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authorVegard Storheil Eriksen <zyp@jvnv.net>2011-06-02 13:34:52 +0200
committerVegard Storheil Eriksen <zyp@jvnv.net>2011-06-02 13:34:52 +0200
commitc058de1ca7f7948ab79f717c3d6ebd2b3b2f7a9e (patch)
tree1c50622331c3e5fd0330cf93ca047310a567c888
parent10a6c74e7171cbd199c6a3c18d1025d762aadde8 (diff)
Test I2C by initializing and reading ITG-3200.
-rw-r--r--main.cpp91
1 files changed, 90 insertions, 1 deletions
diff --git a/main.cpp b/main.cpp
index 22ff85a..6bdabd0 100644
--- a/main.cpp
+++ b/main.cpp
@@ -13,14 +13,103 @@ void* vectors[4] __attribute__((section(".vectors"))) = {
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--;
+ }
+ }
+}
+
int main() {
- RCC.APB2ENR |= 0x5;
+ RCC.APB2ENR |= 0xd;
GPIOA.CRL = 0x44344444;
GPIOA.ODR = 1 << 5;
+ GPIOB.CRH = 0x4444ff44;
+
+ cnt = 0;
+ while(cnt++ < (1 << 20));
+
+ // 100 kHz.
+ RCC.APB1ENR = (1 << 22);
+ while(cnt++ < (1 << 20));
+
+ I2C2.CR1 = 0x8000;
+ I2C2.CR1 = 0;
+
+ I2C2.CR2 = 36;
+ I2C2.TRISE = 37;
+ I2C2.CCR = 180;
+ I2C2.CR1 = 1;
+
+ i2c_write_reg(0x68, 0x3e, 0x03);
+ i2c_write_reg(0x68, 0x16, 0x18 | 0x02);
+
+ uint8_t buf[6];
+
while(1) {
cnt++;
+ if(cnt & (1 << 20)) {
+ GPIOA.ODR = 1 << 5;
+ } else {
+ GPIOA.ODR = 0;
+ }
+
+ if(!(cnt & ((1 << 20) - 1))) {
+ i2c_read_reg(0x68, 0x1d, 6, buf);
+ }
}
}