Lilygo T7 base env, update source files (working prototype!)
parent
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commit
b3e37f57a7
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#!/bin/bash
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#source .venv/bin/activate
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# TODO init shell
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#guix shell
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env=${1:-main}
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port=${2:-/dev/ttyUSB0}
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#pio run --target=upload -e "$env" --upload-port "$port"
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avrdude -p esp32s3 -c arduino
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2
flash.sh
2
flash.sh
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@ -3,6 +3,6 @@
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source .venv/bin/activate
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env=${1:-main}
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port=${2:-/dev/ttyUSB0}
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port=${2:-/dev/ttyACM0}
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pio run --target=upload -e "$env" --upload-port "$port"
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@ -0,0 +1,46 @@
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Thank you for opening an issue on an Adafruit Arduino library repository. To
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improve the speed of resolution please review the following guidelines and
|
||||
common troubleshooting steps below before creating the issue:
|
||||
|
||||
- **Do not use GitHub issues for troubleshooting projects and issues.** Instead use
|
||||
the forums at http://forums.adafruit.com to ask questions and troubleshoot why
|
||||
something isn't working as expected. In many cases the problem is a common issue
|
||||
that you will more quickly receive help from the forum community. GitHub issues
|
||||
are meant for known defects in the code. If you don't know if there is a defect
|
||||
in the code then start with troubleshooting on the forum first.
|
||||
|
||||
- **If following a tutorial or guide be sure you didn't miss a step.** Carefully
|
||||
check all of the steps and commands to run have been followed. Consult the
|
||||
forum if you're unsure or have questions about steps in a guide/tutorial.
|
||||
|
||||
- **For Arduino projects check these very common issues to ensure they don't apply**:
|
||||
|
||||
- For uploading sketches or communicating with the board make sure you're using
|
||||
a **USB data cable** and **not** a **USB charge-only cable**. It is sometimes
|
||||
very hard to tell the difference between a data and charge cable! Try using the
|
||||
cable with other devices or swapping to another cable to confirm it is not
|
||||
the problem.
|
||||
|
||||
- **Be sure you are supplying adequate power to the board.** Check the specs of
|
||||
your board and plug in an external power supply. In many cases just
|
||||
plugging a board into your computer is not enough to power it and other
|
||||
peripherals.
|
||||
|
||||
- **Double check all soldering joints and connections.** Flakey connections
|
||||
cause many mysterious problems. See the [guide to excellent soldering](https://learn.adafruit.com/adafruit-guide-excellent-soldering/tools) for examples of good solder joints.
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||||
|
||||
- **Ensure you are using an official Arduino or Adafruit board.** We can't
|
||||
guarantee a clone board will have the same functionality and work as expected
|
||||
with this code and don't support them.
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||||
|
||||
If you're sure this issue is a defect in the code and checked the steps above
|
||||
please fill in the following fields to provide enough troubleshooting information.
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||||
You may delete the guideline and text above to just leave the following details:
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||||
|
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- Arduino board: **INSERT ARDUINO BOARD NAME/TYPE HERE**
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|
||||
- Arduino IDE version (found in Arduino -> About Arduino menu): **INSERT ARDUINO
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||||
VERSION HERE**
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||||
|
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- List the steps to reproduce the problem below (if possible attach a sketch or
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copy the sketch code in too): **LIST REPRO STEPS BELOW**
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|
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@ -0,0 +1,26 @@
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Thank you for creating a pull request to contribute to Adafruit's GitHub code!
|
||||
Before you open the request please review the following guidelines and tips to
|
||||
help it be more easily integrated:
|
||||
|
||||
- **Describe the scope of your change--i.e. what the change does and what parts
|
||||
of the code were modified.** This will help us understand any risks of integrating
|
||||
the code.
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||||
|
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- **Describe any known limitations with your change.** For example if the change
|
||||
doesn't apply to a supported platform of the library please mention it.
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||||
|
||||
- **Please run any tests or examples that can exercise your modified code.** We
|
||||
strive to not break users of the code and running tests/examples helps with this
|
||||
process.
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||||
|
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Thank you again for contributing! We will try to test and integrate the change
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||||
as soon as we can, but be aware we have many GitHub repositories to manage and
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||||
can't immediately respond to every request. There is no need to bump or check in
|
||||
on a pull request (it will clutter the discussion of the request).
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||||
|
||||
Also don't be worried if the request is closed or not integrated--sometimes the
|
||||
priorities of Adafruit's GitHub code (education, ease of use) might not match the
|
||||
priorities of the pull request. Don't fret, the open source community thrives on
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||||
forks and GitHub makes it easy to keep your changes in a forked repo.
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After reviewing the guidelines above you can delete this text from the pull request.
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@ -0,0 +1,33 @@
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name: Arduino Library CI
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on: [pull_request, push, repository_dispatch]
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jobs:
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build:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/setup-python@v4
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with:
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python-version: '3.x'
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- uses: actions/checkout@v3
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- uses: actions/checkout@v3
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with:
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repository: adafruit/ci-arduino
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path: ci
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- name: Install the prerequisites
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run: bash ci/actions_install.sh
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|
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- name: Check for correct code formatting with clang-format
|
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run: python3 ci/run-clang-format.py -e "ci/*" -e "bin/*" -r .
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|
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- name: Check for correct documentation with doxygen
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env:
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GH_REPO_TOKEN: ${{ secrets.GH_REPO_TOKEN }}
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PRETTYNAME : "Adafruit Bus IO Library"
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run: bash ci/doxy_gen_and_deploy.sh
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- name: Test the code on supported platforms
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run: python3 ci/build_platform.py main_platforms zero feather32u4
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@ -0,0 +1 @@
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{"type": "library", "name": "Adafruit BusIO", "version": "1.16.1", "spec": {"owner": "adafruit", "id": 6214, "name": "Adafruit BusIO", "requirements": null, "uri": null}}
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#include <Adafruit_BusIO_Register.h>
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#if !defined(SPI_INTERFACES_COUNT) || \
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(defined(SPI_INTERFACES_COUNT) && (SPI_INTERFACES_COUNT > 0))
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/*!
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* @brief Create a register we access over an I2C Device (which defines the
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* bus and address)
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* @param i2cdevice The I2CDevice to use for underlying I2C access
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* @param reg_addr The address pointer value for the I2C/SMBus register, can
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* be 8 or 16 bits
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* @param width The width of the register data itself, defaults to 1 byte
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* @param byteorder The byte order of the register (used when width is > 1),
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* defaults to LSBFIRST
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* @param address_width The width of the register address itself, defaults
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* to 1 byte
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*/
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Adafruit_BusIO_Register::Adafruit_BusIO_Register(Adafruit_I2CDevice *i2cdevice,
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uint16_t reg_addr,
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uint8_t width,
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uint8_t byteorder,
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uint8_t address_width) {
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_i2cdevice = i2cdevice;
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_spidevice = nullptr;
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_addrwidth = address_width;
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_address = reg_addr;
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_byteorder = byteorder;
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_width = width;
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}
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/*!
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* @brief Create a register we access over an SPI Device (which defines the
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* bus and CS pin)
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* @param spidevice The SPIDevice to use for underlying SPI access
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* @param reg_addr The address pointer value for the SPI register, can
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* be 8 or 16 bits
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* @param type The method we use to read/write data to SPI (which is not
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* as well defined as I2C)
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* @param width The width of the register data itself, defaults to 1 byte
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* @param byteorder The byte order of the register (used when width is > 1),
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* defaults to LSBFIRST
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* @param address_width The width of the register address itself, defaults
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* to 1 byte
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*/
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Adafruit_BusIO_Register::Adafruit_BusIO_Register(Adafruit_SPIDevice *spidevice,
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uint16_t reg_addr,
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Adafruit_BusIO_SPIRegType type,
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uint8_t width,
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uint8_t byteorder,
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uint8_t address_width) {
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_spidevice = spidevice;
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_spiregtype = type;
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_i2cdevice = nullptr;
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_addrwidth = address_width;
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_address = reg_addr;
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_byteorder = byteorder;
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_width = width;
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}
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/*!
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* @brief Create a register we access over an I2C or SPI Device. This is a
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* handy function because we can pass in nullptr for the unused interface,
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* allowing libraries to mass-define all the registers
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* @param i2cdevice The I2CDevice to use for underlying I2C access, if
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* nullptr we use SPI
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* @param spidevice The SPIDevice to use for underlying SPI access, if
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* nullptr we use I2C
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* @param reg_addr The address pointer value for the I2C/SMBus/SPI register,
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* can be 8 or 16 bits
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* @param type The method we use to read/write data to SPI (which is not
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* as well defined as I2C)
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* @param width The width of the register data itself, defaults to 1 byte
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* @param byteorder The byte order of the register (used when width is > 1),
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* defaults to LSBFIRST
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* @param address_width The width of the register address itself, defaults
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* to 1 byte
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*/
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Adafruit_BusIO_Register::Adafruit_BusIO_Register(
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Adafruit_I2CDevice *i2cdevice, Adafruit_SPIDevice *spidevice,
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Adafruit_BusIO_SPIRegType type, uint16_t reg_addr, uint8_t width,
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uint8_t byteorder, uint8_t address_width) {
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_spidevice = spidevice;
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_i2cdevice = i2cdevice;
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_spiregtype = type;
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_addrwidth = address_width;
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_address = reg_addr;
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_byteorder = byteorder;
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_width = width;
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}
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/*!
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* @brief Write a buffer of data to the register location
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* @param buffer Pointer to data to write
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* @param len Number of bytes to write
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* @return True on successful write (only really useful for I2C as SPI is
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* uncheckable)
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*/
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bool Adafruit_BusIO_Register::write(uint8_t *buffer, uint8_t len) {
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uint8_t addrbuffer[2] = {(uint8_t)(_address & 0xFF),
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(uint8_t)(_address >> 8)};
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if (_i2cdevice) {
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return _i2cdevice->write(buffer, len, true, addrbuffer, _addrwidth);
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}
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if (_spidevice) {
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if (_spiregtype == ADDRESSED_OPCODE_BIT0_LOW_TO_WRITE) {
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// very special case!
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// pass the special opcode address which we set as the high byte of the
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// regaddr
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addrbuffer[0] =
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(uint8_t)(_address >> 8) & ~0x01; // set bottom bit low to write
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// the 'actual' reg addr is the second byte then
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addrbuffer[1] = (uint8_t)(_address & 0xFF);
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// the address appears to be a byte longer
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return _spidevice->write(buffer, len, addrbuffer, _addrwidth + 1);
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}
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if (_spiregtype == ADDRBIT8_HIGH_TOREAD) {
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addrbuffer[0] &= ~0x80;
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}
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if (_spiregtype == ADDRBIT8_HIGH_TOWRITE) {
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addrbuffer[0] |= 0x80;
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}
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if (_spiregtype == AD8_HIGH_TOREAD_AD7_HIGH_TOINC) {
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addrbuffer[0] &= ~0x80;
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addrbuffer[0] |= 0x40;
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}
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return _spidevice->write(buffer, len, addrbuffer, _addrwidth);
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}
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return false;
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}
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/*!
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* @brief Write up to 4 bytes of data to the register location
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* @param value Data to write
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* @param numbytes How many bytes from 'value' to write
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* @return True on successful write (only really useful for I2C as SPI is
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* uncheckable)
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*/
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bool Adafruit_BusIO_Register::write(uint32_t value, uint8_t numbytes) {
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if (numbytes == 0) {
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numbytes = _width;
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}
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if (numbytes > 4) {
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return false;
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}
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// store a copy
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_cached = value;
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for (int i = 0; i < numbytes; i++) {
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if (_byteorder == LSBFIRST) {
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_buffer[i] = value & 0xFF;
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} else {
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_buffer[numbytes - i - 1] = value & 0xFF;
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}
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value >>= 8;
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}
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return write(_buffer, numbytes);
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}
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/*!
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* @brief Read data from the register location. This does not do any error
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* checking!
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* @return Returns 0xFFFFFFFF on failure, value otherwise
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*/
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uint32_t Adafruit_BusIO_Register::read(void) {
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if (!read(_buffer, _width)) {
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return -1;
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}
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uint32_t value = 0;
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for (int i = 0; i < _width; i++) {
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value <<= 8;
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if (_byteorder == LSBFIRST) {
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value |= _buffer[_width - i - 1];
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} else {
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value |= _buffer[i];
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}
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}
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return value;
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}
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/*!
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* @brief Read cached data from last time we wrote to this register
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* @return Returns 0xFFFFFFFF on failure, value otherwise
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*/
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uint32_t Adafruit_BusIO_Register::readCached(void) { return _cached; }
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/*!
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* @brief Read a buffer of data from the register location
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* @param buffer Pointer to data to read into
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* @param len Number of bytes to read
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* @return True on successful write (only really useful for I2C as SPI is
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* uncheckable)
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*/
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bool Adafruit_BusIO_Register::read(uint8_t *buffer, uint8_t len) {
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uint8_t addrbuffer[2] = {(uint8_t)(_address & 0xFF),
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(uint8_t)(_address >> 8)};
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if (_i2cdevice) {
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return _i2cdevice->write_then_read(addrbuffer, _addrwidth, buffer, len);
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}
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if (_spidevice) {
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if (_spiregtype == ADDRESSED_OPCODE_BIT0_LOW_TO_WRITE) {
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// very special case!
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// pass the special opcode address which we set as the high byte of the
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// regaddr
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addrbuffer[0] =
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(uint8_t)(_address >> 8) | 0x01; // set bottom bit high to read
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// the 'actual' reg addr is the second byte then
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addrbuffer[1] = (uint8_t)(_address & 0xFF);
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// the address appears to be a byte longer
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return _spidevice->write_then_read(addrbuffer, _addrwidth + 1, buffer,
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len);
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}
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if (_spiregtype == ADDRBIT8_HIGH_TOREAD) {
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addrbuffer[0] |= 0x80;
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}
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if (_spiregtype == ADDRBIT8_HIGH_TOWRITE) {
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addrbuffer[0] &= ~0x80;
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}
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if (_spiregtype == AD8_HIGH_TOREAD_AD7_HIGH_TOINC) {
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addrbuffer[0] |= 0x80 | 0x40;
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}
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return _spidevice->write_then_read(addrbuffer, _addrwidth, buffer, len);
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}
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return false;
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}
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/*!
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* @brief Read 2 bytes of data from the register location
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* @param value Pointer to uint16_t variable to read into
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* @return True on successful write (only really useful for I2C as SPI is
|
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* uncheckable)
|
||||
*/
|
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bool Adafruit_BusIO_Register::read(uint16_t *value) {
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if (!read(_buffer, 2)) {
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return false;
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}
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if (_byteorder == LSBFIRST) {
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*value = _buffer[1];
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*value <<= 8;
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*value |= _buffer[0];
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} else {
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*value = _buffer[0];
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*value <<= 8;
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*value |= _buffer[1];
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}
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return true;
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||||
}
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||||
|
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/*!
|
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* @brief Read 1 byte of data from the register location
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* @param value Pointer to uint8_t variable to read into
|
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* @return True on successful write (only really useful for I2C as SPI is
|
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* uncheckable)
|
||||
*/
|
||||
bool Adafruit_BusIO_Register::read(uint8_t *value) {
|
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if (!read(_buffer, 1)) {
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return false;
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}
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*value = _buffer[0];
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return true;
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}
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/*!
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* @brief Pretty printer for this register
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* @param s The Stream to print to, defaults to &Serial
|
||||
*/
|
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void Adafruit_BusIO_Register::print(Stream *s) {
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uint32_t val = read();
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s->print("0x");
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s->print(val, HEX);
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}
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/*!
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* @brief Pretty printer for this register
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* @param s The Stream to print to, defaults to &Serial
|
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*/
|
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void Adafruit_BusIO_Register::println(Stream *s) {
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print(s);
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s->println();
|
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}
|
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|
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/*!
|
||||
* @brief Create a slice of the register that we can address without
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||||
* touching other bits
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* @param reg The Adafruit_BusIO_Register which defines the bus/register
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* @param bits The number of bits wide we are slicing
|
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* @param shift The number of bits that our bit-slice is shifted from LSB
|
||||
*/
|
||||
Adafruit_BusIO_RegisterBits::Adafruit_BusIO_RegisterBits(
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Adafruit_BusIO_Register *reg, uint8_t bits, uint8_t shift) {
|
||||
_register = reg;
|
||||
_bits = bits;
|
||||
_shift = shift;
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}
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|
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/*!
|
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* @brief Read 4 bytes of data from the register
|
||||
* @return data The 4 bytes to read
|
||||
*/
|
||||
uint32_t Adafruit_BusIO_RegisterBits::read(void) {
|
||||
uint32_t val = _register->read();
|
||||
val >>= _shift;
|
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return val & ((1 << (_bits)) - 1);
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Write 4 bytes of data to the register
|
||||
* @param data The 4 bytes to write
|
||||
* @return True on successful write (only really useful for I2C as SPI is
|
||||
* uncheckable)
|
||||
*/
|
||||
bool Adafruit_BusIO_RegisterBits::write(uint32_t data) {
|
||||
uint32_t val = _register->read();
|
||||
|
||||
// mask off the data before writing
|
||||
uint32_t mask = (1 << (_bits)) - 1;
|
||||
data &= mask;
|
||||
|
||||
mask <<= _shift;
|
||||
val &= ~mask; // remove the current data at that spot
|
||||
val |= data << _shift; // and add in the new data
|
||||
|
||||
return _register->write(val, _register->width());
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief The width of the register data, helpful for doing calculations
|
||||
* @returns The data width used when initializing the register
|
||||
*/
|
||||
uint8_t Adafruit_BusIO_Register::width(void) { return _width; }
|
||||
|
||||
/*!
|
||||
* @brief Set the default width of data
|
||||
* @param width the default width of data read from register
|
||||
*/
|
||||
void Adafruit_BusIO_Register::setWidth(uint8_t width) { _width = width; }
|
||||
|
||||
/*!
|
||||
* @brief Set register address
|
||||
* @param address the address from register
|
||||
*/
|
||||
void Adafruit_BusIO_Register::setAddress(uint16_t address) {
|
||||
_address = address;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Set the width of register address
|
||||
* @param address_width the width for register address
|
||||
*/
|
||||
void Adafruit_BusIO_Register::setAddressWidth(uint16_t address_width) {
|
||||
_addrwidth = address_width;
|
||||
}
|
||||
|
||||
#endif // SPI exists
|
||||
|
|
@ -0,0 +1,105 @@
|
|||
#ifndef Adafruit_BusIO_Register_h
|
||||
#define Adafruit_BusIO_Register_h
|
||||
|
||||
#include <Arduino.h>
|
||||
|
||||
#if !defined(SPI_INTERFACES_COUNT) || \
|
||||
(defined(SPI_INTERFACES_COUNT) && (SPI_INTERFACES_COUNT > 0))
|
||||
|
||||
#include <Adafruit_I2CDevice.h>
|
||||
#include <Adafruit_SPIDevice.h>
|
||||
|
||||
typedef enum _Adafruit_BusIO_SPIRegType {
|
||||
ADDRBIT8_HIGH_TOREAD = 0,
|
||||
/*!<
|
||||
* ADDRBIT8_HIGH_TOREAD
|
||||
* When reading a register you must actually send the value 0x80 + register
|
||||
* address to the device. e.g. To read the register 0x0B the register value
|
||||
* 0x8B is sent and to write 0x0B is sent.
|
||||
*/
|
||||
AD8_HIGH_TOREAD_AD7_HIGH_TOINC = 1,
|
||||
|
||||
/*!<
|
||||
* ADDRBIT8_HIGH_TOWRITE
|
||||
* When writing to a register you must actually send the value 0x80 +
|
||||
* the register address to the device. e.g. To write to the register 0x19 the
|
||||
* register value 0x99 is sent and to read 0x19 is sent.
|
||||
*/
|
||||
ADDRBIT8_HIGH_TOWRITE = 2,
|
||||
|
||||
/*!<
|
||||
* ADDRESSED_OPCODE_LOWBIT_TO_WRITE
|
||||
* Used by the MCP23S series, we send 0x40 |'rd with the opcode
|
||||
* Then set the lowest bit to write
|
||||
*/
|
||||
ADDRESSED_OPCODE_BIT0_LOW_TO_WRITE = 3,
|
||||
|
||||
} Adafruit_BusIO_SPIRegType;
|
||||
|
||||
/*!
|
||||
* @brief The class which defines a device register (a location to read/write
|
||||
* data from)
|
||||
*/
|
||||
class Adafruit_BusIO_Register {
|
||||
public:
|
||||
Adafruit_BusIO_Register(Adafruit_I2CDevice *i2cdevice, uint16_t reg_addr,
|
||||
uint8_t width = 1, uint8_t byteorder = LSBFIRST,
|
||||
uint8_t address_width = 1);
|
||||
|
||||
Adafruit_BusIO_Register(Adafruit_SPIDevice *spidevice, uint16_t reg_addr,
|
||||
Adafruit_BusIO_SPIRegType type, uint8_t width = 1,
|
||||
uint8_t byteorder = LSBFIRST,
|
||||
uint8_t address_width = 1);
|
||||
|
||||
Adafruit_BusIO_Register(Adafruit_I2CDevice *i2cdevice,
|
||||
Adafruit_SPIDevice *spidevice,
|
||||
Adafruit_BusIO_SPIRegType type, uint16_t reg_addr,
|
||||
uint8_t width = 1, uint8_t byteorder = LSBFIRST,
|
||||
uint8_t address_width = 1);
|
||||
|
||||
bool read(uint8_t *buffer, uint8_t len);
|
||||
bool read(uint8_t *value);
|
||||
bool read(uint16_t *value);
|
||||
uint32_t read(void);
|
||||
uint32_t readCached(void);
|
||||
bool write(uint8_t *buffer, uint8_t len);
|
||||
bool write(uint32_t value, uint8_t numbytes = 0);
|
||||
|
||||
uint8_t width(void);
|
||||
|
||||
void setWidth(uint8_t width);
|
||||
void setAddress(uint16_t address);
|
||||
void setAddressWidth(uint16_t address_width);
|
||||
|
||||
void print(Stream *s = &Serial);
|
||||
void println(Stream *s = &Serial);
|
||||
|
||||
private:
|
||||
Adafruit_I2CDevice *_i2cdevice;
|
||||
Adafruit_SPIDevice *_spidevice;
|
||||
Adafruit_BusIO_SPIRegType _spiregtype;
|
||||
uint16_t _address;
|
||||
uint8_t _width, _addrwidth, _byteorder;
|
||||
uint8_t _buffer[4]; // we won't support anything larger than uint32 for
|
||||
// non-buffered read
|
||||
uint32_t _cached = 0;
|
||||
};
|
||||
|
||||
/*!
|
||||
* @brief The class which defines a slice of bits from within a device register
|
||||
* (a location to read/write data from)
|
||||
*/
|
||||
class Adafruit_BusIO_RegisterBits {
|
||||
public:
|
||||
Adafruit_BusIO_RegisterBits(Adafruit_BusIO_Register *reg, uint8_t bits,
|
||||
uint8_t shift);
|
||||
bool write(uint32_t value);
|
||||
uint32_t read(void);
|
||||
|
||||
private:
|
||||
Adafruit_BusIO_Register *_register;
|
||||
uint8_t _bits, _shift;
|
||||
};
|
||||
|
||||
#endif // SPI exists
|
||||
#endif // BusIO_Register_h
|
||||
|
|
@ -0,0 +1,317 @@
|
|||
#include "Adafruit_I2CDevice.h"
|
||||
|
||||
//#define DEBUG_SERIAL Serial
|
||||
|
||||
/*!
|
||||
* @brief Create an I2C device at a given address
|
||||
* @param addr The 7-bit I2C address for the device
|
||||
* @param theWire The I2C bus to use, defaults to &Wire
|
||||
*/
|
||||
Adafruit_I2CDevice::Adafruit_I2CDevice(uint8_t addr, TwoWire *theWire) {
|
||||
_addr = addr;
|
||||
_wire = theWire;
|
||||
_begun = false;
|
||||
#ifdef ARDUINO_ARCH_SAMD
|
||||
_maxBufferSize = 250; // as defined in Wire.h's RingBuffer
|
||||
#elif defined(ESP32)
|
||||
_maxBufferSize = I2C_BUFFER_LENGTH;
|
||||
#else
|
||||
_maxBufferSize = 32;
|
||||
#endif
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Initializes and does basic address detection
|
||||
* @param addr_detect Whether we should attempt to detect the I2C address
|
||||
* with a scan. 99% of sensors/devices don't mind, but once in a while they
|
||||
* don't respond well to a scan!
|
||||
* @return True if I2C initialized and a device with the addr found
|
||||
*/
|
||||
bool Adafruit_I2CDevice::begin(bool addr_detect) {
|
||||
_wire->begin();
|
||||
_begun = true;
|
||||
|
||||
if (addr_detect) {
|
||||
return detected();
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief De-initialize device, turn off the Wire interface
|
||||
*/
|
||||
void Adafruit_I2CDevice::end(void) {
|
||||
// Not all port implement Wire::end(), such as
|
||||
// - ESP8266
|
||||
// - AVR core without WIRE_HAS_END
|
||||
// - ESP32: end() is implemented since 2.0.1 which is latest at the moment.
|
||||
// Temporarily disable for now to give time for user to update.
|
||||
#if !(defined(ESP8266) || \
|
||||
(defined(ARDUINO_ARCH_AVR) && !defined(WIRE_HAS_END)) || \
|
||||
defined(ARDUINO_ARCH_ESP32))
|
||||
_wire->end();
|
||||
_begun = false;
|
||||
#endif
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Scans I2C for the address - note will give a false-positive
|
||||
* if there's no pullups on I2C
|
||||
* @return True if I2C initialized and a device with the addr found
|
||||
*/
|
||||
bool Adafruit_I2CDevice::detected(void) {
|
||||
// Init I2C if not done yet
|
||||
if (!_begun && !begin()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// A basic scanner, see if it ACK's
|
||||
_wire->beginTransmission(_addr);
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.print(F("Address 0x"));
|
||||
DEBUG_SERIAL.print(_addr);
|
||||
#endif
|
||||
if (_wire->endTransmission() == 0) {
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.println(F(" Detected"));
|
||||
#endif
|
||||
return true;
|
||||
}
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.println(F(" Not detected"));
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Write a buffer or two to the I2C device. Cannot be more than
|
||||
* maxBufferSize() bytes.
|
||||
* @param buffer Pointer to buffer of data to write. This is const to
|
||||
* ensure the content of this buffer doesn't change.
|
||||
* @param len Number of bytes from buffer to write
|
||||
* @param prefix_buffer Pointer to optional array of data to write before
|
||||
* buffer. Cannot be more than maxBufferSize() bytes. This is const to
|
||||
* ensure the content of this buffer doesn't change.
|
||||
* @param prefix_len Number of bytes from prefix buffer to write
|
||||
* @param stop Whether to send an I2C STOP signal on write
|
||||
* @return True if write was successful, otherwise false.
|
||||
*/
|
||||
bool Adafruit_I2CDevice::write(const uint8_t *buffer, size_t len, bool stop,
|
||||
const uint8_t *prefix_buffer,
|
||||
size_t prefix_len) {
|
||||
if ((len + prefix_len) > maxBufferSize()) {
|
||||
// currently not guaranteed to work if more than 32 bytes!
|
||||
// we will need to find out if some platforms have larger
|
||||
// I2C buffer sizes :/
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.println(F("\tI2CDevice could not write such a large buffer"));
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
_wire->beginTransmission(_addr);
|
||||
|
||||
// Write the prefix data (usually an address)
|
||||
if ((prefix_len != 0) && (prefix_buffer != nullptr)) {
|
||||
if (_wire->write(prefix_buffer, prefix_len) != prefix_len) {
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.println(F("\tI2CDevice failed to write"));
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
// Write the data itself
|
||||
if (_wire->write(buffer, len) != len) {
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.println(F("\tI2CDevice failed to write"));
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
#ifdef DEBUG_SERIAL
|
||||
|
||||
DEBUG_SERIAL.print(F("\tI2CWRITE @ 0x"));
|
||||
DEBUG_SERIAL.print(_addr, HEX);
|
||||
DEBUG_SERIAL.print(F(" :: "));
|
||||
if ((prefix_len != 0) && (prefix_buffer != nullptr)) {
|
||||
for (uint16_t i = 0; i < prefix_len; i++) {
|
||||
DEBUG_SERIAL.print(F("0x"));
|
||||
DEBUG_SERIAL.print(prefix_buffer[i], HEX);
|
||||
DEBUG_SERIAL.print(F(", "));
|
||||
}
|
||||
}
|
||||
for (uint16_t i = 0; i < len; i++) {
|
||||
DEBUG_SERIAL.print(F("0x"));
|
||||
DEBUG_SERIAL.print(buffer[i], HEX);
|
||||
DEBUG_SERIAL.print(F(", "));
|
||||
if (i % 32 == 31) {
|
||||
DEBUG_SERIAL.println();
|
||||
}
|
||||
}
|
||||
|
||||
if (stop) {
|
||||
DEBUG_SERIAL.print("\tSTOP");
|
||||
}
|
||||
#endif
|
||||
|
||||
if (_wire->endTransmission(stop) == 0) {
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.println();
|
||||
// DEBUG_SERIAL.println("Sent!");
|
||||
#endif
|
||||
return true;
|
||||
} else {
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.println("\tFailed to send!");
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Read from I2C into a buffer from the I2C device.
|
||||
* Cannot be more than maxBufferSize() bytes.
|
||||
* @param buffer Pointer to buffer of data to read into
|
||||
* @param len Number of bytes from buffer to read.
|
||||
* @param stop Whether to send an I2C STOP signal on read
|
||||
* @return True if read was successful, otherwise false.
|
||||
*/
|
||||
bool Adafruit_I2CDevice::read(uint8_t *buffer, size_t len, bool stop) {
|
||||
size_t pos = 0;
|
||||
while (pos < len) {
|
||||
size_t read_len =
|
||||
((len - pos) > maxBufferSize()) ? maxBufferSize() : (len - pos);
|
||||
bool read_stop = (pos < (len - read_len)) ? false : stop;
|
||||
if (!_read(buffer + pos, read_len, read_stop))
|
||||
return false;
|
||||
pos += read_len;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
||||
bool Adafruit_I2CDevice::_read(uint8_t *buffer, size_t len, bool stop) {
|
||||
#if defined(TinyWireM_h)
|
||||
size_t recv = _wire->requestFrom((uint8_t)_addr, (uint8_t)len);
|
||||
#elif defined(ARDUINO_ARCH_MEGAAVR)
|
||||
size_t recv = _wire->requestFrom(_addr, len, stop);
|
||||
#else
|
||||
size_t recv = _wire->requestFrom((uint8_t)_addr, (uint8_t)len, (uint8_t)stop);
|
||||
#endif
|
||||
|
||||
if (recv != len) {
|
||||
// Not enough data available to fulfill our obligation!
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.print(F("\tI2CDevice did not receive enough data: "));
|
||||
DEBUG_SERIAL.println(recv);
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
for (uint16_t i = 0; i < len; i++) {
|
||||
buffer[i] = _wire->read();
|
||||
}
|
||||
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.print(F("\tI2CREAD @ 0x"));
|
||||
DEBUG_SERIAL.print(_addr, HEX);
|
||||
DEBUG_SERIAL.print(F(" :: "));
|
||||
for (uint16_t i = 0; i < len; i++) {
|
||||
DEBUG_SERIAL.print(F("0x"));
|
||||
DEBUG_SERIAL.print(buffer[i], HEX);
|
||||
DEBUG_SERIAL.print(F(", "));
|
||||
if (len % 32 == 31) {
|
||||
DEBUG_SERIAL.println();
|
||||
}
|
||||
}
|
||||
DEBUG_SERIAL.println();
|
||||
#endif
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Write some data, then read some data from I2C into another buffer.
|
||||
* Cannot be more than maxBufferSize() bytes. The buffers can point to
|
||||
* same/overlapping locations.
|
||||
* @param write_buffer Pointer to buffer of data to write from
|
||||
* @param write_len Number of bytes from buffer to write.
|
||||
* @param read_buffer Pointer to buffer of data to read into.
|
||||
* @param read_len Number of bytes from buffer to read.
|
||||
* @param stop Whether to send an I2C STOP signal between the write and read
|
||||
* @return True if write & read was successful, otherwise false.
|
||||
*/
|
||||
bool Adafruit_I2CDevice::write_then_read(const uint8_t *write_buffer,
|
||||
size_t write_len, uint8_t *read_buffer,
|
||||
size_t read_len, bool stop) {
|
||||
if (!write(write_buffer, write_len, stop)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return read(read_buffer, read_len);
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Returns the 7-bit address of this device
|
||||
* @return The 7-bit address of this device
|
||||
*/
|
||||
uint8_t Adafruit_I2CDevice::address(void) { return _addr; }
|
||||
|
||||
/*!
|
||||
* @brief Change the I2C clock speed to desired (relies on
|
||||
* underlying Wire support!
|
||||
* @param desiredclk The desired I2C SCL frequency
|
||||
* @return True if this platform supports changing I2C speed.
|
||||
* Not necessarily that the speed was achieved!
|
||||
*/
|
||||
bool Adafruit_I2CDevice::setSpeed(uint32_t desiredclk) {
|
||||
#if defined(__AVR_ATmega328__) || \
|
||||
defined(__AVR_ATmega328P__) // fix arduino core set clock
|
||||
// calculate TWBR correctly
|
||||
|
||||
if ((F_CPU / 18) < desiredclk) {
|
||||
#ifdef DEBUG_SERIAL
|
||||
Serial.println(F("I2C.setSpeed too high."));
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
uint32_t atwbr = ((F_CPU / desiredclk) - 16) / 2;
|
||||
if (atwbr > 16320) {
|
||||
#ifdef DEBUG_SERIAL
|
||||
Serial.println(F("I2C.setSpeed too low."));
|
||||
#endif
|
||||
return false;
|
||||
}
|
||||
|
||||
if (atwbr <= 255) {
|
||||
atwbr /= 1;
|
||||
TWSR = 0x0;
|
||||
} else if (atwbr <= 1020) {
|
||||
atwbr /= 4;
|
||||
TWSR = 0x1;
|
||||
} else if (atwbr <= 4080) {
|
||||
atwbr /= 16;
|
||||
TWSR = 0x2;
|
||||
} else { // if (atwbr <= 16320)
|
||||
atwbr /= 64;
|
||||
TWSR = 0x3;
|
||||
}
|
||||
TWBR = atwbr;
|
||||
|
||||
#ifdef DEBUG_SERIAL
|
||||
Serial.print(F("TWSR prescaler = "));
|
||||
Serial.println(pow(4, TWSR));
|
||||
Serial.print(F("TWBR = "));
|
||||
Serial.println(atwbr);
|
||||
#endif
|
||||
return true;
|
||||
#elif (ARDUINO >= 157) && !defined(ARDUINO_STM32_FEATHER) && \
|
||||
!defined(TinyWireM_h)
|
||||
_wire->setClock(desiredclk);
|
||||
return true;
|
||||
|
||||
#else
|
||||
(void)desiredclk;
|
||||
return false;
|
||||
#endif
|
||||
}
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
#ifndef Adafruit_I2CDevice_h
|
||||
#define Adafruit_I2CDevice_h
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <Wire.h>
|
||||
|
||||
///< The class which defines how we will talk to this device over I2C
|
||||
class Adafruit_I2CDevice {
|
||||
public:
|
||||
Adafruit_I2CDevice(uint8_t addr, TwoWire *theWire = &Wire);
|
||||
uint8_t address(void);
|
||||
bool begin(bool addr_detect = true);
|
||||
void end(void);
|
||||
bool detected(void);
|
||||
|
||||
bool read(uint8_t *buffer, size_t len, bool stop = true);
|
||||
bool write(const uint8_t *buffer, size_t len, bool stop = true,
|
||||
const uint8_t *prefix_buffer = nullptr, size_t prefix_len = 0);
|
||||
bool write_then_read(const uint8_t *write_buffer, size_t write_len,
|
||||
uint8_t *read_buffer, size_t read_len,
|
||||
bool stop = false);
|
||||
bool setSpeed(uint32_t desiredclk);
|
||||
|
||||
/*! @brief How many bytes we can read in a transaction
|
||||
* @return The size of the Wire receive/transmit buffer */
|
||||
size_t maxBufferSize() { return _maxBufferSize; }
|
||||
|
||||
private:
|
||||
uint8_t _addr;
|
||||
TwoWire *_wire;
|
||||
bool _begun;
|
||||
size_t _maxBufferSize;
|
||||
bool _read(uint8_t *buffer, size_t len, bool stop);
|
||||
};
|
||||
|
||||
#endif // Adafruit_I2CDevice_h
|
||||
|
|
@ -0,0 +1,10 @@
|
|||
#ifndef _ADAFRUIT_I2C_REGISTER_H_
|
||||
#define _ADAFRUIT_I2C_REGISTER_H_
|
||||
|
||||
#include <Adafruit_BusIO_Register.h>
|
||||
#include <Arduino.h>
|
||||
|
||||
typedef Adafruit_BusIO_Register Adafruit_I2CRegister;
|
||||
typedef Adafruit_BusIO_RegisterBits Adafruit_I2CRegisterBits;
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,508 @@
|
|||
#include "Adafruit_SPIDevice.h"
|
||||
|
||||
//#define DEBUG_SERIAL Serial
|
||||
|
||||
/*!
|
||||
* @brief Create an SPI device with the given CS pin and settings
|
||||
* @param cspin The arduino pin number to use for chip select
|
||||
* @param freq The SPI clock frequency to use, defaults to 1MHz
|
||||
* @param dataOrder The SPI data order to use for bits within each byte,
|
||||
* defaults to SPI_BITORDER_MSBFIRST
|
||||
* @param dataMode The SPI mode to use, defaults to SPI_MODE0
|
||||
* @param theSPI The SPI bus to use, defaults to &theSPI
|
||||
*/
|
||||
Adafruit_SPIDevice::Adafruit_SPIDevice(int8_t cspin, uint32_t freq,
|
||||
BusIOBitOrder dataOrder,
|
||||
uint8_t dataMode, SPIClass *theSPI) {
|
||||
#ifdef BUSIO_HAS_HW_SPI
|
||||
_cs = cspin;
|
||||
_sck = _mosi = _miso = -1;
|
||||
_spi = theSPI;
|
||||
_begun = false;
|
||||
_spiSetting = new SPISettings(freq, dataOrder, dataMode);
|
||||
_freq = freq;
|
||||
_dataOrder = dataOrder;
|
||||
_dataMode = dataMode;
|
||||
#else
|
||||
// unused, but needed to suppress compiler warns
|
||||
(void)cspin;
|
||||
(void)freq;
|
||||
(void)dataOrder;
|
||||
(void)dataMode;
|
||||
(void)theSPI;
|
||||
#endif
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Create an SPI device with the given CS pin and settings
|
||||
* @param cspin The arduino pin number to use for chip select
|
||||
* @param sckpin The arduino pin number to use for SCK
|
||||
* @param misopin The arduino pin number to use for MISO, set to -1 if not
|
||||
* used
|
||||
* @param mosipin The arduino pin number to use for MOSI, set to -1 if not
|
||||
* used
|
||||
* @param freq The SPI clock frequency to use, defaults to 1MHz
|
||||
* @param dataOrder The SPI data order to use for bits within each byte,
|
||||
* defaults to SPI_BITORDER_MSBFIRST
|
||||
* @param dataMode The SPI mode to use, defaults to SPI_MODE0
|
||||
*/
|
||||
Adafruit_SPIDevice::Adafruit_SPIDevice(int8_t cspin, int8_t sckpin,
|
||||
int8_t misopin, int8_t mosipin,
|
||||
uint32_t freq, BusIOBitOrder dataOrder,
|
||||
uint8_t dataMode) {
|
||||
_cs = cspin;
|
||||
_sck = sckpin;
|
||||
_miso = misopin;
|
||||
_mosi = mosipin;
|
||||
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
csPort = (BusIO_PortReg *)portOutputRegister(digitalPinToPort(cspin));
|
||||
csPinMask = digitalPinToBitMask(cspin);
|
||||
if (mosipin != -1) {
|
||||
mosiPort = (BusIO_PortReg *)portOutputRegister(digitalPinToPort(mosipin));
|
||||
mosiPinMask = digitalPinToBitMask(mosipin);
|
||||
}
|
||||
if (misopin != -1) {
|
||||
misoPort = (BusIO_PortReg *)portInputRegister(digitalPinToPort(misopin));
|
||||
misoPinMask = digitalPinToBitMask(misopin);
|
||||
}
|
||||
clkPort = (BusIO_PortReg *)portOutputRegister(digitalPinToPort(sckpin));
|
||||
clkPinMask = digitalPinToBitMask(sckpin);
|
||||
#endif
|
||||
|
||||
_freq = freq;
|
||||
_dataOrder = dataOrder;
|
||||
_dataMode = dataMode;
|
||||
_begun = false;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Release memory allocated in constructors
|
||||
*/
|
||||
Adafruit_SPIDevice::~Adafruit_SPIDevice() {
|
||||
if (_spiSetting)
|
||||
delete _spiSetting;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Initializes SPI bus and sets CS pin high
|
||||
* @return Always returns true because there's no way to test success of SPI
|
||||
* init
|
||||
*/
|
||||
bool Adafruit_SPIDevice::begin(void) {
|
||||
if (_cs != -1) {
|
||||
pinMode(_cs, OUTPUT);
|
||||
digitalWrite(_cs, HIGH);
|
||||
}
|
||||
|
||||
if (_spi) { // hardware SPI
|
||||
#ifdef BUSIO_HAS_HW_SPI
|
||||
_spi->begin();
|
||||
#endif
|
||||
} else {
|
||||
pinMode(_sck, OUTPUT);
|
||||
|
||||
if ((_dataMode == SPI_MODE0) || (_dataMode == SPI_MODE1)) {
|
||||
// idle low on mode 0 and 1
|
||||
digitalWrite(_sck, LOW);
|
||||
} else {
|
||||
// idle high on mode 2 or 3
|
||||
digitalWrite(_sck, HIGH);
|
||||
}
|
||||
if (_mosi != -1) {
|
||||
pinMode(_mosi, OUTPUT);
|
||||
digitalWrite(_mosi, HIGH);
|
||||
}
|
||||
if (_miso != -1) {
|
||||
pinMode(_miso, INPUT);
|
||||
}
|
||||
}
|
||||
|
||||
_begun = true;
|
||||
return true;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Transfer (send/receive) a buffer over hard/soft SPI, without
|
||||
* transaction management
|
||||
* @param buffer The buffer to send and receive at the same time
|
||||
* @param len The number of bytes to transfer
|
||||
*/
|
||||
void Adafruit_SPIDevice::transfer(uint8_t *buffer, size_t len) {
|
||||
//
|
||||
// HARDWARE SPI
|
||||
//
|
||||
if (_spi) {
|
||||
#ifdef BUSIO_HAS_HW_SPI
|
||||
#if defined(SPARK)
|
||||
_spi->transfer(buffer, buffer, len, nullptr);
|
||||
#elif defined(STM32)
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
_spi->transfer(buffer[i]);
|
||||
}
|
||||
#else
|
||||
_spi->transfer(buffer, len);
|
||||
#endif
|
||||
return;
|
||||
#endif
|
||||
}
|
||||
|
||||
//
|
||||
// SOFTWARE SPI
|
||||
//
|
||||
uint8_t startbit;
|
||||
if (_dataOrder == SPI_BITORDER_LSBFIRST) {
|
||||
startbit = 0x1;
|
||||
} else {
|
||||
startbit = 0x80;
|
||||
}
|
||||
|
||||
bool towrite, lastmosi = !(buffer[0] & startbit);
|
||||
uint8_t bitdelay_us = (1000000 / _freq) / 2;
|
||||
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
uint8_t reply = 0;
|
||||
uint8_t send = buffer[i];
|
||||
|
||||
/*
|
||||
Serial.print("\tSending software SPI byte 0x");
|
||||
Serial.print(send, HEX);
|
||||
Serial.print(" -> 0x");
|
||||
*/
|
||||
|
||||
// Serial.print(send, HEX);
|
||||
for (uint8_t b = startbit; b != 0;
|
||||
b = (_dataOrder == SPI_BITORDER_LSBFIRST) ? b << 1 : b >> 1) {
|
||||
|
||||
if (bitdelay_us) {
|
||||
delayMicroseconds(bitdelay_us);
|
||||
}
|
||||
|
||||
if (_dataMode == SPI_MODE0 || _dataMode == SPI_MODE2) {
|
||||
towrite = send & b;
|
||||
if ((_mosi != -1) && (lastmosi != towrite)) {
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
if (towrite)
|
||||
*mosiPort = *mosiPort | mosiPinMask;
|
||||
else
|
||||
*mosiPort = *mosiPort & ~mosiPinMask;
|
||||
#else
|
||||
digitalWrite(_mosi, towrite);
|
||||
#endif
|
||||
lastmosi = towrite;
|
||||
}
|
||||
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
*clkPort = *clkPort | clkPinMask; // Clock high
|
||||
#else
|
||||
digitalWrite(_sck, HIGH);
|
||||
#endif
|
||||
|
||||
if (bitdelay_us) {
|
||||
delayMicroseconds(bitdelay_us);
|
||||
}
|
||||
|
||||
if (_miso != -1) {
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
if (*misoPort & misoPinMask) {
|
||||
#else
|
||||
if (digitalRead(_miso)) {
|
||||
#endif
|
||||
reply |= b;
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
*clkPort = *clkPort & ~clkPinMask; // Clock low
|
||||
#else
|
||||
digitalWrite(_sck, LOW);
|
||||
#endif
|
||||
} else { // if (_dataMode == SPI_MODE1 || _dataMode == SPI_MODE3)
|
||||
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
*clkPort = *clkPort | clkPinMask; // Clock high
|
||||
#else
|
||||
digitalWrite(_sck, HIGH);
|
||||
#endif
|
||||
|
||||
if (bitdelay_us) {
|
||||
delayMicroseconds(bitdelay_us);
|
||||
}
|
||||
|
||||
if (_mosi != -1) {
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
if (send & b)
|
||||
*mosiPort = *mosiPort | mosiPinMask;
|
||||
else
|
||||
*mosiPort = *mosiPort & ~mosiPinMask;
|
||||
#else
|
||||
digitalWrite(_mosi, send & b);
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
*clkPort = *clkPort & ~clkPinMask; // Clock low
|
||||
#else
|
||||
digitalWrite(_sck, LOW);
|
||||
#endif
|
||||
|
||||
if (_miso != -1) {
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
if (*misoPort & misoPinMask) {
|
||||
#else
|
||||
if (digitalRead(_miso)) {
|
||||
#endif
|
||||
reply |= b;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (_miso != -1) {
|
||||
buffer[i] = reply;
|
||||
}
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Transfer (send/receive) one byte over hard/soft SPI, without
|
||||
* transaction management
|
||||
* @param send The byte to send
|
||||
* @return The byte received while transmitting
|
||||
*/
|
||||
uint8_t Adafruit_SPIDevice::transfer(uint8_t send) {
|
||||
uint8_t data = send;
|
||||
transfer(&data, 1);
|
||||
return data;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Manually begin a transaction (calls beginTransaction if hardware
|
||||
* SPI)
|
||||
*/
|
||||
void Adafruit_SPIDevice::beginTransaction(void) {
|
||||
if (_spi) {
|
||||
#ifdef BUSIO_HAS_HW_SPI
|
||||
_spi->beginTransaction(*_spiSetting);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Manually end a transaction (calls endTransaction if hardware SPI)
|
||||
*/
|
||||
void Adafruit_SPIDevice::endTransaction(void) {
|
||||
if (_spi) {
|
||||
#ifdef BUSIO_HAS_HW_SPI
|
||||
_spi->endTransaction();
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Assert/Deassert the CS pin if it is defined
|
||||
* @param value The state the CS is set to
|
||||
*/
|
||||
void Adafruit_SPIDevice::setChipSelect(int value) {
|
||||
if (_cs != -1) {
|
||||
digitalWrite(_cs, value);
|
||||
}
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Write a buffer or two to the SPI device, with transaction
|
||||
* management.
|
||||
* @brief Manually begin a transaction (calls beginTransaction if hardware
|
||||
* SPI) with asserting the CS pin
|
||||
*/
|
||||
void Adafruit_SPIDevice::beginTransactionWithAssertingCS() {
|
||||
beginTransaction();
|
||||
setChipSelect(LOW);
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Manually end a transaction (calls endTransaction if hardware SPI)
|
||||
* with deasserting the CS pin
|
||||
*/
|
||||
void Adafruit_SPIDevice::endTransactionWithDeassertingCS() {
|
||||
setChipSelect(HIGH);
|
||||
endTransaction();
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Write a buffer or two to the SPI device, with transaction
|
||||
* management.
|
||||
* @param buffer Pointer to buffer of data to write
|
||||
* @param len Number of bytes from buffer to write
|
||||
* @param prefix_buffer Pointer to optional array of data to write before
|
||||
* buffer.
|
||||
* @param prefix_len Number of bytes from prefix buffer to write
|
||||
* @return Always returns true because there's no way to test success of SPI
|
||||
* writes
|
||||
*/
|
||||
bool Adafruit_SPIDevice::write(const uint8_t *buffer, size_t len,
|
||||
const uint8_t *prefix_buffer,
|
||||
size_t prefix_len) {
|
||||
beginTransactionWithAssertingCS();
|
||||
|
||||
// do the writing
|
||||
#if defined(ARDUINO_ARCH_ESP32)
|
||||
if (_spi) {
|
||||
if (prefix_len > 0) {
|
||||
_spi->transferBytes((uint8_t *)prefix_buffer, nullptr, prefix_len);
|
||||
}
|
||||
if (len > 0) {
|
||||
_spi->transferBytes((uint8_t *)buffer, nullptr, len);
|
||||
}
|
||||
} else
|
||||
#endif
|
||||
{
|
||||
for (size_t i = 0; i < prefix_len; i++) {
|
||||
transfer(prefix_buffer[i]);
|
||||
}
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
transfer(buffer[i]);
|
||||
}
|
||||
}
|
||||
endTransactionWithDeassertingCS();
|
||||
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.print(F("\tSPIDevice Wrote: "));
|
||||
if ((prefix_len != 0) && (prefix_buffer != nullptr)) {
|
||||
for (uint16_t i = 0; i < prefix_len; i++) {
|
||||
DEBUG_SERIAL.print(F("0x"));
|
||||
DEBUG_SERIAL.print(prefix_buffer[i], HEX);
|
||||
DEBUG_SERIAL.print(F(", "));
|
||||
}
|
||||
}
|
||||
for (uint16_t i = 0; i < len; i++) {
|
||||
DEBUG_SERIAL.print(F("0x"));
|
||||
DEBUG_SERIAL.print(buffer[i], HEX);
|
||||
DEBUG_SERIAL.print(F(", "));
|
||||
if (i % 32 == 31) {
|
||||
DEBUG_SERIAL.println();
|
||||
}
|
||||
}
|
||||
DEBUG_SERIAL.println();
|
||||
#endif
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Read from SPI into a buffer from the SPI device, with transaction
|
||||
* management.
|
||||
* @param buffer Pointer to buffer of data to read into
|
||||
* @param len Number of bytes from buffer to read.
|
||||
* @param sendvalue The 8-bits of data to write when doing the data read,
|
||||
* defaults to 0xFF
|
||||
* @return Always returns true because there's no way to test success of SPI
|
||||
* writes
|
||||
*/
|
||||
bool Adafruit_SPIDevice::read(uint8_t *buffer, size_t len, uint8_t sendvalue) {
|
||||
memset(buffer, sendvalue, len); // clear out existing buffer
|
||||
|
||||
beginTransactionWithAssertingCS();
|
||||
transfer(buffer, len);
|
||||
endTransactionWithDeassertingCS();
|
||||
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.print(F("\tSPIDevice Read: "));
|
||||
for (uint16_t i = 0; i < len; i++) {
|
||||
DEBUG_SERIAL.print(F("0x"));
|
||||
DEBUG_SERIAL.print(buffer[i], HEX);
|
||||
DEBUG_SERIAL.print(F(", "));
|
||||
if (len % 32 == 31) {
|
||||
DEBUG_SERIAL.println();
|
||||
}
|
||||
}
|
||||
DEBUG_SERIAL.println();
|
||||
#endif
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Write some data, then read some data from SPI into another buffer,
|
||||
* with transaction management. The buffers can point to same/overlapping
|
||||
* locations. This does not transmit-receive at the same time!
|
||||
* @param write_buffer Pointer to buffer of data to write from
|
||||
* @param write_len Number of bytes from buffer to write.
|
||||
* @param read_buffer Pointer to buffer of data to read into.
|
||||
* @param read_len Number of bytes from buffer to read.
|
||||
* @param sendvalue The 8-bits of data to write when doing the data read,
|
||||
* defaults to 0xFF
|
||||
* @return Always returns true because there's no way to test success of SPI
|
||||
* writes
|
||||
*/
|
||||
bool Adafruit_SPIDevice::write_then_read(const uint8_t *write_buffer,
|
||||
size_t write_len, uint8_t *read_buffer,
|
||||
size_t read_len, uint8_t sendvalue) {
|
||||
beginTransactionWithAssertingCS();
|
||||
// do the writing
|
||||
#if defined(ARDUINO_ARCH_ESP32)
|
||||
if (_spi) {
|
||||
if (write_len > 0) {
|
||||
_spi->transferBytes((uint8_t *)write_buffer, nullptr, write_len);
|
||||
}
|
||||
} else
|
||||
#endif
|
||||
{
|
||||
for (size_t i = 0; i < write_len; i++) {
|
||||
transfer(write_buffer[i]);
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.print(F("\tSPIDevice Wrote: "));
|
||||
for (uint16_t i = 0; i < write_len; i++) {
|
||||
DEBUG_SERIAL.print(F("0x"));
|
||||
DEBUG_SERIAL.print(write_buffer[i], HEX);
|
||||
DEBUG_SERIAL.print(F(", "));
|
||||
if (write_len % 32 == 31) {
|
||||
DEBUG_SERIAL.println();
|
||||
}
|
||||
}
|
||||
DEBUG_SERIAL.println();
|
||||
#endif
|
||||
|
||||
// do the reading
|
||||
for (size_t i = 0; i < read_len; i++) {
|
||||
read_buffer[i] = transfer(sendvalue);
|
||||
}
|
||||
|
||||
#ifdef DEBUG_SERIAL
|
||||
DEBUG_SERIAL.print(F("\tSPIDevice Read: "));
|
||||
for (uint16_t i = 0; i < read_len; i++) {
|
||||
DEBUG_SERIAL.print(F("0x"));
|
||||
DEBUG_SERIAL.print(read_buffer[i], HEX);
|
||||
DEBUG_SERIAL.print(F(", "));
|
||||
if (read_len % 32 == 31) {
|
||||
DEBUG_SERIAL.println();
|
||||
}
|
||||
}
|
||||
DEBUG_SERIAL.println();
|
||||
#endif
|
||||
|
||||
endTransactionWithDeassertingCS();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*!
|
||||
* @brief Write some data and read some data at the same time from SPI
|
||||
* into the same buffer, with transaction management. This is basicaly a wrapper
|
||||
* for transfer() with CS-pin and transaction management. This /does/
|
||||
* transmit-receive at the same time!
|
||||
* @param buffer Pointer to buffer of data to write/read to/from
|
||||
* @param len Number of bytes from buffer to write/read.
|
||||
* @return Always returns true because there's no way to test success of SPI
|
||||
* writes
|
||||
*/
|
||||
bool Adafruit_SPIDevice::write_and_read(uint8_t *buffer, size_t len) {
|
||||
beginTransactionWithAssertingCS();
|
||||
transfer(buffer, len);
|
||||
endTransactionWithDeassertingCS();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
#ifndef Adafruit_SPIDevice_h
|
||||
#define Adafruit_SPIDevice_h
|
||||
|
||||
#include <Arduino.h>
|
||||
|
||||
#if !defined(SPI_INTERFACES_COUNT) || \
|
||||
(defined(SPI_INTERFACES_COUNT) && (SPI_INTERFACES_COUNT > 0))
|
||||
// HW SPI available
|
||||
#include <SPI.h>
|
||||
#define BUSIO_HAS_HW_SPI
|
||||
#else
|
||||
// SW SPI ONLY
|
||||
enum { SPI_MODE0, SPI_MODE1, SPI_MODE2, _SPI_MODE4 };
|
||||
typedef uint8_t SPIClass;
|
||||
#endif
|
||||
|
||||
// some modern SPI definitions don't have BitOrder enum
|
||||
#if (defined(__AVR__) && !defined(ARDUINO_ARCH_MEGAAVR)) || \
|
||||
defined(ESP8266) || defined(TEENSYDUINO) || defined(SPARK) || \
|
||||
defined(ARDUINO_ARCH_SPRESENSE) || defined(MEGATINYCORE) || \
|
||||
defined(DXCORE) || defined(ARDUINO_AVR_ATmega4809) || \
|
||||
defined(ARDUINO_AVR_ATmega4808) || defined(ARDUINO_AVR_ATmega3209) || \
|
||||
defined(ARDUINO_AVR_ATmega3208) || defined(ARDUINO_AVR_ATmega1609) || \
|
||||
defined(ARDUINO_AVR_ATmega1608) || defined(ARDUINO_AVR_ATmega809) || \
|
||||
defined(ARDUINO_AVR_ATmega808) || defined(ARDUINO_ARCH_ARC32) || \
|
||||
defined(ARDUINO_ARCH_XMC)
|
||||
|
||||
typedef enum _BitOrder {
|
||||
SPI_BITORDER_MSBFIRST = MSBFIRST,
|
||||
SPI_BITORDER_LSBFIRST = LSBFIRST,
|
||||
} BusIOBitOrder;
|
||||
|
||||
#elif defined(ESP32) || defined(__ASR6501__) || defined(__ASR6502__)
|
||||
|
||||
// some modern SPI definitions don't have BitOrder enum and have different SPI
|
||||
// mode defines
|
||||
typedef enum _BitOrder {
|
||||
SPI_BITORDER_MSBFIRST = SPI_MSBFIRST,
|
||||
SPI_BITORDER_LSBFIRST = SPI_LSBFIRST,
|
||||
} BusIOBitOrder;
|
||||
|
||||
#else
|
||||
// Some platforms have a BitOrder enum but its named MSBFIRST/LSBFIRST
|
||||
#define SPI_BITORDER_MSBFIRST MSBFIRST
|
||||
#define SPI_BITORDER_LSBFIRST LSBFIRST
|
||||
typedef BitOrder BusIOBitOrder;
|
||||
#endif
|
||||
|
||||
#if defined(__IMXRT1062__) // Teensy 4.x
|
||||
// *Warning* I disabled the usage of FAST_PINIO as the set/clear operations
|
||||
// used in the cpp file are not atomic and can effect multiple IO pins
|
||||
// and if an interrupt happens in between the time the code reads the register
|
||||
// and writes out the updated value, that changes one or more other IO pins
|
||||
// on that same IO port, those change will be clobbered when the updated
|
||||
// values are written back. A fast version can be implemented that uses the
|
||||
// ports set and clear registers which are atomic.
|
||||
// typedef volatile uint32_t BusIO_PortReg;
|
||||
// typedef uint32_t BusIO_PortMask;
|
||||
//#define BUSIO_USE_FAST_PINIO
|
||||
|
||||
#elif defined(ARDUINO_ARCH_XMC)
|
||||
#undef BUSIO_USE_FAST_PINIO
|
||||
|
||||
#elif defined(__AVR__) || defined(TEENSYDUINO)
|
||||
typedef volatile uint8_t BusIO_PortReg;
|
||||
typedef uint8_t BusIO_PortMask;
|
||||
#define BUSIO_USE_FAST_PINIO
|
||||
|
||||
#elif defined(ESP8266) || defined(ESP32) || defined(__SAM3X8E__) || \
|
||||
defined(ARDUINO_ARCH_SAMD)
|
||||
typedef volatile uint32_t BusIO_PortReg;
|
||||
typedef uint32_t BusIO_PortMask;
|
||||
#define BUSIO_USE_FAST_PINIO
|
||||
|
||||
#elif (defined(__arm__) || defined(ARDUINO_FEATHER52)) && \
|
||||
!defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_RP2040) && \
|
||||
!defined(ARDUINO_SILABS) && !defined(ARDUINO_UNOR4_MINIMA) && \
|
||||
!defined(ARDUINO_UNOR4_WIFI)
|
||||
typedef volatile uint32_t BusIO_PortReg;
|
||||
typedef uint32_t BusIO_PortMask;
|
||||
#if !defined(__ASR6501__) && !defined(__ASR6502__)
|
||||
#define BUSIO_USE_FAST_PINIO
|
||||
#endif
|
||||
|
||||
#else
|
||||
#undef BUSIO_USE_FAST_PINIO
|
||||
#endif
|
||||
|
||||
/**! The class which defines how we will talk to this device over SPI **/
|
||||
class Adafruit_SPIDevice {
|
||||
public:
|
||||
#ifdef BUSIO_HAS_HW_SPI
|
||||
Adafruit_SPIDevice(int8_t cspin, uint32_t freq = 1000000,
|
||||
BusIOBitOrder dataOrder = SPI_BITORDER_MSBFIRST,
|
||||
uint8_t dataMode = SPI_MODE0, SPIClass *theSPI = &SPI);
|
||||
#else
|
||||
Adafruit_SPIDevice(int8_t cspin, uint32_t freq = 1000000,
|
||||
BusIOBitOrder dataOrder = SPI_BITORDER_MSBFIRST,
|
||||
uint8_t dataMode = SPI_MODE0, SPIClass *theSPI = nullptr);
|
||||
#endif
|
||||
Adafruit_SPIDevice(int8_t cspin, int8_t sck, int8_t miso, int8_t mosi,
|
||||
uint32_t freq = 1000000,
|
||||
BusIOBitOrder dataOrder = SPI_BITORDER_MSBFIRST,
|
||||
uint8_t dataMode = SPI_MODE0);
|
||||
~Adafruit_SPIDevice();
|
||||
|
||||
bool begin(void);
|
||||
bool read(uint8_t *buffer, size_t len, uint8_t sendvalue = 0xFF);
|
||||
bool write(const uint8_t *buffer, size_t len,
|
||||
const uint8_t *prefix_buffer = nullptr, size_t prefix_len = 0);
|
||||
bool write_then_read(const uint8_t *write_buffer, size_t write_len,
|
||||
uint8_t *read_buffer, size_t read_len,
|
||||
uint8_t sendvalue = 0xFF);
|
||||
bool write_and_read(uint8_t *buffer, size_t len);
|
||||
|
||||
uint8_t transfer(uint8_t send);
|
||||
void transfer(uint8_t *buffer, size_t len);
|
||||
void beginTransaction(void);
|
||||
void endTransaction(void);
|
||||
void beginTransactionWithAssertingCS();
|
||||
void endTransactionWithDeassertingCS();
|
||||
|
||||
private:
|
||||
#ifdef BUSIO_HAS_HW_SPI
|
||||
SPIClass *_spi = nullptr;
|
||||
SPISettings *_spiSetting = nullptr;
|
||||
#else
|
||||
uint8_t *_spi = nullptr;
|
||||
uint8_t *_spiSetting = nullptr;
|
||||
#endif
|
||||
uint32_t _freq;
|
||||
BusIOBitOrder _dataOrder;
|
||||
uint8_t _dataMode;
|
||||
void setChipSelect(int value);
|
||||
|
||||
int8_t _cs, _sck, _mosi, _miso;
|
||||
#ifdef BUSIO_USE_FAST_PINIO
|
||||
BusIO_PortReg *mosiPort, *clkPort, *misoPort, *csPort;
|
||||
BusIO_PortMask mosiPinMask, misoPinMask, clkPinMask, csPinMask;
|
||||
#endif
|
||||
bool _begun;
|
||||
};
|
||||
|
||||
#endif // Adafruit_SPIDevice_h
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
# Adafruit Bus IO Library
|
||||
# https://github.com/adafruit/Adafruit_BusIO
|
||||
# MIT License
|
||||
|
||||
cmake_minimum_required(VERSION 3.5)
|
||||
|
||||
idf_component_register(SRCS "Adafruit_I2CDevice.cpp" "Adafruit_BusIO_Register.cpp" "Adafruit_SPIDevice.cpp"
|
||||
INCLUDE_DIRS "."
|
||||
REQUIRES arduino)
|
||||
|
||||
project(Adafruit_BusIO)
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
The MIT License (MIT)
|
||||
|
||||
Copyright (c) 2017 Adafruit Industries
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
of this software and associated documentation files (the "Software"), to deal
|
||||
in the Software without restriction, including without limitation the rights
|
||||
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
copies of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all
|
||||
copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
SOFTWARE.
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
# Adafruit Bus IO Library [](https://github.com/adafruit/Adafruit_BusIO/actions)
|
||||
|
||||
|
||||
This is a helper library to abstract away I2C & SPI transactions and registers
|
||||
|
||||
Adafruit invests time and resources providing this open source code, please support Adafruit and open-source hardware by purchasing products from Adafruit!
|
||||
|
||||
MIT license, all text above must be included in any redistribution
|
||||
|
|
@ -0,0 +1 @@
|
|||
COMPONENT_ADD_INCLUDEDIRS = .
|
||||
|
|
@ -0,0 +1,21 @@
|
|||
#include <Adafruit_I2CDevice.h>
|
||||
|
||||
Adafruit_I2CDevice i2c_dev = Adafruit_I2CDevice(0x10);
|
||||
|
||||
void setup() {
|
||||
while (!Serial) { delay(10); }
|
||||
Serial.begin(115200);
|
||||
Serial.println("I2C address detection test");
|
||||
|
||||
if (!i2c_dev.begin()) {
|
||||
Serial.print("Did not find device at 0x");
|
||||
Serial.println(i2c_dev.address(), HEX);
|
||||
while (1);
|
||||
}
|
||||
Serial.print("Device found on address 0x");
|
||||
Serial.println(i2c_dev.address(), HEX);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,41 @@
|
|||
#include <Adafruit_I2CDevice.h>
|
||||
|
||||
#define I2C_ADDRESS 0x60
|
||||
Adafruit_I2CDevice i2c_dev = Adafruit_I2CDevice(I2C_ADDRESS);
|
||||
|
||||
|
||||
void setup() {
|
||||
while (!Serial) { delay(10); }
|
||||
Serial.begin(115200);
|
||||
Serial.println("I2C device read and write test");
|
||||
|
||||
if (!i2c_dev.begin()) {
|
||||
Serial.print("Did not find device at 0x");
|
||||
Serial.println(i2c_dev.address(), HEX);
|
||||
while (1);
|
||||
}
|
||||
Serial.print("Device found on address 0x");
|
||||
Serial.println(i2c_dev.address(), HEX);
|
||||
|
||||
uint8_t buffer[32];
|
||||
// Try to read 32 bytes
|
||||
i2c_dev.read(buffer, 32);
|
||||
Serial.print("Read: ");
|
||||
for (uint8_t i=0; i<32; i++) {
|
||||
Serial.print("0x"); Serial.print(buffer[i], HEX); Serial.print(", ");
|
||||
}
|
||||
Serial.println();
|
||||
|
||||
// read a register by writing first, then reading
|
||||
buffer[0] = 0x0C; // we'll reuse the same buffer
|
||||
i2c_dev.write_then_read(buffer, 1, buffer, 2, false);
|
||||
Serial.print("Write then Read: ");
|
||||
for (uint8_t i=0; i<2; i++) {
|
||||
Serial.print("0x"); Serial.print(buffer[i], HEX); Serial.print(", ");
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
#include <Adafruit_I2CDevice.h>
|
||||
#include <Adafruit_BusIO_Register.h>
|
||||
|
||||
#define I2C_ADDRESS 0x60
|
||||
Adafruit_I2CDevice i2c_dev = Adafruit_I2CDevice(I2C_ADDRESS);
|
||||
|
||||
|
||||
void setup() {
|
||||
while (!Serial) { delay(10); }
|
||||
Serial.begin(115200);
|
||||
Serial.println("I2C device register test");
|
||||
|
||||
if (!i2c_dev.begin()) {
|
||||
Serial.print("Did not find device at 0x");
|
||||
Serial.println(i2c_dev.address(), HEX);
|
||||
while (1);
|
||||
}
|
||||
Serial.print("Device found on address 0x");
|
||||
Serial.println(i2c_dev.address(), HEX);
|
||||
|
||||
Adafruit_BusIO_Register id_reg = Adafruit_BusIO_Register(&i2c_dev, 0x0C, 2, LSBFIRST);
|
||||
uint16_t id;
|
||||
id_reg.read(&id);
|
||||
Serial.print("ID register = 0x"); Serial.println(id, HEX);
|
||||
|
||||
Adafruit_BusIO_Register thresh_reg = Adafruit_BusIO_Register(&i2c_dev, 0x01, 2, LSBFIRST);
|
||||
uint16_t thresh;
|
||||
thresh_reg.read(&thresh);
|
||||
Serial.print("Initial threshold register = 0x"); Serial.println(thresh, HEX);
|
||||
|
||||
thresh_reg.write(~thresh);
|
||||
|
||||
Serial.print("Post threshold register = 0x"); Serial.println(thresh_reg.read(), HEX);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
#include <Adafruit_BusIO_Register.h>
|
||||
|
||||
// Define which interface to use by setting the unused interface to NULL!
|
||||
|
||||
#define SPIDEVICE_CS 10
|
||||
Adafruit_SPIDevice *spi_dev = NULL; // new Adafruit_SPIDevice(SPIDEVICE_CS);
|
||||
|
||||
#define I2C_ADDRESS 0x5D
|
||||
Adafruit_I2CDevice *i2c_dev = new Adafruit_I2CDevice(I2C_ADDRESS);
|
||||
|
||||
void setup() {
|
||||
while (!Serial) { delay(10); }
|
||||
Serial.begin(115200);
|
||||
Serial.println("I2C or SPI device register test");
|
||||
|
||||
if (spi_dev && !spi_dev->begin()) {
|
||||
Serial.println("Could not initialize SPI device");
|
||||
}
|
||||
|
||||
if (i2c_dev) {
|
||||
if (i2c_dev->begin()) {
|
||||
Serial.print("Device found on I2C address 0x");
|
||||
Serial.println(i2c_dev->address(), HEX);
|
||||
} else {
|
||||
Serial.print("Did not find I2C device at 0x");
|
||||
Serial.println(i2c_dev->address(), HEX);
|
||||
}
|
||||
}
|
||||
|
||||
Adafruit_BusIO_Register id_reg = Adafruit_BusIO_Register(i2c_dev, spi_dev, ADDRBIT8_HIGH_TOREAD, 0x0F);
|
||||
uint8_t id=0;
|
||||
id_reg.read(&id);
|
||||
Serial.print("ID register = 0x"); Serial.println(id, HEX);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,29 @@
|
|||
#include <Adafruit_SPIDevice.h>
|
||||
|
||||
#define SPIDEVICE_CS 10
|
||||
Adafruit_SPIDevice spi_dev = Adafruit_SPIDevice(SPIDEVICE_CS, 100000, SPI_BITORDER_MSBFIRST, SPI_MODE1);
|
||||
//Adafruit_SPIDevice spi_dev = Adafruit_SPIDevice(SPIDEVICE_CS, 13, 12, 11, 100000, SPI_BITORDER_MSBFIRST, SPI_MODE1);
|
||||
|
||||
|
||||
void setup() {
|
||||
while (!Serial) { delay(10); }
|
||||
Serial.begin(115200);
|
||||
Serial.println("SPI device mode test");
|
||||
|
||||
if (!spi_dev.begin()) {
|
||||
Serial.println("Could not initialize SPI device");
|
||||
while (1);
|
||||
}
|
||||
}
|
||||
|
||||
void loop() {
|
||||
Serial.println("\n\nTransfer test");
|
||||
for (uint16_t x=0; x<=0xFF; x++) {
|
||||
uint8_t i = x;
|
||||
Serial.print("0x"); Serial.print(i, HEX);
|
||||
spi_dev.read(&i, 1, i);
|
||||
Serial.print("/"); Serial.print(i, HEX);
|
||||
Serial.print(", ");
|
||||
delay(25);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
#include <Adafruit_SPIDevice.h>
|
||||
|
||||
#define SPIDEVICE_CS 10
|
||||
Adafruit_SPIDevice spi_dev = Adafruit_SPIDevice(SPIDEVICE_CS);
|
||||
|
||||
|
||||
void setup() {
|
||||
while (!Serial) { delay(10); }
|
||||
Serial.begin(115200);
|
||||
Serial.println("SPI device read and write test");
|
||||
|
||||
if (!spi_dev.begin()) {
|
||||
Serial.println("Could not initialize SPI device");
|
||||
while (1);
|
||||
}
|
||||
|
||||
uint8_t buffer[32];
|
||||
|
||||
// Try to read 32 bytes
|
||||
spi_dev.read(buffer, 32);
|
||||
Serial.print("Read: ");
|
||||
for (uint8_t i=0; i<32; i++) {
|
||||
Serial.print("0x"); Serial.print(buffer[i], HEX); Serial.print(", ");
|
||||
}
|
||||
Serial.println();
|
||||
|
||||
// read a register by writing first, then reading
|
||||
buffer[0] = 0x8F; // we'll reuse the same buffer
|
||||
spi_dev.write_then_read(buffer, 1, buffer, 2, false);
|
||||
Serial.print("Write then Read: ");
|
||||
for (uint8_t i=0; i<2; i++) {
|
||||
Serial.print("0x"); Serial.print(buffer[i], HEX); Serial.print(", ");
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,192 @@
|
|||
/***************************************************
|
||||
|
||||
This is an example for how to use Adafruit_BusIO_RegisterBits from Adafruit_BusIO library.
|
||||
|
||||
Designed specifically to work with the Adafruit RTD Sensor
|
||||
----> https://www.adafruit.com/products/3328
|
||||
uisng a MAX31865 RTD-to-Digital Converter
|
||||
----> https://datasheets.maximintegrated.com/en/ds/MAX31865.pdf
|
||||
|
||||
This sensor uses SPI to communicate, 4 pins are required to
|
||||
interface.
|
||||
A fifth pin helps to detect when a new conversion is ready.
|
||||
|
||||
Adafruit invests time and resources providing this open source code,
|
||||
please support Adafruit and open-source hardware by purchasing
|
||||
products from Adafruit!
|
||||
|
||||
Example written (2020/3) by Andreas Hardtung/AnHard.
|
||||
BSD license, all text above must be included in any redistribution
|
||||
****************************************************/
|
||||
|
||||
#include <Adafruit_BusIO_Register.h>
|
||||
#include <Adafruit_SPIDevice.h>
|
||||
|
||||
#define MAX31865_SPI_SPEED (5000000)
|
||||
#define MAX31865_SPI_BITORDER (SPI_BITORDER_MSBFIRST)
|
||||
#define MAX31865_SPI_MODE (SPI_MODE1)
|
||||
|
||||
#define MAX31865_SPI_CS (10)
|
||||
#define MAX31865_READY_PIN (2)
|
||||
|
||||
|
||||
Adafruit_SPIDevice spi_dev = Adafruit_SPIDevice( MAX31865_SPI_CS, MAX31865_SPI_SPEED, MAX31865_SPI_BITORDER, MAX31865_SPI_MODE, &SPI); // Hardware SPI
|
||||
// Adafruit_SPIDevice spi_dev = Adafruit_SPIDevice( MAX31865_SPI_CS, 13, 12, 11, MAX31865_SPI_SPEED, MAX31865_SPI_BITORDER, MAX31865_SPI_MODE); // Software SPI
|
||||
|
||||
// MAX31865 chip related *********************************************************************************************
|
||||
Adafruit_BusIO_Register config_reg = Adafruit_BusIO_Register(&spi_dev, 0x00, ADDRBIT8_HIGH_TOWRITE, 1, MSBFIRST);
|
||||
Adafruit_BusIO_RegisterBits bias_bit = Adafruit_BusIO_RegisterBits(&config_reg, 1, 7);
|
||||
Adafruit_BusIO_RegisterBits auto_bit = Adafruit_BusIO_RegisterBits(&config_reg, 1, 6);
|
||||
Adafruit_BusIO_RegisterBits oneS_bit = Adafruit_BusIO_RegisterBits(&config_reg, 1, 5);
|
||||
Adafruit_BusIO_RegisterBits wire_bit = Adafruit_BusIO_RegisterBits(&config_reg, 1, 4);
|
||||
Adafruit_BusIO_RegisterBits faultT_bits = Adafruit_BusIO_RegisterBits(&config_reg, 2, 2);
|
||||
Adafruit_BusIO_RegisterBits faultR_bit = Adafruit_BusIO_RegisterBits(&config_reg, 1, 1);
|
||||
Adafruit_BusIO_RegisterBits fi50hz_bit = Adafruit_BusIO_RegisterBits(&config_reg, 1, 0);
|
||||
|
||||
Adafruit_BusIO_Register rRatio_reg = Adafruit_BusIO_Register(&spi_dev, 0x01, ADDRBIT8_HIGH_TOWRITE, 2, MSBFIRST);
|
||||
Adafruit_BusIO_RegisterBits rRatio_bits = Adafruit_BusIO_RegisterBits(&rRatio_reg, 15, 1);
|
||||
Adafruit_BusIO_RegisterBits fault_bit = Adafruit_BusIO_RegisterBits(&rRatio_reg, 1, 0);
|
||||
|
||||
Adafruit_BusIO_Register maxRratio_reg = Adafruit_BusIO_Register(&spi_dev, 0x03, ADDRBIT8_HIGH_TOWRITE, 2, MSBFIRST);
|
||||
Adafruit_BusIO_RegisterBits maxRratio_bits = Adafruit_BusIO_RegisterBits(&maxRratio_reg, 15, 1);
|
||||
|
||||
Adafruit_BusIO_Register minRratio_reg = Adafruit_BusIO_Register(&spi_dev, 0x05, ADDRBIT8_HIGH_TOWRITE, 2, MSBFIRST);
|
||||
Adafruit_BusIO_RegisterBits minRratio_bits = Adafruit_BusIO_RegisterBits(&minRratio_reg, 15, 1);
|
||||
|
||||
Adafruit_BusIO_Register fault_reg = Adafruit_BusIO_Register(&spi_dev, 0x07, ADDRBIT8_HIGH_TOWRITE, 1, MSBFIRST);
|
||||
Adafruit_BusIO_RegisterBits range_high_fault_bit = Adafruit_BusIO_RegisterBits(&fault_reg, 1, 7);
|
||||
Adafruit_BusIO_RegisterBits range_low_fault_bit = Adafruit_BusIO_RegisterBits(&fault_reg, 1, 6);
|
||||
Adafruit_BusIO_RegisterBits refin_high_fault_bit = Adafruit_BusIO_RegisterBits(&fault_reg, 1, 5);
|
||||
Adafruit_BusIO_RegisterBits refin_low_fault_bit = Adafruit_BusIO_RegisterBits(&fault_reg, 1, 4);
|
||||
Adafruit_BusIO_RegisterBits rtdin_low_fault_bit = Adafruit_BusIO_RegisterBits(&fault_reg, 1, 3);
|
||||
Adafruit_BusIO_RegisterBits voltage_fault_bit = Adafruit_BusIO_RegisterBits(&fault_reg, 1, 2);
|
||||
|
||||
// Print the details of the configuration register.
|
||||
void printConfig( void ) {
|
||||
Serial.print("BIAS: "); if (bias_bit.read() ) Serial.print("ON"); else Serial.print("OFF");
|
||||
Serial.print(", AUTO: "); if (auto_bit.read() ) Serial.print("ON"); else Serial.print("OFF");
|
||||
Serial.print(", ONES: "); if (oneS_bit.read() ) Serial.print("ON"); else Serial.print("OFF");
|
||||
Serial.print(", WIRE: "); if (wire_bit.read() ) Serial.print("3"); else Serial.print("2/4");
|
||||
Serial.print(", FAULTCLEAR: "); if (faultR_bit.read() ) Serial.print("ON"); else Serial.print("OFF");
|
||||
Serial.print(", "); if (fi50hz_bit.read() ) Serial.print("50HZ"); else Serial.print("60HZ");
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
// Check and print faults. Then clear them.
|
||||
void checkFaults( void ) {
|
||||
if (fault_bit.read()) {
|
||||
Serial.print("MAX: "); Serial.println(maxRratio_bits.read());
|
||||
Serial.print("VAL: "); Serial.println( rRatio_bits.read());
|
||||
Serial.print("MIN: "); Serial.println(minRratio_bits.read());
|
||||
|
||||
if (range_high_fault_bit.read() ) Serial.println("Range high fault");
|
||||
if ( range_low_fault_bit.read() ) Serial.println("Range low fault");
|
||||
if (refin_high_fault_bit.read() ) Serial.println("REFIN high fault");
|
||||
if ( refin_low_fault_bit.read() ) Serial.println("REFIN low fault");
|
||||
if ( rtdin_low_fault_bit.read() ) Serial.println("RTDIN low fault");
|
||||
if ( voltage_fault_bit.read() ) Serial.println("Voltage fault");
|
||||
|
||||
faultR_bit.write(1); // clear fault
|
||||
}
|
||||
}
|
||||
|
||||
void setup() {
|
||||
#if (MAX31865_1_READY_PIN != -1)
|
||||
pinMode(MAX31865_READY_PIN ,INPUT_PULLUP);
|
||||
#endif
|
||||
|
||||
while (!Serial) { delay(10); }
|
||||
Serial.begin(115200);
|
||||
Serial.println("SPI Adafruit_BusIO_RegisterBits test on MAX31865");
|
||||
|
||||
if (!spi_dev.begin()) {
|
||||
Serial.println("Could not initialize SPI device");
|
||||
while (1);
|
||||
}
|
||||
|
||||
// Set up for automode 50Hz. We don't care about selfheating. We want the highest possible sampling rate.
|
||||
auto_bit.write(0); // Don't switch filtermode while auto_mode is on.
|
||||
fi50hz_bit.write(1); // Set filter to 50Hz mode.
|
||||
faultR_bit.write(1); // Clear faults.
|
||||
bias_bit.write(1); // In automode we want to have the bias current always on.
|
||||
delay(5); // Wait until bias current settles down.
|
||||
// 10.5 time constants of the input RC network is required.
|
||||
// 10ms worst case for 10kω reference resistor and a 0.1µF capacitor across the RTD inputs.
|
||||
// Adafruit Module has 0.1µF and only 430/4300ω So here 0.43/4.3ms
|
||||
auto_bit.write(1); // Now we can set automode. Automatically starting first conversion.
|
||||
|
||||
// Test the READY_PIN
|
||||
#if (defined( MAX31865_READY_PIN ) && (MAX31865_READY_PIN != -1))
|
||||
int i = 0;
|
||||
while (digitalRead(MAX31865_READY_PIN) && i++ <= 100) { delay(1); }
|
||||
if (i >= 100) {
|
||||
Serial.print("ERROR: Max31865 Pin detection does not work. PIN:");
|
||||
Serial.println(MAX31865_READY_PIN);
|
||||
}
|
||||
#else
|
||||
delay(100);
|
||||
#endif
|
||||
|
||||
// Set ratio range.
|
||||
// Setting the temperatures would need some more calculation - not related to Adafruit_BusIO_RegisterBits.
|
||||
uint16_t ratio = rRatio_bits.read();
|
||||
maxRratio_bits.write( (ratio < 0x8fffu-1000u) ? ratio + 1000u : 0x8fffu );
|
||||
minRratio_bits.write( (ratio > 1000u) ? ratio - 1000u : 0u );
|
||||
|
||||
printConfig();
|
||||
checkFaults();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
#if (defined( MAX31865_READY_PIN ) && (MAX31865_1_READY_PIN != -1))
|
||||
// Is conversion ready?
|
||||
if (!digitalRead(MAX31865_READY_PIN))
|
||||
#else
|
||||
// Warant conversion is ready.
|
||||
delay(21); // 21ms for 50Hz-mode. 19ms in 60Hz-mode.
|
||||
#endif
|
||||
{
|
||||
// Read ratio, calculate temperature, scale, filter and print.
|
||||
Serial.println( rRatio2C( rRatio_bits.read() ) * 100.0f, 0); // Temperature scaled by 100
|
||||
// Check, print, clear faults.
|
||||
checkFaults();
|
||||
}
|
||||
|
||||
// Do something else.
|
||||
//delay(15000);
|
||||
}
|
||||
|
||||
|
||||
// Module/Sensor related. Here Adafruit PT100 module with a 2_Wire PT100 Class C *****************************
|
||||
float rRatio2C(uint16_t ratio) {
|
||||
// A simple linear conversion.
|
||||
const float R0 = 100.0f;
|
||||
const float Rref = 430.0f;
|
||||
const float alphaPT = 0.003850f;
|
||||
const float ADCmax = (1u << 15) - 1.0f;
|
||||
const float rscale = Rref / ADCmax;
|
||||
// Measured temperature in boiling water 101.08°C with factor a = 1 and b = 0. Rref and MAX at about 22±2°C.
|
||||
// Measured temperature in ice/water bath 0.76°C with factor a = 1 and b = 0. Rref and MAX at about 22±2°C.
|
||||
//const float a = 1.0f / (alphaPT * R0);
|
||||
const float a = (100.0f/101.08f) / (alphaPT * R0);
|
||||
//const float b = 0.0f; // 101.08
|
||||
const float b = -0.76f; // 100.32 > 101.08
|
||||
|
||||
return filterRing( ((ratio * rscale) - R0) * a + b );
|
||||
}
|
||||
|
||||
// General purpose *********************************************************************************************
|
||||
#define RINGLENGTH 250
|
||||
float filterRing( float newVal ) {
|
||||
static float ring[RINGLENGTH] = { 0.0 };
|
||||
static uint8_t ringIndex = 0;
|
||||
static bool ringFull = false;
|
||||
|
||||
if ( ringIndex == RINGLENGTH ) { ringFull = true; ringIndex = 0; }
|
||||
ring[ringIndex] = newVal;
|
||||
uint8_t loopEnd = (ringFull) ? RINGLENGTH : ringIndex + 1;
|
||||
float ringSum = 0.0f;
|
||||
for (uint8_t i = 0; i < loopEnd; i++) ringSum += ring[i];
|
||||
ringIndex++;
|
||||
return ringSum / loopEnd;
|
||||
}
|
||||
|
|
@ -0,0 +1,34 @@
|
|||
#include <Adafruit_BusIO_Register.h>
|
||||
#include <Adafruit_SPIDevice.h>
|
||||
|
||||
#define SPIDEVICE_CS 10
|
||||
Adafruit_SPIDevice spi_dev = Adafruit_SPIDevice(SPIDEVICE_CS);
|
||||
|
||||
void setup() {
|
||||
while (!Serial) { delay(10); }
|
||||
Serial.begin(115200);
|
||||
Serial.println("SPI device register test");
|
||||
|
||||
if (!spi_dev.begin()) {
|
||||
Serial.println("Could not initialize SPI device");
|
||||
while (1);
|
||||
}
|
||||
|
||||
Adafruit_BusIO_Register id_reg = Adafruit_BusIO_Register(&spi_dev, 0x0F, ADDRBIT8_HIGH_TOREAD);
|
||||
uint8_t id = 0;
|
||||
id_reg.read(&id);
|
||||
Serial.print("ID register = 0x"); Serial.println(id, HEX);
|
||||
|
||||
Adafruit_BusIO_Register thresh_reg = Adafruit_BusIO_Register(&spi_dev, 0x0C, ADDRBIT8_HIGH_TOREAD, 2, LSBFIRST);
|
||||
uint16_t thresh = 0;
|
||||
thresh_reg.read(&thresh);
|
||||
Serial.print("Initial threshold register = 0x"); Serial.println(thresh, HEX);
|
||||
|
||||
thresh_reg.write(~thresh);
|
||||
|
||||
Serial.print("Post threshold register = 0x"); Serial.println(thresh_reg.read(), HEX);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
name=Adafruit BusIO
|
||||
version=1.16.1
|
||||
author=Adafruit
|
||||
maintainer=Adafruit <info@adafruit.com>
|
||||
sentence=This is a library for abstracting away I2C and SPI interfacing
|
||||
paragraph=This is a library for abstracting away I2C and SPI interfacing
|
||||
category=Signal Input/Output
|
||||
url=https://github.com/adafruit/Adafruit_BusIO
|
||||
architectures=*
|
||||
|
|
@ -0,0 +1,108 @@
|
|||
#
|
||||
# NOTE! Don't add files that are generated in specific
|
||||
# subdirectories here. Add them in the ".gitignore" file
|
||||
# in that subdirectory instead.
|
||||
#
|
||||
# NOTE! Please use 'git ls-files -i --exclude-standard'
|
||||
# command after changing this file, to see if there are
|
||||
# any tracked files which get ignored after the change.
|
||||
#
|
||||
# Normal rules
|
||||
#
|
||||
.*
|
||||
*.o
|
||||
*.o.*
|
||||
*.a
|
||||
*.s
|
||||
*.ko
|
||||
*.so
|
||||
*.so.dbg
|
||||
*.mod.c
|
||||
*.i
|
||||
*.lst
|
||||
*.symtypes
|
||||
*.order
|
||||
modules.builtin
|
||||
*.elf
|
||||
*.bin
|
||||
*.gz
|
||||
*.bz2
|
||||
*.lzma
|
||||
*.patch
|
||||
*.gcno
|
||||
|
||||
#
|
||||
# Top-level generic files
|
||||
#
|
||||
/tags
|
||||
/TAGS
|
||||
/linux
|
||||
/vmlinux
|
||||
/vmlinuz
|
||||
/System.map
|
||||
/Module.markers
|
||||
/Module.symvers
|
||||
|
||||
#
|
||||
# git files that we don't want to ignore even it they are dot-files
|
||||
#
|
||||
!.gitignore
|
||||
!.mailmap
|
||||
|
||||
#
|
||||
# Generated include files
|
||||
#
|
||||
include/config
|
||||
include/linux/version.h
|
||||
include/generated
|
||||
|
||||
# stgit generated dirs
|
||||
patches-*
|
||||
|
||||
# quilt's files
|
||||
patches
|
||||
series
|
||||
|
||||
# cscope files
|
||||
cscope.*
|
||||
ncscope.*
|
||||
|
||||
# gnu global files
|
||||
GPATH
|
||||
GRTAGS
|
||||
GSYMS
|
||||
GTAGS
|
||||
|
||||
# QT-Creator files
|
||||
Makefile.am.user
|
||||
*.config
|
||||
*.creator
|
||||
*.creator.user
|
||||
*.files
|
||||
*.includes
|
||||
|
||||
*.orig
|
||||
*~
|
||||
\#*#
|
||||
*.lo
|
||||
*.la
|
||||
Makefile
|
||||
Makefile.in
|
||||
aclocal.m4
|
||||
autoconfig.h
|
||||
autoconfig.h.in
|
||||
autom4te.cache/
|
||||
build-aux/
|
||||
config.log
|
||||
config.status
|
||||
configure
|
||||
libtool
|
||||
libupnp.pc
|
||||
m4/libtool.m4
|
||||
m4/ltoptions.m4
|
||||
m4/ltsugar.m4
|
||||
m4/ltversion.m4
|
||||
m4/lt~obsolete.m4
|
||||
stamp-h1
|
||||
docs/doxygen
|
||||
|
||||
|
|
@ -0,0 +1,120 @@
|
|||
#include "Adafruit_Sensor.h"
|
||||
|
||||
/**************************************************************************/
|
||||
/*!
|
||||
@brief Prints sensor information to serial console
|
||||
*/
|
||||
/**************************************************************************/
|
||||
void Adafruit_Sensor::printSensorDetails(void) {
|
||||
sensor_t sensor;
|
||||
getSensor(&sensor);
|
||||
Serial.println(F("------------------------------------"));
|
||||
Serial.print(F("Sensor: "));
|
||||
Serial.println(sensor.name);
|
||||
Serial.print(F("Type: "));
|
||||
switch ((sensors_type_t)sensor.type) {
|
||||
case SENSOR_TYPE_ACCELEROMETER:
|
||||
Serial.print(F("Acceleration (m/s2)"));
|
||||
break;
|
||||
case SENSOR_TYPE_MAGNETIC_FIELD:
|
||||
Serial.print(F("Magnetic (uT)"));
|
||||
break;
|
||||
case SENSOR_TYPE_ORIENTATION:
|
||||
Serial.print(F("Orientation (degrees)"));
|
||||
break;
|
||||
case SENSOR_TYPE_GYROSCOPE:
|
||||
Serial.print(F("Gyroscopic (rad/s)"));
|
||||
break;
|
||||
case SENSOR_TYPE_LIGHT:
|
||||
Serial.print(F("Light (lux)"));
|
||||
break;
|
||||
case SENSOR_TYPE_PRESSURE:
|
||||
Serial.print(F("Pressure (hPa)"));
|
||||
break;
|
||||
case SENSOR_TYPE_PROXIMITY:
|
||||
Serial.print(F("Distance (cm)"));
|
||||
break;
|
||||
case SENSOR_TYPE_GRAVITY:
|
||||
Serial.print(F("Gravity (m/s2)"));
|
||||
break;
|
||||
case SENSOR_TYPE_LINEAR_ACCELERATION:
|
||||
Serial.print(F("Linear Acceleration (m/s2)"));
|
||||
break;
|
||||
case SENSOR_TYPE_ROTATION_VECTOR:
|
||||
Serial.print(F("Rotation vector"));
|
||||
break;
|
||||
case SENSOR_TYPE_RELATIVE_HUMIDITY:
|
||||
Serial.print(F("Relative Humidity (%)"));
|
||||
break;
|
||||
case SENSOR_TYPE_AMBIENT_TEMPERATURE:
|
||||
Serial.print(F("Ambient Temp (C)"));
|
||||
break;
|
||||
case SENSOR_TYPE_OBJECT_TEMPERATURE:
|
||||
Serial.print(F("Object Temp (C)"));
|
||||
break;
|
||||
case SENSOR_TYPE_VOLTAGE:
|
||||
Serial.print(F("Voltage (V)"));
|
||||
break;
|
||||
case SENSOR_TYPE_CURRENT:
|
||||
Serial.print(F("Current (mA)"));
|
||||
break;
|
||||
case SENSOR_TYPE_COLOR:
|
||||
Serial.print(F("Color (RGBA)"));
|
||||
break;
|
||||
case SENSOR_TYPE_TVOC:
|
||||
Serial.print(F("Total Volatile Organic Compounds (ppb)"));
|
||||
break;
|
||||
case SENSOR_TYPE_VOC_INDEX:
|
||||
Serial.print(F("Volatile Organic Compounds (Index)"));
|
||||
break;
|
||||
case SENSOR_TYPE_NOX_INDEX:
|
||||
Serial.print(F("Nitrogen Oxides (Index)"));
|
||||
break;
|
||||
case SENSOR_TYPE_CO2:
|
||||
Serial.print(F("Carbon Dioxide (ppm)"));
|
||||
break;
|
||||
case SENSOR_TYPE_ECO2:
|
||||
Serial.print(F("Equivalent/estimated CO2 (ppm)"));
|
||||
break;
|
||||
case SENSOR_TYPE_PM10_STD:
|
||||
Serial.print(F("Standard Particulate Matter 1.0 (ppm)"));
|
||||
break;
|
||||
case SENSOR_TYPE_PM25_STD:
|
||||
Serial.print(F("Standard Particulate Matter 2.5 (ppm)"));
|
||||
break;
|
||||
case SENSOR_TYPE_PM100_STD:
|
||||
Serial.print(F("Standard Particulate Matter 10.0 (ppm)"));
|
||||
break;
|
||||
case SENSOR_TYPE_PM10_ENV:
|
||||
Serial.print(F("Environmental Particulate Matter 1.0 (ppm)"));
|
||||
break;
|
||||
case SENSOR_TYPE_PM25_ENV:
|
||||
Serial.print(F("Environmental Particulate Matter 2.5 (ppm)"));
|
||||
break;
|
||||
case SENSOR_TYPE_PM100_ENV:
|
||||
Serial.print(F("Environmental Particulate Matter 10.0 (ppm)"));
|
||||
break;
|
||||
case SENSOR_TYPE_GAS_RESISTANCE:
|
||||
Serial.print(F("Gas Resistance (ohms)"));
|
||||
break;
|
||||
case SENSOR_TYPE_UNITLESS_PERCENT:
|
||||
Serial.print(F("Unitless Percent (%)"));
|
||||
break;
|
||||
case SENSOR_TYPE_ALTITUDE:
|
||||
Serial.print(F("Altitude (m)"));
|
||||
break;
|
||||
}
|
||||
|
||||
Serial.println();
|
||||
Serial.print(F("Driver Ver: "));
|
||||
Serial.println(sensor.version);
|
||||
Serial.print(F("Unique ID: "));
|
||||
Serial.println(sensor.sensor_id);
|
||||
Serial.print(F("Min Value: "));
|
||||
Serial.println(sensor.min_value);
|
||||
Serial.print(F("Max Value: "));
|
||||
Serial.println(sensor.max_value);
|
||||
Serial.print(F("Resolution: "));
|
||||
Serial.println(sensor.resolution);
|
||||
Serial.println(F("------------------------------------\n"));
|
||||
}
|
||||
|
|
@ -0,0 +1,224 @@
|
|||
/*
|
||||
* Copyright (C) 2008 The Android Open Source Project
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the "License");
|
||||
* you may not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* http://www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software< /span>
|
||||
* distributed under the License is distributed on an "AS IS" BASIS,
|
||||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*/
|
||||
|
||||
/* Update by K. Townsend (Adafruit Industries) for lighter typedefs, and
|
||||
* extended sensor support to include color, voltage and current */
|
||||
|
||||
#ifndef _ADAFRUIT_SENSOR_H
|
||||
#define _ADAFRUIT_SENSOR_H
|
||||
|
||||
#ifndef ARDUINO
|
||||
#include <stdint.h>
|
||||
#elif ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#include "Print.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
/* Constants */
|
||||
#define SENSORS_GRAVITY_EARTH (9.80665F) /**< Earth's gravity in m/s^2 */
|
||||
#define SENSORS_GRAVITY_MOON (1.6F) /**< The moon's gravity in m/s^2 */
|
||||
#define SENSORS_GRAVITY_SUN (275.0F) /**< The sun's gravity in m/s^2 */
|
||||
#define SENSORS_GRAVITY_STANDARD (SENSORS_GRAVITY_EARTH)
|
||||
#define SENSORS_MAGFIELD_EARTH_MAX \
|
||||
(60.0F) /**< Maximum magnetic field on Earth's surface */
|
||||
#define SENSORS_MAGFIELD_EARTH_MIN \
|
||||
(30.0F) /**< Minimum magnetic field on Earth's surface */
|
||||
#define SENSORS_PRESSURE_SEALEVELHPA \
|
||||
(1013.25F) /**< Average sea level pressure is 1013.25 hPa */
|
||||
#define SENSORS_DPS_TO_RADS \
|
||||
(0.017453293F) /**< Degrees/s to rad/s multiplier \
|
||||
*/
|
||||
#define SENSORS_RADS_TO_DPS \
|
||||
(57.29577793F) /**< Rad/s to degrees/s multiplier */
|
||||
#define SENSORS_GAUSS_TO_MICROTESLA \
|
||||
(100) /**< Gauss to micro-Tesla multiplier */
|
||||
|
||||
/** Sensor types */
|
||||
typedef enum {
|
||||
SENSOR_TYPE_ACCELEROMETER = (1), /**< Gravity + linear acceleration */
|
||||
SENSOR_TYPE_MAGNETIC_FIELD = (2),
|
||||
SENSOR_TYPE_ORIENTATION = (3),
|
||||
SENSOR_TYPE_GYROSCOPE = (4),
|
||||
SENSOR_TYPE_LIGHT = (5),
|
||||
SENSOR_TYPE_PRESSURE = (6),
|
||||
SENSOR_TYPE_PROXIMITY = (8),
|
||||
SENSOR_TYPE_GRAVITY = (9),
|
||||
SENSOR_TYPE_LINEAR_ACCELERATION =
|
||||
(10), /**< Acceleration not including gravity */
|
||||
SENSOR_TYPE_ROTATION_VECTOR = (11),
|
||||
SENSOR_TYPE_RELATIVE_HUMIDITY = (12),
|
||||
SENSOR_TYPE_AMBIENT_TEMPERATURE = (13),
|
||||
SENSOR_TYPE_OBJECT_TEMPERATURE = (14),
|
||||
SENSOR_TYPE_VOLTAGE = (15),
|
||||
SENSOR_TYPE_CURRENT = (16),
|
||||
SENSOR_TYPE_COLOR = (17),
|
||||
SENSOR_TYPE_TVOC = (18),
|
||||
SENSOR_TYPE_VOC_INDEX = (19),
|
||||
SENSOR_TYPE_NOX_INDEX = (20),
|
||||
SENSOR_TYPE_CO2 = (21),
|
||||
SENSOR_TYPE_ECO2 = (22),
|
||||
SENSOR_TYPE_PM10_STD = (23),
|
||||
SENSOR_TYPE_PM25_STD = (24),
|
||||
SENSOR_TYPE_PM100_STD = (25),
|
||||
SENSOR_TYPE_PM10_ENV = (26),
|
||||
SENSOR_TYPE_PM25_ENV = (27),
|
||||
SENSOR_TYPE_PM100_ENV = (28),
|
||||
SENSOR_TYPE_GAS_RESISTANCE = (29),
|
||||
SENSOR_TYPE_UNITLESS_PERCENT = (30),
|
||||
SENSOR_TYPE_ALTITUDE = (31)
|
||||
} sensors_type_t;
|
||||
|
||||
/** struct sensors_vec_s is used to return a vector in a common format. */
|
||||
typedef struct {
|
||||
union {
|
||||
float v[3]; ///< 3D vector elements
|
||||
struct {
|
||||
float x; ///< X component of vector
|
||||
float y; ///< Y component of vector
|
||||
float z; ///< Z component of vector
|
||||
}; ///< Struct for holding XYZ component
|
||||
/* Orientation sensors */
|
||||
struct {
|
||||
float roll; /**< Rotation around the longitudinal axis (the plane body, 'X
|
||||
axis'). Roll is positive and increasing when moving
|
||||
downward. -90 degrees <= roll <= 90 degrees */
|
||||
float pitch; /**< Rotation around the lateral axis (the wing span, 'Y
|
||||
axis'). Pitch is positive and increasing when moving
|
||||
upwards. -180 degrees <= pitch <= 180 degrees) */
|
||||
float heading; /**< Angle between the longitudinal axis (the plane body)
|
||||
and magnetic north, measured clockwise when viewing from
|
||||
the top of the device. 0-359 degrees */
|
||||
}; ///< Struct for holding roll/pitch/heading
|
||||
}; ///< Union that can hold 3D vector array, XYZ components or
|
||||
///< roll/pitch/heading
|
||||
int8_t status; ///< Status byte
|
||||
uint8_t reserved[3]; ///< Reserved
|
||||
} sensors_vec_t;
|
||||
|
||||
/** struct sensors_color_s is used to return color data in a common format. */
|
||||
typedef struct {
|
||||
union {
|
||||
float c[3]; ///< Raw 3-element data
|
||||
/* RGB color space */
|
||||
struct {
|
||||
float r; /**< Red component */
|
||||
float g; /**< Green component */
|
||||
float b; /**< Blue component */
|
||||
}; ///< RGB data in floating point notation
|
||||
}; ///< Union of various ways to describe RGB colorspace
|
||||
uint32_t rgba; /**< 24-bit RGBA value */
|
||||
} sensors_color_t;
|
||||
|
||||
/* Sensor event (36 bytes) */
|
||||
/** struct sensor_event_s is used to provide a single sensor event in a common
|
||||
* format. */
|
||||
typedef struct {
|
||||
int32_t version; /**< must be sizeof(struct sensors_event_t) */
|
||||
int32_t sensor_id; /**< unique sensor identifier */
|
||||
int32_t type; /**< sensor type */
|
||||
int32_t reserved0; /**< reserved */
|
||||
int32_t timestamp; /**< time is in milliseconds */
|
||||
union {
|
||||
float data[4]; ///< Raw data */
|
||||
sensors_vec_t acceleration; /**< acceleration values are in meter per second
|
||||
per second (m/s^2) */
|
||||
sensors_vec_t
|
||||
magnetic; /**< magnetic vector values are in micro-Tesla (uT) */
|
||||
sensors_vec_t orientation; /**< orientation values are in degrees */
|
||||
sensors_vec_t gyro; /**< gyroscope values are in rad/s */
|
||||
float temperature; /**< temperature is in degrees centigrade (Celsius) */
|
||||
float distance; /**< distance in centimeters */
|
||||
float light; /**< light in SI lux units */
|
||||
float pressure; /**< pressure in hectopascal (hPa) */
|
||||
float relative_humidity; /**< relative humidity in percent */
|
||||
float current; /**< current in milliamps (mA) */
|
||||
float voltage; /**< voltage in volts (V) */
|
||||
float tvoc; /**< Total Volatile Organic Compounds, in ppb */
|
||||
float voc_index; /**< VOC (Volatile Organic Compound) index where 100 is
|
||||
normal (unitless) */
|
||||
float nox_index; /**< NOx (Nitrogen Oxides) index where 100 is normal
|
||||
(unitless) */
|
||||
float CO2; /**< Measured CO2 in parts per million (ppm) */
|
||||
float eCO2; /**< equivalent/estimated CO2 in parts per million (ppm
|
||||
estimated from some other measurement) */
|
||||
float pm10_std; /**< Standard Particulate Matter <=1.0 in parts per million
|
||||
(ppm) */
|
||||
float pm25_std; /**< Standard Particulate Matter <=2.5 in parts per million
|
||||
(ppm) */
|
||||
float pm100_std; /**< Standard Particulate Matter <=10.0 in parts per
|
||||
million (ppm) */
|
||||
float pm10_env; /**< Environmental Particulate Matter <=1.0 in parts per
|
||||
million (ppm) */
|
||||
float pm25_env; /**< Environmental Particulate Matter <=2.5 in parts per
|
||||
million (ppm) */
|
||||
float pm100_env; /**< Environmental Particulate Matter <=10.0 in parts per
|
||||
million (ppm) */
|
||||
float gas_resistance; /**< Proportional to the amount of VOC particles in
|
||||
the air (Ohms) */
|
||||
float unitless_percent; /**<Percentage, unit-less (%) */
|
||||
sensors_color_t color; /**< color in RGB component values */
|
||||
float altitude; /**< Distance between a reference datum and a point or
|
||||
object, in meters. */
|
||||
}; ///< Union for the wide ranges of data we can carry
|
||||
} sensors_event_t;
|
||||
|
||||
/* Sensor details (40 bytes) */
|
||||
/** struct sensor_s is used to describe basic information about a specific
|
||||
* sensor. */
|
||||
typedef struct {
|
||||
char name[12]; /**< sensor name */
|
||||
int32_t version; /**< version of the hardware + driver */
|
||||
int32_t sensor_id; /**< unique sensor identifier */
|
||||
int32_t type; /**< this sensor's type (ex. SENSOR_TYPE_LIGHT) */
|
||||
float max_value; /**< maximum value of this sensor's value in SI units */
|
||||
float min_value; /**< minimum value of this sensor's value in SI units */
|
||||
float resolution; /**< smallest difference between two values reported by this
|
||||
sensor */
|
||||
int32_t min_delay; /**< min delay in microseconds between events. zero = not a
|
||||
constant rate */
|
||||
} sensor_t;
|
||||
|
||||
/** @brief Common sensor interface to unify various sensors.
|
||||
* Intentionally modeled after sensors.h in the Android API:
|
||||
* https://github.com/android/platform_hardware_libhardware/blob/master/include/hardware/sensors.h
|
||||
*/
|
||||
class Adafruit_Sensor {
|
||||
public:
|
||||
// Constructor(s)
|
||||
Adafruit_Sensor() {}
|
||||
virtual ~Adafruit_Sensor() {}
|
||||
|
||||
// These must be defined by the subclass
|
||||
|
||||
/*! @brief Whether we should automatically change the range (if possible) for
|
||||
higher precision
|
||||
@param enabled True if we will try to autorange */
|
||||
virtual void enableAutoRange(bool enabled) {
|
||||
(void)enabled; /* suppress unused warning */
|
||||
};
|
||||
|
||||
/*! @brief Get the latest sensor event
|
||||
@returns True if able to fetch an event */
|
||||
virtual bool getEvent(sensors_event_t *) = 0;
|
||||
/*! @brief Get info about the sensor itself */
|
||||
virtual void getSensor(sensor_t *) = 0;
|
||||
|
||||
void printSensorDetails(void);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,202 @@
|
|||
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
|
||||
|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
and distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
"Licensor" shall mean the copyright owner or entity authorized by
|
||||
the copyright owner that is granting the License.
|
||||
|
||||
"Legal Entity" shall mean the union of the acting entity and all
|
||||
other entities that control, are controlled by, or are under common
|
||||
control with that entity. For the purposes of this definition,
|
||||
"control" means (i) the power, direct or indirect, to cause the
|
||||
direction or management of such entity, whether by contract or
|
||||
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||
outstanding shares, or (iii) beneficial ownership of such entity.
|
||||
|
||||
"You" (or "Your") shall mean an individual or Legal Entity
|
||||
exercising permissions granted by this License.
|
||||
|
||||
"Source" form shall mean the preferred form for making modifications,
|
||||
including but not limited to software source code, documentation
|
||||
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|
||||
|
||||
"Object" form shall mean any form resulting from mechanical
|
||||
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|
||||
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|
||||
and conversions to other media types.
|
||||
|
||||
"Work" shall mean the work of authorship, whether in Source or
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||||
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|
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||||
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|
||||
incidental, or consequential damages of any character arising as a
|
||||
result of this License or out of the use or inability to use the
|
||||
Work (including but not limited to damages for loss of goodwill,
|
||||
work stoppage, computer failure or malfunction, or any and all
|
||||
other commercial damages or losses), even if such Contributor
|
||||
has been advised of the possibility of such damages.
|
||||
|
||||
9. Accepting Warranty or Additional Liability. While redistributing
|
||||
the Work or Derivative Works thereof, You may choose to offer,
|
||||
and charge a fee for, acceptance of support, warranty, indemnity,
|
||||
or other liability obligations and/or rights consistent with this
|
||||
License. However, in accepting such obligations, You may act only
|
||||
on Your own behalf and on Your sole responsibility, not on behalf
|
||||
of any other Contributor, and only if You agree to indemnify,
|
||||
defend, and hold each Contributor harmless for any liability
|
||||
incurred by, or claims asserted against, such Contributor by reason
|
||||
of your accepting any such warranty or additional liability.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
APPENDIX: How to apply the Apache License to your work.
|
||||
|
||||
To apply the Apache License to your work, attach the following
|
||||
boilerplate notice, with the fields enclosed by brackets "[]"
|
||||
replaced with your own identifying information. (Don't include
|
||||
the brackets!) The text should be enclosed in the appropriate
|
||||
comment syntax for the file format. We also recommend that a
|
||||
file or class name and description of purpose be included on the
|
||||
same "printed page" as the copyright notice for easier
|
||||
identification within third-party archives.
|
||||
|
||||
Copyright [yyyy] [name of copyright owner]
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
|
|
@ -0,0 +1,271 @@
|
|||
# Adafruit Unified Sensor Driver #
|
||||
|
||||
Many small embedded systems exist to collect data from sensors, analyse the data, and either take an appropriate action or send that sensor data to another system for processing.
|
||||
|
||||
One of the many challenges of embedded systems design is the fact that parts you used today may be out of production tomorrow, or system requirements may change and you may need to choose a different sensor down the road.
|
||||
|
||||
Creating new drivers is a relatively easy task, but integrating them into existing systems is both error prone and time consuming since sensors rarely use the exact same units of measurement.
|
||||
|
||||
By reducing all data to a single **sensors\_event\_t** 'type' and settling on specific, **standardised SI units** for each sensor family the same sensor types return values that are comparable with any other similar sensor. This enables you to switch sensor models with very little impact on the rest of the system, which can help mitigate some of the risks and problems of sensor availability and code reuse.
|
||||
|
||||
The unified sensor abstraction layer is also useful for data-logging and data-transmission since you only have one well-known type to log or transmit over the air or wire.
|
||||
|
||||
## Unified Sensor Drivers ##
|
||||
|
||||
The following drivers are based on the Adafruit Unified Sensor Driver:
|
||||
|
||||
**Accelerometers**
|
||||
- [Adafruit\_ADXL345](https://github.com/adafruit/Adafruit_ADXL345)
|
||||
- [Adafruit\_LSM303DLHC](https://github.com/adafruit/Adafruit_LSM303DLHC)
|
||||
- [Adafruit\_MMA8451\_Library](https://github.com/adafruit/Adafruit_MMA8451_Library)
|
||||
|
||||
**Gyroscope**
|
||||
- [Adafruit\_L3GD20\_U](https://github.com/adafruit/Adafruit_L3GD20_U)
|
||||
|
||||
**Light**
|
||||
- [Adafruit\_TSL2561](https://github.com/adafruit/Adafruit_TSL2561)
|
||||
- [Adafruit\_TSL2591\_Library](https://github.com/adafruit/Adafruit_TSL2591_Library)
|
||||
|
||||
**Magnetometers**
|
||||
- [Adafruit\_LSM303DLHC](https://github.com/adafruit/Adafruit_LSM303DLHC)
|
||||
- [Adafruit\_HMC5883\_Unified](https://github.com/adafruit/Adafruit_HMC5883_Unified)
|
||||
|
||||
**Barometric Pressure**
|
||||
- [Adafruit\_BMP085\_Unified](https://github.com/adafruit/Adafruit_BMP085_Unified)
|
||||
- [Adafruit\_BMP183\_Unified\_Library](https://github.com/adafruit/Adafruit_BMP183_Unified_Library)
|
||||
|
||||
**Humidity & Temperature**
|
||||
- [DHT-sensor-library](https://github.com/adafruit/DHT-sensor-library)
|
||||
|
||||
**Humidity, Temperature, & Barometric Pressure**
|
||||
- [Adafruit_BME280_Library](https://github.com/adafruit/Adafruit_BME280_Library/)
|
||||
|
||||
**Orientation**
|
||||
- [Adafruit_BNO055](https://github.com/adafruit/Adafruit_BNO055)
|
||||
|
||||
**All in one device**
|
||||
- [Adafruit_LSM9DS0](https://github.com/adafruit/Adafruit_LSM9DS0_Library) (accelerometer, gyroscope, magnetometer)
|
||||
- [Adafruit_LSM9DS1](https://github.com/adafruit/Adafruit_LSM9DS1/) (accelerometer, gyroscope, magnetometer)
|
||||
|
||||
|
||||
## How Does it Work? ##
|
||||
|
||||
Any driver that supports the Adafruit unified sensor abstraction layer will implement the Adafruit\_Sensor base class. There are two main typedefs and one enum defined in Adafruit_Sensor.h that are used to 'abstract' away the sensor details and values:
|
||||
|
||||
## Sensor Types (`sensors_type_t`)
|
||||
|
||||
These pre-defined sensor types are used to properly handle the two related typedefs below, and allows us determine what types of units the sensor uses, etc.
|
||||
|
||||
```c++
|
||||
/** Sensor types */
|
||||
typedef enum
|
||||
{
|
||||
SENSOR_TYPE_ACCELEROMETER = (1),
|
||||
SENSOR_TYPE_MAGNETIC_FIELD = (2),
|
||||
SENSOR_TYPE_ORIENTATION = (3),
|
||||
SENSOR_TYPE_GYROSCOPE = (4),
|
||||
SENSOR_TYPE_LIGHT = (5),
|
||||
SENSOR_TYPE_PRESSURE = (6),
|
||||
SENSOR_TYPE_PROXIMITY = (8),
|
||||
SENSOR_TYPE_GRAVITY = (9),
|
||||
SENSOR_TYPE_LINEAR_ACCELERATION = (10),
|
||||
SENSOR_TYPE_ROTATION_VECTOR = (11),
|
||||
SENSOR_TYPE_RELATIVE_HUMIDITY = (12),
|
||||
SENSOR_TYPE_AMBIENT_TEMPERATURE = (13),
|
||||
SENSOR_TYPE_VOLTAGE = (15),
|
||||
SENSOR_TYPE_CURRENT = (16),
|
||||
SENSOR_TYPE_COLOR = (17),
|
||||
SENSOR_TYPE_TVOC = (18),
|
||||
SENSOR_TYPE_VOC_INDEX = (19),
|
||||
SENSOR_TYPE_NOX_INDEX = (20),
|
||||
SENSOR_TYPE_CO2 = (21),
|
||||
SENSOR_TYPE_ECO2 = (22),
|
||||
SENSOR_TYPE_PM10_STD = (23),
|
||||
SENSOR_TYPE_PM25_STD = (24),
|
||||
SENSOR_TYPE_PM100_STD = (25),
|
||||
SENSOR_TYPE_PM10_ENV = (26),
|
||||
SENSOR_TYPE_PM25_ENV = (27),
|
||||
SENSOR_TYPE_PM100_ENV = (28),
|
||||
SENSOR_TYPE_GAS_RESISTANCE = (29),
|
||||
SENSOR_TYPE_UNITLESS_PERCENT = (30),
|
||||
SENSOR_TYPE_ALTITUDE = (31),
|
||||
} sensors_type_t;
|
||||
```
|
||||
|
||||
## Sensor Details (`sensor_t`)
|
||||
|
||||
This typedef describes the specific capabilities of this sensor, and allows us to know what sensor we are using beneath the abstraction layer.
|
||||
|
||||
```c++
|
||||
/* Sensor details (40 bytes) */
|
||||
/** struct sensor_s is used to describe basic information about a specific sensor. */
|
||||
typedef struct
|
||||
{
|
||||
char name[12];
|
||||
int32_t version;
|
||||
int32_t sensor_id;
|
||||
int32_t type;
|
||||
float max_value;
|
||||
float min_value;
|
||||
float resolution;
|
||||
int32_t min_delay;
|
||||
} sensor_t;
|
||||
```
|
||||
|
||||
The individual fields are intended to be used as follows:
|
||||
|
||||
- **name**: The sensor name or ID, up to a maximum of twelve characters (ex. "MPL115A2")
|
||||
- **version**: The version of the sensor HW and the driver to allow us to differentiate versions of the board or driver
|
||||
- **sensor\_id**: A unique sensor identifier that is used to differentiate this specific sensor instance from any others that are present on the system or in the sensor network
|
||||
- **type**: The sensor type, based on **sensors\_type\_t** in sensors.h
|
||||
- **max\_value**: The maximum value that this sensor can return (in the appropriate SI unit)
|
||||
- **min\_value**: The minimum value that this sensor can return (in the appropriate SI unit)
|
||||
- **resolution**: The smallest difference between two values that this sensor can report (in the appropriate SI unit)
|
||||
- **min\_delay**: The minimum delay in microseconds between two sensor events, or '0' if there is no constant sensor rate
|
||||
|
||||
## Sensor Data/Events (`sensors_event_t`)
|
||||
|
||||
This typedef is used to return sensor data from any sensor supported by the abstraction layer, using standard SI units and scales.
|
||||
|
||||
```c++
|
||||
/* Sensor event (36 bytes) */
|
||||
/** struct sensor_event_s is used to provide a single sensor event in a common format. */
|
||||
typedef struct
|
||||
{
|
||||
int32_t version;
|
||||
int32_t sensor_id;
|
||||
int32_t type;
|
||||
int32_t reserved0;
|
||||
int32_t timestamp;
|
||||
union
|
||||
{
|
||||
float data[4];
|
||||
sensors_vec_t acceleration;
|
||||
sensors_vec_t magnetic;
|
||||
sensors_vec_t orientation;
|
||||
sensors_vec_t gyro;
|
||||
float temperature;
|
||||
float distance;
|
||||
float light;
|
||||
float pressure;
|
||||
float relative_humidity;
|
||||
float current;
|
||||
float voltage;
|
||||
float tvoc;
|
||||
float voc_index;
|
||||
float nox_index;
|
||||
float CO2,
|
||||
float eCO2,
|
||||
float pm10_std,
|
||||
float pm25_std,
|
||||
float pm100_std,
|
||||
float pm10_env,
|
||||
float pm25_env,
|
||||
float pm100_env,
|
||||
float gas_resistance,
|
||||
float unitless_percent,
|
||||
float altitude,
|
||||
sensors_color_t color;
|
||||
};
|
||||
} sensors_event_t;
|
||||
```
|
||||
It includes the following fields:
|
||||
|
||||
- **version**: Contain 'sizeof(sensors\_event\_t)' to identify which version of the API we're using in case this changes in the future
|
||||
- **sensor\_id**: A unique sensor identifier that is used to differentiate this specific sensor instance from any others that are present on the system or in the sensor network (must match the sensor\_id value in the corresponding sensor\_t enum above!)
|
||||
- **type**: the sensor type, based on **sensors\_type\_t** in sensors.h
|
||||
- **timestamp**: time in milliseconds when the sensor value was read
|
||||
- **data[4]**: An array of four 32-bit values that allows us to encapsulate any type of sensor data via a simple union (further described below)
|
||||
|
||||
## Required Functions
|
||||
|
||||
In addition to the two standard types and the sensor type enum, all drivers based on Adafruit_Sensor must also implement the following two functions:
|
||||
|
||||
```c++
|
||||
bool getEvent(sensors_event_t*);
|
||||
```
|
||||
Calling this function will populate the supplied sensors\_event\_t reference with the latest available sensor data. You should call this function as often as you want to update your data.
|
||||
|
||||
```c++
|
||||
void getSensor(sensor_t*);
|
||||
```
|
||||
Calling this function will provide some basic information about the sensor (the sensor name, driver version, min and max values, etc.
|
||||
|
||||
## Standardised SI values for `sensors_event_t`
|
||||
|
||||
A key part of the abstraction layer is the standardization of values on SI units of a particular scale, which is accomplished via the data[4] union in sensors\_event\_t above. This 16 byte union includes fields for each main sensor type, and uses the following SI units and scales:
|
||||
|
||||
- **acceleration**: values are in **meter per second per second** (m/s^2)
|
||||
- **magnetic**: values are in **micro-Tesla** (uT)
|
||||
- **orientation**: values are in **degrees**
|
||||
- **gyro**: values are in **rad/s**
|
||||
- **temperature**: values in **degrees centigrade** (Celsius)
|
||||
- **distance**: values are in **centimeters**
|
||||
- **light**: values are in **SI lux** units
|
||||
- **pressure**: values are in **hectopascal** (hPa)
|
||||
- **relative\_humidity**: values are in **percent**
|
||||
- **current**: values are in **milliamps** (mA)
|
||||
- **voltage**: values are in **volts** (V)
|
||||
- **color**: values are in 0..1.0 RGB channel luminosity and 32-bit RGBA format
|
||||
- **tvoc**: values are in **parts per billion** (ppb)
|
||||
- **voc_index**: values are an **index** from 1-500 with 100 being normal
|
||||
- **nox_index**: values are an **index** from 1-500 with 100 being normal
|
||||
- **CO2**: values are in **parts per million** (ppm)
|
||||
- **eCO2**: values are in **parts per million** (ppm)
|
||||
- **pm10_std**: values are in **parts per million** (ppm)
|
||||
- **pm25_std**: values are in **parts per million** (ppm)
|
||||
- **pm100_std**: values are in **parts per million** (ppm)
|
||||
- **pm10_env**: values are in **parts per million** (ppm)
|
||||
- **pm25_env**: values are in **parts per million** (ppm)
|
||||
- **pm100_env**: values are in **parts per million** (ppm)
|
||||
- **gas_resistance**: values are in **ohms**
|
||||
- **unitless_percent**: values are in **%**
|
||||
- **altitude**: values are in **meters** (m)
|
||||
|
||||
## The Unified Driver Abstraction Layer in Practice ##
|
||||
|
||||
Using the unified sensor abstraction layer is relatively easy once a compliant driver has been created.
|
||||
|
||||
Every compliant sensor can now be read using a single, well-known 'type' (sensors\_event\_t), and there is a standardized way of interrogating a sensor about its specific capabilities (via sensor\_t).
|
||||
|
||||
An example of reading the [TSL2561](https://github.com/adafruit/Adafruit_TSL2561) light sensor can be seen below:
|
||||
|
||||
```c++
|
||||
Adafruit_TSL2561 tsl = Adafruit_TSL2561(TSL2561_ADDR_FLOAT, 12345);
|
||||
...
|
||||
/* Get a new sensor event */
|
||||
sensors_event_t event;
|
||||
tsl.getEvent(&event);
|
||||
|
||||
/* Display the results (light is measured in lux) */
|
||||
if (event.light)
|
||||
{
|
||||
Serial.print(event.light); Serial.println(" lux");
|
||||
}
|
||||
else
|
||||
{
|
||||
/* If event.light = 0 lux the sensor is probably saturated
|
||||
and no reliable data could be generated! */
|
||||
Serial.println("Sensor overload");
|
||||
}
|
||||
```
|
||||
|
||||
Similarly, we can get the basic technical capabilities of this sensor with the following code:
|
||||
|
||||
```c++
|
||||
sensor_t sensor;
|
||||
|
||||
sensor_t sensor;
|
||||
tsl.getSensor(&sensor);
|
||||
|
||||
/* Display the sensor details */
|
||||
Serial.println("------------------------------------");
|
||||
Serial.print ("Sensor: "); Serial.println(sensor.name);
|
||||
Serial.print ("Driver Ver: "); Serial.println(sensor.version);
|
||||
Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id);
|
||||
Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" lux");
|
||||
Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" lux");
|
||||
Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" lux");
|
||||
Serial.println("------------------------------------");
|
||||
Serial.println("");
|
||||
```
|
||||
|
|
@ -0,0 +1,153 @@
|
|||
#include <Wire.h>
|
||||
#include <Adafruit_Sensor.h>
|
||||
#include <Adafruit_ADXL343.h>
|
||||
|
||||
/* Assign a unique ID to this sensor at the same time */
|
||||
/* Uncomment following line for default Wire bus */
|
||||
Adafruit_ADXL343 accel = Adafruit_ADXL343(12345);
|
||||
|
||||
/* NeoTrellis M4, etc. */
|
||||
/* Uncomment following line for Wire1 bus */
|
||||
//Adafruit_ADXL343 accel = Adafruit_ADXL343(12345, &Wire1);
|
||||
|
||||
void displaySensorDetails(void)
|
||||
{
|
||||
sensor_t sensor;
|
||||
accel.getSensor(&sensor);
|
||||
Serial.println("------------------------------------");
|
||||
Serial.print ("Sensor: "); Serial.println(sensor.name);
|
||||
Serial.print ("Driver Ver: "); Serial.println(sensor.version);
|
||||
Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id);
|
||||
Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" m/s^2");
|
||||
Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" m/s^2");
|
||||
Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" m/s^2");
|
||||
Serial.println("------------------------------------");
|
||||
Serial.println("");
|
||||
delay(500);
|
||||
}
|
||||
|
||||
void displayDataRate(void)
|
||||
{
|
||||
Serial.print ("Data Rate: ");
|
||||
|
||||
switch(accel.getDataRate())
|
||||
{
|
||||
case ADXL343_DATARATE_3200_HZ:
|
||||
Serial.print ("3200 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_1600_HZ:
|
||||
Serial.print ("1600 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_800_HZ:
|
||||
Serial.print ("800 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_400_HZ:
|
||||
Serial.print ("400 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_200_HZ:
|
||||
Serial.print ("200 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_100_HZ:
|
||||
Serial.print ("100 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_50_HZ:
|
||||
Serial.print ("50 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_25_HZ:
|
||||
Serial.print ("25 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_12_5_HZ:
|
||||
Serial.print ("12.5 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_6_25HZ:
|
||||
Serial.print ("6.25 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_3_13_HZ:
|
||||
Serial.print ("3.13 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_1_56_HZ:
|
||||
Serial.print ("1.56 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_0_78_HZ:
|
||||
Serial.print ("0.78 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_0_39_HZ:
|
||||
Serial.print ("0.39 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_0_20_HZ:
|
||||
Serial.print ("0.20 ");
|
||||
break;
|
||||
case ADXL343_DATARATE_0_10_HZ:
|
||||
Serial.print ("0.10 ");
|
||||
break;
|
||||
default:
|
||||
Serial.print ("???? ");
|
||||
break;
|
||||
}
|
||||
Serial.println(" Hz");
|
||||
}
|
||||
|
||||
void displayRange(void)
|
||||
{
|
||||
Serial.print ("Range: +/- ");
|
||||
|
||||
switch(accel.getRange())
|
||||
{
|
||||
case ADXL343_RANGE_16_G:
|
||||
Serial.print ("16 ");
|
||||
break;
|
||||
case ADXL343_RANGE_8_G:
|
||||
Serial.print ("8 ");
|
||||
break;
|
||||
case ADXL343_RANGE_4_G:
|
||||
Serial.print ("4 ");
|
||||
break;
|
||||
case ADXL343_RANGE_2_G:
|
||||
Serial.print ("2 ");
|
||||
break;
|
||||
default:
|
||||
Serial.print ("?? ");
|
||||
break;
|
||||
}
|
||||
Serial.println(" g");
|
||||
}
|
||||
|
||||
void setup(void)
|
||||
{
|
||||
Serial.begin(9600);
|
||||
while (!Serial);
|
||||
Serial.println("Accelerometer Test"); Serial.println("");
|
||||
|
||||
/* Initialise the sensor */
|
||||
if(!accel.begin())
|
||||
{
|
||||
/* There was a problem detecting the ADXL343 ... check your connections */
|
||||
Serial.println("Ooops, no ADXL343 detected ... Check your wiring!");
|
||||
while(1);
|
||||
}
|
||||
|
||||
/* Set the range to whatever is appropriate for your project */
|
||||
accel.setRange(ADXL343_RANGE_16_G);
|
||||
// accel.setRange(ADXL343_RANGE_8_G);
|
||||
// accel.setRange(ADXL343_RANGE_4_G);
|
||||
// accel.setRange(ADXL343_RANGE_2_G);
|
||||
|
||||
/* Display some basic information on this sensor */
|
||||
displaySensorDetails();
|
||||
displayDataRate();
|
||||
displayRange();
|
||||
Serial.println("");
|
||||
}
|
||||
|
||||
void loop(void)
|
||||
{
|
||||
/* Get a new sensor event */
|
||||
sensors_event_t event;
|
||||
accel.getEvent(&event);
|
||||
|
||||
/* Display the results (acceleration is measured in m/s^2) */
|
||||
Serial.print("X: "); Serial.print(event.acceleration.x); Serial.print(" ");
|
||||
Serial.print("Y: "); Serial.print(event.acceleration.y); Serial.print(" ");
|
||||
Serial.print("Z: "); Serial.print(event.acceleration.z); Serial.print(" ");Serial.println("m/s^2 ");
|
||||
delay(500);
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
name=Adafruit Unified Sensor
|
||||
version=1.1.14
|
||||
author=Adafruit <info@adafruit.com>
|
||||
maintainer=Adafruit <info@adafruit.com>
|
||||
sentence=Required for all Adafruit Unified Sensor based libraries.
|
||||
paragraph=A unified sensor abstraction layer used by many Adafruit sensor libraries.
|
||||
category=Sensors
|
||||
url=https://github.com/adafruit/Adafruit_Sensor
|
||||
architectures=*
|
||||
includes=Adafruit_Sensor.h
|
||||
|
||||
|
|
@ -2,6 +2,6 @@
|
|||
|
||||
source .venv/bin/activate
|
||||
|
||||
port=${1:-/dev/ttyUSB0}
|
||||
port=${1:-/dev/ttyACM0}
|
||||
|
||||
pio device monitor -b 115200 -p "$port"
|
||||
|
|
|
|||
|
|
@ -9,25 +9,25 @@
|
|||
; https://docs.platformio.org/page/projectconf.html
|
||||
|
||||
[env]
|
||||
platform = espressif32
|
||||
board = esp32-s2-saola-1
|
||||
framework = arduino
|
||||
platform = espressif32
|
||||
board = lilygo-t7-s3
|
||||
upload_protocol = esptool
|
||||
upload_speed = 921600
|
||||
monitor_speed = 115200
|
||||
build_flags = -D ARDUINO_USB_CDC_ON_BOOT=1
|
||||
|
||||
[env:main]
|
||||
build_src_filter =
|
||||
+<main.cpp>
|
||||
|
||||
;; Olimex prototype sketch
|
||||
[env:ada]
|
||||
board = esp32-s2-saola-1
|
||||
build_src_filter =
|
||||
+<ada.cpp>
|
||||
|
||||
[env:sprejemnik]
|
||||
board = lilygo-t7-s3
|
||||
;board_build.mcu = esp32s3
|
||||
upload_protocol = esptool
|
||||
upload_speed = 921600
|
||||
monitor_speed = 115200
|
||||
build_flags = -D ARDUINO_USB_CDC_ON_BOOT=1
|
||||
build_src_filter =
|
||||
+<sprejemnik.cpp>
|
||||
|
||||
|
|
@ -35,18 +35,6 @@ build_src_filter =
|
|||
build_src_filter =
|
||||
+<scanner.cpp>
|
||||
|
||||
[env:fastimu]
|
||||
build_src_filter =
|
||||
+<fastimu_calibrate_quat.cpp>
|
||||
|
||||
[env:fastimu_sensors]
|
||||
build_src_filter =
|
||||
+<fastimu_sensors.cpp>
|
||||
|
||||
[env:detect]
|
||||
build_src_filter =
|
||||
+<detect.cpp>
|
||||
|
||||
[env:bolder]
|
||||
build_src_filter =
|
||||
+<bolder.cpp>
|
||||
|
|
|
|||
235
src/main.cpp
235
src/main.cpp
|
|
@ -1,196 +1,177 @@
|
|||
#include <Arduino.h>
|
||||
#include <Wire.h>
|
||||
|
||||
#define __x86_64__
|
||||
|
||||
// ID kegla mora bit unikaten za vsakega! (se poslje poleg parametrov)
|
||||
// ID senzorja mora bit unikaten! (se poslje poleg parametrov)
|
||||
#define SENSOR_ID 1
|
||||
|
||||
// I2C
|
||||
#define SDA_PIN 1
|
||||
#define SCL_PIN 2
|
||||
// Stanje baterije
|
||||
#define BATTERY_PIN 2
|
||||
|
||||
// IMU libraries
|
||||
#include "I2Cdev.h"
|
||||
#include "RTIMUSettings.h"
|
||||
#include "RTIMU.h"
|
||||
#include "RTFusionRTQF.h"
|
||||
#include "CalLib.h"
|
||||
#include <EEPROM.h>
|
||||
/* LED indicator
|
||||
States:
|
||||
init: 3 slow blinks
|
||||
error: fast blinking
|
||||
running: led ON */
|
||||
#define LED_PIN 17
|
||||
|
||||
//#include "RTMath.h"
|
||||
// debagiranje!
|
||||
#define DEBUG
|
||||
|
||||
// I²C pins
|
||||
#define SDA_PIN 8
|
||||
#define SCL_PIN 9
|
||||
|
||||
// IMU library
|
||||
#include <SPI.h>
|
||||
#include <Adafruit_BNO055.h>
|
||||
|
||||
// ESPNOW WIFI package structure
|
||||
#include "sensor_msg.h"
|
||||
|
||||
// ESPNOW wifi libraries
|
||||
#include <esp_now.h>
|
||||
#include <WiFi.h>
|
||||
|
||||
// MAC naslov sprejemnika
|
||||
uint8_t sprejemnikMac[] = {0x08, 0x3A, 0xF2, 0x50, 0xEF, 0x6C };
|
||||
|
||||
typedef struct sensor_msg {
|
||||
uint8_t id;
|
||||
float aX;
|
||||
float aY;
|
||||
float aZ;
|
||||
float qX;
|
||||
float qY;
|
||||
float qZ;
|
||||
float qW;
|
||||
}sensor_msg;
|
||||
|
||||
sensor_msg odcitek;
|
||||
esp_now_peer_info_t peerInfo;
|
||||
|
||||
#define DISPLAY_INTERVAL 5 // interval between pose displays
|
||||
|
||||
// Motion sensor objects
|
||||
RTIMU *imu; // the IMU object
|
||||
RTFusionRTQF fusion; // the fusion object
|
||||
RTIMUSettings settings; // the settings object
|
||||
Adafruit_BNO055 bno;
|
||||
sensor_t ensor;
|
||||
|
||||
unsigned long lastDisplay;
|
||||
unsigned long lastRate;
|
||||
int sampleCount;
|
||||
RTQuaternion gravity;
|
||||
imu::Quaternion quat;
|
||||
imu::Vector<3> linearAccel;
|
||||
|
||||
bool reset; // For quaternion calibration
|
||||
int cas = 0;
|
||||
|
||||
int errcode;
|
||||
void error_blink() {
|
||||
while(1) {
|
||||
digitalWrite(LED_PIN, LOW);
|
||||
delay(200);
|
||||
digitalWrite(LED_PIN, HIGH);
|
||||
delay(200);
|
||||
};
|
||||
}
|
||||
|
||||
void setup() {
|
||||
|
||||
// Basic(debug) serial init
|
||||
Serial.begin(115200); // set this as high as you can reliably run on your platform
|
||||
Serial.println("Starting up...");
|
||||
|
||||
// Init EEPROM based on magnet calibration size requirement
|
||||
EEPROM.begin(512);
|
||||
|
||||
// I2C init
|
||||
Wire.begin(SDA_PIN, SCL_PIN);
|
||||
Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
|
||||
// Fast mode
|
||||
Wire.setClock(400000);
|
||||
|
||||
// create the imu object
|
||||
imu = RTIMU::createIMU(&settings);
|
||||
|
||||
Serial.print("ArduinoIMU starting using device "); Serial.println(imu->IMUName());
|
||||
if ((errcode = imu->IMUInit()) < 0) {
|
||||
Serial.print("Failed to init IMU: "); Serial.println(errcode);
|
||||
// Init - 3 one second blinks
|
||||
pinMode(LED_PIN, OUTPUT);
|
||||
for (int i = 0; i < 3; i++) {
|
||||
Serial.println(i + 1);
|
||||
digitalWrite(LED_PIN, LOW);
|
||||
delay(1000);
|
||||
digitalWrite(LED_PIN, HIGH);
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
bno = Adafruit_BNO055(55, 0x28, &Wire);
|
||||
/* Initialise the sensor */
|
||||
if(!bno.begin(OPERATION_MODE_NDOF)) {
|
||||
//if(!bno.begin(OPERATION_MODE_AMG)) {
|
||||
/* There was a problem detecting the BNO055 ... check your connections */
|
||||
Serial.println("Ooops, no BNO055 detected ... Check your wiring or I2C ADDR!");
|
||||
error_blink();
|
||||
}
|
||||
|
||||
if (imu->getCalibrationValid())
|
||||
Serial.println("Using compass calibration");
|
||||
else
|
||||
Serial.println("No valid compass calibration data");
|
||||
delay(1000);
|
||||
|
||||
// Gravity obj
|
||||
gravity.setScalar(0);
|
||||
gravity.setX(0);
|
||||
gravity.setY(0);
|
||||
gravity.setZ(1);
|
||||
/*
|
||||
fusion.setSlerpPower(0.02);
|
||||
fusion.setGyroEnable(true);
|
||||
fusion.setAccelEnable(true);
|
||||
fusion.setCompassEnable(true);
|
||||
*/
|
||||
|
||||
lastDisplay = lastRate = millis();
|
||||
sampleCount = 0;
|
||||
/* Use external crystal for better accuracy? */
|
||||
bno.setExtCrystalUse(true);
|
||||
|
||||
// WIFI init
|
||||
WiFi.mode(WIFI_STA);
|
||||
if (esp_now_init() != ESP_OK) {
|
||||
Serial.println("Error initializing ESP-NOW");
|
||||
return;
|
||||
error_blink();
|
||||
}
|
||||
|
||||
//esp_now_register_send_cb(paketPoslan);
|
||||
|
||||
memcpy(peerInfo.peer_addr, sprejemnikMac, 6);
|
||||
peerInfo.channel = 0;
|
||||
peerInfo.encrypt = false;
|
||||
|
||||
if (esp_now_add_peer(&peerInfo) != ESP_OK){
|
||||
Serial.println("WIFI registracija ni uspela");
|
||||
return;
|
||||
error_blink();
|
||||
}
|
||||
}
|
||||
|
||||
void paketPoslan(const uint8_t *mac_addr, esp_now_send_status_t status) {
|
||||
Serial.print("\r\nStanje poslanega paketa:\t");
|
||||
if (status == ESP_NOW_SEND_SUCCESS) {
|
||||
Serial.println("Uspesno poslano!");
|
||||
} else {
|
||||
Serial.println("Napaka pri posiljanju...");
|
||||
}
|
||||
// Running - led on!
|
||||
digitalWrite(LED_PIN, HIGH);
|
||||
|
||||
// Nastavi ID senzorja
|
||||
odcitek.id = SENSOR_ID;
|
||||
|
||||
// Initial time
|
||||
cas = millis();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
unsigned long now = millis();
|
||||
unsigned long delta;
|
||||
RTVector3 realAccel;
|
||||
RTQuaternion rotatedGravity;
|
||||
RTQuaternion fusedConjugate;
|
||||
RTQuaternion qTemp;
|
||||
int loopCount = 0;
|
||||
/* Get a new sensor event */
|
||||
//sensors_event_t event;
|
||||
//bno.getEvent(&event);
|
||||
|
||||
// get the latest data if ready yet
|
||||
while (imu->IMURead()) {
|
||||
// this flushes remaining data in case we are falling behind
|
||||
if (++loopCount >= 10)
|
||||
continue;
|
||||
// Get quat (fusion mode); 4 * 2bytes
|
||||
quat = bno.getQuat();
|
||||
odcitek.qX = quat.x();
|
||||
odcitek.qY = quat.y();
|
||||
odcitek.qZ = quat.z();
|
||||
odcitek.qW = quat.w();
|
||||
|
||||
fusion.newIMUData(imu->getGyro(), imu->getAccel(), imu->getCompass(), imu->getTimestamp());
|
||||
#ifdef DEBUG
|
||||
Serial.print(F("Quat: "));
|
||||
Serial.print((float)odcitek.qX);
|
||||
Serial.print(F(" "));
|
||||
Serial.print((float)odcitek.qY);
|
||||
Serial.print(F(" "));
|
||||
Serial.print((float)odcitek.qZ);
|
||||
Serial.print(F(" "));
|
||||
Serial.print((float)odcitek.qW);
|
||||
Serial.println("");
|
||||
#endif
|
||||
|
||||
// do gravity rotation and subtraction
|
||||
|
||||
// create the conjugate of the pose
|
||||
fusedConjugate = fusion.getFusionQPose().conjugate();
|
||||
|
||||
// now do the rotation - takes two steps with qTemp as the intermediate variable
|
||||
qTemp = gravity * fusion.getFusionQPose();
|
||||
rotatedGravity = fusedConjugate * qTemp;
|
||||
|
||||
// now adjust the measured accel and change the signs to make sense
|
||||
realAccel.setX(-(imu->getAccel().x() - rotatedGravity.x()));
|
||||
realAccel.setY(-(imu->getAccel().y() - rotatedGravity.y()));
|
||||
realAccel.setZ(-(imu->getAccel().z() - rotatedGravity.z()));
|
||||
|
||||
sampleCount++;
|
||||
if ((delta = now - lastRate) >= 1000) {
|
||||
|
||||
//Serial.print("Sample rate: "); Serial.print(sampleCount);
|
||||
if (!imu->IMUGyroBiasValid()) {
|
||||
// Serial.println(", calculating gyro bias");
|
||||
} else {
|
||||
// Serial.println();
|
||||
// Each second, read the battery
|
||||
// @TODO use something more precise, like https://github.com/rlogiacco/BatterySense ?
|
||||
if (millis() - cas > 1000) {
|
||||
cas = millis();
|
||||
odcitek.bat = analogRead(BATTERY_PIN) * (1.1 / 8192);
|
||||
}
|
||||
|
||||
sampleCount = 0;
|
||||
lastRate = now;
|
||||
}
|
||||
// Get linear acceleration (3 * 2bytes)
|
||||
linearAccel = bno.getVector(Adafruit_BNO055::VECTOR_LINEARACCEL);
|
||||
odcitek.aX = linearAccel.x();
|
||||
odcitek.aY = linearAccel.y();
|
||||
odcitek.aZ = linearAccel.z();
|
||||
|
||||
if ((now - lastDisplay) >= DISPLAY_INTERVAL) {
|
||||
lastDisplay = now;
|
||||
#ifdef DEBUG
|
||||
Serial.print(F("Linear acceleration: "));
|
||||
Serial.print((float)odcitek.aX);
|
||||
Serial.print(F(" "));
|
||||
Serial.print((float)odcitek.aY);
|
||||
Serial.print(F(" "));
|
||||
Serial.print((float)odcitek.aZ);
|
||||
Serial.println("");
|
||||
#endif
|
||||
|
||||
odcitek.id = SENSOR_ID;
|
||||
odcitek.aX = realAccel.x();
|
||||
odcitek.aY = realAccel.y();
|
||||
odcitek.aZ = realAccel.z();
|
||||
|
||||
odcitek.qX = fusion.getFusionQPose().x();
|
||||
odcitek.qY = fusion.getFusionQPose().y();
|
||||
odcitek.qZ = fusion.getFusionQPose().z();
|
||||
odcitek.qW = fusion.getFusionQPose().scalar();
|
||||
|
||||
esp_err_t result = esp_now_send(sprejemnikMac, (uint8_t *) &odcitek, sizeof(odcitek));
|
||||
|
||||
#ifdef DEBUG
|
||||
if (result == ESP_OK) {
|
||||
Serial.println("Uspesno poslano");
|
||||
} else {
|
||||
Serial.println("Napaka pri posiljanju");
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
|
|
|||
|
|
@ -30,11 +30,11 @@
|
|||
#include <Arduino.h>
|
||||
#include <Wire.h>
|
||||
|
||||
#define SDA_PIN 1
|
||||
#define SCL_PIN 2
|
||||
#define SDA_PIN 8
|
||||
#define SCL_PIN 9
|
||||
|
||||
void setup() {
|
||||
Wire.begin();
|
||||
Wire.begin(SDA_PIN, SCL_PIN);
|
||||
|
||||
Serial.begin(115200);
|
||||
while (!Serial); // Leonardo: wait for Serial Monitor
|
||||
|
|
|
|||
|
|
@ -11,6 +11,9 @@
|
|||
|
||||
//#define DEBUG
|
||||
|
||||
// LED indicator
|
||||
#define LED_PIN 17
|
||||
|
||||
#include "SLIPEncodedSerial.h"
|
||||
SLIPEncodedUSBSerial SLIPSerial(Serial);
|
||||
|
||||
|
|
@ -71,15 +74,18 @@ void setup() {
|
|||
poslji[i] = false;
|
||||
}
|
||||
|
||||
for (int i = 0; i < 5; i++) {
|
||||
Serial.println(i);
|
||||
//log_e("hmm");
|
||||
// Init - 3 one second blinks
|
||||
pinMode(LED_PIN, OUTPUT);
|
||||
for (int i = 0; i < 3; i++) {
|
||||
Serial.println(i + 1);
|
||||
digitalWrite(LED_PIN, LOW);
|
||||
delay(1000);
|
||||
digitalWrite(LED_PIN, HIGH);
|
||||
delay(1000);
|
||||
}
|
||||
|
||||
// ESP32S3 - vklopi LED!
|
||||
pinMode(17, OUTPUT);
|
||||
digitalWrite(17, HIGH);
|
||||
digitalWrite(LED_PIN, HIGH);
|
||||
|
||||
Serial.println("Inicializiram WIFI...");
|
||||
WiFi.mode(WIFI_STA);
|
||||
|
|
|
|||
Loading…
Reference in New Issue