But I don't seem to be able to get this to work. I'm helping someone port their Arduino code and I'm 99% of the way there. I'm using the Fleury library. It's just a simple reading of a IMU. I get the yellow led's to start and it never gets past the first check read.
i2c_start_wait(imu+I2C_WRITE); // set device address and write mode
i2c_write(0x00); // write address for x valuelow
between these two lines is where it locks up.
This is my first try in I2C
Note: I'm sure there are tons of issues in this code, but right now my main priority is actually reading the IMU...
#define F_CPU 16000000UL
#include<avr/interrupt.h>
#include <util/delay.h>
#include <math.h>
#include <stdlib.h>
extern "C"
{
#include "lib/light_ws2812.h"
#include "lib\i2cmaster.h"
}
#define ledsize 4
int ledvalue = 50;
struct cRGB led[ledsize];
#define imu 0x53
volatile float delaysensevalue = 0;
volatile int sensoroffsetroutine = 1;
volatile float sensoroffset = 0;
#define filteredsensorvalue (xvalue - sensoroffset)
#define ledvalue ((xvalue + sensoroffset)*20)
volatile int delayvalue (delaysensevalue);
volatile int pwmvalue=1;
volatile int patternselectorarray[5] = {1,2,3,4,5}; //was a good idea but not cleanly implemented. maybe later
volatile float xvalue = 0;
volatile float yvalue = 0;
volatile char datareturn = 0;
////////////////////////////////////////////////////////////////////////////////////////////////////////
//Functions
////////////////////////////////////////////////////////////////////////////////////////////////////////
void delay(int delayvalue)
{
for (int i = 0; i<=delayvalue; i++)
{
_delay_ms(1);
}
}
void setupimuint()
{
i2c_start(imu+I2C_WRITE); //start write process
i2c_write(0x24); //set thresh act
i2c_write(0b00000001); // ret=0 -> Ok, ret=1 -> no ACK
i2c_stop();
i2c_start(imu+I2C_WRITE); //start write process
i2c_write(0x27); //set act -z bit
i2c_write(0b10000000); // ret=0 -> Ok, ret=1 -> no ACK
i2c_stop();
i2c_start(imu+I2C_WRITE); //start write process
i2c_write(0x2E); //set act z enable
i2c_write(0b00010000); // ret=0 -> Ok, ret=1 -> no ACK
i2c_stop();
i2c_start(imu+I2C_WRITE); //start write process
i2c_write(0x2F); //set map z to int1
i2c_write(0b00010000); // ret=0 -> Ok, ret=1 -> no ACK
i2c_stop(); // set stop conditon = release bus
}
//////////////////////////////////////////////////////////////////////////////////////
void interruptroutine()
{
while (PIND & PIND2)
{
// pattern1();
//pattern2();
//pattern3();
//pattern4();
//pattern5();
}
}
///////////////////////////////////////////////////////////////////////////////////////
void setupAVRint()
{
DDRD &= (~(1<<DD2));
EICRA |= 1<<ISC20;
EICRA |= 1<<ISC21;
EIMSK |= 1<<INT2;
sei();
}
///////////////////////////////////////////////////////////////////////////////////////
void setupimu()
{
_delay_ms(500);
i2c_start_wait(imu+I2C_WRITE); // set device address and write mode
i2c_write(0x00); // write address for x valuelow
i2c_rep_start(imu+I2C_READ); // set device address and read mode
datareturn = i2c_readNak(); // read one byte from EEPROM
i2c_stop();
if (!(datareturn = imu))
{
while(1)
{
//flashred();
}
}
}
//////////////////////////////////////////////////////////////////////////////////
void readimu()
{
i2c_start_wait(imu+I2C_WRITE); // set device address and write mode
i2c_write(0x05); // write address for x valuelow
i2c_rep_start(imu+I2C_READ); // set device address and read mode
datareturn = i2c_readNak(); // read one byte from EEPROM
i2c_stop();
xvalue = datareturn;
i2c_start_wait(imu+I2C_WRITE); // set device address and write mode
i2c_write(0x05); // write address for x valuehigh
i2c_rep_start(imu+I2C_READ); // set device address and read mode
datareturn = i2c_readNak(); // read one byte from EEPROM
i2c_stop();
xvalue = xvalue + datareturn;
i2c_start_wait(imu+I2C_WRITE); // set device address and write mode
i2c_write(0x05); // write address for y valuelow
i2c_rep_start(imu+I2C_READ); // set device address and read mode
datareturn = i2c_readNak(); // read one byte from EEPROM
i2c_stop();
yvalue = datareturn;
i2c_start_wait(imu+I2C_WRITE); // set device address and write mode
i2c_write(0x05); // write address for y valuehigh
i2c_rep_start(imu+I2C_READ); // set device address and read mode
datareturn = i2c_readNak(); // read one byte from EEPROM
i2c_stop();
yvalue = yvalue + datareturn;
}
/////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////
//Flash patterns
////////////////////////////////////////////////////////////////////////////////////////////////////
void flashred()
{
for (int i=0; i<ledsize; i++)
{
led[i].r=ledvalue;led[i].g=0;led[i].b=0;
ws2812_setleds(led,ledsize);
}
_delay_ms(200);
for (int i=0; i<ledsize; i++)
{
led[i].r=0;led[i].g=0;led[i].b=0;
ws2812_setleds(led,ledsize);
}
_delay_ms(200);
}
////////////////////////////////////////////////////////////////////////////////////////////////////
void nomovementpulse()
{
for(double i=5; i<255; i=i*1.02)
{
_delay_ms(5);
pwmvalue = i;
for (int x = 0; x<ledsize; x++)
{
led[x].r=0;led[x].g=pwmvalue;led[x].b=0;
ws2812_setleds(led,ledsize);
}
}
for(double i=255; i>5; i=i/1.02)
{
_delay_ms(15);
pwmvalue = i;
for (int x = 0; x<ledsize; x++)
{
led[x].r=0;led[x].g=pwmvalue;led[x].b=0;
ws2812_setleds(led,ledsize);
}
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////
void pattern1()
{
// pattern 1
readimu();
for(int i = 0; i<ledsize; i++)
{
led[i].r= abs(ledvalue*2);led[i].g=0;led[i].b=abs(ledvalue/2);
}
ws2812_setleds(led,ledsize);
delay(abs(delaysensevalue));
for(int i = 0; i<ledsize; i++)
{
led[i].r=255;led[i].g=0;led[i].b=0;
}
ws2812_setleds(led,ledsize);
delay(abs(delaysensevalue));
}
///////////////////////////////////////////////////////////////////////////////////////////////////////
void pattern2()
{
// pattern 2
for(int i = 0; i<ledsize; i++)
{
readimu();
led[i].r=abs(ledvalue*2);led[i].g=0;led[i].b=abs(ledvalue/2);
ws2812_setleds(led,ledsize);
delay(abs(delaysensevalue));
}
for(int i = 0; i<ledsize; i++)
{
readimu();
led[i].r=255;led[i].g=0;led[i].b=0;
ws2812_setleds(led,ledsize);
delay(abs(delaysensevalue));
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void pattern3()
{
// pattern 3
readimu();
for(int i = 0; i<ledsize; i++)
{
led[i].r=abs(ledvalue*2);led[i].g=0;led[i].b=abs(ledvalue/2);
}
ws2812_setleds(led,ledsize);
delay(10);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void pattern4()
{
readimu();
// pattern 4
for(int i = 0; i<ledsize; i++)
{
led[i].r=abs(ledvalue*2);led[i].g=0;led[i].b=abs(ledvalue/2);
ws2812_setleds(led,ledsize);
delay(abs(delaysensevalue));
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Sketch start
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int main(void)
{
i2c_init();
for(int i=0; i<ledsize; i++) // sets leds yellow while the imu starts
{
led[i].r=pwmvalue;led[i].g=pwmvalue;led[i].b=0;
}
ws2812_setleds(led,ledsize);
_delay_ms(200);
setupimu();
setupimuint(); //sets up interrupt for activity on int1 If you have already run this specific IMU you can remove this to start faster
setupAVRint();
for(int i=0; i<ledsize; i++) // sets leds green when IMU is all set up
{
led[i].r=0;led[i].g=pwmvalue;led[i].b=0;
}
ws2812_setleds(led,ledsize);
_delay_ms(2000);
while (1)
{
nomovementpulse();
}
}
ISR (INT2_vect)
{
while (PIND & PIND2)
{
for(int i=0; i<ledsize; i++)
{
led[i].r=0;led[i].g=0;led[i].b=pwmvalue;
}
ws2812_setleds(led,ledsize);
}
}
