Kris Winer
10 years ago
1 changed files with 320 additions and 0 deletions
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#include <SdFat.h> |
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#include <i2c_t3.h> |
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#define SD_CS 10 |
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#define EM7180_QX 0x00 // this is a 32-bit normalized floating point number read from registers 0x00-03
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#define EM7180_QY 0x04 // this is a 32-bit normalized floating point number read from registers 0x04-07
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#define EM7180_QZ 0x08 // this is a 32-bit normalized floating point number read from registers 0x08-0B
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#define EM7180_QW 0x0C // this is a 32-bit normalized floating point number read from registers 0x0C-0F
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#define EM7180_QTIME 0x10 // this is a 16-bit unsigned integer read from registers 0x10-11
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#define EM7180_MX 0x12 // int16_t from registers 0x12-13
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#define EM7180_MY 0x14 // int16_t from registers 0x14-15
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#define EM7180_MZ 0x16 // int16_t from registers 0x16-17
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#define EM7180_MTIME 0x18 // uint16_t from registers 0x18-19
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#define EM7180_AX 0x1A // int16_t from registers 0x1A-1B
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#define EM7180_AY 0x1C // int16_t from registers 0x1C-1D
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#define EM7180_AZ 0x1E // int16_t from registers 0x1E-1F
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#define EM7180_ATIME 0x20 // uint16_t from registers 0x20-21
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#define EM7180_GX 0x22 // int16_t from registers 0x22-23
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#define EM7180_GY 0x24 // int16_t from registers 0x24-25
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#define EM7180_GZ 0x26 // int16_t from registers 0x26-27
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#define EM7180_GTIME 0x28 // uint16_t from registers 0x28-29
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#define EM7180_QRateDivisor 0x32 // uint8_t
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#define EM7180_EnableEvents 0x33 |
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#define EM7180_HostControl 0x34 |
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#define EM7180_EventStatus 0x35 |
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#define EM7180_SensorStatus 0x36 |
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#define EM7180_SentralStatus 0x37 |
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#define EM7180_AlgorithmStatus 0x38 |
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#define EM7180_FeatureFlags 0x39 |
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#define EM7180_ParamAcknowledge 0x3A |
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#define EM7180_SavedParamByte0 0x3B |
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#define EM7180_SavedParamByte1 0x3C |
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#define EM7180_SavedParamByte2 0x3D |
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#define EM7180_SavedParamByte3 0x3E |
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#define EM7180_ActualMagRate 0x45 |
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#define EM7180_ActualAccelRate 0x46 |
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#define EM7180_ActualGyroRate 0x47 |
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#define EM7180_ErrorRegister 0x50 |
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#define EM7180_AlgorithmControl 0x54 |
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#define EM7180_MagRate 0x55 |
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#define EM7180_AccelRate 0x56 |
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#define EM7180_GyroRate 0x57 |
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#define EM7180_LoadParamByte0 0x60 |
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#define EM7180_LoadParamByte1 0x61 |
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#define EM7180_LoadParamByte2 0x62 |
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#define EM7180_LoadParamByte3 0x63 |
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#define EM7180_ParamRequest 0x64 |
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#define EM7180_ROMVersion1 0x70 |
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#define EM7180_ROMVersion2 0x71 |
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#define EM7180_RAMVersion1 0x72 |
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#define EM7180_RAMVersion2 0x73 |
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#define EM7180_ProductID 0x90 |
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#define EM7180_RevisionID 0x91 |
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#define EM7180_UploadAddress 0x94 // uint16_t registers 0x94 (MSB)-5(LSB)
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#define EM7180_UploadData 0x96 |
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#define EM7180_CRCHost 0x97 // uint32_t from registers 0x97-9A
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#define EM7180_ResetRequest 0x9B |
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#define EM7180_PassThruStatus 0x9E |
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#define EM7180_PassThruControl 0xA0 |
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// Using the Teensy Mini Add-On board, BMX055 SDO1 = SDO2 = CSB3 = GND as designed
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// Seven-bit BMX055 device addresses are ACC = 0x18, GYRO = 0x68, MAG = 0x10
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#define BMX055_ACC_ADDRESS 0x18 // Address of BMX055 accelerometer
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#define BMX055_GYRO_ADDRESS 0x68 // Address of BMX055 gyroscope
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#define BMX055_MAG_ADDRESS 0x10 // Address of BMX055 magnetometer
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#define MS5637_ADDRESS 0x76 // Address of MS5637 altimeter
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#define EM7180_ADDRESS 0x28 // Address of the EM7180 SENtral sensor hub#define M24512DFM_DATA_ADDRESS 0x50 // Address of the 500 page M24512DFM EEPROM data buffer, 1024 bits (128 8-bit bytes) per page
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#define M24512DFM_DATA_ADDRESS 0x50 // Address of the 500 page M24512DFM EEPROM data buffer, 1024 bits (128 8-bit bytes) per page
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#define M24512DFM_IDPAGE_ADDRESS 0x58 // Address of the single M24512DFM lockable EEPROM ID page
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SdFat SD; |
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SdFile sd_file; |
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void setup() { |
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// Setup for Master mode, pins 18/19, external pullups, 400kHz for Teensy 3.1
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Wire.begin(I2C_MASTER, 0x00, I2C_PINS_16_17, I2C_PULLUP_EXT, I2C_RATE_400); |
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Serial.begin(9600); |
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while (!SD.begin(SD_CS, SPI_HALF_SPEED)) { |
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Serial.println("failed to init sd"); |
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Serial.printf("err: %02x\n", SD.card()->errorCode()); |
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} |
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Serial.println("sd init"); |
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I2Cscan(); |
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// Put EM7180 SENtral into pass-through mode
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SENtralPassThroughMode(); |
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I2Cscan(); |
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sd_file.open("/SENTRA~1.FW", O_RDONLY);
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Serial.println("File Open!"); |
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uint8_t buffer[128]; |
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uint8_t numbytes, MSadd = 0, totnum = 0; |
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Serial.println("writing data to EEPROM"); |
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for (MSadd = 0; MSadd < 256; MSadd++) { // MS address byte, 0 to 255
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numbytes = sd_file.read(buffer, 128); // 128 bytes per page, 500 pages
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Serial.print("first two bytes: "); Serial.print("0x"); Serial.print(buffer[0], HEX); Serial.print("0x"); Serial.println(buffer[1], HEX); |
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Serial.print("Number of bytes = "); Serial.println(numbytes); // print number of bytes read
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M24512DFMwriteBytes(M24512DFM_DATA_ADDRESS, MSadd, 0x00, 128, buffer); // write data starting at first byte of page MSadd
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delay(50); |
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numbytes = sd_file.read(buffer, 128); // 128 bytes per page, 500 pages
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Serial.print("first two bytes: "); Serial.print("0x"); Serial.print(buffer[0], HEX); Serial.print("0x"); Serial.println(buffer[1], HEX); |
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Serial.print("Number of bytes = "); Serial.println(numbytes); // print number of bytes read
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M24512DFMwriteBytes(M24512DFM_DATA_ADDRESS, MSadd, 0x80, 128, buffer); // write data starting at 128th byte of page MSadd
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delay(50); |
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if (numbytes < 128) { break; } |
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totnum++; |
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Serial.print("totnum"); Serial.println(totnum); |
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Serial.print("MSadd 0x"); Serial.println(MSadd, HEX); |
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} |
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// Read first page of EEPROM
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uint8_t data[128]; |
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M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x00, 0x00, 128, data); |
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Serial.println("EEPROM first page");
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for (int i = 0; i < 16; i++) { |
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Serial.println(" "); |
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for (int j = 0; j < 8; j++) { |
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Serial.print(data[i*8 + j], HEX); Serial.print(" "); |
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} |
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} |
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// Read second page of EEPROM
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M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x00, 0x80, 128, data); |
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Serial.println("");Serial.println("EEPROM second page");
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for (int i = 0; i < 16; i++) { |
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Serial.println(" "); |
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for (int j = 0; j < 8; j++) { |
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Serial.print(data[i*8 + j], HEX); Serial.print(" "); |
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} |
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} |
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// Read third page of EEPROM
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M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x01, 0x00, 128, data); |
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Serial.println("");Serial.println("EEPROM third page");
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for (int i = 0; i < 16; i++) { |
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Serial.println(" "); |
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for (int j = 0; j < 8; j++) { |
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Serial.print(data[i*8 + j], HEX); Serial.print(" "); |
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} |
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} |
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} |
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void loop() { |
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} |
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// I2C read/write functions for the MPU9250 and AK8963 sensors
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void writeByte(uint8_t address, uint8_t subAddress, uint8_t data) |
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{ |
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Wire.beginTransmission(address); // Initialize the Tx buffer
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Wire.write(subAddress); // Put slave register address in Tx buffer
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Wire.write(data); // Put data in Tx buffer
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Wire.endTransmission(); // Send the Tx buffer
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} |
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uint8_t readByte(uint8_t address, uint8_t subAddress) |
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{ |
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uint8_t data; // `data` will store the register data
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Wire.beginTransmission(address); // Initialize the Tx buffer
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Wire.write(subAddress); // Put slave register address in Tx buffer
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Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive
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// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
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// Wire.requestFrom(address, 1); // Read one byte from slave register address
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Wire.requestFrom(address, (size_t) 1); // Read one byte from slave register address
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data = Wire.read(); // Fill Rx buffer with result
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return data; // Return data read from slave register
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} |
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void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest) |
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{
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Wire.beginTransmission(address); // Initialize the Tx buffer
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Wire.write(subAddress); // Put slave register address in Tx buffer
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Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive
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// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
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uint8_t i = 0; |
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// Wire.requestFrom(address, count); // Read bytes from slave register address
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Wire.requestFrom(address, (size_t) count); // Read bytes from slave register address
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while (Wire.available()) { |
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dest[i++] = Wire.read(); } // Put read results in the Rx buffer
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} |
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void SENtralPassThroughMode() |
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{ |
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// First put SENtral in standby mode
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uint8_t c = readByte(EM7180_ADDRESS, EM7180_AlgorithmControl); |
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writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, c | 0x01); |
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// c = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus);
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// Serial.print("c = "); Serial.println(c);
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// Verify standby status
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// if(readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus) & 0x01) {
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Serial.println("SENtral in standby mode");
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// Place SENtral in pass-through mode
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writeByte(EM7180_ADDRESS, EM7180_PassThruControl, 0x01);
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if(readByte(EM7180_ADDRESS, EM7180_PassThruStatus) & 0x01) { |
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Serial.println("SENtral in pass-through mode"); |
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} |
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else { |
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Serial.println("ERROR! SENtral not in pass-through mode!"); |
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} |
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} |
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// I2C communication with the M24512DFM EEPROM is a little different from I2C communication with the usual motion sensor
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// since the address is defined by two bytes
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void M24512DFMwriteByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t data) |
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{ |
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Wire.beginTransmission(device_address); // Initialize the Tx buffer
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Wire.write(data_address1); // Put slave register address in Tx buffer
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Wire.write(data_address2); // Put slave register address in Tx buffer
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Wire.write(data); // Put data in Tx buffer
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Wire.endTransmission(); // Send the Tx buffer
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} |
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void M24512DFMwriteBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest) |
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{ |
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if(count > 128) { |
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count = 128; |
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Serial.print("Page count cannot be more than 128 bytes!"); |
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} |
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Wire.beginTransmission(device_address); // Initialize the Tx buffer
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Wire.write(data_address1); // Put slave register address in Tx buffer
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Wire.write(data_address2); // Put slave register address in Tx buffer
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for(uint8_t i=0; i < count; i++) { |
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Wire.write(dest[i]); // Put data in Tx buffer
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} |
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Wire.endTransmission(); // Send the Tx buffer
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} |
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uint8_t M24512DFMreadByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2) |
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{ |
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uint8_t data; // `data` will store the register data
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Wire.beginTransmission(device_address); // Initialize the Tx buffer
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Wire.write(data_address1); // Put slave register address in Tx buffer
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Wire.write(data_address2); // Put slave register address in Tx buffer
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Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive
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// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
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// Wire.requestFrom(address, 1); // Read one byte from slave register address
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Wire.requestFrom(device_address, (size_t) 1); // Read one byte from slave register address
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data = Wire.read(); // Fill Rx buffer with result
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return data; // Return data read from slave register
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} |
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void M24512DFMreadBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest) |
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{
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Wire.beginTransmission(device_address); // Initialize the Tx buffer
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Wire.write(data_address1); // Put slave register address in Tx buffer
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Wire.write(data_address2); // Put slave register address in Tx buffer
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Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive
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// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
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uint8_t i = 0; |
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// Wire.requestFrom(address, count); // Read bytes from slave register address
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Wire.requestFrom(device_address, (size_t) count); // Read bytes from slave register address
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while (Wire.available()) { |
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dest[i++] = Wire.read(); } // Put read results in the Rx buffer
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} |
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// simple function to scan for I2C devices on the bus
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void I2Cscan()
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{ |
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// scan for i2c devices
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byte error, address; |
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int nDevices; |
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Serial.println("Scanning..."); |
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nDevices = 0; |
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for(address = 1; address < 127; address++ )
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{ |
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// The i2c_scanner uses the return value of
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// the Write.endTransmisstion to see if
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// a device did acknowledge to the address.
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Wire.beginTransmission(address); |
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error = Wire.endTransmission(); |
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if (error == 0) |
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{ |
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Serial.print("I2C device found at address 0x"); |
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if (address<16)
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Serial.print("0"); |
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Serial.print(address,HEX); |
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Serial.println(" !"); |
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nDevices++; |
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} |
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else if (error==4)
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{ |
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Serial.print("Unknow error at address 0x"); |
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if (address<16)
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Serial.print("0"); |
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Serial.println(address,HEX); |
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}
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} |
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if (nDevices == 0) |
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Serial.println("No I2C devices found\n"); |
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else |
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Serial.println("done\n"); |
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} |
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