YKNCT / YKNCT_I2C_lib

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YKNCT_I2C.cpp@17:b78b92e5c4b5, 2019-04-27 (annotated)

Committer:
Tom0108
Date:
Sat Apr 27 13:24:21 2019 +0000
Revision:
17:b78b92e5c4b5
Parent:
11:c7c764e21224 
04/27

Who changed what in which revision?

UserRevisionLine numberNew 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 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 17:b78b92e5c4b5 10 (OUT_I2C_Data+num) -> out_data =value;
Tom0108 7:5b22492a5a13 11 }
Tom0108 7:5b22492a5a13 12
Tom0108 11:c7c764e21224 13 void Y_I2C::Out(OUT_I2C_Data_TypeDef *OUT_I2C_Data, uint8_t MAX)
Tom0108 7:5b22492a5a13 14 {
Tom0108 11:c7c764e21224 15 int cnt=0;
Tom0108 11:c7c764e21224 16 int i=0;
Tom0108 11:c7c764e21224 17 while(cnt<MAX) {
Tom0108 11:c7c764e21224 18 char data=0;
Tom0108 11:c7c764e21224 19 int tmp=(OUT_I2C_Data+cnt)->DevAddress;
Tom0108 11:c7c764e21224 20 for(i=0;; i++) {
Tom0108 11:c7c764e21224 21 if(tmp!=(OUT_I2C_Data+cnt+i)->DevAddress)
Tom0108 11:c7c764e21224 22 break;
Tom0108 11:c7c764e21224 23 }
Tom0108 11:c7c764e21224 24 for(int j=0; j<=i; j++) data|=(OUT_I2C_Data+cnt+j)->out_data<<j;
Tom0108 11:c7c764e21224 25
Tom0108 11:c7c764e21224 26 i2c.write((OUT_I2C_Data+cnt)->DevAddress<<1, &data, 1);
Tom0108 11:c7c764e21224 27 cnt+=i;
Tom0108 11:c7c764e21224 28 }
Tom0108 8:f7779710d64a 29 }
Tom0108 8:f7779710d64a 30
Tom0108 17:b78b92e5c4b5 31 void Y_I2C::Servo_Set(SERVO_I2C_Data_TypeDef *SERVO_I2C_Data, uint8_t num, uint16_t pulse)
Tom0108 17:b78b92e5c4b5 32 {
Tom0108 17:b78b92e5c4b5 33 (SERVO_I2C_Data+num)->pulse=pulse;
Tom0108 17:b78b92e5c4b5 34 }
Tom0108 17:b78b92e5c4b5 35
Tom0108 17:b78b92e5c4b5 36 void Y_I2C::Servo(SERVO_I2C_Data_TypeDef *SERVO_I2C_Data, uint8_t MAX)
Tom0108 17:b78b92e5c4b5 37 {
Tom0108 17:b78b92e5c4b5 38 }
Tom0108 17:b78b92e5c4b5 39
Tom0108 17:b78b92e5c4b5 40
Tom0108 8:f7779710d64a 41 void Y_I2C::In(IN_I2C_Data_TypeDef *IN_I2C_Data, uint8_t num)
Tom0108 8:f7779710d64a 42 {
Tom0108 11:c7c764e21224 43 char data;
Tom0108 10:49ffdd5cf82e 44 uint8_t array=(IN_I2C_Data+num)->Number;
Tom0108 11:c7c764e21224 45
Tom0108 11:c7c764e21224 46 i2c.read((IN_I2C_Data+num)->DevAddress<<1, &data, 1);
Tom0108 11:c7c764e21224 47
Tom0108 11:c7c764e21224 48 (IN_I2C_Data+num)->in_data=data&1<<array;
Tom0108 1:67d5ea2ff6c1 49 }
Tom0108 1:67d5ea2ff6c1 50
Tom0108 8:f7779710d64a 51 void Y_I2C::Adc(ADC_I2C_Data_TypeDef *ADC_I2C_Data, uint8_t num)
Tom0108 0:c555f844eb8d 52 {
Tom0108 11:c7c764e21224 53 char data[8]= {0};
Tom0108 10:49ffdd5cf82e 54 uint8_t array=(ADC_I2C_Data+num)->Number;
Tom0108 0:c555f844eb8d 55
Tom0108 9:f892d57a6714 56 i2c.read((ADC_I2C_Data+num) -> DevAddress<<1, data, 8);
Tom0108 11:c7c764e21224 57
Tom0108 11:c7c764e21224 58 (ADC_I2C_Data+num)->adc_data=data[array*2+1]<<8|data[array*2];
Tom0108 0:c555f844eb8d 59 }
Tom0108 0:c555f844eb8d 60
Tom0108 9:f892d57a6714 61 void Y_I2C::Enc(ENC_I2C_Data_TypeDef *ENC_I2C_Data, uint8_t num)
Tom0108 3:397a179b4d9e 62 {
Tom0108 11:c7c764e21224 63 char data[4]= {0};
Tom0108 3:397a179b4d9e 64
Tom0108 9:f892d57a6714 65 i2c.read((ENC_I2C_Data+num) -> DevAddress<<1, data, 4);
Tom0108 3:397a179b4d9e 66
Tom0108 9:f892d57a6714 67 (ENC_I2C_Data+num)->enc_data=data[3]<<24|data[2]<<16|data[1]<<8|data[0];
Tom0108 3:397a179b4d9e 68 }
Tom0108 3:397a179b4d9e 69
Tom0108 9:f892d57a6714 70 void Y_I2C::MD_I2C(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t num)
Tom0108 2:f5faf991cd86 71 {
Tom0108 2:f5faf991cd86 72 /* 送信データ
Tom0108 2:f5faf991cd86 73 [0] [ MD出力更新 | 0 | 0 | 0 | 0 | ブレーキ | 回転方向 | MD指定 ]
Tom0108 2:f5faf991cd86 74 [1] PWM値(7bit)
Tom0108 2:f5faf991cd86 75 */
Tom0108 0:c555f844eb8d 76
Tom0108 2:f5faf991cd86 77 /* 送信データをMD更新フラグを立てて初期化 */
Tom0108 9:f892d57a6714 78 (MD_I2C_Data + num)->pData[0] = 0x80;
Tom0108 2:f5faf991cd86 79 /* モーターの駆動状態によってデータセット */
Tom0108 9:f892d57a6714 80 switch (MD_GET_DRIVE(MD_I2C_Data, num)) {
Tom0108 2:f5faf991cd86 81 /* ブレーキ，ﾌﾞﾚｰｷﾋﾞｯﾄ 1，回転方向ﾋﾞｯﾄ 0 */
Tom0108 2:f5faf991cd86 82 /* 0b00000100 */
Tom0108 2:f5faf991cd86 83 case MD_BRAKE:
Tom0108 9:f892d57a6714 84 (MD_I2C_Data + num)->pData[0] |= 0x02 << 1;
Tom0108 2:f5faf991cd86 85 break;
Tom0108 2:f5faf991cd86 86 /* 正転，ﾌﾞﾚｰｷﾋﾞｯﾄ 0，回転方向ﾋﾞｯﾄ 1 */
Tom0108 2:f5faf991cd86 87 /* 0b00000001 */
Tom0108 2:f5faf991cd86 88 case MD_FORWARD:
Tom0108 9:f892d57a6714 89 (MD_I2C_Data + num)->pData[0] |= 0x01 << 1;
Tom0108 2:f5faf991cd86 90 break;
Tom0108 2:f5faf991cd86 91 /* 逆転，ﾌﾞﾚｰｷﾋﾞｯﾄ 0，回転方向ﾋﾞｯﾄ 0 */
Tom0108 2:f5faf991cd86 92 /* 0b00000000 */
Tom0108 2:f5faf991cd86 93 case MD_REVERSE:
Tom0108 9:f892d57a6714 94 (MD_I2C_Data + num)->pData[0] |= 0x00 << 1;
Tom0108 2:f5faf991cd86 95 break;
Tom0108 2:f5faf991cd86 96 }
Tom0108 0:c555f844eb8d 97
Tom0108 2:f5faf991cd86 98 /* PIC上の出力番号を指定 */
Tom0108 2:f5faf991cd86 99 /* 0b00000000 or 0b00000001 */
Tom0108 9:f892d57a6714 100 (MD_I2C_Data + num)->pData[0] |= (MD_I2C_Data + num)->Number;
Tom0108 2:f5faf991cd86 101 /* PWM値が100より大きかったら範囲内に補正 */
Tom0108 9:f892d57a6714 102 if (MD_GET_PWM(MD_I2C_Data, num) > 99)
Tom0108 9:f892d57a6714 103 MD_SET_PWM(MD_I2C_Data, num, 99);
Tom0108 1:67d5ea2ff6c1 104
Tom0108 2:f5faf991cd86 105 /* 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 106 (MD_I2C_Data + num)->pData[1] = (uint8_t)((uint16_t)MD_GET_PWM(MD_I2C_Data, num) * 127 / 100);
Tom0108 2:f5faf991cd86 107
Tom0108 2:f5faf991cd86 108 /*8bitから7bitに変換*/
Tom0108 9:f892d57a6714 109 i2c.write((MD_I2C_Data + num)->DevAddress << 1,(MD_I2C_Data + num)->pData,2);
Tom0108 2:f5faf991cd86 110 }
Tom0108 1:67d5ea2ff6c1 111
Tom0108 2:f5faf991cd86 112 /**
Tom0108 2:f5faf991cd86 113 * @brief MDに通信確認用送信
Tom0108 2:f5faf991cd86 114 * @param MD_I2C_Data: I2C式MDデータ構造
Tom0108 9:f892d57a6714 115 * @param num: 使用MD番号
Tom0108 2:f5faf991cd86 116 * @retval なし
Tom0108 2:f5faf991cd86 117 * @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 118 */
Tom0108 9:f892d57a6714 119 void Y_I2C::MD_I2C_Empty(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t num)
Tom0108 2:f5faf991cd86 120 {
Tom0108 2:f5faf991cd86 121 /* 送信データをMD更新フラグを立てず初期化 */
Tom0108 9:f892d57a6714 122 (MD_I2C_Data+num)->pData[0] = 0;
Tom0108 1:67d5ea2ff6c1 123
Tom0108 2:f5faf991cd86 124 /* PIC上の出力番号を指定 */
Tom0108 2:f5faf991cd86 125 /* 0b00000000 or 0b00000001 */
Tom0108 9:f892d57a6714 126 (MD_I2C_Data+num)->pData[0] |= (MD_I2C_Data+num)->Number;
Tom0108 2:f5faf991cd86 127
Tom0108 2:f5faf991cd86 128 /*8bitから7bitに変換*/
Tom0108 9:f892d57a6714 129 i2c.write((MD_I2C_Data + num)->DevAddress << 1,(MD_I2C_Data + num)->pData,2);
Tom0108 2:f5faf991cd86 130 }