Takashi Matsuoka / MjHover

Hover!( Microchip MGC3130 ) library. Now, it is development version. http://www.hoverlabs.co/#hover https://www.switch-science.com/catalog/2124/

Dependents:   MjHover_Hello

MjHoverBase.cpp@5:bd26aba87b9b, 2015-04-03 (annotated)

Committer:
matsujirushi
Date:
Fri Apr 03 12:51:03 2015 +0000
Revision:
5:bd26aba87b9b
Parent:
3:b03009537d66
Child:
6:8d68ac1bab97
MjHover derived MjHoverBase.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
matsujirushi 3:b03009537d66 1 #include "MjHover.h"
matsujirushi 3:b03009537d66 2 #include <vector>
matsujirushi 3:b03009537d66 3 using namespace std;
matsujirushi 3:b03009537d66 4
matsujirushi 3:b03009537d66 5 namespace matsujirushi {
matsujirushi 3:b03009537d66 6
matsujirushi 3:b03009537d66 7 MjHoverBase::MjHoverBase(I2C* i2c, uint8_t address, DigitalInOut* ts_n, DigitalInOut* reset_n)
matsujirushi 3:b03009537d66 8 {
matsujirushi 3:b03009537d66 9 this->i2c = i2c;
matsujirushi 3:b03009537d66 10 this->address = address & 0xfe;
matsujirushi 3:b03009537d66 11 this->ts_n = ts_n;
matsujirushi 3:b03009537d66 12 this->reset_n = reset_n;
matsujirushi 3:b03009537d66 13 }
matsujirushi 3:b03009537d66 14
matsujirushi 3:b03009537d66 15 void MjHoverBase::Reset()
matsujirushi 3:b03009537d66 16 {
matsujirushi 3:b03009537d66 17 this->ts_n->input();
matsujirushi 3:b03009537d66 18 this->reset_n->output();
matsujirushi 3:b03009537d66 19 this->reset_n->write(0);
matsujirushi 5:bd26aba87b9b 20 wait_us(100);
matsujirushi 3:b03009537d66 21 this->reset_n->input();
matsujirushi 5:bd26aba87b9b 22 wait_ms(1000);
matsujirushi 3:b03009537d66 23 }
matsujirushi 3:b03009537d66 24
matsujirushi 3:b03009537d66 25 bool MjHoverBase::WriteMessage(uint8_t id, const uint8_t* payload, uint8_t payloadSize)
matsujirushi 3:b03009537d66 26 {
matsujirushi 3:b03009537d66 27 if (4 + payloadSize > 255)
matsujirushi 3:b03009537d66 28 {
matsujirushi 3:b03009537d66 29 return false;
matsujirushi 3:b03009537d66 30 }
matsujirushi 3:b03009537d66 31
matsujirushi 3:b03009537d66 32 vector<uint8_t> message(4 + payloadSize);
matsujirushi 3:b03009537d66 33 message[0] = 4 + payloadSize; // Msg. Size
matsujirushi 3:b03009537d66 34 message[1] = 0; // Flags
matsujirushi 3:b03009537d66 35 message[2] = 0; // Seq.
matsujirushi 3:b03009537d66 36 message[3] = id; // ID
matsujirushi 3:b03009537d66 37 memcpy(&message[4], payload, payloadSize);
matsujirushi 3:b03009537d66 38
matsujirushi 3:b03009537d66 39 if (this->i2c->write(this->address, (const char*)&message[0], message.size()) != 0)
matsujirushi 3:b03009537d66 40 {
matsujirushi 3:b03009537d66 41 return false;
matsujirushi 3:b03009537d66 42 }
matsujirushi 3:b03009537d66 43
matsujirushi 3:b03009537d66 44 return true;
matsujirushi 3:b03009537d66 45 }
matsujirushi 3:b03009537d66 46
matsujirushi 3:b03009537d66 47 bool MjHoverBase::ReadMessage(uint8_t* id, uint8_t* payload, uint8_t payloadSize, uint8_t* readPayloadSize)
matsujirushi 3:b03009537d66 48 {
matsujirushi 3:b03009537d66 49 if (!this->DataAvailable())
matsujirushi 3:b03009537d66 50 {
matsujirushi 3:b03009537d66 51 return false;
matsujirushi 3:b03009537d66 52 }
matsujirushi 3:b03009537d66 53
matsujirushi 5:bd26aba87b9b 54 this->BeginRead();
matsujirushi 5:bd26aba87b9b 55
matsujirushi 3:b03009537d66 56 this->i2c->start();
matsujirushi 3:b03009537d66 57
matsujirushi 3:b03009537d66 58 this->i2c->write(this->address | 1);
matsujirushi 3:b03009537d66 59
matsujirushi 3:b03009537d66 60 uint8_t messageSize = this->i2c->read(1);
matsujirushi 3:b03009537d66 61 vector<uint8_t> message(messageSize);
matsujirushi 3:b03009537d66 62 message[0] = messageSize;
matsujirushi 3:b03009537d66 63 uint8_t* messagePtr = &message[1];
matsujirushi 3:b03009537d66 64 for (int i = 1; i < messageSize; i++)
matsujirushi 3:b03009537d66 65 {
matsujirushi 3:b03009537d66 66 *messagePtr++ = this->i2c->read(i < messageSize - 1 ? 1 : 0);
matsujirushi 3:b03009537d66 67 }
matsujirushi 3:b03009537d66 68
matsujirushi 3:b03009537d66 69 this->i2c->stop();
matsujirushi 3:b03009537d66 70
matsujirushi 5:bd26aba87b9b 71 this->EndRead();
matsujirushi 5:bd26aba87b9b 72
matsujirushi 3:b03009537d66 73 if (payloadSize + 4 < messageSize)
matsujirushi 3:b03009537d66 74 {
matsujirushi 3:b03009537d66 75 return false;
matsujirushi 3:b03009537d66 76 }
matsujirushi 3:b03009537d66 77
matsujirushi 3:b03009537d66 78 *id = message[3];
matsujirushi 3:b03009537d66 79 memcpy(payload, &message[4], messageSize - 4);
matsujirushi 3:b03009537d66 80 *readPayloadSize = messageSize - 4;
matsujirushi 3:b03009537d66 81
matsujirushi 3:b03009537d66 82 return true;
matsujirushi 3:b03009537d66 83 }
matsujirushi 3:b03009537d66 84
matsujirushi 3:b03009537d66 85 } // namespace matsujirushi