1 | #include <avr/io.h>
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2 | #include <avr/interrupt.h>
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3 | #include <stdint.h>
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4 |
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5 | #include "twi_master_driver.h"
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6 |
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7 | uint8_t sendBuffer[8]; //Sendbuffer für TWI-Master
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8 |
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9 | TWI_Master_t twiMaster; /*!< TWI master module. */
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10 |
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11 | //Adresse ist direkt in 7-Bit, also ungeshiftet!
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12 | #define MMA845XQ_ADDR 0x1C
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13 |
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14 | int main(void)
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15 | {
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16 | int16_t x,y,z;
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17 |
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18 | OSC.CTRL = OSC_RC32MEN_bm;
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19 |
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20 | CLK.CTRL = 0x01;
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21 | while(!(OSC.STATUS & OSC_RC32MRDY_bm));
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22 |
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23 | CCP = CCP_IOREG_gc;
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24 | /*Clock auf 32Mhz einstellen*/
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25 | CLK.CTRL = CLK_SCLKSEL_RC32M_gc;
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26 |
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27 | /* Initialize TWI master with 200kHz. */
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28 | TWI_MasterInit(&twiMaster, &TWIC, TWI_MASTER_INTLVL_LO_gc, (F_CPU/(2*200000)) - 5);
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29 | /* LowLevel Interrupt für TWI-Master aktivieren */
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30 | PMIC.CTRL |= PMIC_LOLVLEN_bm;
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31 |
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32 | sendBuffer[0] = 0x2A; //CTRL_REG1
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33 | /* 1 Byte senden, 1 Byte lesen */
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34 | TWI_MasterWriteRead(&twiMaster, MMA845XQ_ADDR, &sendBuffer[0],1,1);
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35 | while (twiMaster.status != TWIM_STATUS_READY) {
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36 | /* Wait until transaction is complete. */
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37 | }
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38 | /* Empfangende Daten stehen in twiMaster.readData */
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39 | sendBuffer[1] = twiMaster.readData[0] & ~0x01; //Go Standby
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40 | TWI_MasterWriteRead(&twiMaster, MMA845XQ_ADDR, &sendBuffer[0],2,0);
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41 | while (twiMaster.status != TWIM_STATUS_READY) {
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42 | /* Wait until transaction is complete. */
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43 | }
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44 | sendBuffer[0] = 0x2A; //CTRL_REG1
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45 | sendBuffer[1] = 0x1C; //DR1 + DR0 = 1 => 100 Hz; LNOISE = 1
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46 | /* 2 Bytes schreiben, 0 Bytes lesen */
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47 | TWI_MasterWriteRead(&twiMaster, MMA845XQ_ADDR, &sendBuffer[0],2,0);
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48 | while (twiMaster.status != TWIM_STATUS_READY) {
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49 | /* Wait until transaction is complete. */
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50 | }
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51 | sendBuffer[0] = 0x2A;
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52 | /* 1 Byte schreiben, 1 Bytes lesen */
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53 | TWI_MasterWriteRead(&twiMaster, MMA845XQ_ADDR, &sendBuffer[0],1,1);
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54 | while (twiMaster.status != TWIM_STATUS_READY) {
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55 | /* Wait until transaction is complete. */
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56 | }
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57 | sendBuffer[1] = twiMaster.readData[0] | 0x01; //Activate
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58 | /* 2 Bytes schreiben 0 lesen */
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59 | TWI_MasterWriteRead(&twiMaster, MMA845XQ_ADDR, &sendBuffer[0],2,0);
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60 | while (twiMaster.status != TWIM_STATUS_READY) {
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61 | /* Wait until transaction is complete. */
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62 | }
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63 |
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64 | while(1){
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65 | sendBuffer[0] = 0x01; // Reg1 => x_accel
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66 | //Autoincrement, we read 6 Bytes
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67 | // 1 Byte Schreiben, 6 Bytes lesen */
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68 | TWI_MasterWriteRead(&twiMaster, MMA845XQ_ADDR, &sendBuffer[0],1,6);
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69 | while (twiMaster.status != TWIM_STATUS_READY) {
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70 | /* Wait until transaction is complete. */
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71 | }
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72 |
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73 | x = twiMaster.readData[0] <<6;
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74 | x |= twiMaster.readData[1] >>2;
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75 | if(x & 0x2000){ //make it a correct signed integer
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76 | x |= 0xE000;
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77 | }
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78 | y = twiMaster.readData[2] <<6;
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79 | y |= twiMaster.readData[3] >>2;
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80 | if(y & 0x2000){ //make it a correct signed integer
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81 | y |= 0xE000;
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82 | }
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83 | z = twiMaster.readData[4] <<6;
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84 | z |= twiMaster.readData[5] >>2;
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85 | if(z & 0x2000){ //make it a correct signed integer
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86 | z |= 0xE000;
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87 | }
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88 | uart_puts("x: "); uart_putint(x);
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89 | uart_puts("\ny: "); uart_putint(y);
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90 | uart_puts("\nz: "); uart_putint(z);
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91 | _delay_ms(100);
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92 | }
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93 | }
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