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YKNCT_I2C.cpp@14:5f0acdcd52ee, 2019-04-27 (annotated)
- Committer:
- nanjo
- Date:
- Sat Apr 27 11:11:10 2019 +0000
- Revision:
- 14:5f0acdcd52ee
- Parent:
- 11:c7c764e21224
nucleo example i2c
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nanjo | 14:5f0acdcd52ee | 1 | #include "YKNCT.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 | 11:c7c764e21224 | 8 | void Y_I2C::Out_Set(OUT_I2C_Data_TypeDef *OUT_I2C_Data, uint8_t num, uint8_t value) |
Tom0108 | 7:5b22492a5a13 | 9 | { |
Tom0108 | 7:5b22492a5a13 | 10 | if(value==1) |
Tom0108 | 11:c7c764e21224 | 11 | (OUT_I2C_Data+num) -> out_data |= 1; |
Tom0108 | 7:5b22492a5a13 | 12 | else |
Tom0108 | 11:c7c764e21224 | 13 | (OUT_I2C_Data+num) -> out_data &= 0; |
Tom0108 | 7:5b22492a5a13 | 14 | } |
Tom0108 | 7:5b22492a5a13 | 15 | |
Tom0108 | 11:c7c764e21224 | 16 | void Y_I2C::Out(OUT_I2C_Data_TypeDef *OUT_I2C_Data, uint8_t MAX) |
Tom0108 | 7:5b22492a5a13 | 17 | { |
Tom0108 | 11:c7c764e21224 | 18 | int cnt=0; |
Tom0108 | 11:c7c764e21224 | 19 | int i=0; |
Tom0108 | 11:c7c764e21224 | 20 | while(cnt<MAX) { |
Tom0108 | 11:c7c764e21224 | 21 | char data=0; |
Tom0108 | 11:c7c764e21224 | 22 | int tmp=(OUT_I2C_Data+cnt)->DevAddress; |
Tom0108 | 11:c7c764e21224 | 23 | for(i=0;; i++) { |
Tom0108 | 11:c7c764e21224 | 24 | if(tmp!=(OUT_I2C_Data+cnt+i)->DevAddress) |
Tom0108 | 11:c7c764e21224 | 25 | break; |
Tom0108 | 11:c7c764e21224 | 26 | } |
Tom0108 | 11:c7c764e21224 | 27 | for(int j=0; j<=i; j++) data|=(OUT_I2C_Data+cnt+j)->out_data<<j; |
Tom0108 | 11:c7c764e21224 | 28 | |
Tom0108 | 11:c7c764e21224 | 29 | i2c.write((OUT_I2C_Data+cnt)->DevAddress<<1, &data, 1); |
Tom0108 | 11:c7c764e21224 | 30 | cnt+=i; |
Tom0108 | 11:c7c764e21224 | 31 | } |
Tom0108 | 8:f7779710d64a | 32 | } |
Tom0108 | 8:f7779710d64a | 33 | |
Tom0108 | 8:f7779710d64a | 34 | void Y_I2C::In(IN_I2C_Data_TypeDef *IN_I2C_Data, uint8_t num) |
Tom0108 | 8:f7779710d64a | 35 | { |
Tom0108 | 11:c7c764e21224 | 36 | char data; |
Tom0108 | 10:49ffdd5cf82e | 37 | uint8_t array=(IN_I2C_Data+num)->Number; |
Tom0108 | 11:c7c764e21224 | 38 | |
Tom0108 | 11:c7c764e21224 | 39 | i2c.read((IN_I2C_Data+num)->DevAddress<<1, &data, 1); |
Tom0108 | 11:c7c764e21224 | 40 | |
Tom0108 | 11:c7c764e21224 | 41 | (IN_I2C_Data+num)->in_data=data&1<<array; |
Tom0108 | 1:67d5ea2ff6c1 | 42 | } |
Tom0108 | 1:67d5ea2ff6c1 | 43 | |
Tom0108 | 8:f7779710d64a | 44 | void Y_I2C::Adc(ADC_I2C_Data_TypeDef *ADC_I2C_Data, uint8_t num) |
Tom0108 | 0:c555f844eb8d | 45 | { |
Tom0108 | 11:c7c764e21224 | 46 | char data[8]= {0}; |
Tom0108 | 10:49ffdd5cf82e | 47 | uint8_t array=(ADC_I2C_Data+num)->Number; |
Tom0108 | 0:c555f844eb8d | 48 | |
Tom0108 | 9:f892d57a6714 | 49 | i2c.read((ADC_I2C_Data+num) -> DevAddress<<1, data, 8); |
Tom0108 | 11:c7c764e21224 | 50 | |
Tom0108 | 11:c7c764e21224 | 51 | (ADC_I2C_Data+num)->adc_data=data[array*2+1]<<8|data[array*2]; |
Tom0108 | 0:c555f844eb8d | 52 | } |
Tom0108 | 0:c555f844eb8d | 53 | |
Tom0108 | 9:f892d57a6714 | 54 | void Y_I2C::Enc(ENC_I2C_Data_TypeDef *ENC_I2C_Data, uint8_t num) |
Tom0108 | 3:397a179b4d9e | 55 | { |
Tom0108 | 11:c7c764e21224 | 56 | char data[4]= {0}; |
Tom0108 | 3:397a179b4d9e | 57 | |
Tom0108 | 9:f892d57a6714 | 58 | i2c.read((ENC_I2C_Data+num) -> DevAddress<<1, data, 4); |
Tom0108 | 3:397a179b4d9e | 59 | |
Tom0108 | 9:f892d57a6714 | 60 | (ENC_I2C_Data+num)->enc_data=data[3]<<24|data[2]<<16|data[1]<<8|data[0]; |
Tom0108 | 3:397a179b4d9e | 61 | } |
Tom0108 | 3:397a179b4d9e | 62 | |
Tom0108 | 9:f892d57a6714 | 63 | void Y_I2C::MD_I2C(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t num) |
Tom0108 | 2:f5faf991cd86 | 64 | { |
Tom0108 | 2:f5faf991cd86 | 65 | /* 送信データ |
Tom0108 | 2:f5faf991cd86 | 66 | [0] [ MD出力更新 | 0 | 0 | 0 | 0 | ブレーキ | 回転方向 | MD指定 ] |
Tom0108 | 2:f5faf991cd86 | 67 | [1] PWM値(7bit) |
Tom0108 | 2:f5faf991cd86 | 68 | */ |
Tom0108 | 0:c555f844eb8d | 69 | |
Tom0108 | 2:f5faf991cd86 | 70 | /* 送信データをMD更新フラグを立てて初期化 */ |
Tom0108 | 9:f892d57a6714 | 71 | (MD_I2C_Data + num)->pData[0] = 0x80; |
Tom0108 | 2:f5faf991cd86 | 72 | /* モーターの駆動状態によってデータセット */ |
Tom0108 | 9:f892d57a6714 | 73 | switch (MD_GET_DRIVE(MD_I2C_Data, num)) { |
Tom0108 | 2:f5faf991cd86 | 74 | /* ブレーキ,ブレーキビット 1,回転方向ビット 0 */ |
Tom0108 | 2:f5faf991cd86 | 75 | /* 0b00000100 */ |
Tom0108 | 2:f5faf991cd86 | 76 | case MD_BRAKE: |
Tom0108 | 9:f892d57a6714 | 77 | (MD_I2C_Data + num)->pData[0] |= 0x02 << 1; |
Tom0108 | 2:f5faf991cd86 | 78 | break; |
Tom0108 | 2:f5faf991cd86 | 79 | /* 正転,ブレーキビット 0,回転方向ビット 1 */ |
Tom0108 | 2:f5faf991cd86 | 80 | /* 0b00000001 */ |
Tom0108 | 2:f5faf991cd86 | 81 | case MD_FORWARD: |
Tom0108 | 9:f892d57a6714 | 82 | (MD_I2C_Data + num)->pData[0] |= 0x01 << 1; |
Tom0108 | 2:f5faf991cd86 | 83 | break; |
Tom0108 | 2:f5faf991cd86 | 84 | /* 逆転,ブレーキビット 0,回転方向ビット 0 */ |
Tom0108 | 2:f5faf991cd86 | 85 | /* 0b00000000 */ |
Tom0108 | 2:f5faf991cd86 | 86 | case MD_REVERSE: |
Tom0108 | 9:f892d57a6714 | 87 | (MD_I2C_Data + num)->pData[0] |= 0x00 << 1; |
Tom0108 | 2:f5faf991cd86 | 88 | break; |
Tom0108 | 2:f5faf991cd86 | 89 | } |
Tom0108 | 0:c555f844eb8d | 90 | |
Tom0108 | 2:f5faf991cd86 | 91 | /* PIC上の出力番号を指定 */ |
Tom0108 | 2:f5faf991cd86 | 92 | /* 0b00000000 or 0b00000001 */ |
Tom0108 | 9:f892d57a6714 | 93 | (MD_I2C_Data + num)->pData[0] |= (MD_I2C_Data + num)->Number; |
Tom0108 | 2:f5faf991cd86 | 94 | /* PWM値が100より大きかったら範囲内に補正 */ |
Tom0108 | 9:f892d57a6714 | 95 | if (MD_GET_PWM(MD_I2C_Data, num) > 99) |
Tom0108 | 9:f892d57a6714 | 96 | MD_SET_PWM(MD_I2C_Data, num, 99); |
Tom0108 | 1:67d5ea2ff6c1 | 97 | |
Tom0108 | 2:f5faf991cd86 | 98 | /* 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 | 99 | (MD_I2C_Data + num)->pData[1] = (uint8_t)((uint16_t)MD_GET_PWM(MD_I2C_Data, num) * 127 / 100); |
Tom0108 | 2:f5faf991cd86 | 100 | |
Tom0108 | 2:f5faf991cd86 | 101 | /*8bitから7bitに変換*/ |
Tom0108 | 9:f892d57a6714 | 102 | i2c.write((MD_I2C_Data + num)->DevAddress << 1,(MD_I2C_Data + num)->pData,2); |
Tom0108 | 2:f5faf991cd86 | 103 | } |
Tom0108 | 1:67d5ea2ff6c1 | 104 | |
Tom0108 | 2:f5faf991cd86 | 105 | /** |
Tom0108 | 2:f5faf991cd86 | 106 | * @brief MDに通信確認用送信 |
Tom0108 | 2:f5faf991cd86 | 107 | * @param MD_I2C_Data: I2C式MDデータ構造 |
Tom0108 | 9:f892d57a6714 | 108 | * @param num: 使用MD番号 |
Tom0108 | 2:f5faf991cd86 | 109 | * @retval なし |
Tom0108 | 2:f5faf991cd86 | 110 | * @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 | 111 | */ |
Tom0108 | 9:f892d57a6714 | 112 | void Y_I2C::MD_I2C_Empty(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t num) |
Tom0108 | 2:f5faf991cd86 | 113 | { |
Tom0108 | 2:f5faf991cd86 | 114 | /* 送信データをMD更新フラグを立てず初期化 */ |
Tom0108 | 9:f892d57a6714 | 115 | (MD_I2C_Data+num)->pData[0] = 0; |
Tom0108 | 1:67d5ea2ff6c1 | 116 | |
Tom0108 | 2:f5faf991cd86 | 117 | /* PIC上の出力番号を指定 */ |
Tom0108 | 2:f5faf991cd86 | 118 | /* 0b00000000 or 0b00000001 */ |
Tom0108 | 9:f892d57a6714 | 119 | (MD_I2C_Data+num)->pData[0] |= (MD_I2C_Data+num)->Number; |
Tom0108 | 2:f5faf991cd86 | 120 | |
Tom0108 | 2:f5faf991cd86 | 121 | /*8bitから7bitに変換*/ |
Tom0108 | 9:f892d57a6714 | 122 | i2c.write((MD_I2C_Data + num)->DevAddress << 1,(MD_I2C_Data + num)->pData,2); |
Tom0108 | 2:f5faf991cd86 | 123 | } |