HCB with MPC
Dependencies: mbed Eigen FastPWM
I2C_AS5510/I2C_AS5510.cpp
- Committer:
- Lightvalve
- Date:
- 2019-09-03
- Revision:
- 17:1865016ca2e7
- Parent:
- 0:51c43836c1d7
File content as of revision 17:1865016ca2e7:
#include "mbed.h" #include "setting.h" void look_for_hardware_i2c() { //pc.printf("\r\n\n\n"); //pc.printf("Note I2C address 0x1C used by FXOS8700CQ 3-axis accelerometer and 3-axis magetometer\r\n"); //pc.printf("Start hardware search..... \r\n"); int count = 0; for (int address=12; address<256; address+=2) { if (!i2c.write(address, NULL, 0)) { // 0 returned is OK //pc.printf(" - I2C device found at address 0x%02X\n\r", address >>1); count++; } } //pc.printf("%d devices found \n\r", count); } void init_as5510(int i2c_address) { int i2c_adrs=0; char idata[2]; int result=0; //pc.printf("\r\n"); //pc.printf("Start AS5510 init.. \r\n"); i2c_adrs= (i2c_address << 1); // AS5510 Slave address lsb= 0 for write //---------- Magnet selection -------------------------------- //----0x00= <50mT-----------Strong magnet //----0x01= <25mT //----0x02= <18.7mT //----0x03= <12.5mT---------Weak magnet //----------------------------------------------------------- idata[0]=0x0B; // Register for Sensitivity idata[1]=0x00; // Byte result= i2c.write(i2c_adrs, idata, 2, 0); // Now write_sensitivity // if (result != 0) pc.printf("No ACK bit! (09)\n\r"); //----------- Operation mode selection------------------------ idata[0]=0x02; // 0x02 address setup register for operation, speed, polarity idata[1]=0x04; // Normal Operation, Slow mode (1), NORMAL Polarity (0), Power Up (0) result= i2c.write(i2c_adrs, idata, 2, 0); // Now write_operation // if (result != 0) pc.printf("No ACK bit! (11)\n\r"); //pc.printf("AS5510 init done\r\n"); } int offset_comp(int i2c_address) { int adrss=0; int oresult=0; char off_data[2]; int ocf_done=0; // First, now Write pointer to register 0x00---------------------------- adrss= (i2c_address << 1); // AS5510 Slave address lsb= 0 for write oresult= i2c.write(adrss, 0x00, 1, 0); // write one byte if (oresult != 0) //pc.printf("No ACK bit! (33)\n\r"); // Second, now Read register 0x00 and 0x01-------------------------------- memset(off_data, 0, sizeof(off_data)); adrss= (i2c_address << 1) | 0x01; // AS5510 address lsb= 1 for read oresult= i2c.read(adrss, off_data, 2, 0); // read two bytes // Now analyse register 0x01 ---------------------------------------------- ocf_done= off_data[1] & 0x08; // mask off bits, 1= done if (ocf_done== 0) return(0); // return(0)= compensation process is pending else return(1); // return(1)= compensation process is completed } void read_field(int i2c_address) { int adr=0; char rx_data[2]; int rresult=0; char lsb, msb; // First, now Write pointer to register 0x00---------------------------- adr= (i2c_address << 1); // AS5510 address lsb= 0 for write rresult= i2c.write(adr, 0x00, 1, 0); // write one byte to register 0x00 for magnetic field strength // if (rresult != 0) pc.printf("No ACK bit! (22)\n\r"); // Second, now Read register 0x00 and 0x01-------------------------------- memset(rx_data, 0, sizeof(rx_data)); adr= (i2c_address << 1) | 0x01; // AS5510 address lsb= 1 for read rresult= i2c.read(adr, rx_data, 2, 0); // read two bytes // Now analyse register 0x01 ---------------------------------------------- lsb= rx_data[0]; // get LSB msb= rx_data[1]&0x03; // need only 2 low bits og MSB value = ((msb & 0x03)<<8) + lsb; // pc.printf("I2C adres= 0x%02X, Magnetic Field => msb= 0x%02X, lsb= 0x%02X, decimal 10-bit value = %u \r\n ", i2c_address, rx_data[0],rx_data[1], value); }