/********************************************************************* * Flowcode Accelerometer Component Code * * File: Accelerometer.c * * (c) 2011 Matrix Multimedia Ltd. * http://www.matrixmultimedia.com * * Software License Agreement * * The software supplied herewith by Matrix Multimedia Ltd (the * “Company”) for its Flowcode graphical programming language is * intended and supplied to you, the Company’s customer, for use * solely and exclusively on the Company's products. The software * is owned by the Company, and is protected under applicable * copyright laws. All rights are reserved. Any use in violation * of the foregoing restrictions may subject the user to criminal * sanctions under applicable laws, as well as to civil liability * for the breach of the terms and conditions of this licence. * * THIS SOFTWARE IS PROVIDED IN AN “AS IS” CONDITION. NO WARRANTIES, * WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT NOT LIMITED * TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A * PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE COMPANY SHALL NOT, * IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL OR * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. * * Changelog: * * date | by | description * -------+----+----------------------------------------------------- * 090211 | BR | Created * 230311 | BR | Updated error messages to allow BoostC or HiTech * 281011 | BR | Converted to Universal Accelerometer Component Code File * 041111 | ST | Added MOSI and CS pins * 011211 | BR | Updated FC_CAL_Bit functions * 021211 | BR | Converted to new dynamic defines mechanism * 230412 | BR | Removed unused variables ********************************************************************/ /********************************************************************* Return & parameter types: void MX_UINT8 MX_SINT16 MX_STRING Pin directions: 0 = OUTPUT 2 = INPUT 3 = BIDIRECTIONAL ********************************************************************** [Settings] CLSID={4B174520-75AB-4B14-A0F7-2AA6C203F1DC} IsAnalogue=0 MultipleAllowed=1 Description=Flowcode Accelerometer Component ********************************************************************** [Port] DesiredPort=0 PortMandatory=0 SamePortAsID=0 [Pins] Count=6 1=Data Available 2=Power 3=SDA / SDI 4=SCL / SCK 5=N/A / SDO 6=N/A / CS [PinPort] # PORTA = 0 # PORTB = 1 # PORTC = 2 # PORTD = 3 # PORTE = 4 1=0 2=0 3=0 4=0 5=0 6=0 [PinDesiredBit] 1=0 2=3 3=2 4=1 5=4 6=5 [PinDirection] # DIR_INPUT = 2 # DIR_OUTPUT = 0 # DIR_BIDIRECTIONAL = 3 1=2 2=0 3=0 4=0 5=2 6=0 [PinMustUsePort] # boolean 1=0 2=0 3=0 4=0 5=0 6=0 [SamePortAsPinX] # -1 = any pin # otherwise, the pin number 1=-1 2=-1 3=-1 4=-1 5=-1 6=-1 [PinMustUsePin] # boolean 1=1 2=1 3=1 4=1 5=0 6=0 [PinValue] # boolean (0 = off, 1 = on) 1=0 2=0 3=0 4=0 5=0 6=0 ********************************************************************** [MacroNames] Count=9 1=Initialise 2=Update_XYZ_Data 3=Collect_XYZ_Data 4=Write_Register 5=Write_N_Registers 6=Read_Register 7=Read_N_Registers 8=init_transaction 9=end_transaction [MacroReturns] 1=MX_UINT8 2=MX_UINT8 3=MX_SINT16 4=MX_UINT8 5=void 6=MX_UINT8 7=void 8=MX_UINT8 9=void [MacroIsPrivate] 1=0 2=0 3=0 4=1 5=1 6=1 7=1 8=1 9=1 [MacroParameters_Initialise] Count=0 [MacroParamTypes_Initialise] [MacroParameters_Update_XYZ_Data] Count=0 [MacroParamTypes_Update_XYZ_Data] [MacroParameters_Collect_XYZ_Data] Count=1 1=axis [MacroParamTypes_Collect_XYZ_Data] 1=MX_UINT8 [MacroParameters_Write_Register] Count=2 1=reg 2=data [MacroParamTypes_Write_Register] 1=MX_UINT8 2=MX_UINT8 [MacroParameters_Write_N_Registers] Count=3 1=start_reg 2=num_regs 3=data [MacroParamTypes_Write_N_Registers] 1=MX_UINT8 2=MX_UINT8 3=MX_STRING [MacroParameters_Read_Register] Count=1 1=reg [MacroParamTypes_Read_Register] 1=MX_UINT8 [MacroParameters_Read_N_Registers] Count=3 1=start_reg 2=num_regs 3=ret_data [MacroParamTypes_Read_N_Registers] 1=MX_UINT8 2=MX_UINT8 3=MX_STRING [MacroParameters_init_transaction] Count=3 1=mode 2=reg 3=multiple [MacroParamTypes_init_transaction] 1=MX_UINT8 2=MX_UINT8 3=MX_UINT8 [MacroParameters_end_transaction] Count=0 [MacroParamTypes_end_transaction] ********************************************************************/ /******************************************************************** * ADDITIONAL CODE ********************************************************************/ /*DefinesCode_Start*/ /**** Macro Substitutions **** a = Unique component ID b = I2C/SPI Channel - 0=SW, 1-4=HW c = I2C/SPI - 0=SPI 1=I2C d = SDA/MISO Port e = SDA/MISO Pin f = SCL/SCK Port g = SCL/SCK Pin h = MOSI Port i = MOSI Pin j = CS Port k = CS Pin l = INT Port m = INT Pin n = PWR Port o = PWR Pin p = Accelerometer Data Rate - 0=40hz, 1=160hz, 2=640hz, 3=2560hz q = Accelerometer Data Scale - 0=+/-2G, 1=+/-6G ******************************/ //ACCELEROMETER COMPONENT DEFINES #define %a_BUS %c //0=SPI, 1=I2C #define %a_DATA_RATE %p //0=40hz, 1=160hz, 2=640hz, 3=2560hz #define %a_SCALE %q //0=+/-2G, 1=+/-6G #define %a_ADDRESS 0x3A //Default address 0x3A #define %a_INT_PIN %m #define %a_INT_PORT port%l #define %a_INT_TRIS tris%l #define %a_PWR_PIN %o #define %a_PWR_PORT port%n #define %a_PWR_TRIS tris%n #if (%a_BUS == 0) //SPI COMPONENT DEFINES #define %a_CS_PIN %k #define %a_CS_PORT port%j #define %a_CS_TRIS tris%j //Definitions for SPI slot allocation #ifndef MX_SPI_REF1 #define MX_SPI_REF1 #define %a_MX_SPI_UREF 1 #define MX_SPI_CHANNEL_1 %b #define MX_SPI_MOSI_PIN_1 %i #define MX_SPI_MOSI_PORT_1 port%h #define MX_SPI_MOSI_TRIS_1 tris%h #define MX_SPI_MISO_PIN_1 %e #define MX_SPI_MISO_PORT_1 port%d #define MX_SPI_MISO_TRIS_1 tris%d #define MX_SPI_SCK_PIN_1 %g #define MX_SPI_SCK_PORT_1 port%f #define MX_SPI_SCK_TRIS_1 tris%f #define MX_SPI_CS_PIN_1 0 #define MX_SPI_CS_PORT_1 0 #define MX_SPI_CS_TRIS_1 0 #define MX_SPI_BMODE_1 0 #define MX_SPI_PR_SCALE_1 4 #define MX_SPI_PO_SCALE_1 0 #define MX_SPI_INT_1 0 #else #ifndef MX_SPI_REF2 #define MX_SPI_REF2 #define %a_MX_SPI_UREF 2 #define MX_SPI_CHANNEL_2 %b #define MX_SPI_MOSI_PIN_2 %i #define MX_SPI_MOSI_PORT_2 port%h #define MX_SPI_MOSI_TRIS_2 tris%h #define MX_SPI_MISO_PIN_2 %e #define MX_SPI_MISO_PORT_2 port%d #define MX_SPI_MISO_TRIS_2 tris%d #define MX_SPI_SCK_PIN_2 %g #define MX_SPI_SCK_PORT_2 port%f #define MX_SPI_SCK_TRIS_2 tris%f #define MX_SPI_CS_PIN_2 0 #define MX_SPI_CS_PORT_2 0 #define MX_SPI_BMODE_2 0 #define MX_SPI_PR_SCALE_2 4 #define MX_SPI_PO_SCALE_2 0 #define MX_SPI_INT_2 0 #else #ifndef MX_SPI_REF3 #define MX_SPI_REF3 #define %a_MX_SPI_UREF 3 #define MX_SPI_CHANNEL_3 %b #define MX_SPI_MOSI_PIN_3 %i #define MX_SPI_MOSI_PORT_3 port%h #define MX_SPI_MOSI_TRIS_3 tris%h #define MX_SPI_MISO_PIN_3 %e #define MX_SPI_MISO_PORT_3 port%d #define MX_SPI_MISO_TRIS_3 tris%d #define MX_SPI_SCK_PIN_3 %g #define MX_SPI_SCK_PORT_3 port%f #define MX_SPI_SCK_TRIS_3 tris%f #define MX_SPI_CS_PIN_3 0 #define MX_SPI_CS_PORT_3 0 #define MX_SPI_BMODE_3 0 #define MX_SPI_PR_SCALE_3 4 #define MX_SPI_PO_SCALE_3 0 #define MX_SPI_INT_3 0 #else #ifndef MX_SPI_REF4 #define MX_SPI_REF4 #define %a_MX_SPI_UREF 4 #define MX_SPI_CHANNEL_4 %b #define MX_SPI_MOSI_PIN_4 %i #define MX_SPI_MOSI_PORT_4 port%h #define MX_SPI_MOSI_TRIS_4 tris%h #define MX_SPI_MISO_PIN_4 %e #define MX_SPI_MISO_PORT_4 port%d #define MX_SPI_MISO_TRIS_4 tris%d #define MX_SPI_SCK_PIN_4 %g #define MX_SPI_SCK_PORT_4 port%f #define MX_SPI_SCK_TRIS_4 tris%f #define MX_SPI_CS_PIN_4 0 #define MX_SPI_CS_PORT_4 0 #define MX_SPI_BMODE_4 0 #define MX_SPI_PR_SCALE_4 4 #define MX_SPI_PO_SCALE_4 0 #define MX_SPI_INT_4 0 #endif #endif #endif #endif #define %a_SPI_Master_Init CAL_APPEND(FC_CAL_SPI_Master_Init_, %a_MX_SPI_UREF) #define %a_SPI_Master_Byte CAL_APPEND(FC_CAL_SPI_Master_Byte_, %a_MX_SPI_UREF) extern void %a_SPI_Master_Init (); extern MX_UINT8 %a_SPI_Master_Byte (MX_UINT8 DataOut); #else //I2C COMPONENT DEFINES //Definitions for I2C slot allocation #ifndef MX_I2C_REF1 #define MX_I2C_REF1 #define %a_MX_I2C_UREF 1 #define MX_I2C_CHANNEL_1 %b #define MX_I2C_SDA_PIN_1 %e #define MX_I2C_SDA_PORT_1 port%d #define MX_I2C_SDA_TRIS_1 tris%d #define MX_I2C_SCL_PIN_1 %g #define MX_I2C_SCL_PORT_1 port%f #define MX_I2C_SCL_TRIS_1 tris%f #define MX_I2C_BMODE_1 0 #define MX_I2C_BAUD_1 60 #define MX_I2C_INT_1 0 #else #ifndef MX_I2C_REF2 #define MX_I2C_REF2 #define %a_MX_I2C_UREF 2 #define MX_I2C_CHANNEL_2 %b #define MX_I2C_SDA_PIN_2 %e #define MX_I2C_SDA_PORT_2 port%d #define MX_I2C_SDA_TRIS_2 tris%d #define MX_I2C_SCL_PIN_2 %g #define MX_I2C_SCL_PORT_2 port%f #define MX_I2C_SCL_TRIS_2 tris%f #define MX_I2C_BMODE_2 0 #define MX_I2C_BAUD_2 60 #define MX_I2C_INT_2 0 #else #ifndef MX_I2C_REF3 #define MX_I2C_REF3 #define %a_MX_I2C_UREF 3 #define MX_I2C_CHANNEL_3 %b #define MX_I2C_SDA_PIN_3 %e #define MX_I2C_SDA_PORT_3 port%d #define MX_I2C_SDA_TRIS_3 tris%d #define MX_I2C_SCL_PIN_3 %g #define MX_I2C_SCL_PORT_3 port%f #define MX_I2C_SCL_TRIS_3 tris%f #define MX_I2C_BMODE_3 0 #define MX_I2C_BAUD_3 60 #define MX_I2C_INT_3 0 #else #ifndef MX_I2C_REF4 #define MX_I2C_REF4 #define %a_MX_I2C_UREF 4 #define MX_I2C_CHANNEL_4 %b #define MX_I2C_SDA_PIN_4 %e #define MX_I2C_SDA_PORT_4 port%d #define MX_I2C_SDA_TRIS_4 tris%d #define MX_I2C_SCL_PIN_4 %g #define MX_I2C_SCL_PORT_4 port%f #define MX_I2C_SCL_TRIS_4 tris%f #define MX_I2C_BMODE_4 0 #define MX_I2C_BAUD_4 60 #define MX_I2C_INT_4 0 #endif #endif #endif #endif #define %a_I2C_Master_Init CAL_APPEND(FC_CAL_I2C_Master_Init_, %a_MX_I2C_UREF) #define %a_I2C_Master_Uninit CAL_APPEND(FC_CAL_I2C_Master_Uninit_, %a_MX_I2C_UREF) #define %a_I2C_Master_Start CAL_APPEND(FC_CAL_I2C_Master_Start_, %a_MX_I2C_UREF) #define %a_I2C_Master_Restart CAL_APPEND(FC_CAL_I2C_Master_Restart_, %a_MX_I2C_UREF) #define %a_I2C_Master_Stop CAL_APPEND(FC_CAL_I2C_Master_Stop_, %a_MX_I2C_UREF) #define %a_I2C_Master_TX_Byte CAL_APPEND(FC_CAL_I2C_Master_TX_Byte_, %a_MX_I2C_UREF) #define %a_I2C_Master_RX_Byte CAL_APPEND(FC_CAL_I2C_Master_RX_Byte_, %a_MX_I2C_UREF) extern void %a_I2C_Master_Init (); extern void %a_I2C_Master_Uninit (); extern void %a_I2C_Master_Start (); extern void %a_I2C_Master_Restart (); extern void %a_I2C_Master_Stop (); extern MX_UINT8 %a_I2C_Master_TX_Byte (MX_UINT8 Data); extern MX_UINT8 %a_I2C_Master_RX_Byte (MX_UINT8 Last); #endif //global variables MX_SINT16 %a_MX_X_Var = 0; MX_SINT16 %a_MX_Y_Var = 0; MX_SINT16 %a_MX_Z_Var = 0; /*DefinesCode_End*/ /*InitialisationCode_Start*/ /*InitialisationCode_End*/ /*InterruptCode_Start*/ /*InterruptCode_End*/ MX_UINT8 Initialise(void) { /*Macro_Initialise_Start*/ MX_UINT8 temp_reg = 0xC7; MX_UINT8 RetVal; FC_CAL_Bit_High_DDR(%a_PWR_PORT, %a_PWR_TRIS, %a_PWR_PIN); //Switch on device delay_ms(100); //Wait for power up FC_CAL_Bit_In_DDR(%a_INT_PORT, %a_INT_TRIS, %a_INT_PIN); #if (%a_BUS == 0) FC_CAL_Bit_High_DDR(%a_CS_PORT, %a_CS_TRIS, %a_CS_PIN); //Configure and disable chip select %a_SPI_Master_Init (); #else %a_I2C_Master_Init (); #endif temp_reg = temp_reg | (%a_DATA_RATE << 4); RetVal = Write_Register(0x20, temp_reg); //startup device if (RetVal) return 255; temp_reg = %a_SCALE << 7; temp_reg = temp_reg | 0x44; RetVal = Write_Register(0x21, temp_reg); //scale selection if (RetVal) return 254; return 0; /*Macro_Initialise_End*/ } MX_UINT8 Update_XYZ_Data(void) { /*Macro_Update_XYZ_Data_Start*/ if( FC_CAL_Bit_In( %a_INT_PORT , %a_INT_PIN ) ) { %a_MX_X_Var = Read_Register(0x28); %a_MX_X_Var = %a_MX_X_Var | ( Read_Register(0x29) << 8); %a_MX_Y_Var = Read_Register(0x2A); %a_MX_Y_Var = %a_MX_Y_Var | ( Read_Register(0x2B) << 8); %a_MX_Z_Var = Read_Register(0x2C); %a_MX_Z_Var = %a_MX_Z_Var | ( Read_Register(0x2D) << 8); return 1; } else return 0; /*Macro_Update_XYZ_Data_End*/ } MX_SINT16 Collect_XYZ_Data(MX_UINT8 axis) { /*Macro_Collect_XYZ_Data_Start*/ switch(axis) { case 0: case 'x': case 'X': return %a_MX_X_Var; case 1: case 'y': case 'Y': return %a_MX_Y_Var; case 2: case 'z': case 'Z': return %a_MX_Z_Var; } return -1; /*Macro_Collect_XYZ_Data_End*/ } void Write_Register(MX_UINT8 reg, MX_UINT8 data) { /*Macro_Write_Register_Start*/ MX_UINT8 RetVal; RetVal = init_transaction(0, reg, 0); //Start Transaction if (RetVal) return 255; #if (%a_BUS == 0) //SPI TRANSACTION %a_SPI_Master_Byte(data); #else //I2C TRANSACTION RetVal = %a_I2C_Master_TX_Byte(data); #endif end_transaction(); //End Transaction return RetVal; /*Macro_Write_Register_End*/ } void Write_N_Registers(MX_UINT8 start_reg, MX_UINT8 num_regs, MX_STRING data) { /*Macro_Write_N_Registers_Start*/ MX_UINT8 i; MX_UINT8 j = 0; init_transaction(0, start_reg, 1); for(i=start_reg; i<(start_reg + num_regs); i++) { #if (%a_BUS == 0) //SPI TRANSACTION %a_SPI_Master_Byte(data[j]); #else //I2C TRANSACTION %a_I2C_Master_TX_Byte(data[j]); #endif j = j + 1; } end_transaction(); /*Macro_Write_N_Registers_End*/ } MX_UINT8 Read_Register(MX_UINT8 reg) { /*Macro_Read_Register_Start*/ MX_UINT8 Retval; init_transaction(1, reg, 0); #if (%a_BUS == 0) //SPI TRANSACTION Retval = %a_SPI_Master_Byte(0x55); #else //I2C TRANSACTION Retval = %a_I2C_Master_RX_Byte(1); #endif end_transaction(); return Retval; /*Macro_Read_Register_End*/ } void Read_N_Registers(MX_UINT8 start_reg, MX_UINT8 num_regs, MX_STRING ret_data) { /*Macro_Read_N_Registers_Start*/ MX_UINT8 i; MX_UINT8 j = 0; MX_UINT8 last = 0; init_transaction(1, start_reg, 1); for(i=start_reg; i<(start_reg+num_regs); i++) { #if (%a_BUS == 0) //SPI TRANSACTION ret_data[j] = %a_SPI_Master_Byte(0x55); #else //I2C TRANSACTION if(j == (num_regs - 1)) last = 1; ret_data[j] = %a_I2C_Master_RX_Byte(last); #endif j = j + 1; } end_transaction(); /*Macro_Read_N_Registers_End*/ } MX_UINT8 init_transaction(MX_UINT8 mode, MX_UINT8 reg, MX_UINT8 multiple) { /*Macro_init_transaction_Start*/ MX_UINT8 temp_addr; MX_UINT8 ack = 1; #if (%a_BUS == 0) //SPI TRANSACTION FC_CAL_Bit_Low(%a_CS_PORT, %a_CS_PIN); if(multiple) reg = reg | 0x40; if (mode) reg = reg | 0x01; %a_SPI_Master_Byte(reg); return 0; #else //I2C TRANSACTION %a_I2C_Master_Start(); //Start I2C %a_I2C_Master_TX_Byte(%a_ADDRESS); //Send address and read / write command if(multiple) reg = reg | 0x80; ack = %a_I2C_Master_TX_Byte(reg); //Send register and single / multiple command if (ack) return 255; if (mode) { temp_addr = %a_ADDRESS | 0x01; //Calculate address and read / write command %a_I2C_Master_Restart(); ack = %a_I2C_Master_TX_Byte(temp_addr); } return ack; #endif /*Macro_init_transaction_End*/ } void end_transaction() { /*Macro_end_transaction_Start*/ #if (%a_BUS == 0) //SPI TRANSACTION FC_CAL_Bit_High(%a_CS_PORT, %a_CS_PIN); #else //I2C TRANSACTION %a_I2C_Master_Stop(); #endif /*Macro_end_transaction_End*/ }