arduino.lisp

(defun sq (x) (* x x))
(defun cub (x) (* x x x))

(defun ds3231-set (hr min)
  (with-i2c (str #x68)
    (write-byte 0 str)
    (write-byte 0 str)
    (write-byte min str)
    (write-byte hr str)))

(defun ds3231-time ()
  (with-i2c (str #x68)
    (write-byte 0 str)
    (restart-i2c str 3)
    (list
     (read-byte str)
     (read-byte str)
     (read-byte str))))

(defun ds3231_printtime ()
  (with-i2c (str #x68)
    (write-byte 0 str)
    (restart-i2c str 3)
    (let ((time (list (read-byte str) (read-byte str) (read-byte str))))
      (format t "~2x:~2x:~2x" (nth 2 time) (nth 1 time) (nth 0 time)))))

(defun ds3231_printregisterb (addr)
  (with-i2c (str #x68)
	    (write-byte addr str)
	    (restart-i2c str 1)
	    (format t "~b~%" (read-byte str))))


(defun ds3231_printregisterh (addr)
  (with-i2c (str #x68)
	    (write-byte addr str)
	    (restart-i2c str 1)
	    (format t "~x~%" (read-byte str))))

(defun ds3231_printregisterd (addr)
  (with-i2c (str #x68)
	    (write-byte addr str)
	    (restart-i2c str 1)
	    (format t "~d~%" (read-byte str))))

(defun test_sdcard ()
  (print "Write program")
  (with-sd-card (s "lisp.txt" 2)
    (write-string "(defun sq (x) (* x x))" s))
  (print "Load program")
  (with-sd-card (s "lisp.txt")
    (eval (read s)))
  (print (sq 123)))

(defun reset_MPU6050 ()
  (with-i2c (str #x69) 
    (write-byte #x6B str)
    (write-byte #x0 str)))

(defun MPU6050_readscale ()
  (with-i2c (str #x69) 
	    (write-byte #x1C str)
	    (restart-i2c str 1) 
	    (read-byte str)))

(defun MPU6050_readtemp ()
  "it is ok if temperature>36.5"
  (defvar tempout1 0)
  (defvar tempout2 0)
  (with-i2c (str #x69) 
	    (write-byte #x41 str)
	    (restart-i2c str 1) 
	    (setf tempout1 (read-byte str))
	    (write-byte #x42 str)
	    (restart-i2c str 1) 
	    (setf tempout2 (read-byte str))
	    )
  (format t "~x,~x~%" tempout1 tempout2))

(defun ct (tempout1 tempout2)
  (let ((temp 0))
    (if (= 1 (ash tempout1 -7))
	(setf temp (+ (/ tempout2 340.0) (* (- tempout1 256) (/ 256 340.0)) 36.53))
        (setf temp (+ (/ (logior (ash tempout1 8) tempout2) 340.0 ) 36.53) ))
    (format t "MPU_temp:~d~%" temp)
    ))
	
(defun checktemp (i j)
  (dotimes (p i) (delay j)
	   (MPU6050_readtemp)
	   (ct tempout1 tempout2)
	   (printbmptoserial)))

(defun MPU6050_setscale8g ()
  (with-i2c (str #x69) 
    (write-byte #x1C str)
    (write-byte #x10 str)))

(defun MPU6050_setscale2g ()
  (with-i2c (str #x69) 
    (write-byte #x1C str)
    (write-byte #x00 str)))

(defun read_MPU6050 ()
  (with-i2c (str #x69) 
    (write-byte #x3B str)
    (restart-i2c str 6) 
    (list (read-byte str) (read-byte str) (read-byte str) (read-byte str) (read-byte str) (read-byte str))))

(defun scan_MPU6050_long (i k) 
  (dotimes (p i)
    (delay k)
    (with-i2c (str #x69) 
      (write-byte #x3B str)
      )
    (let* ((r (read_MPU6050))
	   (x0 (nth 0 r))(x1 (nth 1 r))
	   (y0 (nth 2 r))(y1 (nth 3 r))
	   (z0 (nth 4 r))(z1 (nth 5 r)))
      (format t "~3d:: X:~3d:~3d  Y:~3d:~3d  Z:~3d:~3d~%" p x0 x1 y0 y1 z0 z1))))

(defun scan_MPU6050 () (format nil "~{ ~d ~}" (read_MPU6050)))

(defun get_magneto ()
  (with-i2c (str 13) 
	    (write-byte 0 str)
	    (restart-i2c str 6)
	    (list
	     (read-byte str)
	     (read-byte str)
	     (read-byte str)
	     (read-byte str)
	     (read-byte str)
	     (read-byte str))))

(defun scan ()
  (progn
    (format t "---~%")
    (dotimes (p 127)
      (with-i2c (str p)
	(when str (progn
		    (format t "~d  - ~0x ~%" p p)
		    (delay 100))
    ))
  (delay 10)
  )
  (format t "---~%")
  ))