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-rw-r--r--board.h2
m---------chibios0
-rw-r--r--foo.h84
-rw-r--r--halconf.h2
-rw-r--r--main.cpp111
-rw-r--r--mcuconf.h12
-rw-r--r--usbserial.h6
7 files changed, 212 insertions, 5 deletions
diff --git a/board.h b/board.h
index 06f9c24..c0b01d0 100644
--- a/board.h
+++ b/board.h
@@ -48,7 +48,7 @@
* PB15 - Alternate output (MMC SPI2 MOSI).
*/
#define VAL_GPIOBCRL 0x88888888 /* PB7...PB0 */
-#define VAL_GPIOBCRH 0xB4B88888 /* PB15...PB8 */
+#define VAL_GPIOBCRH 0xB4B84488 /* PB15...PB8 */
#define VAL_GPIOBODR 0xFFFFFFFF
/*
diff --git a/chibios b/chibios
-Subproject 2aa3090be4b5ff0d74a76c2795ce3af152859ef
+Subproject 0537de03cb144584727f982eb210262b0ddd4d6
diff --git a/foo.h b/foo.h
new file mode 100644
index 0000000..d6bb028
--- /dev/null
+++ b/foo.h
@@ -0,0 +1,84 @@
+int usbprintf(USBSerial& usbs, const char* format, ...) {
+ int32_t* argp = (int32_t*)&format;
+ int num;
+
+ while(*format) {
+ if(*format != '%') {
+ usbs.putc(*format++);
+ num++;
+ continue;
+ }
+ format++;
+
+ bool is_signed = false;
+ bool zero_pad = false;
+ int radix = 16;
+ int min_len = 0;
+
+ if(*format == '0') {
+ zero_pad = true;
+ }
+
+ while(*format >= '0' && *format <= '9') {
+ min_len = min_len * 10 + *format++ - '0';
+ }
+
+ switch(*format++) {
+ case '%':
+ usbs.putc('%');
+ num++;
+ break;
+
+ case 'c':
+ usbs.putc((char)*++argp);
+ num++;
+ break;
+
+ case 's': {
+ char* str = (char*)*++argp;
+ while(*str) {
+ usbs.putc(*str++);
+ num++;
+ }
+ } break;
+
+ case 'd':
+ is_signed = true;
+ case 'u':
+ radix = 10;
+ case 'x':
+ ;
+ uint32_t x = (uint32_t)*(++argp);
+ if(is_signed && (int32_t)x < 0) {
+ x = -x;
+ usbs.putc('-');
+ min_len--;
+ }
+
+ char buf[11];
+ char* bufp = &buf[sizeof(buf)];
+ *--bufp = 0;
+
+ do {
+ int d = x % radix;
+ *--bufp = d < 10 ? '0' + d : 'a' - 10 + d;
+ x /= radix;
+ min_len--;
+ } while(x);
+
+ while(min_len > 0) {
+ usbs.putc(zero_pad ? '0' : ' ');
+ num++;
+ min_len--;
+ }
+
+ while(*bufp) {
+ usbs.putc(*bufp++);
+ num++;
+ }
+ break;
+ }
+ }
+
+ return num;
+}
diff --git a/halconf.h b/halconf.h
index 3860b73..d10e1fe 100644
--- a/halconf.h
+++ b/halconf.h
@@ -66,7 +66,7 @@
* @brief Enables the I2C subsystem.
*/
#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
-#define HAL_USE_I2C FALSE
+#define HAL_USE_I2C TRUE
#endif
/**
diff --git a/main.cpp b/main.cpp
index 18c2ab6..88d8693 100644
--- a/main.cpp
+++ b/main.cpp
@@ -4,6 +4,7 @@
#include <ch.h>
#include <hal.h>
#include <pwm.h>
+#include <i2c.h>
class LEDThread : public BaseThread<LEDThread, 128> {
public:
@@ -90,10 +91,116 @@ static PWMConfig pwmcfg = {
USBSerial usbs;
+I2CConfig i2cconfig = {
+ opmodeI2C,
+ 100000, /*!< Specifies the clock frequency. Must be set to a value lower than 400kHz */
+ stdDutyCycle, /*!< Specifies the I2C fast mode duty cycle */
+ 0, /*!< Specifies the first device 7-bit own address. */
+ 0 /*!< Specifies the second part of device own address in 10-bit mode. Set to NULL if not used. */
+};
+
+void cba(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
+ if(i2cp->id_slave_config->restart) {
+ i2cp->id_slave_config->restart = FALSE;
+ i2cMasterReceive(i2cp, i2cscfg);
+ //palSetPad(GPIOA, 5);
+ } else {
+ i2cMasterStop(i2cp);
+ }
+}
+
+void cbe(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
+ //palClearPad(GPIOA, 5);
+ //while(1);
+}
+
+i2cblock_t rxdata[6];
+i2cblock_t txdata[2] = {0x1d};
+
+I2CSlaveConfig i2c_gyro = {
+ cba,
+
+ cbe,
+
+ rxdata,
+ 6,
+ 6,
+ 0,
+
+ txdata,
+ 2,
+ 1,
+ 0,
+
+ 0x68,
+ FALSE
+};
+
+uint8_t strbuf[64];
+
+#include "foo.h"
+
+class I2CThread : public BaseThread<I2CThread, 256> {
+ public:
+ int16_t x, y, z;
+
+ noreturn_t thread_main() {
+ i2cStart(&I2CD2, &i2cconfig);
+ while(I2CD2.id_state != I2C_READY) {
+ chThdSleepMilliseconds(1);
+ }
+
+ palSetPadMode(GPIOB, 10, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
+ palSetPadMode(GPIOB, 11, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
+
+ i2c_gyro.txbytes = 2;
+ i2c_gyro.txbuf[0] = 0x3e;
+ i2c_gyro.txbuf[1] = 0x03;
+ i2cMasterTransmit(&I2CD2, &i2c_gyro);
+ chThdSleepMilliseconds(2);
+
+ i2c_gyro.txbytes = 2;
+ i2c_gyro.txbuf[0] = 0x16;
+ i2c_gyro.txbuf[1] = 0x18;
+ i2cMasterTransmit(&I2CD2, &i2c_gyro);
+ chThdSleepMilliseconds(2);
+
+ while (1) {
+ I2CD2.id_state = I2C_READY;
+ i2c_gyro.txbufhead = 0;
+ i2c_gyro.txbuf[0] = 0x1d;
+ i2c_gyro.txbytes = 1;
+ i2c_gyro.rxbufhead = 0;
+ i2c_gyro.rxbytes = 6;
+ i2c_gyro.restart = TRUE;
+
+ i2cMasterTransmit(&I2CD2, &i2c_gyro);
+ chThdSleepMilliseconds(2);
+
+ x = rxdata[0] << 8 | rxdata[1];
+ y = rxdata[2] << 8 | rxdata[3];
+ z = rxdata[4] << 8 | rxdata[5];
+
+ usbprintf(usbs, "%6d, %6d, %6d\r\n", x, y, z);
+
+ chThdSleepMilliseconds(100);
+ }
+ }
+};
+
+I2CThread i2c_thread;
+
int main(void) {
halInit();
chSysInit();
+ led_thread.start();
+
+ usbs.init();
+
+ i2c_thread.start();
+
+ /*
pwmStart(&PWMD2, &pwmcfg);
palSetPadMode(GPIOA, 0, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(GPIOA, 1, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
@@ -105,11 +212,9 @@ int main(void) {
pwmEnableChannel(&PWMD2, 2, 1000);
pwmEnableChannel(&PWMD2, 3, 1000);
- led_thread.start();
-
- usbs.init();
usb_thread.usbs = &usbs;
usb_thread.start();
+ */
while (1) {
chThdSleepMilliseconds(1000);
diff --git a/mcuconf.h b/mcuconf.h
index 960c09a..b25409a 100644
--- a/mcuconf.h
+++ b/mcuconf.h
@@ -141,3 +141,15 @@
#define STM32_USB_LOW_POWER_ON_SUSPEND FALSE
#define STM32_USB_USB1_HP_IRQ_PRIORITY 6
#define STM32_USB_USB1_LP_IRQ_PRIORITY 14
+
+/*
+ * I2C driver system settings.
+ */
+#define STM32_I2C_USE_I2C1 TRUE
+#define STM32_I2C_USE_I2C2 TRUE
+#define STM32_I2C_I2C1_IRQ_PRIORITY 11
+#define STM32_I2C_I2C2_IRQ_PRIORITY 11
+#define STM32_I2C_I2C1_DMA_PRIORITY 4
+#define STM32_I2C_I2C2_DMA_PRIORITY 4
+#define STM32_I2C_I2C1_DMA_ERROR_HOOK() chSysHalt()
+#define STM32_I2C_I2C2_DMA_ERROR_HOOK() chSysHalt()
diff --git a/usbserial.h b/usbserial.h
index 4eaed81..c312821 100644
--- a/usbserial.h
+++ b/usbserial.h
@@ -21,10 +21,16 @@ class USBSerial {
}
inline msg_t putc(uint8_t data, systime_t timeout = TIME_INFINITE) {
+ if(USBD1.state != USB_ACTIVE) {
+ return 0;
+ }
return chOQPutTimeout(&susbdriver.oqueue, data, timeout);
}
inline size_t write(uint8_t* buf, size_t len, systime_t timeout = TIME_INFINITE) {
+ if(USBD1.state != USB_ACTIVE) {
+ return 0;
+ }
return chOQWriteTimeout(&susbdriver.oqueue, buf, len, timeout);
}
};
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 02:41:43 +0100