YKNCT / YKNCT_I2C_lib

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.

Dependents:   arim_AutoMachine

YKNCT_I2C.cpp@2:f5faf991cd86, 2019-04-02 (annotated)

Committer:
Tom0108
Date:
Tue Apr 02 10:33:33 2019 +0000
Revision:
2:f5faf991cd86
Parent:
1:67d5ea2ff6c1
Child:
3:397a179b4d9e
a

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 1:67d5ea2ff6c1 8 void Y_I2C::Out(int address, char data)
Tom0108 1:67d5ea2ff6c1 9 {
Tom0108 1:67d5ea2ff6c1 10 i2c.write(address<<1, &data, 1, false);
Tom0108 1:67d5ea2ff6c1 11 }
Tom0108 1:67d5ea2ff6c1 12
Tom0108 1:67d5ea2ff6c1 13 int Y_I2C::In(int address, int num)
Tom0108 1:67d5ea2ff6c1 14 {
Tom0108 1:67d5ea2ff6c1 15 static char data=0;
Tom0108 1:67d5ea2ff6c1 16
Tom0108 1:67d5ea2ff6c1 17 i2c.read(address<<1, &data, 1, false);
Tom0108 1:67d5ea2ff6c1 18
Tom0108 1:67d5ea2ff6c1 19 return data>>num&1;
Tom0108 1:67d5ea2ff6c1 20 }
Tom0108 1:67d5ea2ff6c1 21
Tom0108 0:c555f844eb8d 22 int Y_I2C::Adc(int address, int num)
Tom0108 0:c555f844eb8d 23 {
Tom0108 0:c555f844eb8d 24 static char data[8]= {0};
Tom0108 0:c555f844eb8d 25 static int ad_data[4]= {0};
Tom0108 0:c555f844eb8d 26
Tom0108 0:c555f844eb8d 27 i2c.read(address<<1, data, 8, false);
Tom0108 0:c555f844eb8d 28
Tom0108 0:c555f844eb8d 29 for(int i=0; i<4; i++)
Tom0108 0:c555f844eb8d 30 ad_data[i]=(int16_t)data[i*2+1]<<8|data[i*2];
Tom0108 0:c555f844eb8d 31
Tom0108 2:f5faf991cd86 32 wait_us(1000);
Tom0108 0:c555f844eb8d 33 return ad_data[num];
Tom0108 0:c555f844eb8d 34 }
Tom0108 0:c555f844eb8d 35
Tom0108 2:f5faf991cd86 36 void Y_I2C::MD_I2C(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t number)
Tom0108 2:f5faf991cd86 37 {
Tom0108 2:f5faf991cd86 38 /* 送信データ
Tom0108 2:f5faf991cd86 39 [0] [ MD出力更新 | 0 | 0 | 0 | 0 | ブレーキ | 回転方向 | MD指定 ]
Tom0108 2:f5faf991cd86 40 [1] PWM値(7bit)
Tom0108 2:f5faf991cd86 41 */
Tom0108 0:c555f844eb8d 42
Tom0108 2:f5faf991cd86 43 /* 送信データをMD更新フラグを立てて初期化 */
Tom0108 2:f5faf991cd86 44 (MD_I2C_Data + number)->pData[0] = 0x80;
Tom0108 2:f5faf991cd86 45 /* モーターの駆動状態によってデータセット */
Tom0108 2:f5faf991cd86 46 switch (MD_GET_DRIVE(MD_I2C_Data, number)) {
Tom0108 2:f5faf991cd86 47 /* 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 48 /* 0b00000100 */
Tom0108 2:f5faf991cd86 49 case MD_BRAKE:
Tom0108 2:f5faf991cd86 50 (MD_I2C_Data + number)->pData[0] |= 0x02 << 1;
Tom0108 2:f5faf991cd86 51 break;
Tom0108 2:f5faf991cd86 52 /* 正転，ﾌﾞﾚｰｷﾋﾞｯﾄ 0，回転方向ﾋﾞｯﾄ 1 */
Tom0108 2:f5faf991cd86 53 /* 0b00000001 */
Tom0108 2:f5faf991cd86 54 case MD_FORWARD:
Tom0108 2:f5faf991cd86 55 (MD_I2C_Data + number)->pData[0] |= 0x01 << 1;
Tom0108 2:f5faf991cd86 56 break;
Tom0108 2:f5faf991cd86 57 /* 逆転，ﾌﾞﾚｰｷﾋﾞｯﾄ 0，回転方向ﾋﾞｯﾄ 0 */
Tom0108 2:f5faf991cd86 58 /* 0b00000000 */
Tom0108 2:f5faf991cd86 59 case MD_REVERSE:
Tom0108 2:f5faf991cd86 60 (MD_I2C_Data + number)->pData[0] |= 0x00 << 1;
Tom0108 2:f5faf991cd86 61 break;
Tom0108 2:f5faf991cd86 62 }
Tom0108 0:c555f844eb8d 63
Tom0108 2:f5faf991cd86 64 /* PIC上の出力番号を指定 */
Tom0108 2:f5faf991cd86 65 /* 0b00000000 or 0b00000001 */
Tom0108 2:f5faf991cd86 66 (MD_I2C_Data + number)->pData[0] |= (MD_I2C_Data + number)->Number;
Tom0108 2:f5faf991cd86 67 /* PWM値が100より大きかったら範囲内に補正 */
Tom0108 2:f5faf991cd86 68 if (MD_GET_PWM(MD_I2C_Data, number) > 99)
Tom0108 2:f5faf991cd86 69 MD_SET_PWM(MD_I2C_Data, number, 99);
Tom0108 1:67d5ea2ff6c1 70
Tom0108 2:f5faf991cd86 71 /* 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 2:f5faf991cd86 72 (MD_I2C_Data + number)->pData[1] = (uint8_t)((uint16_t)MD_GET_PWM(MD_I2C_Data, number) * 127 / 100);
Tom0108 2:f5faf991cd86 73
Tom0108 2:f5faf991cd86 74 /*8bitから7bitに変換*/
Tom0108 2:f5faf991cd86 75 i2c.write((MD_I2C_Data + number)->DevAddress << 1,(MD_I2C_Data + number)->pData,2);
Tom0108 2:f5faf991cd86 76 }
Tom0108 1:67d5ea2ff6c1 77
Tom0108 2:f5faf991cd86 78 /**
Tom0108 2:f5faf991cd86 79 * @brief MDに通信確認用送信
Tom0108 2:f5faf991cd86 80 * @param MD_I2C_Data: I2C式MDデータ構造
Tom0108 2:f5faf991cd86 81 * @param number: 使用MD番号
Tom0108 2:f5faf991cd86 82 * @retval なし
Tom0108 2:f5faf991cd86 83 * @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 84 */
Tom0108 2:f5faf991cd86 85 void Y_I2C::MD_I2C_Empty(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t number)
Tom0108 2:f5faf991cd86 86 {
Tom0108 2:f5faf991cd86 87 /* 送信データをMD更新フラグを立てず初期化 */
Tom0108 2:f5faf991cd86 88 (MD_I2C_Data+number)->pData[0] = 0;
Tom0108 1:67d5ea2ff6c1 89
Tom0108 2:f5faf991cd86 90 /* PIC上の出力番号を指定 */
Tom0108 2:f5faf991cd86 91 /* 0b00000000 or 0b00000001 */
Tom0108 2:f5faf991cd86 92 (MD_I2C_Data+number)->pData[0] |= (MD_I2C_Data+number)->Number;
Tom0108 2:f5faf991cd86 93
Tom0108 2:f5faf991cd86 94 /*8bitから7bitに変換*/
Tom0108 2:f5faf991cd86 95 i2c.write((MD_I2C_Data + number)->DevAddress << 1,(MD_I2C_Data + number)->pData,2);
Tom0108 2:f5faf991cd86 96 }