YKNCT / YKNCT_I2C_lib

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YKNCT_I2C.cpp@18:c631bf8fc741, 2019-05-08 (annotated)

Committer:
Tom0108
Date:
Wed May 08 16:41:07 2019 +0000
Revision:
18:c631bf8fc741
Parent:
15:23cf4a802b5b
Child:
21:e861258373e2
I added a comment

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 15:23cf4a802b5b 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 18:c631bf8fc741 15 int cnt=0; //何個出力したかを保存する
Tom0108 18:c631bf8fc741 16 int ad_cnt=0; //同じアドレスの数を保存する
Tom0108 11:c7c764e21224 17 while(cnt<MAX) {
Tom0108 11:c7c764e21224 18 char data=0;
Tom0108 18:c631bf8fc741 19 int tmp_address=(OUT_I2C_Data+cnt)->DevAddress;
Tom0108 18:c631bf8fc741 20
Tom0108 18:c631bf8fc741 21 //同じアドレスの数を数える
Tom0108 18:c631bf8fc741 22 for(ad_cnt=0;; ad_cnt++) {
Tom0108 18:c631bf8fc741 23 if(tmp_address!=(OUT_I2C_Data+cnt+ad_cnt)->DevAddress)
Tom0108 11:c7c764e21224 24 break;
Tom0108 11:c7c764e21224 25 }
Tom0108 18:c631bf8fc741 26 //一枚の基板に出力するデータを格納する
Tom0108 18:c631bf8fc741 27 for(int j=0; j<ad_cnt; 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 18:c631bf8fc741 30 cnt+=ad_cnt;
Tom0108 11:c7c764e21224 31 }
Tom0108 8:f7779710d64a 32 }
Tom0108 8:f7779710d64a 33
Tom0108 15:23cf4a802b5b 34 void Y_I2C::Servo_Set(SERVO_I2C_Data_TypeDef *SERVO_I2C_Data, uint8_t num, uint16_t pulse)
Tom0108 15:23cf4a802b5b 35 {
Tom0108 15:23cf4a802b5b 36 (SERVO_I2C_Data+num)->pulse=pulse;
Tom0108 15:23cf4a802b5b 37 }
Tom0108 15:23cf4a802b5b 38
Tom0108 15:23cf4a802b5b 39 //4biteづつ送信する
Tom0108 15:23cf4a802b5b 40 void Y_I2C::Servo(SERVO_I2C_Data_TypeDef *SERVO_I2C_Data, uint8_t MAX)
Tom0108 15:23cf4a802b5b 41 {
Tom0108 15:23cf4a802b5b 42 for(int i=0; i<(MAX+1)/2; i++) {
Tom0108 15:23cf4a802b5b 43 char data[4]= {0};
Tom0108 15:23cf4a802b5b 44
Tom0108 15:23cf4a802b5b 45 //MAXが奇数で最後の時
Tom0108 15:23cf4a802b5b 46 if(i==MAX/2 && MAX%2==1) {
Tom0108 15:23cf4a802b5b 47 for(int j=0; j<2; j++)
Tom0108 15:23cf4a802b5b 48 //16bitのpulse1つを8bitづつに分けてdataに保存する
Tom0108 15:23cf4a802b5b 49 data[j]=(SERVO_I2C_Data+i*2+j/2)->pulse>>(1-j%2)*8;
Tom0108 15:23cf4a802b5b 50 } else {
Tom0108 15:23cf4a802b5b 51 for(int j=0; j<4; j++)
Tom0108 15:23cf4a802b5b 52 //16bitのpulse2つを8bitづつに分けてdataに保存する
Tom0108 15:23cf4a802b5b 53 data[j]=(SERVO_I2C_Data+i*2+j/2)->pulse>>(1-j%2)*8;
Tom0108 15:23cf4a802b5b 54 }
Tom0108 15:23cf4a802b5b 55 i2c.write((SERVO_I2C_Data+i)->DevAddress<<1, data, 4);
Tom0108 15:23cf4a802b5b 56 }
Tom0108 15:23cf4a802b5b 57 }
Tom0108 15:23cf4a802b5b 58
Tom0108 15:23cf4a802b5b 59
Tom0108 8:f7779710d64a 60 void Y_I2C::In(IN_I2C_Data_TypeDef *IN_I2C_Data, uint8_t num)
Tom0108 8:f7779710d64a 61 {
Tom0108 11:c7c764e21224 62 char data;
Tom0108 10:49ffdd5cf82e 63 uint8_t array=(IN_I2C_Data+num)->Number;
Tom0108 11:c7c764e21224 64
Tom0108 11:c7c764e21224 65 i2c.read((IN_I2C_Data+num)->DevAddress<<1, &data, 1);
Tom0108 11:c7c764e21224 66
Tom0108 11:c7c764e21224 67 (IN_I2C_Data+num)->in_data=data&1<<array;
Tom0108 1:67d5ea2ff6c1 68 }
Tom0108 1:67d5ea2ff6c1 69
Tom0108 8:f7779710d64a 70 void Y_I2C::Adc(ADC_I2C_Data_TypeDef *ADC_I2C_Data, uint8_t num)
Tom0108 0:c555f844eb8d 71 {
Tom0108 11:c7c764e21224 72 char data[8]= {0};
Tom0108 10:49ffdd5cf82e 73 uint8_t array=(ADC_I2C_Data+num)->Number;
Tom0108 0:c555f844eb8d 74
Tom0108 9:f892d57a6714 75 i2c.read((ADC_I2C_Data+num) -> DevAddress<<1, data, 8);
Tom0108 11:c7c764e21224 76
Tom0108 11:c7c764e21224 77 (ADC_I2C_Data+num)->adc_data=data[array*2+1]<<8|data[array*2];
Tom0108 0:c555f844eb8d 78 }
Tom0108 0:c555f844eb8d 79
Tom0108 9:f892d57a6714 80 void Y_I2C::Enc(ENC_I2C_Data_TypeDef *ENC_I2C_Data, uint8_t num)
Tom0108 3:397a179b4d9e 81 {
Tom0108 11:c7c764e21224 82 char data[4]= {0};
Tom0108 3:397a179b4d9e 83
Tom0108 9:f892d57a6714 84 i2c.read((ENC_I2C_Data+num) -> DevAddress<<1, data, 4);
Tom0108 3:397a179b4d9e 85
Tom0108 9:f892d57a6714 86 (ENC_I2C_Data+num)->enc_data=data[3]<<24|data[2]<<16|data[1]<<8|data[0];
Tom0108 3:397a179b4d9e 87 }
Tom0108 3:397a179b4d9e 88
Tom0108 9:f892d57a6714 89 void Y_I2C::MD_I2C(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t num)
Tom0108 2:f5faf991cd86 90 {
Tom0108 2:f5faf991cd86 91 /* 送信データ
Tom0108 2:f5faf991cd86 92 [0] [ MD出力更新 | 0 | 0 | 0 | 0 | ブレーキ | 回転方向 | MD指定 ]
Tom0108 2:f5faf991cd86 93 [1] PWM値(7bit)
Tom0108 2:f5faf991cd86 94 */
Tom0108 0:c555f844eb8d 95
Tom0108 2:f5faf991cd86 96 /* 送信データをMD更新フラグを立てて初期化 */
Tom0108 9:f892d57a6714 97 (MD_I2C_Data + num)->pData[0] = 0x80;
Tom0108 2:f5faf991cd86 98 /* モーターの駆動状態によってデータセット */
Tom0108 9:f892d57a6714 99 switch (MD_GET_DRIVE(MD_I2C_Data, num)) {
Tom0108 2:f5faf991cd86 100 /* 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 101 /* 0b00000100 */
Tom0108 2:f5faf991cd86 102 case MD_BRAKE:
Tom0108 9:f892d57a6714 103 (MD_I2C_Data + num)->pData[0] |= 0x02 << 1;
Tom0108 2:f5faf991cd86 104 break;
Tom0108 2:f5faf991cd86 105 /* 正転，ﾌﾞﾚｰｷﾋﾞｯﾄ 0，回転方向ﾋﾞｯﾄ 1 */
Tom0108 2:f5faf991cd86 106 /* 0b00000001 */
Tom0108 2:f5faf991cd86 107 case MD_FORWARD:
Tom0108 9:f892d57a6714 108 (MD_I2C_Data + num)->pData[0] |= 0x01 << 1;
Tom0108 2:f5faf991cd86 109 break;
Tom0108 2:f5faf991cd86 110 /* 逆転，ﾌﾞﾚｰｷﾋﾞｯﾄ 0，回転方向ﾋﾞｯﾄ 0 */
Tom0108 2:f5faf991cd86 111 /* 0b00000000 */
Tom0108 2:f5faf991cd86 112 case MD_REVERSE:
Tom0108 9:f892d57a6714 113 (MD_I2C_Data + num)->pData[0] |= 0x00 << 1;
Tom0108 2:f5faf991cd86 114 break;
Tom0108 2:f5faf991cd86 115 }
Tom0108 0:c555f844eb8d 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 /* PWM値が100より大きかったら範囲内に補正 */
Tom0108 9:f892d57a6714 121 if (MD_GET_PWM(MD_I2C_Data, num) > 99)
Tom0108 9:f892d57a6714 122 MD_SET_PWM(MD_I2C_Data, num, 99);
Tom0108 1:67d5ea2ff6c1 123
Tom0108 2:f5faf991cd86 124 /* 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 125 (MD_I2C_Data + num)->pData[1] = (uint8_t)((uint16_t)MD_GET_PWM(MD_I2C_Data, num) * 127 / 100);
Tom0108 2:f5faf991cd86 126
Tom0108 2:f5faf991cd86 127 /*8bitから7bitに変換*/
Tom0108 9:f892d57a6714 128 i2c.write((MD_I2C_Data + num)->DevAddress << 1,(MD_I2C_Data + num)->pData,2);
Tom0108 2:f5faf991cd86 129 }
Tom0108 1:67d5ea2ff6c1 130
Tom0108 2:f5faf991cd86 131 /**
Tom0108 2:f5faf991cd86 132 * @brief MDに通信確認用送信
Tom0108 2:f5faf991cd86 133 * @param MD_I2C_Data: I2C式MDデータ構造
Tom0108 9:f892d57a6714 134 * @param num: 使用MD番号
Tom0108 2:f5faf991cd86 135 * @retval なし
Tom0108 2:f5faf991cd86 136 * @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 137 */
Tom0108 9:f892d57a6714 138 void Y_I2C::MD_I2C_Empty(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t num)
Tom0108 2:f5faf991cd86 139 {
Tom0108 2:f5faf991cd86 140 /* 送信データをMD更新フラグを立てず初期化 */
Tom0108 9:f892d57a6714 141 (MD_I2C_Data+num)->pData[0] = 0;
Tom0108 1:67d5ea2ff6c1 142
Tom0108 2:f5faf991cd86 143 /* PIC上の出力番号を指定 */
Tom0108 2:f5faf991cd86 144 /* 0b00000000 or 0b00000001 */
Tom0108 9:f892d57a6714 145 (MD_I2C_Data+num)->pData[0] |= (MD_I2C_Data+num)->Number;
Tom0108 2:f5faf991cd86 146
Tom0108 2:f5faf991cd86 147 /*8bitから7bitに変換*/
Tom0108 9:f892d57a6714 148 i2c.write((MD_I2C_Data + num)->DevAddress << 1,(MD_I2C_Data + num)->pData,2);
Tom0108 2:f5faf991cd86 149 }