Moved peripheral classes to seperate files.

7 files changed, 242 insertions, 194 deletions

diff --git a/i2c.cpp b/i2c.cpp
new file mode 100644
index 0000000..90c0ce1
--- /dev/null
+++ b/i2c.cpp
@@ -0,0 +1,74 @@
+#include "i2c.h"
+
+#include "stm32.h"
+
+void I2C::enable() {
+	RCC.enable(RCC.I2C2);
+	asm volatile("nop");
+	
+	I2C2.CR1 = 0x8000;
+	I2C2.CR1 = 0;
+	
+	I2C2.CR2 = 36;
+	I2C2.TRISE = 37;
+	I2C2.CCR = 180;
+	I2C2.CR1 = 1;
+}
+
+void I2C::write_reg(uint8_t addr, uint8_t reg, uint8_t data) {
+	I2C2.CR1 |= 0x100;
+	while(!(I2C2.SR1 & 0x01));
+	
+	I2C2.DR = (addr << 1) | 0;
+	while (!(I2C2.SR1 & 0x02));
+	I2C2.SR2;
+	
+	I2C2.DR = reg;
+	while (!(I2C2.SR1 & 0x80));
+	
+	I2C2.DR = data;
+	while (!(I2C2.SR1 & 0x04));
+	
+	I2C2.CR1 |= 0x200;
+}
+
+void I2C::read_reg(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* buf) {
+	I2C2.CR1 |= 0x100;
+	while(!(I2C2.SR1 & 0x01));
+	
+	I2C2.DR = (addr << 1) | 0;
+	while (!(I2C2.SR1 & 0x02));
+	I2C2.SR2;
+	
+	I2C2.DR = reg;
+	while (!(I2C2.SR1 & 0x80));
+	
+	I2C2.CR1 |= 0x100;
+	while(!(I2C2.SR1 & 0x01));
+	
+	I2C2.DR = (addr << 1) | 1;
+	while (!(I2C2.SR1 & 0x02));
+	I2C2.SR2;
+	
+	I2C2.CR1 |= 0x400; // Set ACK.
+	
+	while(len) {
+		if(len == 3) {
+			while (!(I2C2.SR1 & 0x04)); // Wait for BTF
+			
+			I2C2.CR1 &= ~0x400; // Clear ACK.
+			*buf++ = I2C2.DR;
+			len--;
+			
+			I2C2.CR1 |= 0x200; // Set STOP.
+			*buf++ = I2C2.DR;
+			len--;
+			
+		} else {
+			while (!(I2C2.SR1 & 0x40)); // Wait for RXNE
+			
+			*buf++ = I2C2.DR;
+			len--;
+		}
+	}
+}
diff --git a/i2c.h b/i2c.h
new file mode 100644
index 0000000..0681160
--- /dev/null
+++ b/i2c.h
@@ -0,0 +1,16 @@
+#ifndef I2C_H
+#define I2C_H
+
+#include <stdint.h>
+
+class I2C {
+	public:
+		void enable();
+		
+		void write_reg(uint8_t addr, uint8_t reg, uint8_t data);
+		void read_reg(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* buf);
+};
+
+
+
+#endif
diff --git a/main.cpp b/main.cpp
index 7af1122..440cad4 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,180 +1,10 @@
 #include "stm32.h"
 #include "interrupt.h"
 
-volatile unsigned int cnt;
-
-void i2c_write_reg(uint8_t addr, uint8_t reg, uint8_t data) {
-	I2C2.CR1 |= 0x100;
-	while(!(I2C2.SR1 & 0x01));
-	
-	I2C2.DR = (addr << 1) | 0;
-	while (!(I2C2.SR1 & 0x02));
-	I2C2.SR2;
-	
-	I2C2.DR = reg;
-	while (!(I2C2.SR1 & 0x80));
-	
-	I2C2.DR = data;
-	while (!(I2C2.SR1 & 0x04));
-	
-	I2C2.CR1 |= 0x200;
-}
-
-void i2c_read_reg(uint8_t addr, uint8_t reg, uint8_t len, uint8_t* buf) {
-	I2C2.CR1 |= 0x100;
-	while(!(I2C2.SR1 & 0x01));
-	
-	I2C2.DR = (addr << 1) | 0;
-	while (!(I2C2.SR1 & 0x02));
-	I2C2.SR2;
-	
-	I2C2.DR = reg;
-	while (!(I2C2.SR1 & 0x80));
-	
-	I2C2.CR1 |= 0x100;
-	while(!(I2C2.SR1 & 0x01));
-	
-	I2C2.DR = (addr << 1) | 1;
-	while (!(I2C2.SR1 & 0x02));
-	I2C2.SR2;
-	
-	I2C2.CR1 |= 0x400; // Set ACK.
-	
-	while(len) {
-		if(len == 3) {
-			while (!(I2C2.SR1 & 0x04)); // Wait for BTF
-			
-			I2C2.CR1 &= ~0x400; // Clear ACK.
-			*buf++ = I2C2.DR;
-			len--;
-			
-			I2C2.CR1 |= 0x200; // Set STOP.
-			*buf++ = I2C2.DR;
-			len--;
-			
-		} else {
-			while (!(I2C2.SR1 & 0x40)); // Wait for RXNE
-			
-			*buf++ = I2C2.DR;
-			len--;
-		}
-	}
-}
+#include "ppmsum.h"
+#include "i2c.h"
 
-template<>
-void interrupt<Interrupt::USART1>() {
-	USART1.DR;
-	GPIOA.ODR ^= 1 << 5;
-}
-
-void usart_send(uint8_t data) {
-	while(!(USART1.SR & 0x80)); // Wait for TXE.
-	
-	USART1.DR = data;
-}
-
-void xbee_send(int len, const uint8_t* buf) {
-	// Start and length.
-	usart_send(0x7e);
-	usart_send(((len + 14) >> 8) & 0xff);
-	usart_send((len + 14) & 0xff);
-	
-	// Frame type and ID.
-	usart_send(0x10);
-	usart_send(0x01);
-	
-	// Destination address.
-	usart_send(0x00);
-	usart_send(0x13);
-	usart_send(0xa2);
-	usart_send(0x00);
-	usart_send(0x40);
-	usart_send(0x6f);
-	usart_send(0x19);
-	usart_send(0xf1);
-	
-	usart_send(0x00);
-	usart_send(0x00);
-	usart_send(0x00);
-	usart_send(0x00);
-	
-	uint8_t chsum = 0x80;
-	
-	// Payload
-	for(int i = 0; i < len; i++) {
-		usart_send(buf[i]);
-		chsum -= buf[i];
-	}
-	
-	usart_send(chsum);
-}
-
-class PPMSum {
-	friend void interrupt<Interrupt::TIM4>();
-	
-	private:
-		static PPMSum* self;
-		
-		uint8_t index;
-		uint16_t channels[16];
-		
-		void irq() {
-			int16_t sr = TIM4.SR;
-			TIM4.SR = 0;
-			
-			if(sr & 0x06) {
-				GPIOA.ODR = 1 << 5;
-			} else {
-				GPIOA.ODR = 0;
-			}
-			
-			
-			if(sr & 0x01) {
-				// Timeout.
-				
-				// TODO: Indicate failsafe.
-				
-			} else if(sr & 0x02) {
-				// Period.
-				
-				if(TIM4.CCR1 > 5000) {
-					index = 0;
-				} else {
-					index++;
-				}
-				
-			} else if(sr & 0x04) {
-				// Pulsewidth.
-				
-				channels[index] = TIM4.CCR2;
-			}
-		}
-	
-	public:
-		PPMSum() {
-			self = this;
-		}
-		
-		void start() {
-			RCC.enable(RCC.TIM4);
-			TIM4.PSC = 36;
-			TIM4.CCMR1 = 0x0201;
-			TIM4.SMCR = 0x54;
-			TIM4.CCER = 0x31;
-			TIM4.DIER = 0x07;
-			
-			Interrupt::enable(Interrupt::TIM4);
-			
-			TIM4.CR1 = 0x05;
-		}
-};
-
-PPMSum* PPMSum::self = 0;
-
-template<>
-void interrupt<Interrupt::TIM4>() {
-	PPMSum::self->irq();
-}
+volatile unsigned int cnt;
 
 int main() {
 	RCC.enable(RCC.AFIO);
@@ -188,33 +18,18 @@ int main() {
 	GPIOB.CRH = 0x4444ff44;
 	
 	cnt = 0;
-	while(cnt++ < (1 << 20));
-	
-	// 100 kHz.
-	RCC.enable(RCC.I2C2);
-	while(cnt++ < (1 << 20));
 	
-	I2C2.CR1 = 0x8000;
-	I2C2.CR1 = 0;
+	I2C i2c;
 	
-	I2C2.CR2 = 36;
-	I2C2.TRISE = 37;
-	I2C2.CCR = 180;
-	I2C2.CR1 = 1;
+	i2c.enable();
 	
-	i2c_write_reg(0x68, 0x3e, 0x03);
-	i2c_write_reg(0x68, 0x16, 0x18 | 0x02);
+	i2c.write_reg(0x68, 0x3e, 0x03);
+	i2c.write_reg(0x68, 0x16, 0x18 | 0x02);
 	
 	uint8_t buf[6];
 	
-	RCC.enable(RCC.USART1);
-	USART1.BRR = 7500; // 9600 baud
-	USART1.CR1 = 0x202c;
-	
-	Interrupt::enable(Interrupt::USART1);
-	
 	PPMSum ppmsum;
-	ppmsum.start();
+	ppmsum.enable();
 	
 	while(1) {
 		cnt++;
@@ -225,7 +40,7 @@ int main() {
 		}
 		
 		if(!(cnt & ((1 << 20) - 1))) {
-			i2c_read_reg(0x68, 0x1d, 6, buf);
+			i2c.read_reg(0x68, 0x1d, 6, buf);
 			//xbee_send(6, buf);
 		}
 	}
diff --git a/ppmsum.cpp b/ppmsum.cpp
new file mode 100644
index 0000000..7b77036
--- /dev/null
+++ b/ppmsum.cpp
@@ -0,0 +1,53 @@
+#include "ppmsum.h"
+
+PPMSum* PPMSum::self = 0;
+
+template<>
+void interrupt<Interrupt::TIM4>() {
+	PPMSum::self->irq();
+}
+
+void PPMSum::irq() {
+	int16_t sr = TIM4.SR;
+	TIM4.SR = 0;
+	
+	if(sr & 0x06) {
+		GPIOA.ODR = 1 << 5;
+	} else {
+		GPIOA.ODR = 0;
+	}
+	
+	
+	if(sr & 0x01) {
+		// Timeout.
+		
+		// TODO: Indicate failsafe.
+		
+	} else if(sr & 0x02) {
+		// Period.
+		
+		if(TIM4.CCR1 > 5000) {
+			index = 0;
+		} else {
+			index++;
+		}
+		
+	} else if(sr & 0x04) {
+		// Pulsewidth.
+		
+		channels[index] = TIM4.CCR2;
+	}
+}
+
+void PPMSum::enable() {
+	RCC.enable(RCC.TIM4);
+	TIM4.PSC = 36;
+	TIM4.CCMR1 = 0x0201;
+	TIM4.SMCR = 0x54;
+	TIM4.CCER = 0x31;
+	TIM4.DIER = 0x07;
+	
+	Interrupt::enable(Interrupt::TIM4);
+	
+	TIM4.CR1 = 0x05;
+}
diff --git a/ppmsum.h b/ppmsum.h
new file mode 100644
index 0000000..3c4ce79
--- /dev/null
+++ b/ppmsum.h
@@ -0,0 +1,26 @@
+#ifndef PPMSUM_H
+#define PPMSUM_H
+
+#include <stdint.h>
+#include "interrupt.h"
+
+class PPMSum {
+	friend void interrupt<Interrupt::TIM4>();
+	
+	private:
+		static PPMSum* self;
+		
+		uint8_t index;
+		uint16_t channels[16];
+		
+		void irq();
+	
+	public:
+		PPMSum() {
+			self = this;
+		}
+		
+		void enable();
+};
+
+#endif
diff --git a/usart.h b/usart.h
new file mode 100644
index 0000000..6c145c6
--- /dev/null
+++ b/usart.h
@@ -0,0 +1,24 @@
+#ifndef USART_H
+#define USART_H
+
+template<>
+void interrupt<Interrupt::USART1>() {
+	USART1.DR;
+	GPIOA.ODR ^= 1 << 5;
+}
+
+void usart_enable() {
+	RCC.enable(RCC.USART1);
+	USART1.BRR = 7500; // 9600 baud
+	USART1.CR1 = 0x202c;
+	
+	Interrupt::enable(Interrupt::USART1);
+}
+
+void usart_send(uint8_t data) {
+	while(!(USART1.SR & 0x80)); // Wait for TXE.
+	
+	USART1.DR = data;
+}
+
+#endif
diff --git a/xbee.h b/xbee.h
new file mode 100644
index 0000000..2b577b2
--- /dev/null
+++ b/xbee.h
@@ -0,0 +1,40 @@
+#ifndef XBEE_H
+#define XBEE_H
+
+void xbee_send(int len, const uint8_t* buf) {
+	// Start and length.
+	usart_send(0x7e);
+	usart_send(((len + 14) >> 8) & 0xff);
+	usart_send((len + 14) & 0xff);
+	
+	// Frame type and ID.
+	usart_send(0x10);
+	usart_send(0x01);
+	
+	// Destination address.
+	usart_send(0x00);
+	usart_send(0x13);
+	usart_send(0xa2);
+	usart_send(0x00);
+	usart_send(0x40);
+	usart_send(0x6f);
+	usart_send(0x19);
+	usart_send(0xf1);
+	
+	usart_send(0x00);
+	usart_send(0x00);
+	usart_send(0x00);
+	usart_send(0x00);
+	
+	uint8_t chsum = 0x80;
+	
+	// Payload
+	for(int i = 0; i < len; i++) {
+		usart_send(buf[i]);
+		chsum -= buf[i];
+	}
+	
+	usart_send(chsum);
+}
+
+#endif