non-working spi test.

2 files changed, 150 insertions, 3 deletions

diff --git a/drivers/hmc5983.h b/drivers/hmc5983.h
new file mode 100644
index 0000000..3d05e9c
--- /dev/null
+++ b/drivers/hmc5983.h
@@ -0,0 +1,76 @@
+#ifndef HMC5983_H
+#define HMC5983_H
+
+#include <spi/spi.h>
+#include <gpio/gpio.h>
+#include <os/time.h>
+
+class HMC5983 {
+	private:
+		Pin cs;
+		SPI_t& spi;
+		uint8_t raw_data[6];
+		
+		void read_register(uint8_t reg, uint8_t len, uint8_t *data) {
+			cs.off();
+			if (len > 1) {
+				spi.transfer_byte(reg | (1 << 8) | (1 << 7));
+			} else {
+				spi.transfer_byte(reg | (1 << 8));
+			}
+			while(len--) {
+				*data++ = spi.transfer_byte();
+			}
+			cs.on();
+		}
+		
+		void write_register(uint8_t reg, uint8_t data) {
+			cs.off();
+			spi.transfer_byte(reg);
+			spi.transfer_byte(data);
+			cs.on();
+		}
+	public:
+		float x, y, z;
+		uint8_t ident;
+		HMC5983(Pin cs_pin, SPI_t& spi_bus) : cs(cs_pin), spi(spi_bus) {}
+		
+		void init() {
+			spi.reg.CR1 = (1 << 9) | (1 << 8) | (1 << 6) | (2 << 3) | (1 << 2) | (1 << 1) | (1 << 0);
+			spi.reg.CR2 = (1 << 12) | ( 7 << 8);
+			Time::sleep(100);
+			ident = 'O';
+			while(ident != 'H'){
+				read_register(0x0A, 1, &ident);
+			}
+			write_register(0x00, (1 << 7) | (1 << 5) | (2 << 2));
+			write_register(0x01, 0x00);
+			write_register(0x02, 0x00);
+			Time::sleep(600);
+		}
+		
+		uint8_t update() {
+			uint16_t raw_x, raw_y, raw_z;
+			uint8_t status;
+			spi.reg.CR1 = (1 << 9) | (1 <<8) | (1 << 6) | (2 << 3) | (1 << 2) | (1 << 1) | (1 << 0);
+			spi.reg.CR2 = (1 << 12) | ( 7 << 8);
+			// Read status;
+			read_register(0x09, 1, &status);
+			if (status & 1) {
+				read_register(0x03, 6, raw_data);
+				raw_x = raw_data[0] << 8;
+				raw_x |= raw_data[1];
+				raw_z = raw_data[2] << 8;
+				raw_z |= raw_data[3];
+				raw_y = raw_data[4] << 8;
+				raw_y |= raw_data[5]; 
+				
+				x = float(raw_x);
+				y = float(raw_y);
+				z = float(raw_z);
+			}
+			return status;
+		}
+};
+
+#endif
diff --git a/main.cpp b/main.cpp
index 24962f4..cba7c30 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,13 +1,29 @@
 #include <rcc/rcc.h>
 #include <os/time.h>
+#include <interrupt/interrupt.h>
+#include <timer/timer.h>
+
 #include <gpio/gpio.h>
 #include <usb/usb.h>
 #include <usb/descriptor.h>
 
+#include "hmc5983.h"
+
 Pin usb_vbus = GPIOB[5];
 Pin usb_dm = GPIOA[11];
 Pin usb_dp = GPIOA[12];
 
+Pin spi2_sck = GPIOB[13];
+Pin spi2_miso = GPIOB[14];
+Pin spi2_mosi = GPIOB[15];
+Pin bar_cs = GPIOC[13];
+Pin mag_cs = GPIOC[14];
+Pin mpu_cs = GPIOC[15];
+Pin flash_cs = GPIOB[2];
+
+Pin s1 = GPIOA[0];
+Pin s2 = GPIOA[1];
+
 auto dev_desc = device_desc(0x200, 0, 0, 0, 64, 0x1234, 0x5678, 0, 0, 0, 0, 1);
 auto conf_desc = configuration_desc(1, 1, 0, 0xc0, 0,
 	interface_desc(1, 0, 1, 0xff, 0x00, 0x00, 0,
@@ -41,6 +57,8 @@ class USB_TM : public USB_class_driver {
 
 USB_TM usb_tm(usb);
 
+HMC5983 magn(mag_cs, SPI2);
+
 int main() {
 	rcc_init();
 	
@@ -49,6 +67,8 @@ int main() {
 	STK.CTRL = 0x03;
 	
 	RCC.enable(RCC.GPIOA);
+	RCC.enable(RCC.GPIOB);
+	RCC.enable(RCC.GPIOC);
 	
 	usb_dm.set_mode(Pin::AF);
 	usb_dm.set_af(14);
@@ -56,13 +76,64 @@ int main() {
 	usb_dp.set_af(14);
 	
 	RCC.enable(RCC.USB);
-	
 	usb.init();
+	
+	//RCC.enable(RCC.SPI2);
+	/*
+	spi2_sck.set_mode(Pin::AF);
+	spi2_sck.set_af(5);
+	spi2_mosi.set_mode(Pin::AF);
+	spi2_mosi.set_af(5);
+	spi2_miso.set_mode(Pin::AF);
+	spi2_miso.set_af(5);
+	mag_cs.set_mode(Pin::Output);
+	mag_cs.on();
+	bar_cs.set_mode(Pin::Output);
+	bar_cs.on();
+	mpu_cs.set_mode(Pin::Output);
+	mpu_cs.on();
+	flash_cs.set_mode(Pin::Output);
+	flash_cs.on();
+	
+	magn.init();
+	float buf[3] = {0,0,0};
+	*/
+	s1.set_mode(Pin::AF);
+	s1.set_af(1);
+	s2.set_mode(Pin::AF);
+	s2.set_af(1);
+	
+	RCC.enable(RCC.TIM8);
+	
+	TIM8.PSC = 168 - 1;
+	TIM8.ARR = 2500;
+	TIM8.CCER = (1 << 12) | (1 << 8) | (1 << 4) | (1 << 0);
+	TIM8.CCMR1 = (6 << 12) | (1 << 11) | (6 << 4) | (1 << 3);
+	TIM8.CCMR2 = (6 << 12) | (1 << 11) | (6 << 4) | (1 << 3);
+	TIM8.BDTR = (1 << 15);
+	TIM8.CCR1 = 1000;
+	TIM8.CCR2 = 1000;
+	TIM8.CCR3 = 1000;
+	TIM8.CCR4 = 1000;
+	TIM8.CR1 = (1 << 2) | (1 << 0);
+	
 	while(1) {
 		usb.process();
+		//uint8_t magn_status = magn.update();
+		
+		//buf[0] = magn.x;
+		//buf[1] = magn.y;
+		//buf[2] = magn.z;
+		TIM8.CCR1 = 1000 + 100;
+		TIM8.CCR2 = 1000 + 100;
+		TIM8.CCR3 = 1000 + 100;
+		TIM8.CCR4 = 1000 + 100;
+		
+		
 		if(usb.ep_ready(1)) {
-			char a = 'A';
-			usb.write(1, (uint32_t*)&a, sizeof(a));
+			//usb.write(1, (uint32_t*)&magn.ident, sizeof(magn.ident));
+			//usb.write(1, (uint32_t*)buf, sizeof(buf));
+			//usb.write(1, (uint32_t*)&magn_status, sizeof(magn_status));
 		}
 	}
 }
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