syouichi imamori
Quad X Type Multicopter
Diff: I2cPeripherals/I2cPeripherals.cpp
- Revision:
- 0:cca1c4e84da4
- Child:
- 2:59ac9df97701
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/I2cPeripherals/I2cPeripherals.cpp Thu Jul 11 19:18:44 2013 +0000
@@ -0,0 +1,232 @@
+#include "mbed.h"
+#include "I2cPeripherals.h"
+
+I2cPeripherals::I2cPeripherals(PinName sda, PinName scl): _i2c(sda,scl)
+{
+ _i2c.frequency(400000);
+ LCD_contrast = 60;
+}
+
+void I2cPeripherals::start(char I2cAddr,int contrast)
+{
+ LCD_contrast = contrast;
+ start(I2cAddr);
+}
+
+void I2cPeripherals::start(char I2cAddr)
+{
+ char tx[2];
+
+ switch (I2cAddr) {
+ case ST7032_ADDR: //I2C LCD
+ LCD_addr = I2cAddr;
+ LCD_data = 0x40;
+ tx[0] = 0x00;
+ tx[1] = 0x38;
+ _i2c.write(I2cAddr,tx,2);
+ tx[1] = 0x39;
+ _i2c.write(I2cAddr,tx,2);
+ tx[1] = 0x1F;
+ _i2c.write(I2cAddr,tx,2);
+ tx[1] = 0x70 | (LCD_contrast & 0x0F);
+ _i2c.write(I2cAddr,tx,2);
+ tx[1] = 0x5C | ((LCD_contrast >> 4) & 0x03);
+ _i2c.write(I2cAddr,tx,2);
+ tx[1] = 0x6A;
+ _i2c.write(I2cAddr,tx,2);
+ wait(0.3);
+ tx[1] = 0x38;
+ _i2c.write(I2cAddr,tx,2); // function set
+ tx[1] = 0x0C;
+ _i2c.write(I2cAddr,tx,2); // Display On
+ break;
+ case ACM1602_ADDR: //I2C LCD
+ LCD_addr = I2cAddr;
+ LCD_data = 0x80;
+ wait(0.015);
+ tx[0] = 0x00;
+ tx[1] = 0x01;
+ _i2c.write(I2cAddr,tx,2);
+ wait(0.005);
+ tx[1] = 0x38;
+ _i2c.write(I2cAddr,tx,2);
+ wait(0.005);
+ tx[1] = 0x0F;
+ _i2c.write(I2cAddr,tx,2);
+ wait(0.005);
+ tx[1] = 0x06;
+ _i2c.write(I2cAddr,tx,2);
+ wait(0.005);
+ break;
+
+ case ITG3200_ADDR0: //gyro
+ case ITG3200_ADDR1:
+ Gyro_addr = I2cAddr;
+ Gyro_data = 0x1D;
+ tx[0] = 0x16;
+ tx[1] = 0x18; // 0x1D
+ _i2c.write(I2cAddr,tx,2);
+ tx[0] = 0x3E;
+ tx[1] = 0x01;
+ _i2c.write(I2cAddr,tx,2);
+ wait_ms(100);
+ break;
+
+ case L3GD20_ADDR0: //gyro
+ case L3GD20_ADDR1:
+ Gyro_addr = I2cAddr;
+ Gyro_data = 0x28;
+ tx[0] = 0x20;
+ tx[1] = 0xFF;
+ _i2c.write(I2cAddr,tx,2);
+ tx[0] = 0x21;
+ tx[1] = 0x09;
+ _i2c.write(I2cAddr,tx,2);
+ tx[0] = 0x23;
+ tx[1] = 0xF0;
+ _i2c.write(I2cAddr,tx,2);
+ break;
+
+ case LDXL345_ADDR0: //accelametor
+ case LDXL345_ADDR1:
+ Accel_addr = I2cAddr;
+ Accel_data = 0x32;
+ tx[0] = 0x2D;
+ tx[1] = 0x00;
+ _i2c.write(I2cAddr,tx,2);
+ tx[0] = 0x31;
+ tx[1] = 0x08; //full range 08:2g 09:4g 0A:8g 0B:16g
+ _i2c.write(I2cAddr,tx,2);
+ tx[0] = 0x2C;
+ tx[1] = 0x0C; //out rate 0xC:400Hz 0xD:800Hz
+ _i2c.write(I2cAddr,tx,2);
+ tx[0] = 0x2D;
+ tx[1] = 0x08;
+ _i2c.write(I2cAddr,tx,2);
+ break;
+
+ case LPS331AP_ADDR0: //barometor
+ case LPS331AP_ADDR1:
+ barometor_addr = I2cAddr;
+ barometor_data = 0x2B;
+ tx[0] = 0x10; //RES_CNF
+ tx[1] = 0x19;
+ _i2c.write(I2cAddr,tx,2);
+ tx[0] = 0x20; // CTL_REG1
+ tx[1] = 0x80; // power on
+ _i2c.write(I2cAddr,tx,2);
+ tx[0]= 0x21; // CTL_REG2
+ tx[1]= 0x01; // one shot start
+ _i2c.write(I2cAddr,tx,2);
+ break;
+ }
+}
+
+int I2cPeripherals::_putc(int value) {
+ _i2c.start();
+ _i2c.write(LCD_addr);
+ _i2c.write(LCD_data);
+ _i2c.write(value);
+ _i2c.stop();
+ return value;
+}
+
+int I2cPeripherals::_getc() {
+ return -1;
+}
+
+void I2cPeripherals::cls()
+{
+ char tx[2] = { 0x00, 0x01 };
+ _i2c.write(LCD_addr,tx,2);
+}
+
+void I2cPeripherals::locate(int clm,int row)
+{
+ char tx[2];
+
+ tx[0] = 0x00;
+ tx[1] = 0x80 + (row * 0x40) + clm;
+ _i2c.write(LCD_addr,tx,2);
+
+}
+
+int I2cPeripherals::angular(int *x,int *y,int *z)
+{
+ char rx[6];
+ char tx[1];
+ tx[0] = Gyro_data | 0x80;
+ if ( _i2c.write(Gyro_addr,tx,1,true) != 0 ) {
+ x=y=z=0;
+ return false;
+ }
+ _i2c.read(Gyro_addr,rx,6);
+ *x = short(rx[0] << 8 | (uint8_t)rx[1]);
+ *y = short(rx[2] << 8 | (uint8_t)rx[3]);
+ *z = short(rx[4] << 8 | (uint8_t)rx[5]);
+ return true;
+}
+int I2cPeripherals::Acceleration(int *x,int *y,int *z)
+{
+ //AXDL345 Data Read
+ char rx[6];
+ char tx[1];
+ tx[0] = Accel_data | 0x80;
+ if ( _i2c.write(Accel_addr,tx,1,true) != 0 ) {
+ x=y=z=0;
+ return false;
+ }
+ _i2c.read(Accel_addr,rx,6);
+ *y = -short(rx[1] << 8 | (uint8_t)rx[0]);
+ *x = short(rx[3] << 8 | (uint8_t)rx[2]);
+ *z = short(rx[5] << 8 | (uint8_t)rx[4]);
+ return true;
+}
+
+int I2cPeripherals::pressure()
+{
+ char tx[2];
+ char rx[3];
+ int press;
+
+ tx[0]= 0x21;
+ rx[0] = 0;
+ if ( _i2c.write(barometor_addr,tx,1,true) != 0 )
+ return 0;
+ _i2c.read (barometor_addr,rx,1);
+ while( rx[0]&0x01 ) {
+ wait(0.0001);
+ _i2c.write(barometor_addr,tx,1,true);
+ _i2c.read (barometor_addr,rx,1);
+ }
+
+ tx[0]= 0x28 | 0x80;
+ _i2c.write(barometor_addr,tx,1,true);
+ _i2c.read (barometor_addr,rx,3);
+
+ tx[0]= 0x21; // CTL_REG2
+ tx[1]= 0x01; // one shot start
+ _i2c.write(barometor_addr, tx, 2);
+
+ press =int( rx[2]<<16 | rx[1]<<8 | rx[0] );
+ return press;
+}
+
+
+//Update-Methode
+int I2cPeripherals::temperature()
+{
+ char tx[1];
+ char rx[2];
+ int temp;
+
+ tx[0]= 0x2B | 0x80;
+ if ( _i2c.write(barometor_addr,tx,1,true) != 0 )
+ return 0;
+ _i2c.read (barometor_addr,rx,2);
+
+ temp = short(rx[1]<<8 | rx[0]);
+ return temp;
+};
+
+