Tom0108 | 2:f5faf991cd86 | 92 | /*8bitから7bitに変換*/ |
Tom0108 | 9:f892d57a6714 | 93 | i2c.write((MD_I2C_Data + num)->DevAddress << 1,(MD_I2C_Data + num)->pData,2); |
Tom0108 | 4:89a35cd1334a | 94 | wait_us(1000); |
Tom0108 | 2:f5faf991cd86 | 95 | } |
Tom0108 | 1:67d5ea2ff6c1 | 96 | |
Tom0108 | 2:f5faf991cd86 | 97 | /** |
Tom0108 | 2:f5faf991cd86 | 98 | * @brief MDに通信確認用送信 |
Tom0108 | 2:f5faf991cd86 | 99 | * @param MD_I2C_Data: I2C式MDデータ構造 |
Tom0108 | 9:f892d57a6714 | 100 | * @param num: 使用MD番号 |
Tom0108 | 2:f5faf991cd86 | 101 | * @retval なし |
Tom0108 | 2:f5faf991cd86 | 102 | * @detail I2C式MD側が通信が切れていないことを確認するために空データを送信する |
Tom0108 | 2:f5faf991cd86 | 103 | */ |
Tom0108 | 9:f892d57a6714 | 104 | void Y_I2C::MD_I2C_Empty(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t num) |
Tom0108 | 2:f5faf991cd86 | 105 | { |
Tom0108 | 2:f5faf991cd86 | 106 | /* 送信データをMD更新フラグを立てず初期化 */ |
Tom0108 | 9:f892d57a6714 | 107 | (MD_I2C_Data+num)->pData[0] = 0; |
Tom0108 | 1:67d5ea2ff6c1 | 108 | |
Tom0108 | 2:f5faf991cd86 | 109 | /* PIC上の出力番号を指定 */ |
Tom0108 | 2:f5faf991cd86 | 110 | /* 0b00000000 or 0b00000001 */ |
Tom0108 | 9:f892d57a6714 | 111 | (MD_I2C_Data+num)->pData[0] |= (MD_I2C_Data+num)->Number; |
Tom0108 | 2:f5faf991cd86 | 112 | |
Tom0108 | 2:f5faf991cd86 | 113 | /*8bitから7bitに変換*/ |
Tom0108 | 9:f892d57a6714 | 114 | i2c.write((MD_I2C_Data + num)->DevAddress << 1,(MD_I2C_Data + num)->pData,2); |
Tom0108 | 4:89a35cd1334a | 115 | wait_us(1000); |
Tom0108 | 2:f5faf991cd86 | 116 | } |