mirror of https://github.com/ArduPilot/ardupilot
I2C: imported the I2C library from Wayne Truchsess
this gives us a more robust interface, including timeouts
This commit is contained in:
Andrew Tridgell
parent
a6920d603d
commit
8ee336e715
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@ -0,0 +1,557 @@
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/*
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I2C.cpp - I2C library
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Copyright (c) 2011 Wayne Truchsess. All right reserved.
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Rev 2.0 - September 19th, 2011
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- Added support for timeout function to prevent
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and recover from bus lockup (thanks to PaulS
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and CrossRoads on the Arduino forum)
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- Changed return type for stop() from void to
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uint8_t to handle timeOut function
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Rev 1.0 - August 8th, 2011
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This is a modified version of the Arduino Wire/TWI
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library. Functions were rewritten to provide more functionality
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and also the use of Repeated Start. Some I2C devices will not
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function correctly without the use of a Repeated Start. The
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initial version of this library only supports the Master.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include "WProgram.h"
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#include <inttypes.h>
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#include "I2C.h"
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uint8_t I2C::bytesAvailable = 0;
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uint8_t I2C::bufferIndex = 0;
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uint8_t I2C::totalBytes = 0;
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uint16_t I2C::timeOutDelay = 0;
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I2C::I2C()
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{
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}
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////////////// Public Methods ////////////////////////////////////////
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void I2C::begin()
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{
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
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// activate internal pull-ups for twi
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// as per note from atmega8 manual pg167
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sbi(PORTC, 4);
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sbi(PORTC, 5);
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#else
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// activate internal pull-ups for twi
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// as per note from atmega128 manual pg204
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sbi(PORTD, 0);
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sbi(PORTD, 1);
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#endif
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// initialize twi prescaler and bit rate
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cbi(TWSR, TWPS0);
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cbi(TWSR, TWPS1);
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TWBR = ((CPU_FREQ / 100000) - 16) / 2;
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// enable twi module, acks, and twi interrupt
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TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA);
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}
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void I2C::end()
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{
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TWCR = 0;
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}
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void I2C::timeOut(uint16_t _timeOut)
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{
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timeOutDelay = _timeOut;
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}
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void I2C::setSpeed(boolean _fast)
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{
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if(!_fast)
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{
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TWBR = ((CPU_FREQ / 100000) - 16) / 2;
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}
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else
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{
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TWBR = ((CPU_FREQ / 400000) - 16) / 2;
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}
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}
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void I2C::pullup(boolean activate)
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{
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if(activate)
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{
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
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// activate internal pull-ups for twi
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// as per note from atmega8 manual pg167
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sbi(PORTC, 4);
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sbi(PORTC, 5);
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#else
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// activate internal pull-ups for twi
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// as per note from atmega128 manual pg204
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sbi(PORTD, 0);
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sbi(PORTD, 1);
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#endif
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}
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else
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{
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
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// deactivate internal pull-ups for twi
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// as per note from atmega8 manual pg167
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cbi(PORTC, 4);
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cbi(PORTC, 5);
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#else
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// deactivate internal pull-ups for twi
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// as per note from atmega128 manual pg204
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cbi(PORTD, 0);
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cbi(PORTD, 1);
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#endif
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}
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}
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/////////////carry over from Wire library ///////////
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uint8_t I2C::beginTransmission(uint8_t address)
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{
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returnStatusWire = 0;
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returnStatus = 0;
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returnStatus = start();
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returnStatusWire = returnStatus;
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_W(address));
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returnStatusWire = returnStatus;
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return(returnStatus);
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}
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uint8_t I2C::beginTransmission(int address)
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{
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return(beginTransmission((uint8_t) address));
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}
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uint8_t I2C::send(uint8_t data)
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{
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if(returnStatusWire)
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{
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return(returnStatusWire);
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}
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returnStatus = 0;
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returnStatus = sendByte(data);
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returnStatusWire = returnStatus;
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return(returnStatus);
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}
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uint8_t I2C::send(int data)
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{
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return(send((uint8_t) data));
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}
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uint8_t I2C::endTransmission()
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{
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stop();
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return(returnStatusWire);
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}
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uint8_t I2C::requestFrom(int address, int numberBytes)
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{
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return(requestFrom((uint8_t) address, (uint8_t) numberBytes));
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}
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uint8_t I2C::requestFrom(uint8_t address, uint8_t numberBytes)
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{
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returnStatus = 0;
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returnStatus = read(address,numberBytes);
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if(!returnStatus)
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{
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return(numberBytes);
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}
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return(0);
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}
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uint8_t I2C::available()
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{
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return(bytesAvailable);
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}
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uint8_t I2C::receive()
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{
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bufferIndex = totalBytes - bytesAvailable;
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if(!bytesAvailable)
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{
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bufferIndex = 0;
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return(0);
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}
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bytesAvailable--;
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return(data[bufferIndex]);
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}
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/////////////////////////////////////////////////////
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uint8_t I2C::write(uint8_t address, uint8_t registerAddress)
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{
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returnStatus = 0;
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returnStatus = start();
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_W(address));
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if(returnStatus){return(returnStatus);}
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returnStatus = sendByte(registerAddress);
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if(returnStatus){return(returnStatus);}
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returnStatus = stop();
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return(returnStatus);
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}
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uint8_t I2C::write(int address, int registerAddress)
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{
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return(write((uint8_t) address, (uint8_t) registerAddress));
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}
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uint8_t I2C::write(uint8_t address, uint8_t registerAddress, uint8_t data)
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{
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returnStatus = 0;
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returnStatus = start();
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_W(address));
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if(returnStatus){return(returnStatus);}
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returnStatus = sendByte(registerAddress);
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if(returnStatus){return(returnStatus);}
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returnStatus = sendByte(data);
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if(returnStatus){return(returnStatus);}
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returnStatus = stop();
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return(returnStatus);
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}
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uint8_t I2C::write(int address, int registerAddress, int data)
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{
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return(write((uint8_t) address, (uint8_t) registerAddress, (uint8_t) data));
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}
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uint8_t I2C::write(uint8_t address, uint8_t registerAddress, char *data)
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{
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uint8_t bufferLength = strlen(data);
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returnStatus = 0;
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returnStatus = write(address, registerAddress, (uint8_t*)data, bufferLength);
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return(returnStatus);
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}
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uint8_t I2C::write(uint8_t address, uint8_t registerAddress, uint8_t *data, uint8_t numberBytes)
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{
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returnStatus = 0;
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returnStatus = start();
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_W(address));
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if(returnStatus){return(returnStatus);}
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returnStatus = sendByte(registerAddress);
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if(returnStatus){return(returnStatus);}
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for (uint8_t i = 0; i < numberBytes; i++)
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{
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returnStatus = sendByte(data[i]);
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if(returnStatus){return(returnStatus);}
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}
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returnStatus = stop();
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return(returnStatus);
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}
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uint8_t I2C::read(int address, int numberBytes)
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{
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return(read((uint8_t) address, (uint8_t) numberBytes));
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}
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uint8_t I2C::read(uint8_t address, uint8_t numberBytes)
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{
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bytesAvailable = 0;
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bufferIndex = 0;
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if(numberBytes == 0){numberBytes++;}
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nack = numberBytes - 1;
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returnStatus = 0;
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returnStatus = start();
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_R(address));
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if(returnStatus){return(returnStatus);}
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for(uint8_t i = 0; i < numberBytes; i++)
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{
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if( i == nack )
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{
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returnStatus = receiveByte(0);
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if(returnStatus != MR_DATA_NACK){return(returnStatus);}
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}
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else
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{
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returnStatus = receiveByte(1);
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if(returnStatus != MR_DATA_ACK){return(returnStatus);}
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}
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data[i] = TWDR;
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bytesAvailable = i+1;
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totalBytes = i+1;
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}
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returnStatus = stop();
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return(returnStatus);
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}
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uint8_t I2C::read(int address, int registerAddress, int numberBytes)
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{
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return(read((uint8_t) address, (uint8_t) registerAddress, (uint8_t) numberBytes));
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}
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uint8_t I2C::read(uint8_t address, uint8_t registerAddress, uint8_t numberBytes)
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{
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bytesAvailable = 0;
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bufferIndex = 0;
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if(numberBytes == 0){numberBytes++;}
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nack = numberBytes - 1;
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returnStatus = 0;
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returnStatus = start();
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_W(address));
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if(returnStatus){return(returnStatus);}
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returnStatus = sendByte(registerAddress);
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if(returnStatus){return(returnStatus);}
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returnStatus = start();
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_R(address));
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if(returnStatus){return(returnStatus);}
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for(uint8_t i = 0; i < numberBytes; i++)
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{
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if( i == nack )
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{
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returnStatus = receiveByte(0);
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if(returnStatus != MR_DATA_NACK){return(returnStatus);}
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}
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else
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{
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returnStatus = receiveByte(1);
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if(returnStatus != MR_DATA_ACK){return(returnStatus);}
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}
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data[i] = TWDR;
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bytesAvailable = i+1;
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totalBytes = i+1;
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}
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returnStatus = stop();
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return(returnStatus);
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}
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uint8_t I2C::read(uint8_t address, uint8_t numberBytes, uint8_t *dataBuffer)
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{
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bytesAvailable = 0;
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bufferIndex = 0;
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if(numberBytes == 0){numberBytes++;}
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nack = numberBytes - 1;
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returnStatus = 0;
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returnStatus = start();
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_R(address));
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if(returnStatus){return(returnStatus);}
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for(uint8_t i = 0; i < numberBytes; i++)
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{
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if( i == nack )
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{
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returnStatus = receiveByte(0);
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if(returnStatus != MR_DATA_NACK){return(returnStatus);}
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}
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else
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{
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returnStatus = receiveByte(1);
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if(returnStatus != MR_DATA_ACK){return(returnStatus);}
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}
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dataBuffer[i] = TWDR;
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bytesAvailable = i+1;
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totalBytes = i+1;
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}
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returnStatus = stop();
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return(returnStatus);
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}
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uint8_t I2C::read(uint8_t address, uint8_t registerAddress, uint8_t numberBytes, uint8_t *dataBuffer)
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{
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bytesAvailable = 0;
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bufferIndex = 0;
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if(numberBytes == 0){numberBytes++;}
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nack = numberBytes - 1;
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returnStatus = 0;
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returnStatus = start();
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_W(address));
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if(returnStatus){return(returnStatus);}
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returnStatus = sendByte(registerAddress);
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if(returnStatus){return(returnStatus);}
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returnStatus = start();
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if(returnStatus){return(returnStatus);}
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returnStatus = sendAddress(SLA_R(address));
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if(returnStatus){return(returnStatus);}
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for(uint8_t i = 0; i < numberBytes; i++)
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{
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if( i == nack )
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{
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returnStatus = receiveByte(0);
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if(returnStatus != MR_DATA_NACK){return(returnStatus);}
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}
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else
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{
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returnStatus = receiveByte(1);
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if(returnStatus != MR_DATA_ACK){return(returnStatus);}
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}
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dataBuffer[i] = TWDR;
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bytesAvailable = i+1;
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totalBytes = i+1;
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}
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returnStatus = stop();
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return(returnStatus);
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}
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/////////////// Private Methods ////////////////////////////////////////
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uint8_t I2C::start()
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{
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unsigned long startingTime = millis();
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TWCR = (1<<TWINT)|(1<<TWSTA)|(1<<TWEN);
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while (!(TWCR & (1<<TWINT)))
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{
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if(!timeOutDelay){continue;}
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if((millis() - startingTime) >= timeOutDelay)
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{
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lockUp();
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return(1);
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}
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}
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if ((TWI_STATUS == START) || (TWI_STATUS == REPEATED_START))
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{
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return(0);
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}
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return(TWI_STATUS);
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}
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uint8_t I2C::sendAddress(uint8_t i2cAddress)
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{
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TWDR = i2cAddress;
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unsigned long startingTime = millis();
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TWCR = (1<<TWINT) | (1<<TWEN);
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while (!(TWCR & (1<<TWINT)))
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{
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if(!timeOutDelay){continue;}
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if((millis() - startingTime) >= timeOutDelay)
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{
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lockUp();
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return(1);
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}
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}
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if ((TWI_STATUS == MT_SLA_ACK) || (TWI_STATUS == MR_SLA_ACK))
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{
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return(0);
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}
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return(TWI_STATUS);
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}
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uint8_t I2C::sendByte(uint8_t i2cData)
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{
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TWDR = i2cData;
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unsigned long startingTime = millis();
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TWCR = (1<<TWINT) | (1<<TWEN);
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while (!(TWCR & (1<<TWINT)))
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{
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if(!timeOutDelay){continue;}
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if((millis() - startingTime) >= timeOutDelay)
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{
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lockUp();
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return(1);
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}
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}
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if (TWI_STATUS == MT_DATA_ACK)
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{
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return(0);
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}
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return(TWI_STATUS);
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}
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uint8_t I2C::receiveByte(boolean ack)
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{
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unsigned long startingTime = millis();
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if(ack)
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{
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TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
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}
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else
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{
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TWCR = (1<<TWINT) | (1<<TWEN);
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}
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while (!(TWCR & (1<<TWINT)))
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{
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if(!timeOutDelay){continue;}
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if((millis() - startingTime) >= timeOutDelay)
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{
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lockUp();
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return(1);
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}
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}
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return(TWI_STATUS);
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}
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uint8_t I2C::stop()
|
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{
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unsigned long startingTime = millis();
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TWCR = (1<<TWINT)|(1<<TWEN)| (1<<TWSTO);
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while ((TWCR & (1<<TWSTO)))
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||||
{
|
||||
if(!timeOutDelay){continue;}
|
||||
if((millis() - startingTime) >= timeOutDelay)
|
||||
{
|
||||
lockUp();
|
||||
return(1);
|
||||
}
|
||||
|
||||
}
|
||||
return(0);
|
||||
}
|
||||
|
||||
void I2C::lockUp()
|
||||
{
|
||||
TWCR = 0; //releases SDA and SCL lines to high impedance
|
||||
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); //reinitialize TWI
|
||||
}
|
||||
|
||||
SIGNAL(TWI_vect)
|
||||
{
|
||||
switch(TWI_STATUS){
|
||||
case 0x20:
|
||||
case 0x30:
|
||||
case 0x48:
|
||||
TWCR = (1<<TWINT)|(1<<TWEN)| (1<<TWSTO); // send a stop
|
||||
break;
|
||||
case 0x38:
|
||||
case 0x68:
|
||||
case 0x78:
|
||||
case 0xB0:
|
||||
TWCR = 0; //releases SDA and SCL lines to high impedance
|
||||
TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA); //reinitialize TWI
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
I2C I2c = I2C();
|
||||
|
||||
|
|
@ -0,0 +1,116 @@
|
|||
/*
|
||||
I2C.h - I2C library
|
||||
Copyright (c) 2011 Wayne Truchsess. All right reserved.
|
||||
Rev 2.0 - September 19th, 2011
|
||||
- Added support for timeout function to prevent
|
||||
and recover from bus lockup (thanks to PaulS
|
||||
and CrossRoads on the Arduino forum)
|
||||
- Changed return type for stop() from void to
|
||||
uint8_t to handle timeOut function
|
||||
Rev 1.0 - August 8th, 2011
|
||||
|
||||
This is a modified version of the Arduino Wire/TWI
|
||||
library. Functions were rewritten to provide more functionality
|
||||
and also the use of Repeated Start. Some I2C devices will not
|
||||
function correctly without the use of a Repeated Start. The
|
||||
initial version of this library only supports the Master.
|
||||
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
#include "WProgram.h"
|
||||
#include <inttypes.h>
|
||||
|
||||
#ifndef I2C_h
|
||||
#define I2C_h
|
||||
|
||||
|
||||
#define START 0x08
|
||||
#define REPEATED_START 0x10
|
||||
#define MT_SLA_ACK 0x18
|
||||
#define MT_DATA_ACK 0x28
|
||||
#define MR_SLA_ACK 0x40
|
||||
#define MR_DATA_ACK 0x50
|
||||
#define MR_DATA_NACK 0x58
|
||||
#define TWI_STATUS (TWSR & 0xF8)
|
||||
#define SLA_W(address) (address << 1)
|
||||
#define SLA_R(address) ((address << 1) + 0x01)
|
||||
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
|
||||
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
|
||||
|
||||
#define MAX_BUFFER_SIZE 32
|
||||
|
||||
|
||||
#ifndef CPU_FREQ
|
||||
#define CPU_FREQ 16000000L
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
class I2C
|
||||
{
|
||||
public:
|
||||
I2C();
|
||||
void begin();
|
||||
void end();
|
||||
void timeOut(uint16_t);
|
||||
void setSpeed(boolean);
|
||||
void pullup(boolean);
|
||||
///////carry over from Wire library////////
|
||||
uint8_t returnStatusWire;
|
||||
uint8_t beginTransmission(uint8_t);
|
||||
uint8_t beginTransmission(int);
|
||||
uint8_t send(uint8_t);
|
||||
uint8_t send(int);
|
||||
uint8_t endTransmission();
|
||||
uint8_t requestFrom(uint8_t, uint8_t);
|
||||
uint8_t requestFrom(int, int);
|
||||
uint8_t available();
|
||||
///////////////////////////////////////////
|
||||
uint8_t write(uint8_t, uint8_t);
|
||||
uint8_t write(int, int);
|
||||
uint8_t write(uint8_t, uint8_t, uint8_t);
|
||||
uint8_t write(int, int, int);
|
||||
uint8_t write(uint8_t, uint8_t, char*);
|
||||
uint8_t write(uint8_t, uint8_t, uint8_t*, uint8_t);
|
||||
uint8_t read(uint8_t, uint8_t);
|
||||
uint8_t read(int, int);
|
||||
uint8_t read(uint8_t, uint8_t, uint8_t);
|
||||
uint8_t read(int, int, int);
|
||||
uint8_t read(uint8_t, uint8_t, uint8_t*);
|
||||
uint8_t read(uint8_t, uint8_t, uint8_t, uint8_t*);
|
||||
uint8_t receive();
|
||||
|
||||
private:
|
||||
uint8_t start();
|
||||
uint8_t sendAddress(uint8_t);
|
||||
uint8_t sendByte(uint8_t);
|
||||
uint8_t receiveByte(boolean);
|
||||
uint8_t stop();
|
||||
void lockUp();
|
||||
uint8_t returnStatus;
|
||||
uint8_t nack;
|
||||
uint8_t data[MAX_BUFFER_SIZE];
|
||||
static uint8_t bytesAvailable;
|
||||
static uint8_t bufferIndex;
|
||||
static uint8_t totalBytes;
|
||||
static uint16_t timeOutDelay;
|
||||
|
||||
};
|
||||
|
||||
extern I2C I2c;
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,70 @@
|
|||
/*******************************************
|
||||
Sample sketch that configures an HMC5883L 3 axis
|
||||
magnetometer to continuous mode and reads back
|
||||
the three axis of data.
|
||||
Code compiles to a size of 1500 bytes
|
||||
Equivalent Wire Library code compiles to 2032 bytes
|
||||
*******************************************/
|
||||
|
||||
#include <I2C.h>
|
||||
|
||||
#define HMC5883L 0x1E
|
||||
|
||||
int x = 0;
|
||||
int y = 0;
|
||||
int z = 0;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
I2c.begin();
|
||||
I2c.write(HMC5883L,0x02,0x00); //configure device for continuous mode
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
I2c.read(HMC5883L,0x03,6); //read 6 bytes (x,y,z) from the device
|
||||
x = I2c.receive() << 8;
|
||||
x |= I2c.receive();
|
||||
y = I2c.receive() << 8;
|
||||
y |= I2c.receive();
|
||||
z = I2c.receive() << 8;
|
||||
z |= I2c.receive();
|
||||
}
|
||||
|
||||
|
||||
/* Wire library equivalent would be this
|
||||
|
||||
//#include <Wire.h>
|
||||
|
||||
#define HMC5883L 0x1E
|
||||
|
||||
int x = 0;
|
||||
int y = 0;
|
||||
int z = 0;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
Wire.begin();
|
||||
Wire.beginTransmission(HMC5883L);
|
||||
Wire.send(0x02);
|
||||
Wire.send(0x00);
|
||||
Wire.endTransmission();
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
Wire.beginTransmission(HMC5883L);
|
||||
Wire.send(0x03);
|
||||
Wire.endTransmission();
|
||||
Wire.requestFrom(HMC5883L,6);
|
||||
x = Wire.receive() << 8;
|
||||
x |= Wire.receive();
|
||||
y = Wire.receive() << 8;
|
||||
y |= Wire.receive();
|
||||
z = Wire.receive() << 8;
|
||||
z |= Wire.receive();
|
||||
}
|
||||
|
||||
********************************************/
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
#######################################
|
||||
# Syntax Coloring Map For I2C
|
||||
#######################################
|
||||
|
||||
#######################################
|
||||
# Datatypes (KEYWORD1)
|
||||
#######################################
|
||||
|
||||
|
||||
#######################################
|
||||
# Methods and Functions (KEYWORD2)
|
||||
#######################################
|
||||
|
||||
begin KEYWORD2
|
||||
end KEYWORD2
|
||||
timeOut KEYWORD2
|
||||
setSpeed KEYWORD2
|
||||
pullup KEYWORD2
|
||||
write KEYWORD2
|
||||
read KEYWORD2
|
||||
beginTransmission KEYWORD2
|
||||
send KEYWORD2
|
||||
endTransmission KEYWORD2
|
||||
requestFrom KEYWORD2
|
||||
available KEYWORD2
|
||||
receive KEYWORD2
|
||||
|
||||
#######################################
|
||||
# Instances (KEYWORD2)
|
||||
#######################################
|
||||
|
||||
I2c KEYWORD2
|
||||
|
||||
#######################################
|
||||
# Constants (LITERAL1)
|
||||
#######################################
|
||||
Loading…
Reference in New Issue