341 lines
8.4 KiB
C++
341 lines
8.4 KiB
C++
/*
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bluebit.cpp
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*/
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#include <Wire.h>
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#include "Bluebit.h"
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/* #include <“Bluebit.h> */
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#include <math.h>
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#include <stdlib.h> //10进制转16进制需要sprintf函数
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#define LCD1602_ADDR (24)
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#define ULTRASONIC_ADDR (0x0b<<1)
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#define TM1650_BASE_ADDR (0x34<<1)
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#define PCA9554_ADDR (0x20<<1)
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#define COLOR_ADDR (0x0a<<1)
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#define MIDI_ADDR (0x0c<<1)
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#define SHT20_ADDR (0x40<<1)
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#define BH1750_ADDR (0x23<<1)
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#define PCA9685_ADDR (0x41<<1)
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#define HT16K33_ADDR (0x70<<1)
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uint8_t rowOffsets[4] = {0x00, 0x40, 0x10, 0x50};
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/* LM35 */
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int get_ntcTemp(int pin)
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{
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int Val;
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float tmp;
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Val = analogRead(pin);
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tmp = ((float)(1023-Val))/Val;
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tmp = log(tmp);
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tmp = 298.15*tmp + 3935;
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tmp = 1173220.25/tmp -273.15; //298.15*3935 = 1173220.25
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return (int)tmp;
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}
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int get_lm35Temp(int pin)
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{
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uint16_t val;
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double dat;
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val=analogRead(pin);
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dat = (double) val * (5/10.24); //温度计算公式
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// Serial.print("Tep:");
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// Serial.print(dat);
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// Serial.println("C");
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// delay(500);
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return dat;
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}
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/*数字光线*/
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uint16_t getAmbientLight(void)
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{
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int i = 0;
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uint8_t temp[2];
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uint16_t dat;
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Wire.beginTransmission(0x23); //传输给从机设备0x0B
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Wire.write(0x10); //发送1指令
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Wire.endTransmission(); //结束传输
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delay(50);
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Wire.requestFrom(0x23, 2); //接收从机设备0x0B，长度2字节
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while (Wire.available()) {
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temp[i] = Wire.read();
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i++;
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}
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dat = temp[0];
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dat = (dat<<8) + temp[1];
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delay(130); //数字光线采集数据需用时120ms，给予130ms延时
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return dat;
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}
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/*超声波*/
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uint8_t Distance(void)
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{
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int i = 0;
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uint8_t cm;
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uint8_t temp[2];
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Wire.beginTransmission(0x0b); //传输给从机设备0x0B
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Wire.write(1); //发送1指令
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Wire.endTransmission(); //结束传输
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Wire.requestFrom(0x0b, 2); //接收从机设备0x0B，长度2字节
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while (Wire.available()) {
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temp[i] = Wire.read();
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i++;
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}
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return cm = (temp[0] + temp[1] * 256) / 10;
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}
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/*4 按键 */
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// char get_joy_button(int pin)
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// {
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// int val;
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// char btn;
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// val = analogRead(pin);
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// if (val<51)
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// btn ='A';
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// else if((val > 199) && (val < 301))
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// btn='B';
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// else if ((val > 449) && (val < 551))
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// btn='C';
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// else if((val > 699) && (val<801))
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// btn='D';
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// return btn;
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// }
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bool get_joy_button(int index, int pin)
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{
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int val;
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int btn;
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val = analogRead(pin);
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if (val<51)
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btn =1; //A
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else if((val > 199) && (val < 301))
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btn=2; //B
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else if ((val > 449) && (val < 551))
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btn=3; //C
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else if((val > 699) && (val<801))
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btn=4; //D
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return btn == index;
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}
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/* 扩展端口 */
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void extIOInit(byte pin, byte mode) //设置IO引脚输入输出模式。mode=0，为输出模式，mode=1，为输入模式
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{
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byte mode_old;
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Wire.beginTransmission(0x20);
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Wire.write(0x03);
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Wire.endTransmission();
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Wire.requestFrom(0x20, 1);
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while (Wire.available() > 0)
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{
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mode_old = Wire.read();
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}
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byte mode_new = 0;
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if (mode == 1)
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{
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mode_new = mode_old | (1 << pin);
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}
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else if (mode == 0)
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{
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mode_new = mode_old & (~(1 << pin));
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}
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byte cfg[2] = { 0x03, mode_new };
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Wire.beginTransmission(0x20);
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Wire.write(cfg, 2);
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Wire.endTransmission();
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}
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uint16_t readExtendedIO(byte pin) //IO读函数
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{
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byte dat[4];
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Wire.beginTransmission(0x20);
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Wire.write(0x00);
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Wire.endTransmission();
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Wire.requestFrom(0x20, 4);
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while (Wire.available() > 0)
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{
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Wire.readBytes(dat, 4);
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}
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return (dat[0] >> pin) & 0x01;
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}
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void writeExtendedIO(byte pin, byte value) //IO写函数
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{
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byte stat_old[3];
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Wire.beginTransmission(0x20);
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Wire.write(0x01);
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Wire.endTransmission();
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Wire.requestFrom(0x20, 3);
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while (Wire.available() > 0)
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{
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Wire.readBytes(stat_old, 3);
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}
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byte stat_new = 0;
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if (value == 1)
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{
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stat_new = stat_old[0] | (1 << pin);
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}
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else if (value == 0)
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{
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stat_new = stat_old[0] & (~(1 << pin));
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}
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byte cfg[2] = { 0x01, stat_new };
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Wire.beginTransmission(0x20);
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Wire.write(cfg, 2);
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Wire.endTransmission();
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}
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//读I2C设备(带拨码的)
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float readCodesI2C(int address)
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{
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Wire.begin(); // join i2c bus (address optional for master)
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Serial.begin(9600); // start serial for output
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int reading = 0;
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Wire.requestFrom(address, 2);
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if (2 <= Wire.available())
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{
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reading = Wire.read(); // receive high byte (overwrites previous reading)
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reading = reading << 8; // shift high byte to be high 8 bits
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reading |= Wire.read(); // receive low byte as lower 8 bits
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//Serial.println(reading); // print the reading
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}
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delay(100);
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return reading;
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}
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//光电门
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double readPhotoelectricGate(int address)
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{
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int reading = 0;
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int reading0 = 0;
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int reading1 = 0;
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int reading2 = 0;
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int reading3 = 0;
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int reading4 = 0;
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unsigned long n1;
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unsigned long n2;
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unsigned long n3;
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unsigned long n4;
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double timeStamp;
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Wire.begin(); // join i2c bus (address optional for master)
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Serial.begin(9600); // start serial for output
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Wire.requestFrom(address, 5);
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if (5 <= Wire.available())
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{
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reading0 = Wire.read();
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reading1 = Wire.read();
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reading2 = Wire.read();
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reading3 = Wire.read();
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reading4 = Wire.read();
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Serial.println(reading0);
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Serial.println(reading1);
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Serial.println(reading2);
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Serial.println(reading3);
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Serial.println(reading4);
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n1 = (reading1)*256*256*256;
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n2 = (reading2)*256*256;
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n3 = (reading3)*256;
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n4 = reading4;
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timeStamp = (n1+n2+n3+n4)/100000;
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Serial.println(timeStamp);
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}
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delay(100);
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return timeStamp;
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//返回时差
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//reading1、2、3、4为10进制，先转为16进制后拼接起来再除以100000，单位秒，比如得到2C E9 47 2B拼完是753485611，除以 100000，即7534.85611秒，两次时间相减即得时差。
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// 思路1：(0X2CE9472B)
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// 思路2：(0X2C)*256*256*256
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// (0XE9)*256*256
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}
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//编码电机
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/*void MotorSetSpeed(int address,int speedH,int speedL)
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{
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Wire.beginTransmission(address); //ransmit to device #17 (0x11)
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Wire.write(byte(0x06)); //写速度寄存器地址
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//Wire.write(byte(0x03)); //向速度寄存器地址写编码电机转速 高位
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Wire.write(byte(speedH)); //向速度寄存器地址写编码电机转速 高位
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Wire.endTransmission();
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delay(10);
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Wire.beginTransmission(address); //ransmit to device #17 (0x11)
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Wire.write(byte(0x07)); //写速度寄存器地址
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Wire.write(byte(speedL)); //向速度寄存器地址写编码电机转速 低位
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Wire.endTransmission(10); // stop transmitting
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delay(10);
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Wire.beginTransmission(address); //ransmit to device #17 (0x11)
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Wire.write(byte(0x00)); //向模式寄存器写编码电机模式
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Wire.write(byte(0x01)); //向模式寄存器写编码电机模式
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Wire.endTransmission(); // stop transmitting
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delay(10);
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}*/
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//编码电机
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void MotorSetSpeed(int address,int value)
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{
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Wire.begin(); //保留这个，外部自己选波特率
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//Serial.begin(9600);
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value = short(value);
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//int b0;
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int b1;
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int b2;
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/*if (value < -1024) value = -1024;
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if (value > 1024) value = 1024;
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if (value < 0){
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value = - value;
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b0 = value / 256;
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b1 = b0 + 128;
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b2 = value - b0 * 256;
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} else {
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b1 = value / 256;
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b2 = value - b1 * 256;
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}*/
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if (value < -1024) value = -1024;
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else if (value > 1024) value = 1024;
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if (value < 0) value += 65536;
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b1 = value / 256;
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b2 = value % 256;
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Wire.beginTransmission(address); //ransmit to device #17 (0x11)
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Wire.write(byte(0x06)); //写速度寄存器地址
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Wire.write(byte(b1)); //向速度寄存器地址写编码电机转速 高位
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Wire.endTransmission();
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delay(10);
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Serial.println(byte(b1));
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Wire.beginTransmission(address); //ransmit to device #17 (0x11)
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Wire.write(byte(0x07)); //写速度寄存器地址
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Wire.write(byte(b2)); //向速度寄存器地址写编码电机转速 低位
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Wire.endTransmission(10); // stop transmitting
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delay(10);
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Serial.println(byte(b2));
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Wire.beginTransmission(address); //ransmit to device #17 (0x11)
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Wire.write(byte(0x00)); //向模式寄存器写编码电机模式
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Wire.write(byte(0x01)); //向模式寄存器写编码电机模式
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Wire.endTransmission(); // stop transmitting
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delay(10);
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}
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