James O'Keeffe / Mbed 2 deprecated BeaconDemo_RobotCodeNew

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Fork of BeaconDemo_RobotCode by Science Memeseum

PsiSwarm/i2c.cpp@5:598298aa4900, 2015-10-13 (annotated)

Committer:
jah128
Date:
Tue Oct 13 11:47:14 2015 +0000
Revision:
5:598298aa4900
Parent:
0:8a5497a2e366
Child:
6:ff3c66f7372b
Added voltage regulator testing code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 0:8a5497a2e366 1 /* University of York Robotics Laboratory PsiSwarm Library: I2C Source File
jah128 0:8a5497a2e366 2 *
jah128 0:8a5497a2e366 3 * File: i2c.cpp
jah128 0:8a5497a2e366 4 *
jah128 0:8a5497a2e366 5 * (C) Dr James Hilder, Dept. Electronics & Computer Science, University of York
jah128 0:8a5497a2e366 6 *
jah128 0:8a5497a2e366 7 * PsiSwarm Library Version: 0.2
jah128 0:8a5497a2e366 8 *
jah128 0:8a5497a2e366 9 * September 2015
jah128 0:8a5497a2e366 10 *
jah128 0:8a5497a2e366 11 */
jah128 0:8a5497a2e366 12
jah128 0:8a5497a2e366 13 #include "psiswarm.h"
jah128 0:8a5497a2e366 14
jah128 0:8a5497a2e366 15 char gpio_byte0;
jah128 0:8a5497a2e366 16 char gpio_byte1;
jah128 0:8a5497a2e366 17 char user_id_set = 0;
jah128 0:8a5497a2e366 18 char wheel_enc_set = 0;
jah128 0:8a5497a2e366 19 char switch_set = 0;
jah128 0:8a5497a2e366 20
jah128 0:8a5497a2e366 21 char emitter_byte = 0x00;
jah128 0:8a5497a2e366 22
jah128 0:8a5497a2e366 23 Timeout update_timeout;
jah128 0:8a5497a2e366 24
jah128 0:8a5497a2e366 25 char test;
jah128 0:8a5497a2e366 26
jah128 0:8a5497a2e366 27 void IF_set_IR_emitter_output(char emitter, char state)
jah128 0:8a5497a2e366 28 {
jah128 0:8a5497a2e366 29 if(emitter <3) {
jah128 0:8a5497a2e366 30 if(state == 0) {
jah128 0:8a5497a2e366 31 char shift = 1 << emitter;
jah128 0:8a5497a2e366 32 emitter_byte &= (0xFF - shift);
jah128 0:8a5497a2e366 33 }
jah128 0:8a5497a2e366 34 if(state == 1) {
jah128 0:8a5497a2e366 35 char shift = 1 << emitter;
jah128 0:8a5497a2e366 36 emitter_byte |= shift;
jah128 0:8a5497a2e366 37 }
jah128 0:8a5497a2e366 38 char data[2];
jah128 0:8a5497a2e366 39 data [0] = 0x0A; //Write to OLAT register
jah128 0:8a5497a2e366 40 data [1] = emitter_byte; //GP0-3 are outputs on aux expansion IC
jah128 0:8a5497a2e366 41 //pc.printf("%c\n", emitter_byte);
jah128 0:8a5497a2e366 42 primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
jah128 0:8a5497a2e366 43 }
jah128 0:8a5497a2e366 44 }
jah128 0:8a5497a2e366 45
jah128 0:8a5497a2e366 46 void IF_set_base_LED(char state)
jah128 0:8a5497a2e366 47 {
jah128 0:8a5497a2e366 48 if(state == 0) {
jah128 0:8a5497a2e366 49 emitter_byte &= 0xF7;
jah128 0:8a5497a2e366 50 } else emitter_byte |= 0x08;
jah128 0:8a5497a2e366 51 char data[2];
jah128 0:8a5497a2e366 52 data [0] = 0x0A; //Write to OLAT register
jah128 0:8a5497a2e366 53 data [1] = emitter_byte; //GP0-3 are outputs on aux expansion IC
jah128 0:8a5497a2e366 54 primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
jah128 0:8a5497a2e366 55
jah128 0:8a5497a2e366 56 }
jah128 0:8a5497a2e366 57
jah128 0:8a5497a2e366 58 unsigned short IF_read_IR_adc_value(char adc, char index)
jah128 0:8a5497a2e366 59 {
jah128 0:8a5497a2e366 60 char address = ADC1_ADDRESS;
jah128 0:8a5497a2e366 61 if(adc == 2) address=ADC2_ADDRESS;
jah128 0:8a5497a2e366 62 // Returns the raw sensor value for the IR sensor defined by index (range 0-7).
jah128 0:8a5497a2e366 63 short value = 0;
jah128 0:8a5497a2e366 64 // Read a single value from the ADC
jah128 0:8a5497a2e366 65 if(index<8) {
jah128 0:8a5497a2e366 66 char apb[1];
jah128 0:8a5497a2e366 67 char data[2];
jah128 0:8a5497a2e366 68 switch(index) {
jah128 0:8a5497a2e366 69 case 0:
jah128 0:8a5497a2e366 70 apb[0]=0x80;
jah128 0:8a5497a2e366 71 break;
jah128 0:8a5497a2e366 72 case 1:
jah128 0:8a5497a2e366 73 apb[0]=0x90;
jah128 0:8a5497a2e366 74 break;
jah128 0:8a5497a2e366 75 case 2:
jah128 0:8a5497a2e366 76 apb[0]=0xA0;
jah128 0:8a5497a2e366 77 break;
jah128 0:8a5497a2e366 78 case 3:
jah128 0:8a5497a2e366 79 apb[0]=0xB0;
jah128 0:8a5497a2e366 80 break;
jah128 0:8a5497a2e366 81 case 4:
jah128 0:8a5497a2e366 82 apb[0]=0xC0;
jah128 0:8a5497a2e366 83 break;
jah128 0:8a5497a2e366 84 case 5:
jah128 0:8a5497a2e366 85 apb[0]=0xD0;
jah128 0:8a5497a2e366 86 break;
jah128 0:8a5497a2e366 87 case 6:
jah128 0:8a5497a2e366 88 apb[0]=0xE0;
jah128 0:8a5497a2e366 89 break;
jah128 0:8a5497a2e366 90 case 7:
jah128 0:8a5497a2e366 91 apb[0]=0xF0;
jah128 0:8a5497a2e366 92 break;
jah128 0:8a5497a2e366 93 }
jah128 0:8a5497a2e366 94 primary_i2c.write(address,apb,1,false);
jah128 0:8a5497a2e366 95 primary_i2c.read(address,data,2,false);
jah128 0:8a5497a2e366 96 value=((data[0] % 16)<<8)+data[1];
jah128 0:8a5497a2e366 97 if(value > 4096) value=4096;
jah128 0:8a5497a2e366 98 value=4096-value;
jah128 0:8a5497a2e366 99 }
jah128 0:8a5497a2e366 100 return value;
jah128 0:8a5497a2e366 101 }
jah128 0:8a5497a2e366 102
jah128 0:8a5497a2e366 103 char IF_setup_led_expansion_ic(void)
jah128 0:8a5497a2e366 104 {
jah128 0:8a5497a2e366 105 //LED expansion IC is PCA9555
jah128 0:8a5497a2e366 106 //Address is 0100 001x (0x42) {defined by LED_IC_ADDRESS}
jah128 0:8a5497a2e366 107 //All 16 entries are outputs as they drive LEDs; the relevant registers are 2&3 (output port registers) and 6&7 (config. registers: a 0=output)
jah128 0:8a5497a2e366 108 //Message structure: {Address-RW}{Command}{Port 0}{Port 1}
jah128 0:8a5497a2e366 109 //Command bytes: 00000010 (0x02) = Write to output port
jah128 0:8a5497a2e366 110 //Command bytes: 00000110 (0x06) = Write to config registers
jah128 0:8a5497a2e366 111 //Note that for the LEDs, 0 = on, 1 = off
jah128 0:8a5497a2e366 112 //Port 0 = LED 1:4 Red:Green
jah128 0:8a5497a2e366 113 //Port 1 = LED 5:8 Red:Green
jah128 0:8a5497a2e366 114 char data [3];
jah128 0:8a5497a2e366 115 data [0] = 0x06; //Write config registers
jah128 0:8a5497a2e366 116 data [1] = 0x00; //All 8 pins in port 0 are outputs (0)
jah128 0:8a5497a2e366 117 data [2] = 0x00; //All 8 pins in port 1 are outputs (0)
jah128 0:8a5497a2e366 118 primary_i2c.write(LED_IC_ADDRESS,data,3,false);
jah128 0:8a5497a2e366 119
jah128 0:8a5497a2e366 120 //Turn all LEDs on
jah128 0:8a5497a2e366 121 data [0] = 0x02; //Write to output port
jah128 0:8a5497a2e366 122 data [1] = 0x00; //Enable LED1-4 (both colours)
jah128 0:8a5497a2e366 123 data [2] = 0x00; //Enable LED5-8 (both colours)
jah128 0:8a5497a2e366 124 primary_i2c.write(LED_IC_ADDRESS,data,3,false);
jah128 0:8a5497a2e366 125
jah128 0:8a5497a2e366 126 wait(0.05);
jah128 0:8a5497a2e366 127 //Turn all LEDs off
jah128 0:8a5497a2e366 128 data [0] = 0x02; //Write to output port
jah128 0:8a5497a2e366 129 data [1] = 0xFF; //Enable LED1-4 (both colours)
jah128 0:8a5497a2e366 130 data [2] = 0xFF; //Enable LED5-8 (both colours)
jah128 0:8a5497a2e366 131 return primary_i2c.write(LED_IC_ADDRESS,data,3,false);
jah128 0:8a5497a2e366 132 }
jah128 0:8a5497a2e366 133
jah128 0:8a5497a2e366 134 //Returns 0 if successful, 1 if test mode button pressed
jah128 0:8a5497a2e366 135 void IF_setup_gpio_expansion_ic(void)
jah128 0:8a5497a2e366 136 {
jah128 0:8a5497a2e366 137 //Main GPIO expansion IC is PCA9555
jah128 0:8a5497a2e366 138 //Address is 0100 000x (0x40) {defined by GPIO_IC_ADDRESS}
jah128 0:8a5497a2e366 139 //All 16 entries are inputs; the relevant registers are 0&1 (input port registers), 4&5 (polarity inv. registers) and 6&7 (config. registers: a 0=output)
jah128 0:8a5497a2e366 140 //Message structure: {Address-RW}{Command}{Port 0}{Port 1}
jah128 0:8a5497a2e366 141 //Command bytes: 00000010 (0x02) = Write to output port
jah128 0:8a5497a2e366 142 //Command bytes: 00000110 (0x06) = Write to config registers
jah128 0:8a5497a2e366 143 //Note that for the LEDs, 0 = on, 1 = off
jah128 0:8a5497a2e366 144 //Port 0 = PGDL; PGDR; PGDIR; UP; DOWN; LEFT; RIGHT; CENTER
jah128 0:8a5497a2e366 145 //Port 1 = ENC_LA; ENC_LB; ENC_RA; ENC_RB; ID0; ID1; ID2; ID3
jah128 0:8a5497a2e366 146 char data [3];
jah128 5:598298aa4900 147 char okay = 1;
jah128 0:8a5497a2e366 148 data [0] = 0x06; //Write config registers
jah128 0:8a5497a2e366 149 data [1] = 0xFF; //All 8 pins in port 0 are inputs (1)
jah128 0:8a5497a2e366 150 data [2] = 0xFF; //All 8 pins in port 1 are inputs (1)
jah128 0:8a5497a2e366 151 if(primary_i2c.write(GPIO_IC_ADDRESS,data,3,false) != 0) {
jah128 0:8a5497a2e366 152 system_warnings += 2;
jah128 5:598298aa4900 153 okay = 0;
jah128 0:8a5497a2e366 154 debug("- WARNING: No I2C acknowledge for main GPIO IC\n");
jah128 0:8a5497a2e366 155 }
jah128 0:8a5497a2e366 156 //Set all inputs to polarity-inverted (so a logic low = 1)
jah128 0:8a5497a2e366 157 data [0] = 0x04; //Write to polarity inversion ports
jah128 5:598298aa4900 158 data [1] = 0xF8; //Invert polarity of all switch input bits in input port 0 [but not power-good inputs]
jah128 0:8a5497a2e366 159 data [2] = 0xFF; //Invert polarity of all bits in input port 1
jah128 0:8a5497a2e366 160 primary_i2c.write(GPIO_IC_ADDRESS,data,3,false);
jah128 0:8a5497a2e366 161
jah128 0:8a5497a2e366 162 wait(0.01);
jah128 0:8a5497a2e366 163
jah128 0:8a5497a2e366 164 //Read data
jah128 0:8a5497a2e366 165 char read_data[2];
jah128 0:8a5497a2e366 166 char command[1]; //Command to read from input port 0
jah128 0:8a5497a2e366 167 command[0]=0;
jah128 0:8a5497a2e366 168 primary_i2c.write(GPIO_IC_ADDRESS,command,1,false);
jah128 0:8a5497a2e366 169 primary_i2c.read(GPIO_IC_ADDRESS,read_data,2,false);
jah128 0:8a5497a2e366 170 gpio_byte0 = read_data[0];
jah128 0:8a5497a2e366 171 //char ret_val = (gpio_byte0 & 0xF8) >> 3; //Returns a >0 value if a button is being pushed
jah128 0:8a5497a2e366 172 gpio_byte1 = read_data[1];
jah128 5:598298aa4900 173 if(okay && testing_voltage_regulators_flag)debug("- Checking 3.3V voltage regulators\n");
jah128 0:8a5497a2e366 174 IF_parse_gpio_byte0(gpio_byte0);
jah128 0:8a5497a2e366 175 IF_parse_gpio_byte1(gpio_byte1);
jah128 5:598298aa4900 176 testing_voltage_regulators_flag = 0;
jah128 0:8a5497a2e366 177 //Setup interrupt handler for GPIO interrupts
jah128 0:8a5497a2e366 178 gpio_interrupt.mode(PullUp);
jah128 0:8a5497a2e366 179 gpio_interrupt.rise(&IF_handle_gpio_interrupt);
jah128 0:8a5497a2e366 180 //pc.printf("%c %c",gpio_byte0,gpio_byte1);
jah128 0:8a5497a2e366 181
jah128 0:8a5497a2e366 182 //Secondary GPIO expansion IC is MCP23009
jah128 0:8a5497a2e366 183 //Address is 0100 111 (0x4E) {defined by AUX_IC_ADDRESS}
jah128 0:8a5497a2e366 184 //GP0,1,2,3 are outputs for driving infrared emitters and the base LED
jah128 0:8a5497a2e366 185 //IODIR register wants to be 0xF0 (1=input, 0=output)
jah128 0:8a5497a2e366 186 data [0] = 0x00; //Write to IODIR register
jah128 0:8a5497a2e366 187 data [1] = 0xF0; //Set GP0-3 as outputs
jah128 0:8a5497a2e366 188 primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
jah128 0:8a5497a2e366 189
jah128 0:8a5497a2e366 190 if(primary_i2c.write(AUX_IC_ADDRESS,data,2,false) != 0) {
jah128 0:8a5497a2e366 191 system_warnings += 4;
jah128 0:8a5497a2e366 192 debug("- WARNING: No I2C acknowledge for aux GPIO IC\n");
jah128 0:8a5497a2e366 193 }
jah128 0:8a5497a2e366 194 data [0] = 0x06; //Write to GPPU register
jah128 0:8a5497a2e366 195 data [1] = 0x0F; //Set GP0-3 as active pull-up outputs
jah128 0:8a5497a2e366 196 primary_i2c.write(AUX_IC_ADDRESS,data,2,false);
jah128 0:8a5497a2e366 197
jah128 0:8a5497a2e366 198 //My interrupt is not so reliable: poll with a 50ms timeout in case interrupts aren't handled
jah128 0:8a5497a2e366 199 update_timeout.attach_us(&IF_update_gpio_inputs,50000);
jah128 0:8a5497a2e366 200 //return ret_val;
jah128 0:8a5497a2e366 201 }
jah128 0:8a5497a2e366 202
jah128 0:8a5497a2e366 203 void IF_parse_gpio_byte0(char byte)
jah128 0:8a5497a2e366 204 {
jah128 0:8a5497a2e366 205 gpio_byte0 = byte;
jah128 0:8a5497a2e366 206 //GPIO byte zero contains the power line traces and the switch states
jah128 0:8a5497a2e366 207 char current_switch = ((gpio_byte0 & 0xF8) >> 3);
jah128 0:8a5497a2e366 208 if(switch_set == 1) {
jah128 0:8a5497a2e366 209 if(current_switch != switch_byte) {
jah128 0:8a5497a2e366 210 previous_switch_byte = switch_byte;
jah128 0:8a5497a2e366 211 switch_byte = current_switch;
jah128 0:8a5497a2e366 212 event++;
jah128 0:8a5497a2e366 213 switch_event = 1;
jah128 0:8a5497a2e366 214 }
jah128 0:8a5497a2e366 215 } else {
jah128 0:8a5497a2e366 216 switch_byte = current_switch;
jah128 0:8a5497a2e366 217 switch_set = 1;
jah128 0:8a5497a2e366 218 }
jah128 5:598298aa4900 219 if(((gpio_byte0 & 0x01)) != power_good_motor_left){
jah128 5:598298aa4900 220 power_good_motor_left = (gpio_byte0 & 0x01);
jah128 5:598298aa4900 221 if(!power_good_motor_left){
jah128 5:598298aa4900 222 if(testing_voltage_regulators_flag || SHOW_VR_WARNINGS)debug("- WARNING: Voltage regulator left motor low\n");
jah128 5:598298aa4900 223 }
jah128 5:598298aa4900 224 else if(testing_voltage_regulators_flag)debug("- Power good left motor v.reg\n");
jah128 5:598298aa4900 225 }
jah128 5:598298aa4900 226 if(((gpio_byte0 & 0x02) >> 1) != power_good_motor_right){
jah128 5:598298aa4900 227 power_good_motor_right = (gpio_byte0 & 0x02) >> 1;
jah128 5:598298aa4900 228 if(!power_good_motor_right){
jah128 5:598298aa4900 229 if(testing_voltage_regulators_flag || SHOW_VR_WARNINGS)debug("- WARNING: Voltage regulator right motor low\n");
jah128 5:598298aa4900 230 }
jah128 5:598298aa4900 231 else if(testing_voltage_regulators_flag)debug("- Power good right motor v.reg\n");
jah128 5:598298aa4900 232 }
jah128 5:598298aa4900 233 if(((gpio_byte0 & 0x04) >> 2) != power_good_infrared){
jah128 5:598298aa4900 234 power_good_infrared = (gpio_byte0 & 0x04) >> 2;
jah128 5:598298aa4900 235 if(!power_good_infrared){
jah128 5:598298aa4900 236 if(testing_voltage_regulators_flag || SHOW_VR_WARNINGS)debug("- WARNING: Voltage regulator infrared low\n");
jah128 5:598298aa4900 237 }
jah128 5:598298aa4900 238 else if(testing_voltage_regulators_flag)debug("- Power good infrared and aux v.reg\n");
jah128 5:598298aa4900 239 }
jah128 5:598298aa4900 240 if(USE_LED4_FOR_VR_WARNINGS){
jah128 5:598298aa4900 241 mbed_led4 = (!power_good_motor_left || !power_good_motor_right || !power_good_infrared);
jah128 5:598298aa4900 242 }
jah128 0:8a5497a2e366 243 }
jah128 0:8a5497a2e366 244
jah128 0:8a5497a2e366 245 void IF_parse_gpio_byte1(char byte)
jah128 0:8a5497a2e366 246 {
jah128 0:8a5497a2e366 247 gpio_byte1 = byte;
jah128 0:8a5497a2e366 248 //GPIO byte one contains the wheel encoders and the ID switch
jah128 0:8a5497a2e366 249 char current_id = ((gpio_byte1 & 0xF0)>> 4);
jah128 0:8a5497a2e366 250 if(user_id_set == 1) {
jah128 0:8a5497a2e366 251 if(robot_id != current_id) {
jah128 0:8a5497a2e366 252 previous_robot_id = robot_id;
jah128 0:8a5497a2e366 253 robot_id = current_id;
jah128 0:8a5497a2e366 254 event++;
jah128 0:8a5497a2e366 255 change_id_event = 1;
jah128 0:8a5497a2e366 256 }
jah128 0:8a5497a2e366 257 } else {
jah128 0:8a5497a2e366 258 robot_id = current_id;
jah128 0:8a5497a2e366 259 user_id_set = 1;
jah128 0:8a5497a2e366 260 }
jah128 0:8a5497a2e366 261 char current_encoder = (gpio_byte1 & 0x0F);
jah128 0:8a5497a2e366 262 if(wheel_enc_set == 1) {
jah128 0:8a5497a2e366 263 if(wheel_encoder_byte != current_encoder) {
jah128 0:8a5497a2e366 264 previous_wheel_encoder_byte = wheel_encoder_byte;
jah128 0:8a5497a2e366 265 wheel_encoder_byte = current_encoder;
jah128 0:8a5497a2e366 266 event++;
jah128 0:8a5497a2e366 267 encoder_event = 1;
jah128 0:8a5497a2e366 268 }
jah128 0:8a5497a2e366 269 } else {
jah128 0:8a5497a2e366 270 wheel_encoder_byte = current_encoder;
jah128 0:8a5497a2e366 271 wheel_enc_set = 1;
jah128 0:8a5497a2e366 272 }
jah128 0:8a5497a2e366 273 }
jah128 0:8a5497a2e366 274
jah128 0:8a5497a2e366 275 void IF_handle_gpio_interrupt()
jah128 0:8a5497a2e366 276 {
jah128 0:8a5497a2e366 277 test = 1-test;
jah128 5:598298aa4900 278 if(USE_LED3_FOR_INTERRUPTS) mbed_led3 = test;
jah128 0:8a5497a2e366 279 IF_update_gpio_inputs();
jah128 0:8a5497a2e366 280 }
jah128 0:8a5497a2e366 281
jah128 0:8a5497a2e366 282 char IF_is_switch_pressed()
jah128 0:8a5497a2e366 283 {
jah128 0:8a5497a2e366 284 //Read data
jah128 0:8a5497a2e366 285 char data[1];
jah128 0:8a5497a2e366 286 char command[1] = {0}; //Command to read from input port 0
jah128 0:8a5497a2e366 287 primary_i2c.write(GPIO_IC_ADDRESS,command,1,false);
jah128 0:8a5497a2e366 288 primary_i2c.read(GPIO_IC_ADDRESS,data,1,false);
jah128 0:8a5497a2e366 289 return (data[0] & 0x80); //Returns a 1 if the center button is being pushed
jah128 0:8a5497a2e366 290 }
jah128 0:8a5497a2e366 291
jah128 0:8a5497a2e366 292
jah128 0:8a5497a2e366 293 char IF_get_switch_state()
jah128 0:8a5497a2e366 294 {
jah128 0:8a5497a2e366 295 //Read data
jah128 0:8a5497a2e366 296 char data[1];
jah128 0:8a5497a2e366 297 char command[1] = {0}; //Command to read from input port 0
jah128 0:8a5497a2e366 298 primary_i2c.write(GPIO_IC_ADDRESS,command,1,false);
jah128 0:8a5497a2e366 299 primary_i2c.read(GPIO_IC_ADDRESS,data,1,false);
jah128 0:8a5497a2e366 300 return (data[0] & 0xF8) >> 3; //Returns the current switch state
jah128 0:8a5497a2e366 301 }
jah128 0:8a5497a2e366 302
jah128 0:8a5497a2e366 303 void IF_update_gpio_inputs()
jah128 0:8a5497a2e366 304 {
jah128 0:8a5497a2e366 305 update_timeout.detach();
jah128 0:8a5497a2e366 306 //Read data
jah128 0:8a5497a2e366 307 char data[2];
jah128 0:8a5497a2e366 308 char command[1] = {0}; //Command to read from input port 0
jah128 0:8a5497a2e366 309 primary_i2c.write(GPIO_IC_ADDRESS,command,1,false);
jah128 0:8a5497a2e366 310 primary_i2c.read(GPIO_IC_ADDRESS,data,2,false);
jah128 0:8a5497a2e366 311 if(data[0]!=gpio_byte0) {
jah128 0:8a5497a2e366 312 IF_parse_gpio_byte0(data[0]);
jah128 0:8a5497a2e366 313 }
jah128 0:8a5497a2e366 314 if(data[1]!=gpio_byte1) {
jah128 0:8a5497a2e366 315 IF_parse_gpio_byte1(data[1]);
jah128 0:8a5497a2e366 316 }
jah128 0:8a5497a2e366 317 update_timeout.attach_us(&IF_update_gpio_inputs,50000);
jah128 0:8a5497a2e366 318 }
jah128 0:8a5497a2e366 319
jah128 0:8a5497a2e366 320
jah128 0:8a5497a2e366 321 void IF_write_to_led_ic(char byte_0, char byte_1)
jah128 0:8a5497a2e366 322 {
jah128 0:8a5497a2e366 323 //Set LEDs
jah128 0:8a5497a2e366 324 char data[3];
jah128 0:8a5497a2e366 325 data [0] = 0x02; //Write to output port
jah128 0:8a5497a2e366 326 data [1] = byte_0;
jah128 0:8a5497a2e366 327 data [2] = byte_1;
jah128 0:8a5497a2e366 328 primary_i2c.write(LED_IC_ADDRESS,data,3,false);
jah128 0:8a5497a2e366 329 }
jah128 0:8a5497a2e366 330
jah128 0:8a5497a2e366 331
jah128 0:8a5497a2e366 332 void IF_setup_temperature_sensor()
jah128 0:8a5497a2e366 333 {
jah128 0:8a5497a2e366 334 char data[3];
jah128 0:8a5497a2e366 335 data[0] = 0x04; //Set critical temp limit
jah128 0:8a5497a2e366 336 data[1] = TEMPERATURE_CRITICAL_HI;
jah128 0:8a5497a2e366 337 data[2] = TEMPEARTURE_CRITICAL_LO;
jah128 0:8a5497a2e366 338 primary_i2c.write(TEMPERATURE_ADDRESS,data,3,false);
jah128 0:8a5497a2e366 339 data[0] = 0x02; //Set high temp limit
jah128 0:8a5497a2e366 340 data[1] = TEMPERATURE_HIGH_HI;
jah128 0:8a5497a2e366 341 data[2] = TEMPEARTURE_HIGH_LO;
jah128 0:8a5497a2e366 342 primary_i2c.write(TEMPERATURE_ADDRESS,data,3,false);
jah128 0:8a5497a2e366 343 data[0] = 0x03; //Set low temp limit
jah128 0:8a5497a2e366 344 data[1] = TEMPERATURE_LOW_HI;
jah128 0:8a5497a2e366 345 data[2] = TEMPEARTURE_LOW_LO;
jah128 0:8a5497a2e366 346 primary_i2c.write(TEMPERATURE_ADDRESS,data,3,false);
jah128 0:8a5497a2e366 347 }
jah128 0:8a5497a2e366 348
jah128 0:8a5497a2e366 349 float IF_read_from_temperature_sensor()
jah128 0:8a5497a2e366 350 {
jah128 0:8a5497a2e366 351 char command[1] = {0x05}; //Write to Ta Register
jah128 0:8a5497a2e366 352 char data[3];
jah128 0:8a5497a2e366 353 signed int temp;
jah128 0:8a5497a2e366 354 float temperature;
jah128 0:8a5497a2e366 355 primary_i2c.write(TEMPERATURE_ADDRESS,command,1,false);
jah128 0:8a5497a2e366 356 primary_i2c.read(TEMPERATURE_ADDRESS,data,2,false);
jah128 0:8a5497a2e366 357
jah128 0:8a5497a2e366 358 //Convert the temperature data
jah128 0:8a5497a2e366 359 //First Check flag bits
jah128 0:8a5497a2e366 360 char UpperByte = data[0];
jah128 0:8a5497a2e366 361 char LowerByte = data[1];
jah128 0:8a5497a2e366 362 if ((UpperByte & 0x80) == 0x80) {
jah128 0:8a5497a2e366 363 debug("- WARNING: Temperature sensor reports critical temperature\n");
jah128 0:8a5497a2e366 364 }
jah128 0:8a5497a2e366 365 if ((UpperByte & 0x40) == 0x40) {
jah128 0:8a5497a2e366 366 debug("- WARNING: Temperature sensor reports above upper limit\n");
jah128 0:8a5497a2e366 367 }
jah128 0:8a5497a2e366 368 if ((UpperByte & 0x20) == 0x20) {
jah128 0:8a5497a2e366 369 debug("- WARNING: Temperature sensor reports below lower limit\n");
jah128 0:8a5497a2e366 370 }
jah128 0:8a5497a2e366 371 UpperByte = UpperByte & 0x1F; //Clear flag bits
jah128 0:8a5497a2e366 372 if ((UpperByte & 0x10) == 0x10) {
jah128 0:8a5497a2e366 373 UpperByte = UpperByte & 0x0F; //Clear SIGN
jah128 0:8a5497a2e366 374 temp = (UpperByte * 256) + LowerByte;
jah128 0:8a5497a2e366 375 temperature = - (temp / 16.0f);
jah128 0:8a5497a2e366 376 } else {
jah128 0:8a5497a2e366 377 temp = (UpperByte * 256) + LowerByte;
jah128 0:8a5497a2e366 378 temperature = (temp / 16.0f);
jah128 0:8a5497a2e366 379 }
jah128 0:8a5497a2e366 380 return temperature;
jah128 0:8a5497a2e366 381 }