I2C:
- Код: Выделить всё
void I2C::init(){
TWBR = (uint8_t)TWBR_val;
}
bool I2C::startTransmit(uint8_t address)
{
// reset TWI control register
TWCR = 0;
// transmit START condition
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
// wait for end of transmission
while( !(TWCR & (1<<TWINT)) );
// check if the start condition was successfully transmitted
if((TWSR & 0xF8) != TW_START){ return false; }
// load slave address into data register
TWDR = address;
// start transmission of address
TWCR = (1<<TWINT) | (1<<TWEN);
// wait for end of transmission
while( !(TWCR & (1<<TWINT)) );
// check if the device has acknowledged the READ / WRITE mode
uint8_t twst = TW_STATUS & 0xF8;
if ( (twst != TW_MT_SLA_ACK) && (twst != TW_MR_SLA_ACK) ) return false;
return true;
}
void I2C::startTransmitWait(uint8_t address)
{
uint8_t twst;
while ( 1 )
{
// send START condition
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
// wait until transmission completed
while(!(TWCR & (1<<TWINT)));
// check value of TWI Status Register. Mask prescaler bits.
twst = TW_STATUS & 0xF8;
if ( (twst != TW_START) && (twst != TW_REP_START)) continue;
// send device address
TWDR = address;
TWCR = (1<<TWINT) | (1<<TWEN);
// wail until transmission completed
while(!(TWCR & (1<<TWINT)));
// check value of TWI Status Register. Mask prescaler bits.
twst = TW_STATUS & 0xF8;
if ( (twst == TW_MT_SLA_NACK )||(twst ==TW_MR_DATA_NACK) )
{
/* device busy, send stop condition to terminate write operation */
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);
// wait until stop condition is executed and bus released
while(TWCR & (1<<TWSTO));
continue;
}
//if( twst != TW_MT_SLA_ACK) return 1;
break;
}
}/* i2c_start_wait */
void I2C::stopTransmit()
{
/* send stop condition */
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWSTO);
// wait until stop condition is executed and bus released
while(TWCR & (1<<TWSTO));
}
bool I2C::write(uint8_t data)
{
// load data into data register
TWDR = data;
// start transmission of data
TWCR = (1<<TWINT) | (1<<TWEN);
// wait for end of transmission
while( !(TWCR & (1<<TWINT)) );
if( (TWSR & 0xF8) != TW_MT_DATA_ACK ){ return false; }
return true;
}
uint8_t I2C::readAck()
{
// start TWI module and acknowledge data after reception
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
// wait for end of transmission
while( !(TWCR & (1<<TWINT)) );
// return received data from TWDR
return TWDR;
}
uint8_t I2C::readNAck()
{
// start receiving without acknowledging reception
TWCR = (1<<TWINT) | (1<<TWEN);
// wait for end of transmission
while( !(TWCR & (1<<TWINT)) );
// return received data from TWDR
return TWDR;
}
ITG3205:
- Код: Выделить всё
#include "ITG3205.h"
void ITG3205::init(I2C *i2c, UART *uart){
this->i2c=i2c;
this->uart=uart;
uart->writeLn("Init ITG3205");
i2c->startTransmit(GYRO_ADDR);
i2c->write(G_PWR_MGM);
i2c->write(0x00);
i2c->stopTransmit();
i2c->startTransmit(GYRO_ADDR);
i2c->write(G_SMPLRT_DIV);
i2c->write(0x07);
i2c->stopTransmit();
i2c->startTransmit(GYRO_ADDR);
i2c->write(G_DLPF_FS);
i2c->write(0x1E);
i2c->stopTransmit();
i2c->startTransmit(GYRO_ADDR);
i2c->write(G_INT_CFG);
i2c->write(0x00);
i2c->stopTransmit();
}
void ITG3205::getXdata(uint8_t *lowByte, uint8_t *hightByte){
//========Получение младшего байта X====
i2c->startTransmit(GYRO_ADDR);
i2c->write(GYRO_XOUT_L);
i2c->stopTransmit();
i2c->startTransmit(GYRO_ADDR);
*lowByte = i2c->readAck();
i2c->stopTransmit();
//======================================
//========Получение старшего байта X====
i2c->startTransmit(GYRO_ADDR);
i2c->write(GYRO_XOUT_H);
i2c->stopTransmit();
i2c->startTransmit(GYRO_ADDR);
*hightByte = i2c->readAck();
i2c->stopTransmit();
//======================================
}
Где-то в коде:
- Код: Выделить всё
uint8_t xLow;
uint8_t xHight;
itg3205.getXdata(&xLow,&xHight);
dtostrf(xLow, 3, 5, itmp); uart.write(itmp); uart.write(' ');
dtostrf(xHight, 3, 5, itmp); uart.write(itmp); uart.write(' ');
uart.write("\r\n");
_delay_ms(50);
Результат:
104.00000 104.00000
104.00000 104.00000
104.00000 104.00000
104.00000 104.00000
все время вот эти числа
Добавлено спустя 47 минут:
Пробовал еще так:
- Код: Выделить всё
void ITG3205::getXdata(int *gx, int *gy, int *gz, int *gt){
uint8_t i = 0;
uint8_t buff[8];
i2c->startTransmit(GYRO_ADDR);
i2c->write(0x1B);
i2c->startTransmit(GYRO_ADDR);
for(i=0; i<8; i++) {
if(i==8-1)
buff[i] = i2c->readNAck();
else
buff[i] = i2c->readNAck();
}
i2c->stopTransmit();
*gx = ((buff[2] << 8) | buff[3]);
*gy= ((buff[4] << 8) | buff[5]);
*gz = ((buff[6] << 8) | buff[7]);
*gt = (buff[0] << 8) | buff[1];
}
- Код: Выделить всё
int x;
int y;
int z;
int temp;
itg3205.getXdata(&x,&y,&z,&temp);
dtostrf(x, 3, 5, itmp); uart.write(itmp); uart.write(' ');
dtostrf(y, 3, 5, itmp); uart.write(itmp); uart.write(' ');
dtostrf(z, 3, 5, itmp); uart.write(itmp); uart.write(' ');
dtostrf(temp, 3, 5, itmp); uart.write(itmp); uart.write(' ');
uart.write("\r\n");
_delay_ms(50);
Теперь другое число во всех переменных.
26728.00000 26728.00000 26728.00000 26728.00000
26728.00000 26728.00000 26728.00000 26728.00000
26728.00000 26728.00000 26728.00000 26728.00000
26728.00000 26728.00000 26728.00000 26728.00000
26728.00000 26728.00000 26728.00000 26728.00000
26728.00000 26728.00000 26728.00000 26728.00000
26728.00000 26728.00000 26728.00000 26728.00000
26728.00000 26728.00000 26728.00000 26728.00000
26728.00000 26728.00000 26728.00000 26728.00000
26728.00000 26728.00000 26728.00000 26728.00000