#include <SdFat.h>
#include <i2c_t3.h>
#define SD_CS 10
#define EM7180_QX 0x00 // this is a 32-bit normalized floating point number read from registers 0x00-03
#define EM7180_QY 0x04 // this is a 32-bit normalized floating point number read from registers 0x04-07
#define EM7180_QZ 0x08 // this is a 32-bit normalized floating point number read from registers 0x08-0B
#define EM7180_QW 0x0C // this is a 32-bit normalized floating point number read from registers 0x0C-0F
#define EM7180_QTIME 0x10 // this is a 16-bit unsigned integer read from registers 0x10-11
#define EM7180_MX 0x12 // int16_t from registers 0x12-13
#define EM7180_MY 0x14 // int16_t from registers 0x14-15
#define EM7180_MZ 0x16 // int16_t from registers 0x16-17
#define EM7180_MTIME 0x18 // uint16_t from registers 0x18-19
#define EM7180_AX 0x1A // int16_t from registers 0x1A-1B
#define EM7180_AY 0x1C // int16_t from registers 0x1C-1D
#define EM7180_AZ 0x1E // int16_t from registers 0x1E-1F
#define EM7180_ATIME 0x20 // uint16_t from registers 0x20-21
#define EM7180_GX 0x22 // int16_t from registers 0x22-23
#define EM7180_GY 0x24 // int16_t from registers 0x24-25
#define EM7180_GZ 0x26 // int16_t from registers 0x26-27
#define EM7180_GTIME 0x28 // uint16_t from registers 0x28-29
#define EM7180_QRateDivisor 0x32 // uint8_t
#define EM7180_EnableEvents 0x33
#define EM7180_HostControl 0x34
#define EM7180_EventStatus 0x35
#define EM7180_SensorStatus 0x36
#define EM7180_SentralStatus 0x37
#define EM7180_AlgorithmStatus 0x38
#define EM7180_FeatureFlags 0x39
#define EM7180_ParamAcknowledge 0x3A
#define EM7180_SavedParamByte0 0x3B
#define EM7180_SavedParamByte1 0x3C
#define EM7180_SavedParamByte2 0x3D
#define EM7180_SavedParamByte3 0x3E
#define EM7180_ActualMagRate 0x45
#define EM7180_ActualAccelRate 0x46
#define EM7180_ActualGyroRate 0x47
#define EM7180_ErrorRegister 0x50
#define EM7180_AlgorithmControl 0x54
#define EM7180_MagRate 0x55
#define EM7180_AccelRate 0x56
#define EM7180_GyroRate 0x57
#define EM7180_LoadParamByte0 0x60
#define EM7180_LoadParamByte1 0x61
#define EM7180_LoadParamByte2 0x62
#define EM7180_LoadParamByte3 0x63
#define EM7180_ParamRequest 0x64
#define EM7180_ROMVersion1 0x70
#define EM7180_ROMVersion2 0x71
#define EM7180_RAMVersion1 0x72
#define EM7180_RAMVersion2 0x73
#define EM7180_ProductID 0x90
#define EM7180_RevisionID 0x91
#define EM7180_UploadAddress 0x94 // uint16_t registers 0x94 (MSB)-5(LSB)
#define EM7180_UploadData 0x96
#define EM7180_CRCHost 0x97 // uint32_t from registers 0x97-9A
#define EM7180_ResetRequest 0x9B
#define EM7180_PassThruStatus 0x9E
#define EM7180_PassThruControl 0xA0
// Using the Teensy Mini Add-On board, BMX055 SDO1 = SDO2 = CSB3 = GND as designed
// Seven-bit BMX055 device addresses are ACC = 0x18, GYRO = 0x68, MAG = 0x10
#define BMX055_ACC_ADDRESS 0x18 // Address of BMX055 accelerometer
#define BMX055_GYRO_ADDRESS 0x68 // Address of BMX055 gyroscope
#define BMX055_MAG_ADDRESS 0x10 // Address of BMX055 magnetometer
#define MS5637_ADDRESS 0x76 // Address of MS5637 altimeter
#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
#define M24512DFM_DATA_ADDRESS 0x50 // Address of the 500 page M24512DFM EEPROM data buffer, 1024 bits (128 8-bit bytes) per page
#define M24512DFM_IDPAGE_ADDRESS 0x58 // Address of the single M24512DFM lockable EEPROM ID page
SdFat SD;
SdFile sd_file;
void setup() {
// Setup for Master mode, pins 18/19, external pullups, 400kHz for Teensy 3.1
Wire.begin(I2C_MASTER, 0x00, I2C_PINS_16_17, I2C_PULLUP_EXT, I2C_RATE_400);
Serial.begin(9600);
delay(5000);
while (!SD.begin(SD_CS, SPI_HALF_SPEED)) {
Serial.println("failed to init sd");
Serial.printf("err: %02x\n", SD.card()->errorCode());
}
Serial.println("sd init");
I2Cscan();
// Put EM7180 SENtral into pass-through mode
SENtralPassThroughMode();
delay(1000);
I2Cscan();
sd_file.open("/EM6500.fw", O_RDONLY);
Serial.println("File Open!");
uint8_t buffer[128];
uint8_t numbytes= 0, MSadd = 0, totnum = 0;
Serial.println("erasing EEPROM");
uint8_t eraseBuffer[128] = {
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF };
for (MSadd = 0; MSadd < 256; MSadd++) { // MS address byte, 0 to 255
M24512DFMwriteBytes(M24512DFM_DATA_ADDRESS, MSadd, 0x00, 128, eraseBuffer); // write data starting at first byte of page MSadd
delay(100);
M24512DFMwriteBytes(M24512DFM_DATA_ADDRESS, MSadd, 0x80, 128, eraseBuffer); // write data starting at 128th byte of page MSadd
delay(100);
totnum++;
if (MSadd = 255) { break; }
Serial.print("totnum"); Serial.println(totnum);
Serial.print("MSadd 0x"); Serial.println(MSadd, HEX);
}
// Verify EEPROM ihas been erased
// Read first page of EEPROM
uint8_t data[128];
M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x00, 0x00, 128, data);
Serial.println("EEPROM first page");
for (int i = 0; i < 16; i++) {
Serial.println(" ");
for (int j = 0; j < 8; j++) {
Serial.print(data[i*8 + j], HEX); Serial.print(" ");
}
}
// Read second page of EEPROM
M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x00, 0x80, 128, data);
Serial.println("");Serial.println("EEPROM second page");
for (int i = 0; i < 16; i++) {
Serial.println(" ");
for (int j = 0; j < 8; j++) {
Serial.print(data[i*8 + j], HEX); Serial.print(" ");
}
}
// Read third page of EEPROM
M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x01, 0x00, 128, data);
Serial.println("");Serial.println("EEPROM third page");
for (int i = 0; i < 16; i++) {
Serial.println(" ");
for (int j = 0; j < 8; j++) {
Serial.print(data[i*8 + j], HEX); Serial.print(" ");
}
}
// write configuration file to EEPROM
Serial.println("writing data to EEPROM");
for (MSadd = 0; MSadd < 256; MSadd++) { // MS address byte, 0 to 255
numbytes = sd_file.read(buffer, 128); // 128 bytes per page, 500 pages
Serial.print("first two bytes: "); Serial.print("0x"); Serial.print(buffer[0], HEX); Serial.print("0x"); Serial.println(buffer[1], HEX);
Serial.print("Number of bytes = "); Serial.println(numbytes); // print number of bytes read
M24512DFMwriteBytes(M24512DFM_DATA_ADDRESS, MSadd, 0x00, 128, buffer); // write data starting at first byte of page MSadd
delay(100);
numbytes = sd_file.read(buffer, 128); // 128 bytes per page, 500 pages
Serial.print("first two bytes: "); Serial.print("0x"); Serial.print(buffer[0], HEX); Serial.print("0x"); Serial.println(buffer[1], HEX);
Serial.print("Number of bytes = "); Serial.println(numbytes); // print number of bytes read
M24512DFMwriteBytes(M24512DFM_DATA_ADDRESS, MSadd, 0x80, 128, buffer); // write data starting at 128th byte of page MSadd
delay(100);
if (numbytes < 128) { break; }
totnum++;
Serial.print("totnum"); Serial.println(totnum);
Serial.print("MSadd 0x"); Serial.println(MSadd, HEX);
}
// Read first page of EEPROM
M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x00, 0x00, 128, data);
Serial.println("EEPROM first page");
for (int i = 0; i < 16; i++) {
Serial.println(" ");
for (int j = 0; j < 8; j++) {
Serial.print(data[i*8 + j], HEX); Serial.print(" ");
}
}
// Read second page of EEPROM
M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x00, 0x80, 128, data);
Serial.println("");Serial.println("EEPROM second page");
for (int i = 0; i < 16; i++) {
Serial.println(" ");
for (int j = 0; j < 8; j++) {
Serial.print(data[i*8 + j], HEX); Serial.print(" ");
}
}
// Read third page of EEPROM
M24512DFMreadBytes(M24512DFM_DATA_ADDRESS, 0x01, 0x00, 128, data);
Serial.println("");Serial.println("EEPROM third page");
for (int i = 0; i < 16; i++) {
Serial.println(" ");
for (int j = 0; j < 8; j++) {
Serial.print(data[i*8 + j], HEX); Serial.print(" ");
}
}
}
void loop() {
}
// I2C read/write functions for the MPU9250 and AK8963 sensors
void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
{
Wire.beginTransmission(address); // Initialize the Tx buffer
Wire.write(subAddress); // Put slave register address in Tx buffer
Wire.write(data); // Put data in Tx buffer
Wire.endTransmission(); // Send the Tx buffer
}
uint8_t readByte(uint8_t address, uint8_t subAddress)
{
uint8_t data; // `data` will store the register data
Wire.beginTransmission(address); // Initialize the Tx buffer
Wire.write(subAddress); // Put slave register address in Tx buffer
Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive
// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
// Wire.requestFrom(address, 1); // Read one byte from slave register address
Wire.requestFrom(address, (size_t) 1); // Read one byte from slave register address
data = Wire.read(); // Fill Rx buffer with result
return data; // Return data read from slave register
}
void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest)
{
Wire.beginTransmission(address); // Initialize the Tx buffer
Wire.write(subAddress); // Put slave register address in Tx buffer
Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive
// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
uint8_t i = 0;
// Wire.requestFrom(address, count); // Read bytes from slave register address
Wire.requestFrom(address, (size_t) count); // Read bytes from slave register address
while (Wire.available()) {
dest[i++] = Wire.read(); } // Put read results in the Rx buffer
}
void SENtralPassThroughMode()
{
// First put SENtral in standby mode
uint8_t c = readByte(EM7180_ADDRESS, EM7180_AlgorithmControl);
writeByte(EM7180_ADDRESS, EM7180_AlgorithmControl, c | 0x01);
// c = readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus);
// Serial.print("c = "); Serial.println(c);
// Verify standby status
// if(readByte(EM7180_ADDRESS, EM7180_AlgorithmStatus) & 0x01) {
Serial.println("SENtral in standby mode");
// Place SENtral in pass-through mode
writeByte(EM7180_ADDRESS, EM7180_PassThruControl, 0x01);
if(readByte(EM7180_ADDRESS, EM7180_PassThruStatus) & 0x01) {
Serial.println("SENtral in pass-through mode");
}
else {
Serial.println("ERROR! SENtral not in pass-through mode!");
}
}
// I2C communication with the M24512DFM EEPROM is a little different from I2C communication with the usual motion sensor
// since the address is defined by two bytes
void M24512DFMwriteByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t data)
{
Wire.beginTransmission(device_address); // Initialize the Tx buffer
Wire.write(data_address1); // Put slave register address in Tx buffer
Wire.write(data_address2); // Put slave register address in Tx buffer
Wire.write(data); // Put data in Tx buffer
Wire.endTransmission(); // Send the Tx buffer
}
void M24512DFMwriteBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest)
{
if(count > 128) {
count = 128;
Serial.print("Page count cannot be more than 128 bytes!");
}
Wire.beginTransmission(device_address); // Initialize the Tx buffer
Wire.write(data_address1); // Put slave register address in Tx buffer
Wire.write(data_address2); // Put slave register address in Tx buffer
for(uint8_t i=0; i < count; i++) {
Wire.write(dest[i]); // Put data in Tx buffer
}
Wire.endTransmission(); // Send the Tx buffer
}
uint8_t M24512DFMreadByte(uint8_t device_address, uint8_t data_address1, uint8_t data_address2)
{
uint8_t data; // `data` will store the register data
Wire.beginTransmission(device_address); // Initialize the Tx buffer
Wire.write(data_address1); // Put slave register address in Tx buffer
Wire.write(data_address2); // Put slave register address in Tx buffer
Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive
// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
// Wire.requestFrom(address, 1); // Read one byte from slave register address
Wire.requestFrom(device_address, (size_t) 1); // Read one byte from slave register address
data = Wire.read(); // Fill Rx buffer with result
return data; // Return data read from slave register
}
void M24512DFMreadBytes(uint8_t device_address, uint8_t data_address1, uint8_t data_address2, uint8_t count, uint8_t * dest)
{
Wire.beginTransmission(device_address); // Initialize the Tx buffer
Wire.write(data_address1); // Put slave register address in Tx buffer
Wire.write(data_address2); // Put slave register address in Tx buffer
Wire.endTransmission(I2C_NOSTOP); // Send the Tx buffer, but send a restart to keep connection alive
// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
uint8_t i = 0;
// Wire.requestFrom(address, count); // Read bytes from slave register address
Wire.requestFrom(device_address, (size_t) count); // Read bytes from slave register address
while (Wire.available()) {
dest[i++] = Wire.read(); } // Put read results in the Rx buffer
}
// simple function to scan for I2C devices on the bus
void I2Cscan()
{
// scan for i2c devices
byte error, address;
int nDevices;
Serial.println("Scanning...");
nDevices = 0;
for(address = 1; address < 127; address++ )
{
// The i2c_scanner uses the return value of
// the Write.endTransmisstion to see if
// a device did acknowledge to the address.
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0)
{
Serial.print("I2C device found at address 0x");
if (address<16)
Serial.print("0");
Serial.print(address,HEX);
Serial.println(" !");
nDevices++;
}
else if (error==4)
{
Serial.print("Unknow error at address 0x");
if (address<16)
Serial.print("0");
Serial.println(address,HEX);
}
}
if (nDevices == 0)
Serial.println("No I2C devices found\n");
else
Serial.println("done\n");
}