[PD] Sensors GPIO Raspberry Pi Pd
Martin Peach
martin.peach at sympatico.ca
Mon Apr 29 17:38:33 CEST 2013
Here's a patch to display data from two D6T sensors on the same I2C bus.
The clock line is switched using a 4051 analog multiplexer. The control
line is GPIO_17 of the Pi connected to A of the 4051 (B, C and Inhibit
are at 0V). 10k resistors to 3.3V are on each sensor's clock line at X0
and X1 of the 4051 (I2C clock connects to X). Because the code accesses
the GPIO file system it needs to be run as root. I have two different
sensors so the code reads two different packet lengths. Just a proof of
concept, there could be up to 8 identical sensors on the same bus with
this setup.
Martin
On 2013-04-25 20:04, Julian Brooks wrote:
> Just spotted this:
> https://github.com/kadamski/i2c-gpio-param
> Could be useful
>
>
> On 25 April 2013 15:54, Martin Peach <martin.peach at sympatico.ca
> <mailto:martin.peach at sympatico.ca>> wrote:
>
> On 2013-04-25 10:37, Julian Brooks wrote:
>
> 'Nother 2 dumb questions:
> What's the difference between the ones that have
> spider/centipede type
> legs and the straight ones (which would be best to get).
>
>
> The PDIP package is what you want, not the SOIC. The only difference
> is size. DIP packages are human-friendly, surface mount is for robots.
>
>
> And also are you attaching the MC14051 to any type of
> board/adaptor or
> just soldering straight on to the pins?
>
>
> I have it in a breadboard right now, to make it more permanent I
> would solder a socket to a prototyping board then (after verifying
> the connections) plug the chip into the socket. Soldering to the
> pins makes it difficult to replace the IC, and risks damaging it
> with the heat if you're not good at soldering quickly and to the
> point. A CD4051 would also work, it's basically the same circuit.
>
> Martin
>
>
>
-------------- next part --------------
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-------------- next part --------------
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-------------- next part --------------
/* d6t_reader.c is a program that reads from omron d6t IR sensors using the raspberry pi i2c bus */
/* It sends sensor packets in a form readable by a pure-data [netreceive] object. */
// based on elinux.org/interfacing_with_I2C_Devices
// Martin Peach 20130416
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <linux/i2c.h>
#include <linux/i2c-dev.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <sys/types.h>
//#include <sys/stat.h>
#include <fcntl.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <signal.h>
// Set a Pd [netreceive] to listen on this PORT
#define PORT 33333
// Pd is running on this machine IP
#define IP "192.168.2.15"
//#define IP "127.0.0.1"
// The SENSOR_PACKET_SIZE is 35 for D6T44L, 19 for D6T8L
#define D6T44L_SENSOR_PACKET_SIZE 35
#define D6T8L_SENSOR_PACKET_SIZE 19
// PD_SELECTOR is the first item in the message sent to netrecceive
#define D6T44L_PD_SELECTOR "d6t44l"
#define D6T8L_PD_SELECTOR "d6t8l"
// SENSOR_SELECT_PIN connects to A of a 4051 multiplexer to select X0 or X1 output for the i2c clock.
// GPIO_17 is rPi GPIO_GEN_0, pin 11 on the P1 header.
#define SENSOR_SELECT_PIN 17
// calc_crc and D6T_checkPEC are from Omron's crc code from the DST-44L/DST-8L Thermal Sensor Whitepaper
unsigned char calc_crc (unsigned char data);
int D6T_checkPEC (unsigned char *buf, int pPEC);
int gpio_init(int gpio_number, int direction);
int gpio_write(int gpio_number, int value);
int gpio_free(int gpio_number);
void sigint_handler(int sig);
/* non-zero direction is output */
#define GPIO_IN 0
#define GPIO_OUT 1
// Executes when the user presses Ctrl+C. Frees up GPIO pins
void sigint_handler(int sig)
{
gpio_free(SENSOR_SELECT_PIN);
exit (sig);
}
int gpio_init(int gpio_number, int direction)
{
FILE *fp;
//create a variable to store whether we are sending a '1' or a '0'
char set_value[4];
char path[128];
//Using sysfs we need to write "38" to /sys/class/gpio/export
//This will create the folder /sys/class/gpio/gpio38
// use fopen instead of open because we don't want buffering
if ((fp = fopen("/sys/class/gpio/export", "ab")) == NULL)
{
printf("Cannot open export file.\n");
return(1);
}
//Set pointer to beginning of the file (is this necessary?)
rewind(fp);
//Write our value of "38" to the file
sprintf(set_value,"%d", gpio_number);
fwrite(&set_value, sizeof(char), strlen(set_value), fp);
fclose(fp);
printf("...export file accessed, new pin now accessible\n");
//Open the pin's sysfs file in binary for reading and writing, store file pointer in fp
sprintf(path, "/sys/class/gpio/gpio%d/direction", gpio_number);
if ((fp = fopen(path, "rb+")) == NULL)
{
printf("Cannot open direction file.\n");
return(2);
}
//Set pointer to beginning of the file
rewind(fp);
//Write our value of "out" to the file
if (direction) strcpy(set_value,"out");
else strcpy(set_value,"in");
fwrite(&set_value, sizeof(char), strlen(set_value), fp);
fclose(fp);
printf("...direction set to %sput\n", (direction)?"out":"in");
return 0;
}
int gpio_write(int gpio_number, int value)
{
FILE *fp;
//create a variable to store whether we are sending a '1' or a '0'
char set_value[4];
char path[128];
//SET VALUE
//Open the LED's sysfs file in binary for reading and writing, store file pointer in fp
sprintf(path, "/sys/class/gpio/gpio%d/value", gpio_number);
if ((fp = fopen(path, "rb+")) == NULL)
{
printf("Cannot open value file.\n");
return(3);
}
//Set pointer to beginning of the file
rewind(fp);
//Write our value of "1" to the file
sprintf(set_value,"%d", value);
fwrite(&set_value, sizeof(char), strlen(set_value), fp);
fclose(fp);
//printf("...value set to %d...\n", value);
return 0;
}
int gpio_free(int gpio_number)
{
FILE *fp;
char set_value[4];
//Using sysfs we need to write "38" to /sys/class/gpio/unexport
//This will remove the folder /sys/class/gpio/gpio38
// use fopen instead of open because we don't want buffering
if ((fp = fopen("/sys/class/gpio/unexport", "ab")) == NULL)
{
printf("Cannot open unexport file.\n");
return(4);
}
//Set pointer to beginning of the file
rewind(fp);
//Write our value of "38" to the file
sprintf(set_value,"%d", gpio_number);
fwrite(&set_value, sizeof(char), strlen(set_value), fp);
fclose(fp);
printf("...unexport file accessed, pin now inaccessible\n");
return 0;
}
unsigned char calc_crc (unsigned char data)
{
int index;
unsigned char temp;
for (index = 0; index < 8; index++)
{
temp = data;
data <<= 1;
if (temp & 0x80) data ^= 0x07;
}
return data;
}
int D6T_checkPEC (unsigned char *buf, int pPEC)
{
unsigned char crc = 0;
int i;
//crc = calc_crc( 0x14 );
//crc = calc_crc( 0x4C ^ crc );
crc = calc_crc( 0x15 ^ crc );
for ( i = 0; i < pPEC; i++)
{
crc = calc_crc(buf[i] ^ crc);
// if (crc == buf[pPEC]) printf("MATCH at %d\n", i);
}
printf("D6T_checkPEC says 0x%02X\n", crc);
return (crc == buf[pPEC]);
}
int main (int argc, char **argv)
{
int i2c_file;
char filename[32];
int addr = 0x0A;
unsigned char inbuf[63];
unsigned char outbuf;
char netbuf[256];
const char *buffer;
int i, j, s;
int initialized = 0;
int sensor = 0; // which one
int bufsize = D6T44L_SENSOR_PACKET_SIZE; // read packet size for the current sensor
struct sockaddr_in sock;
// initialize the GPIO pin(s) to select the sensor via a multiplexer on its clock line
// GPIO_17 == GPIO_GEN0 on the pi == pin 11 on connector P1
i = gpio_init(SENSOR_SELECT_PIN, GPIO_OUT); // make pin an output
if (0 != i)
{
printf ("Unable to init GPIO %d (%d)\n", SENSOR_SELECT_PIN, i);
sigint_handler ( EXIT_FAILURE );
}
// select sensor in channel 0
i = gpio_write(SENSOR_SELECT_PIN, sensor&0x01); // output low
if (0 != i)
{
printf ("Unable to write GPIO %d (%d)\n", SENSOR_SELECT_PIN, i);
sigint_handler ( EXIT_FAILURE );
}
// Assign a handler to free the GPIO pin on Ctrl+C.
signal (SIGINT, (__sighandler_t)sigint_handler);
// set up a socket to send UDP datagrams through
if (( s = socket( AF_INET, SOCK_DGRAM, IPPROTO_UDP )) < 0)
{
printf ("Unable to create socket (%d)\n", errno);
buffer = strerror(errno);
printf(">> %s <<\n", buffer);
sigint_handler ( EXIT_FAILURE );
}
memset (( char *) &sock, 0 , sizeof(sock) ); // clear the sock struct
sock.sin_family = AF_INET;
sock.sin_port = htons ( PORT );
if ( inet_aton( IP, &sock.sin_addr ) == 0 )
{
printf ( "Unable to make address from %s\n", IP );
sigint_handler ( EXIT_FAILURE );
}
// The Omron sensor streams data after being initialized so we only need to write it once
if ( argc > 1 ) initialized = atoi(argv[1]);
printf("%s: initialized:%d\n", argv[0], initialized);
// Open the I2C connection
sprintf(filename, "/dev/i2c-1");
if ((i2c_file = open(filename, O_RDWR)) < 0)
{
printf ("Failed to open the bus. (%d)\n", errno);
sigint_handler (EXIT_FAILURE);
}
// set the slave address
if (ioctl(i2c_file, I2C_SLAVE, addr) < 0)
{
printf ("Failed to acquire bus access and/or talk to slave. (%d)\n", errno);
sigint_handler (EXIT_FAILURE);
}
// start reading packets
do
{
// read the first sensor, a D6T44L
sensor = 0;
bufsize = D6T44L_SENSOR_PACKET_SIZE; // packet size for sensor 0
i = gpio_write(SENSOR_SELECT_PIN, sensor&0x01); // select sensor in channel 0
if (0 != i)
{
printf ("Unable to write GPIO %d (%d)\n", SENSOR_SELECT_PIN, i);
sigint_handler ( EXIT_FAILURE );
}
do // read packets until we get one with no errors
{
// clear the inbuf first
for ( i = 0; i < bufsize; ++i) inbuf[i] = 0;
// we only need to write the command once.
// After that the sensor will return data
// any time it is read.
if ( !initialized )
{
outbuf = 0x4C; // the command
if (write( i2c_file, &outbuf, 1 ) != 1)
{
printf("Write failed (%d)\n", errno);
buffer = strerror(errno);
printf(">> %s <<\n", buffer);
sigint_handler (EXIT_FAILURE);
}
//initialized = 1; // only set after all sensors are intialized
}
// read a packet
if (read (i2c_file, inbuf, bufsize) != bufsize)
{
printf("Read failed (%d)\n", errno);
buffer = strerror(errno);
printf(">> %s <<\n", buffer);
}
} while (!D6T_checkPEC (inbuf, bufsize-1));
// print the result
for (i = 0; i < bufsize-1; i += 2)
{
printf("%d ", inbuf[i]+(inbuf[i+1]<<8));
}
printf("<0x%02X>\n", inbuf[bufsize-1]);
// send the result to Pd
j = sprintf (netbuf, D6T44L_PD_SELECTOR);
for (i = 0; i < bufsize-1; i += 2)
{
j += sprintf(&netbuf[j], " %d", inbuf[i] + (inbuf[i+1]<<8));
}
j += sprintf(&netbuf[j], "\n"); // CR NOT semicolon for Pd's [netreceive]
if (sendto ( s, netbuf, j, 0, (const struct sockaddr *)&sock, sizeof(sock)) < 0 )
{
printf ("sendto error (%d)\n", errno);
buffer = strerror (errno);
printf (">> %s <<\n", buffer);
}
printf("%s\n", netbuf);
usleep (200000); // wait 200ms
// read second sensor, a D6T8L
sensor = 1;
bufsize = D6T8L_SENSOR_PACKET_SIZE; // sensor 1 is D6T8L
i = gpio_write(SENSOR_SELECT_PIN, sensor&0x01); // select sensor in channel 1
if (0 != i)
{
printf ("Unable to write GPIO %d (%d)\n", SENSOR_SELECT_PIN, i);
sigint_handler ( EXIT_FAILURE );
}
do
{
// clear the inbuf first
for ( i = 0; i < D6T8L_SENSOR_PACKET_SIZE; ++i) inbuf[i] = 0;
outbuf = 0x4C; // the command
// we only need to write the command once.
// After that the sensor will return data
// any time it is read.
if (! initialized)
{
if (write( i2c_file, &outbuf, 1 ) != 1)
{
printf("Write failed (%d)\n", errno);
buffer = strerror(errno);
printf(">> %s <<\n", buffer);
sigint_handler (EXIT_FAILURE);
}
initialized = 1;
}
if (read (i2c_file, inbuf, D6T8L_SENSOR_PACKET_SIZE) != D6T8L_SENSOR_PACKET_SIZE)
{
printf("Read failed (%d)\n", errno);
buffer = strerror(errno);
printf(">> %s <<\n", buffer);
}
} while (!D6T_checkPEC (inbuf, D6T8L_SENSOR_PACKET_SIZE-1));
// print to console
for (i = 0; i < D6T8L_SENSOR_PACKET_SIZE-1; i += 2)
{
printf("%d ", inbuf[i]+(inbuf[i+1]<<8));
}
printf("<0x%02X>\n", inbuf[bufsize-1]);
// send to Pd
j = sprintf (netbuf, D6T8L_PD_SELECTOR);
for (i = 0; i < D6T8L_SENSOR_PACKET_SIZE-1; i += 2)
{
j += sprintf(&netbuf[j], " %d", inbuf[i] + (inbuf[i+1]<<8));
}
j += sprintf(&netbuf[j], "\n"); // CR NOT semicolon for Pd's [netreceive]
if (sendto ( s, netbuf, j, 0, (const struct sockaddr *)&sock, sizeof(sock)) < 0 )
{
printf ("sendto error (%d)\n", errno);
buffer = strerror (errno);
printf (">> %s <<\n", buffer);
}
printf("%s\n", netbuf);
// sensors are supposed to update about every 400ms
usleep (200000); // wait 200ms
} while (1);
close(i2c_file);
return EXIT_SUCCESS;
}
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