masaaki makabe
test
Dependencies: BLE_API nRF51822 mbed
Fork of
KS7
by 
masaaki makabe
Diff: io.cpp
- Branch:
- KS3
- Revision:
- 30:f67850cc3cfe
- Child:
- 31:b5e19d153db4
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/io.cpp Mon May 23 05:15:58 2016 +0000
@@ -0,0 +1,633 @@
+#include "io.h"
+#include "mbed.h"
+
+// COL[2:0]: P0_27 P0_26 P0_21
+// ROW[7:0]: P0_19 P0_16 P0_15 P0_13 P0_12 P0_11 P0_09 P0_08
+// PowA : P0_00
+// Vin : P0_01
+// SWx/y : P0_02 P0_03
+// PWM : P0_05
+//
+// 0a 0b 0c 1f 1g 1h 3c 3d 3e 4h 5a 5b
+// 0d 0e 2a 2b 3f 3g 5c 5d 6e 6f 6g
+// 0f 0g 0h 2c 2d 2e 3h 4a 4b 5e 5f 5g 6h
+// 1a 1b 2f 2g 4c 4d 5h 6a 7a 7b
+// 1c 1d 1e 2h 3a 3b 4e 4f 4g 6b 6c 6d 7c 7d 7e
+// [hgfe:dcba]
+//
+// 1 2 3 14 15 16 27 28 29 40 41 42
+// 4 5 17 18 30 31 43 44 53 54 55
+// 6 7 8 19 20 21 32 33 34 45 46 47 56
+// 9 10 22 23 35 36 48 49 57 58
+// 11 12 13 24 25 26 37 38 39 50 51 52 59 60 61
+// seg[3] seg[2] seg[1] seg[0]
+//
+// COL 0 1 2 3 4 5 6 7
+// 1-8 9-16 17-24 25-31 32-40 41-48 49-56 57-(64)
+//
+// seg0
+// seg5 seg1
+// seg6
+// seg4 seg2
+// seg3
+//
+// Joystick connection
+//
+// o o o
+//o
+//o +->x
+//o |
+// y
+
+
+Ticker _tk;
+
+// multiple condition in #ifdef
+// http://qiita.com/D-3/items/b98b63c2629496856654
+#if defined(PCB_VER1) || defined(PCB_VER2)
+I2C i2c(P0_13, P0_15);
+#define I2C_FREQ 100000
+#endif
+
+#ifdef PCB_VER2
+#define ADC_ADS1115 // use 16bit ADC
+
+#ifdef ADC_ADS1115
+#define I2C_ADDR 0x90 // for ADS1115
+#else
+#define I2C_ADDR 0x68 // for MAX11613
+#endif
+#endif
+
+#ifdef PCB_VER4
+io::io(PinName CLK, PinName DAT) : _hx711(P0_14, DAT, CLK)
+#else
+io::io()
+#endif
+{
+ _col = 0;
+ for (uint8_t i = 0; i < 4; i++) _seg[i] = 0x00;
+// COL[2:0]: P0_27 P0_26 P0_21
+// ROW[7:0]: P0_19 P0_16 P0_15 P0_13 P0_12 P0_11 P0_09 P0_08
+#if defined(UART_DEBUG)
+ #if defined(PCB_VER1) || defined(PCB_VER2) // UART: P0_8 & P0_9 (sg0&sg1)
+ _sg2 = new DigitalOut(P0_11, 0);
+ #endif
+ #if defined(PCB_VER3) // UART: P0_8 & P0_11(sg0&sg2)
+ _sg1 = new DigitalOut(P0_9, 0);
+ #endif
+ #if defined(PCB_VER4) // UART: P0_9 & P0_11(sg1&sg2)
+ _sg0 = new DigitalOut(P0_8, 0);
+ #endif
+#else
+ _sg0 = new DigitalOut(P0_8, 0);
+ _sg1 = new DigitalOut(P0_9, 0);
+ _sg2 = new DigitalOut(P0_11, 0);
+#endif
+ _sg3 = new DigitalOut(P0_12, 0);
+
+#ifdef PCB_VER1
+ _sg4 = new DigitalOut(P0_13, 0);
+ _sg5 = new DigitalOut(P0_15, 0);
+#else
+ _sg4 = new DigitalOut(P0_2, 0);
+ _sg5 = new DigitalOut(P0_3, 0);
+#endif
+ _sg6 = new DigitalOut(P0_16, 0);
+ _sg7 = new DigitalOut(P0_19, 0);
+ _sa0 = new DigitalOut(P0_21, 0);
+#ifdef PCB_VER1
+ _sa1 = new DigitalOut(P0_26, 0);
+ _sa2 = new DigitalOut(P0_27, 0);
+ _jx = new AnalogIn(P0_2);
+ _jy = new AnalogIn(P0_3);
+ _weight = new AnalogIn(P0_1);
+#endif
+#if defined(PCB_VER2) || defined(PCB_VER3) || defined(PCB_VER4)
+ _sa1 = new DigitalOut(P0_24, 0);
+ _sa2 = new DigitalOut(P0_25, 0);
+#endif
+ _pow = new DigitalOut(P0_0, 1); // initial: analog power off
+ _pwm = new PwmOut(P0_5);
+// _pwm = new PwmOut(P0_15); // for BLEnano debug
+ _adc0 = 0;
+ _pwm->period_us(100);
+ _pwm->write(0.0);
+#if defined(PCB_VER1) || defined(PCB_VER2)
+ i2c.frequency(I2C_FREQ);
+#endif
+
+#ifdef PCB_VER3
+ _sw = new DigitalIn(P0_4, PullDown);
+ _adc_ck = new DigitalOut(P0_15, 0);
+ _adc_di = new DigitalIn(P0_13);
+ _adc_ck->write(0);
+ for (uint8_t i = 0; i < 24; i++) {
+ _adc_ck->write(1);
+ wait_us(10);
+ _adc_ck->write(0);
+ wait_us(10);
+ }
+#endif
+#ifdef PCB_VER4
+ _hx711.format(8, 1); // 8bit mode1
+ _hx711.frequency(500000); // 500kHz
+ _sw = new DigitalIn(P0_4, PullDown);
+// _sw = new DigitalIn(P0_13, PullDown); // for BLEnano debug
+// _adc_ck = new DigitalOut(P0_15, 0); // for software SPI
+// _adc_di = new DigitalIn(P0_13); // for software SPI
+ _PselSCK = NRF_SPI1->PSELSCK; // for hardware SPI
+ _PselMISO = NRF_SPI1->PSELMISO; // for hardware SPI
+ _reg_ps = new DigitalOut(P0_1, 1); // 1=normal, 0=power_save
+// _adc_rate = new DigitalOut(P0_6, 0); // 0=10Hz, 1=80Hz (HX711's RATE pin)
+ _adc_rate = new DigitalOut(P0_6, 1); // 0=10Hz, 1=80Hz (HX711's RATE pin)
+#endif
+ _fDisplaying = 0;
+}
+
+io::~io()
+{
+}
+
+void io::_set_col()
+{
+ if ((_col & 0x01) == 0) _sa0->write(0);
+ else _sa0->write(1);
+ if ((_col & 0x02) == 0) _sa1->write(0);
+ else _sa1->write(1);
+ if ((_col & 0x04) == 0) _sa2->write(0);
+ else _sa2->write(1);
+}
+
+void io::_set_row(uint8_t d)
+{
+#if defined(UART_DEBUG)
+ #if defined(PCB_VER1) || defined(PCB_VER2) // UART: P0_8 & P0_9 (sg0&sg1)
+ if ((d & 0x04) == 0) _sg2->write(0); else _sg2->write(1);
+ #endif
+ #if defined(PCB_VER3) // UART: P0_8 & P0_11 (sg0&sg2)
+ if ((d & 0x02) == 0) _sg1->write(0); else _sg1->write(1);
+ #endif
+ #if defined(PCB_VER4) // UART: P0_9 & P0_11(sg1&sg2)
+ if ((d & 0x01) == 0) _sg0->write(0); else _sg0->write(1);
+ #endif
+#else
+ if ((d & 0x01) == 0) _sg0->write(0); else _sg0->write(1);
+ if ((d & 0x02) == 0) _sg1->write(0); else _sg1->write(1);
+ if ((d & 0x04) == 0) _sg2->write(0); else _sg2->write(1);
+#endif
+ if ((d & 0x08) == 0) _sg3->write(0);
+ else _sg3->write(1);
+ if ((d & 0x10) == 0) _sg4->write(0);
+ else _sg4->write(1);
+ if ((d & 0x20) == 0) _sg5->write(0);
+ else _sg5->write(1);
+ if ((d & 0x40) == 0) _sg6->write(0);
+ else _sg6->write(1);
+ if ((d & 0x80) == 0) _sg7->write(0);
+ else _sg7->write(1);
+}
+
+uint8_t io::_set_segment(uint8_t d)
+{
+// seg0
+// seg5 seg1
+// seg6
+// seg4 seg2
+// seg3
+ uint8_t v;
+ switch(d) {
+ case 0:
+ v = 0x3f;
+ break;
+ case 1:
+ v = 0x06;
+ break;
+ case 2:
+ v = 0x5b;
+ break;
+ case 3:
+ v = 0x4f;
+ break;
+ case 4:
+ v = 0x66;
+ break;
+ case 5:
+ v = 0x6d;
+ break;
+ case 6:
+ v = 0x7d;
+ break;
+ case 7:
+ v = 0x27;
+ break;
+ case 8:
+ v = 0x7f;
+ break;
+ case 9:
+ v = 0x6f;
+ break;
+ default :
+ v = 0x00;
+ break;
+ }
+ return(v);
+}
+
+void io::_timer_ticker()
+{
+ _set_row(0);
+ _set_col();
+ _set_row(_row_out[_col]);
+ _col++;
+ if (_col == 8) {
+ _col = 0;
+ if (display_value < 0) _display_value = 0;
+ else if (display_value > 9999) _display_value = 9999;
+ else _display_value = display_value;
+
+#ifdef DISPLAY_ZERO_SUPPRESS
+ if (_display_value < 1000) _seg[3] = 0;
+ else
+#endif
+ _seg[3] = _set_segment(_display_value / 1000);
+#ifdef DISPLAY_ZERO_SUPPRESS
+ if (_display_value < 100) _seg[2] = 0;
+ else
+#endif
+ _seg[2] = _set_segment((_display_value / 100) % 10);
+#ifdef DISPLAY_ZERO_SUPPRESS
+ if (_display_value < 10) _seg[1] = 0;
+ else
+#endif
+ _seg[1] = _set_segment((_display_value / 10) % 10);
+ _seg[0] = _set_segment(_display_value % 10);
+ for (uint8_t i = 0; i < 8; i++) _row_out[i] = 0;
+
+ if ((_seg[3] & 0x40) != 0) _row_out[0] |= 0xe0; // seg6/0f-0g-0h
+ if ((_seg[3] & 0x20) != 0) _row_out[0] |= 0x29; // seg5/0a-0d-0f
+ if ((_seg[3] & 0x10) != 0) {
+ _row_out[0] |= 0x20; // seg4/0f-1a-1c
+ _row_out[1] |= 0x05;
+ }
+ if ((_seg[3] & 0x08) != 0) _row_out[1] |= 0x1c; // seg3/1c-1d-1e
+ if ((_seg[3] & 0x04) != 0) {
+ _row_out[0] |= 0x80; // seg2/0h-1b-1e
+ _row_out[1] |= 0x12;
+ }
+ if ((_seg[3] & 0x02) != 0) _row_out[0] |= 0x94; // seg1/0c-0e-0h
+ if ((_seg[3] & 0x01) != 0) _row_out[0] |= 0x07; // seg0/0a-0b-0c
+
+ if ((_seg[2] & 0x40) != 0) _row_out[2] |= 0x1c; // seg6/2c-2d-2e
+ if ((_seg[2] & 0x20) != 0) {
+ _row_out[2] |= 0x05; // seg5/1f-2a-2c
+ _row_out[1] |= 0x20;
+ }
+ if ((_seg[2] & 0x10) != 0) _row_out[2] |= 0xa4; // seg4/2c-2f-2h
+ if ((_seg[2] & 0x08) != 0) {
+ _row_out[3] |= 0x03; // seg3/2h-3a-3b
+ _row_out[2] |= 0x80;
+ }
+ if ((_seg[2] & 0x04) != 0) {
+ _row_out[3] |= 0x02; // seg2/2e-2g-3b
+ _row_out[2] |= 0x50;
+ }
+ if ((_seg[2] & 0x02) != 0) {
+ _row_out[2] |= 0x12; // seg1/1h-2b-2e
+ _row_out[1] |= 0x80;
+ }
+ if ((_seg[2] & 0x01) != 0) _row_out[1] |= 0xe0; // seg0/1f-1g-1h
+
+ if ((_seg[1] & 0x40) != 0) {
+ _row_out[4] |= 0x03; // seg6/3h-4a-4b
+ _row_out[3] |= 0x80;
+ }
+ if ((_seg[1] & 0x20) != 0) _row_out[3] |= 0xa4; // seg5/3c-3f-3h
+ if ((_seg[1] & 0x10) != 0) {
+ _row_out[4] |= 0x14; // seg4/3h-4c-4e
+ _row_out[3] |= 0x80;
+ }
+ if ((_seg[1] & 0x08) != 0) _row_out[4] |= 0x70; // seg3/4e-4f-4g
+ if ((_seg[1] & 0x04) != 0) _row_out[4] |= 0x4a; // seg2/4b-4d-4g
+ if ((_seg[1] & 0x02) != 0) {
+ _row_out[4] |= 0x02; // seg1/3e-3g-4b
+ _row_out[3] |= 0x50;
+ }
+ if ((_seg[1] & 0x01) != 0) _row_out[3] |= 0x1c; // seg0/3c-3d-3e
+
+ if ((_seg[0] & 0x40) != 0) _row_out[5] |= 0x70; // seg6/5e-5f-5g
+ if ((_seg[0] & 0x20) != 0) {
+ _row_out[5] |= 0x14; // seg5/4h-5c-5e
+ _row_out[4] |= 0x80;
+ }
+ if ((_seg[0] & 0x10) != 0) {
+ _row_out[6] |= 0x02; // seg4/5e-5h-6b
+ _row_out[5] |= 0x90;
+ }
+ if ((_seg[0] & 0x08) != 0) _row_out[6] |= 0x0e; // seg3/6b-6c-6d
+ if ((_seg[0] & 0x04) != 0) {
+ _row_out[6] |= 0x09; // seg2/5g-6a-6d
+ _row_out[5] |= 0x40;
+ }
+ if ((_seg[0] & 0x02) != 0) _row_out[5] |= 0x4a; // seg1/5b-5d-5g
+ if ((_seg[0] & 0x01) != 0) {
+ _row_out[5] |= 0x03; // seg0/4h-5a-5b
+ _row_out[4] |= 0x80;
+ }
+// _row_out[6] |= 0xf0; _row_out[7] |= 0x1f; // 6e-6f-6g-6h 7a-7b-7c-7d-7e
+
+ // display unit ('G')
+#ifdef PCB_VER1
+ _row_out[6] |= 0xf0;
+ _row_out[7] |= 0x1f; // 6e-6f-6g-6h 7a-7b-7c-7d-7e
+#else
+ _row_out[6] |= 0xf0;
+ _row_out[7] |= 0xf4; // 6e-6f-6g-6h 7c-7e-7f-7g-7h
+#endif
+ }
+}
+
+void io::display(float f)
+{
+ _pwm->write(f);
+ if (f > 0.0 && _fDisplaying == 0) {
+ // ref: https://developer.mbed.org/cookbook/Compiler-Error-304
+ _tk.attach(this, &io::_timer_ticker, 0.002);
+ _fDisplaying = 1;
+ } else if (f == 0.0 && _fDisplaying == 1) {
+ _tk.detach();
+ _fDisplaying = 0;
+ }
+}
+
+float io::get_weight()
+{
+ float w;
+ w = (float)get_weight_raw() / WEIGHT_COEFFICIENT; // ToDo: coefficient calibration
+ return(w);
+}
+
+#ifdef PCB_VER4
+uint32_t io::get_weight_raw()
+#else
+uint16_t io::get_weight_raw()
+#endif
+{
+#ifdef PCB_VER4
+ long w;
+#else
+ int w;
+#endif
+ w = _get_adc_raw(0) - _adc0;
+ if (w < 0) w = 0;
+ return(w);
+}
+
+#ifdef PCB_VER1
+float io::_get_x()
+{
+ float v;
+ v = _get_adc(1);
+ return(v);
+}
+#endif
+
+#ifdef PCB_VER1
+float io::_get_y()
+{
+ float v;
+ v = _get_adc(2);
+ return(v);
+}
+#endif
+
+uint8_t io::get_switch()
+{
+ uint8_t f;
+#if defined(PCB_VER1) || defined(PCB_VER2)
+#ifdef USE_JOYSTICK
+ if (_get_x() > 0.8 || _get_y() > 0.8) f = 1;
+ else f = 0;
+#else
+ if(_get_adc(1) > 0.5) f = 1;
+ else f = 0;
+#endif
+#else
+ if (_sw->read() == 1) f = 1;
+ else f = 0;
+#endif
+ return(f);
+}
+
+void io::analog_pow(uint8_t f)
+{
+ if (f == 1){
+ _pow->write(0);
+#ifdef PCB_VER4
+ _set_adc_ck(0);
+#endif
+ }
+ else{
+ _pow->write(1);
+#ifdef PCB_VER4
+ _enableSPI(0);
+ _set_adc_ck(1);
+ wait(0.01); // keep HX711's SCK=1 to enter HX711 into sleep mode
+#endif
+ }
+}
+
+void io::_set_adc_ck(uint8_t f)
+{
+ // if (f == 0) NRF_GPIO->OUTCLR |= (1 << _PselSCK);
+ // else NRF_GPIO->OUTSET |= (1 << _PselSCK);
+ if (f == 0) NRF_GPIO->OUTCLR = (1 << _PselSCK);
+ else NRF_GPIO->OUTSET = (1 << _PselSCK);
+}
+
+void io::_enableSPI(uint8_t f)
+{
+ if (f == 0){
+ NRF_SPI1->ENABLE = 0;
+ NRF_SPI1->PSELSCK = 0xffffffff;
+ NRF_SPI1->PSELMISO = 0xffffffff;
+ }
+ else{
+ NRF_SPI1->ENABLE = 0;
+ NRF_SPI1->PSELSCK = _PselSCK;
+ NRF_SPI1->PSELMISO = _PselMISO;
+ NRF_SPI1->ENABLE = 1;
+ }
+}
+
+uint8_t io::_spi_transfer()
+{
+ return(_hx711.write(0x00));
+}
+
+void io::calibrate_weight()
+{
+ // (2016/3/28: take average in weight calibration)
+ int Navg = 10;
+ uint32_t _adc0_s = 0;
+ for (int i = 0; i < Navg; i++){
+ _adc0_s += _get_adc_raw(0);
+ }
+ _adc0 = (uint32_t)((float)_adc0_s / (float)Navg);
+}
+
+float io::_get_adc(uint8_t ch)
+{
+#ifdef PCB_VER4
+ return(_get_adc_raw(ch) / (float)0xffffff);
+#else
+ return(_get_adc_raw(ch) / (float)0xffff);
+#endif
+}
+
+#ifdef PCB_VER4
+uint32_t io::_get_adc_raw(uint8_t ch)
+#else
+uint16_t io::_get_adc_raw(uint8_t ch)
+#endif
+{
+#ifdef PCB_VER1
+ if (ch == 0) return(_weight->read());
+ else if (ch == 1) return(_jx->read());
+ else return(_jy->read());
+#endif
+
+#ifdef PCB_VER2
+ uint16_t adc = 0;
+ uint8_t dh, dl;
+#ifdef ADC_ADS1115
+ // for ADS1115
+ // Input Voltage Range
+ // VIN3 = VDD/2 = 1.65
+ // VIN0 = 1.8Vpp --> 0.75V - 2.55V
+ // VIN0 - VIN3 = -0.9 - +0.9V (+-1.024V)
+ _adc_dat[0] = 0x01; // config reg.
+ if (ch == 0) _adc_dat[1] = 0x17; // single conv. & FS=+-1.0.24V, AIN0/1/2-AIN3
+ else if (ch == 1) _adc_dat[1] = 0x27;
+ else _adc_dat[1] = 0x37;
+ _adc_dat[1] |= 0x80;
+
+ _adc_dat[2] = 0x83; // 128SPS & disable comp.
+
+ i2c.write(I2C_ADDR, _adc_dat, 3);
+ uint8_t f = 0;
+ uint16_t count = 10;
+ while (f == 0) {
+ _adc_dat[0] = 0x01;
+ i2c.write(I2C_ADDR, _adc_dat, 1);
+ i2c.read(I2C_ADDR, _adc_dat, 2);
+ if ((_adc_dat[0] & 0x80) != 0) f = 1;
+
+ if(--count == 0) {
+ break;
+ }
+ }
+ _adc_dat[0] = 0x00;
+ i2c.write(I2C_ADDR, _adc_dat, 1);
+ i2c.read(I2C_ADDR, _adc_dat, 2);
+ dh = _adc_dat[0];
+ dl = _adc_dat[1];
+ adc = dh << 8 | dl;
+#else
+ // for MAX11613
+ _adc_dat[0] = 0xda; // setup / int.reference, ext.clock unipolar
+ _adc_dat[1] = 0x61 | (ch << 1); // config / single-ended
+ i2cwrite(I2C_ADDR, _adc_dat, 2);
+
+ i2cread(I2C_ADDR, _adc_dat, 2);
+ dh = _adc_dat[0] & 0x0f;
+ dl = _adc_dat[1];
+ adc = (dh << 8 | dl) << 4; // align to 16 bit
+#endif
+ // convert 2's complementary -> straight binary
+ // 0x8000 -> 0x0000
+ // 0x0000 -> 0x8000
+ // 0x7fff -> 0xffff
+ adc = (adc + 0x8000) & 0xffff;
+ return(adc);
+#endif
+
+#ifdef PCB_VER3
+ uint16_t adc = 0;
+ // MAX11205, parameter ch is ignored
+ _adc_ck->write(0);
+ while(_adc_di->read() == 1); // wait until conversion is finished
+ // ToDo: data ready timeout
+ for (uint8_t i = 0; i < 16; i++) {
+ _adc_ck->write(1);
+ wait_us(10);
+ adc = adc << 1;
+ if (_adc_di->read() == 1) adc |= 0x01;
+ else adc &= ~0x01;
+ _adc_ck->write(0);
+ wait_us(10);
+ }
+ for (uint8_t i = 0; i < 10; i++) { // additional clock for self calibration
+ _adc_ck->write(1);
+ wait_us(10);
+ _adc_ck->write(0);
+ wait_us(10);
+ }
+ // 0x8000 -> 0x0000
+ // 0xffff -> 0x7fff
+ // 0x0000 -> 0x8000
+ // 0x7fff -> 0xffff
+ adc = (adc + 0x8000) & 0xffff;
+ return(adc);
+#endif
+
+#ifdef PCB_VER4
+ // using HX711
+ uint32_t adc = 0;
+ // hardware SPI
+ uint8_t d2, d1, d0;
+ _set_adc_ck(0);
+ // note: comment out the while() below for debugging without ADC, HX711
+ while((NRF_GPIO->IN & (1 << _PselMISO)));
+ _enableSPI(1);
+ d2 = _spi_transfer();
+ d1 = _spi_transfer();
+ d0 = _spi_transfer();
+ _enableSPI(0);
+ _set_adc_ck(1); wait_us(1);
+ _set_adc_ck(0);
+ adc = (d2 << 16) | (d1 << 8) | d0;
+/*
+ // software SPI
+ while(_adc_di->read() == 1); // wait until conversion is finished
+// _tk.detach(); // disable timer to keep _adc_ck's H timeb
+ for (uint8_t i = 0; i < 24; i++) {
+ _adc_ck->write(1);
+ wait_us(10);
+ _adc_ck->write(0);
+ wait_us(10);
+ adc = adc << 1;
+ if (_adc_di->read() == 1) adc |= 0x01;
+ else adc &= ~0x01;
+ }
+ for (uint8_t i = 0; i < 1; i++) {
+ _adc_ck->write(1);
+ wait_us(10);
+ _adc_ck->write(0);
+ wait_us(10);
+ }
+*/
+// _tk.attach(this, &io::_timer_ticker, 0.002);
+ adc = (adc + 0x800000) & 0xffffff;
+ return(adc);
+#endif
+}
+
+#ifdef PCB_VER4
+// f=1 for power-save mode during sleep
+void io::power_save_mode(uint8_t f)
+{
+ if (f == 1) _reg_ps->write(0); // power save mode for sleep
+ else _reg_ps->write(1); // non-power save (high power) mode for normal operation
+}
+#endif