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fixup examples based on default pin #define-s and also support them being undefined

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This commit is contained in:
graham sanderson
2021-02-28 09:00:36 -06:00
committed by Graham Sanderson
parent 9c7e31b8e7
commit 82b6dc0576
10 changed files with 101 additions and 43 deletions
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43
i2c/mpu6050_i2c/mpu6050_i2c.c
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@@ -7,6 +7,7 @@
#include <stdio.h>
#include <string.h>
#include "pico/stdlib.h"
#include "pico/binary_info.h"
#include "hardware/i2c.h"
/* Example code to talk to a MPU6050 MEMS accelerometer and gyroscope
@@ -23,8 +24,8 @@
Connections on Raspberry Pi Pico board, other boards may vary.
GPIO 4 (pin 6)-> SDA on MPU6050 board
GPIO 5 (pin 7)-> SCL on MPU6050 board
GPIO PICO_DEFAULT_I2C_SDA_PIN (On Pico this is 4 (pin 6)) -> SDA on MPU6050 board
GPIO PICO_DEFAULT_I2C_SCK_PIN (On Pico this is 5 (pin 7)) -> SCL on MPU6050 board
3.3v (pin 36) -> VCC on MPU6050 board
GND (pin 38) -> GND on MPU6050 board
*/
@@ -32,13 +33,12 @@
// By default these devices are on bus address 0x68
static int addr = 0x68;
#define I2C_PORT i2c0
#ifdef i2c_default
static void mpu6050_reset() {
// Two byte reset. First byte register, second byte data
// There are a load more options to set up the device in different ways that could be added here
uint8_t buf[] = {0x6B, 0x00};
i2c_write_blocking(I2C_PORT, addr, buf, 2, false);
i2c_write_blocking(i2c_default, addr, buf, 2, false);
}
static void mpu6050_read_raw(int16_t accel[3], int16_t gyro[3], int16_t *temp) {
@@ -50,8 +50,8 @@ static void mpu6050_read_raw(int16_t accel[3], int16_t gyro[3], int16_t *temp) {
// Start reading acceleration registers from register 0x3B for 6 bytes
uint8_t val = 0x3B;
i2c_write_blocking(I2C_PORT, addr, &val, 1, true); // true to keep master control of bus
i2c_read_blocking(I2C_PORT, addr, buffer, 6, false);
i2c_write_blocking(i2c_default, addr, &val, 1, true); // true to keep master control of bus
i2c_read_blocking(i2c_default, addr, buffer, 6, false);
for (int i = 0; i < 3; i++) {
accel[i] = (buffer[i * 2] << 8 | buffer[(i * 2) + 1]);
@@ -60,8 +60,8 @@ static void mpu6050_read_raw(int16_t accel[3], int16_t gyro[3], int16_t *temp) {
// Now gyro data from reg 0x43 for 6 bytes
// The register is auto incrementing on each read
val = 0x43;
i2c_write_blocking(I2C_PORT, addr, &val, 1, true);
i2c_read_blocking(I2C_PORT, addr, buffer, 6, false); // False - finished with bus
i2c_write_blocking(i2c_default, addr, &val, 1, true);
i2c_read_blocking(i2c_default, addr, buffer, 6, false); // False - finished with bus
for (int i = 0; i < 3; i++) {
gyro[i] = (buffer[i * 2] << 8 | buffer[(i * 2) + 1]);;
@@ -70,23 +70,29 @@ static void mpu6050_read_raw(int16_t accel[3], int16_t gyro[3], int16_t *temp) {
// Now temperature from reg 0x41 for 2 bytes
// The register is auto incrementing on each read
val = 0x41;
i2c_write_blocking(I2C_PORT, addr, &val, 1, true);
i2c_read_blocking(I2C_PORT, addr, buffer, 2, false); // False - finished with bus
i2c_write_blocking(i2c_default, addr, &val, 1, true);
i2c_read_blocking(i2c_default, addr, buffer, 2, false); // False - finished with bus
*temp = buffer[0] << 8 | buffer[1];
}
#endif
int main() {
stdio_init_all();
#if !defined(i2c_default) || !defined(PICO_DEFAULT_I2C_SDA_PIN) || !defined(PICO_DEFAULT_I2C_SCL_PIN)
#warning i2c/bus_scane example requires a board with I2C pins
puts("Default I2C pins were not defined');
#else
printf("Hello, MPU6050! Reading raw data from registers...\n");
// This example will use I2C0 on GPIO4 (SDA) and GPIO5 (SCL) running at 400kHz.
i2c_init(I2C_PORT, 400 * 1000);
gpio_set_function(4, GPIO_FUNC_I2C);
gpio_set_function(5, GPIO_FUNC_I2C);
gpio_pull_up(4);
gpio_pull_up(5);
// This example will use I2C0 on the default SDA and SCL pins (4, 5 on a Pico)
i2c_init(i2c_default, 400 * 1000);
gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C);
gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C);
gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN);
gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
// Make the I2C pins available to picotool
bi_decl(bi_2pins_with_func(PICO_DEFAULT_I2C_SDA_PIN, PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C));
mpu6050_reset();
@@ -106,5 +112,6 @@ int main() {
sleep_ms(100);
}
#endif
return 0;
}