YKNCT / YKNCT_I2C_lib

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YKNCT_I2C.cpp@8:f7779710d64a, 2019-04-16 (annotated)

Committer:
Tom0108
Date:
Tue Apr 16 10:54:57 2019 +0000
Revision:
8:f7779710d64a
Parent:
7:5b22492a5a13
Child:
9:f892d57a6714
out debug complete

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 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 8:f7779710d64a 18 i2c.write((OUT_I2C_Data+num) -> DevAddress<<1, &(OUT_I2C_Data+num)->out_data, 1, false);
Tom0108 8:f7779710d64a 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 8:f7779710d64a 24 i2c.read((IN_I2C_Data+num) -> DevAddress<<1, &(IN_I2C_Data+num)->in_data, 1, false);
Tom0108 3:397a179b4d9e 25 wait_us(1000);
Tom0108 1:67d5ea2ff6c1 26 }
Tom0108 1:67d5ea2ff6c1 27
Tom0108 8:f7779710d64a 28 void Y_I2C::Adc(ADC_I2C_Data_TypeDef *ADC_I2C_Data, uint8_t num)
Tom0108 0:c555f844eb8d 29 {
Tom0108 0:c555f844eb8d 30 static char data[8]= {0};
Tom0108 0:c555f844eb8d 31
Tom0108 8:f7779710d64a 32 i2c.read((ADC_I2C_Data+num) -> DevAddress<<1, data, 8, false);
Tom0108 0:c555f844eb8d 33
Tom0108 0:c555f844eb8d 34 for(int i=0; i<4; i++)
Tom0108 8:f7779710d64a 35 (ADC_I2C_Data+num)->adc_data[i]=(int16_t)data[i*2+1]<<8|data[i*2];
Tom0108 2:f5faf991cd86 36 wait_us(1000);
Tom0108 0:c555f844eb8d 37 }
Tom0108 0:c555f844eb8d 38
Tom0108 5:29d8a2619c4f 39 double Y_I2C::Enc(int address)
Tom0108 3:397a179b4d9e 40 {
Tom0108 3:397a179b4d9e 41 static char data[4]= {0};
Tom0108 6:329e7b9d8cfc 42 long long enc_data=0;
Tom0108 3:397a179b4d9e 43
Tom0108 3:397a179b4d9e 44 i2c.read(address<<1, data, 4, false);
Tom0108 3:397a179b4d9e 45
Tom0108 6:329e7b9d8cfc 46 enc_data=data[3]<<24|data[2]<<16|data[1]<<8|data[0];
Tom0108 3:397a179b4d9e 47
Tom0108 3:397a179b4d9e 48 wait_us(1000);
Tom0108 3:397a179b4d9e 49 return enc_data;
Tom0108 3:397a179b4d9e 50 }
Tom0108 3:397a179b4d9e 51
Tom0108 2:f5faf991cd86 52 void Y_I2C::MD_I2C(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t number)
Tom0108 2:f5faf991cd86 53 {
Tom0108 2:f5faf991cd86 54 /* 送信データ
Tom0108 2:f5faf991cd86 55 [0] [ MD出力更新 | 0 | 0 | 0 | 0 | ブレーキ | 回転方向 | MD指定 ]
Tom0108 2:f5faf991cd86 56 [1] PWM値(7bit)
Tom0108 2:f5faf991cd86 57 */
Tom0108 0:c555f844eb8d 58
Tom0108 2:f5faf991cd86 59 /* 送信データをMD更新フラグを立てて初期化 */
Tom0108 2:f5faf991cd86 60 (MD_I2C_Data + number)->pData[0] = 0x80;
Tom0108 2:f5faf991cd86 61 /* モーターの駆動状態によってデータセット */
Tom0108 2:f5faf991cd86 62 switch (MD_GET_DRIVE(MD_I2C_Data, number)) {
Tom0108 2:f5faf991cd86 63 /* 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 64 /* 0b00000100 */
Tom0108 2:f5faf991cd86 65 case MD_BRAKE:
Tom0108 2:f5faf991cd86 66 (MD_I2C_Data + number)->pData[0] |= 0x02 << 1;
Tom0108 2:f5faf991cd86 67 break;
Tom0108 2:f5faf991cd86 68 /* 正転，ﾌﾞﾚｰｷﾋﾞｯﾄ 0，回転方向ﾋﾞｯﾄ 1 */
Tom0108 2:f5faf991cd86 69 /* 0b00000001 */
Tom0108 2:f5faf991cd86 70 case MD_FORWARD:
Tom0108 2:f5faf991cd86 71 (MD_I2C_Data + number)->pData[0] |= 0x01 << 1;
Tom0108 2:f5faf991cd86 72 break;
Tom0108 2:f5faf991cd86 73 /* 逆転，ﾌﾞﾚｰｷﾋﾞｯﾄ 0，回転方向ﾋﾞｯﾄ 0 */
Tom0108 2:f5faf991cd86 74 /* 0b00000000 */
Tom0108 2:f5faf991cd86 75 case MD_REVERSE:
Tom0108 2:f5faf991cd86 76 (MD_I2C_Data + number)->pData[0] |= 0x00 << 1;
Tom0108 2:f5faf991cd86 77 break;
Tom0108 2:f5faf991cd86 78 }
Tom0108 0:c555f844eb8d 79
Tom0108 2:f5faf991cd86 80 /* PIC上の出力番号を指定 */
Tom0108 2:f5faf991cd86 81 /* 0b00000000 or 0b00000001 */
Tom0108 2:f5faf991cd86 82 (MD_I2C_Data + number)->pData[0] |= (MD_I2C_Data + number)->Number;
Tom0108 2:f5faf991cd86 83 /* PWM値が100より大きかったら範囲内に補正 */
Tom0108 2:f5faf991cd86 84 if (MD_GET_PWM(MD_I2C_Data, number) > 99)
Tom0108 2:f5faf991cd86 85 MD_SET_PWM(MD_I2C_Data, number, 99);
Tom0108 1:67d5ea2ff6c1 86
Tom0108 2:f5faf991cd86 87 /* 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 88 (MD_I2C_Data + number)->pData[1] = (uint8_t)((uint16_t)MD_GET_PWM(MD_I2C_Data, number) * 127 / 100);
Tom0108 2:f5faf991cd86 89
Tom0108 2:f5faf991cd86 90 /*8bitから7bitに変換*/
Tom0108 2:f5faf991cd86 91 i2c.write((MD_I2C_Data + number)->DevAddress << 1,(MD_I2C_Data + number)->pData,2);
Tom0108 4:89a35cd1334a 92 wait_us(1000);
Tom0108 2:f5faf991cd86 93 }
Tom0108 1:67d5ea2ff6c1 94
Tom0108 2:f5faf991cd86 95 /**
Tom0108 2:f5faf991cd86 96 * @brief MDに通信確認用送信
Tom0108 2:f5faf991cd86 97 * @param MD_I2C_Data: I2C式MDデータ構造
Tom0108 2:f5faf991cd86 98 * @param number: 使用MD番号
Tom0108 2:f5faf991cd86 99 * @retval なし
Tom0108 2:f5faf991cd86 100 * @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 101 */
Tom0108 2:f5faf991cd86 102 void Y_I2C::MD_I2C_Empty(MD_I2C_Data_TypeDef *MD_I2C_Data, uint8_t number)
Tom0108 2:f5faf991cd86 103 {
Tom0108 2:f5faf991cd86 104 /* 送信データをMD更新フラグを立てず初期化 */
Tom0108 2:f5faf991cd86 105 (MD_I2C_Data+number)->pData[0] = 0;
Tom0108 1:67d5ea2ff6c1 106
Tom0108 2:f5faf991cd86 107 /* PIC上の出力番号を指定 */
Tom0108 2:f5faf991cd86 108 /* 0b00000000 or 0b00000001 */
Tom0108 2:f5faf991cd86 109 (MD_I2C_Data+number)->pData[0] |= (MD_I2C_Data+number)->Number;
Tom0108 2:f5faf991cd86 110
Tom0108 2:f5faf991cd86 111 /*8bitから7bitに変換*/
Tom0108 2:f5faf991cd86 112 i2c.write((MD_I2C_Data + number)->DevAddress << 1,(MD_I2C_Data + number)->pData,2);
Tom0108 4:89a35cd1334a 113 wait_us(1000);
Tom0108 2:f5faf991cd86 114 }