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-rw-r--r--ak8975.h24
-rw-r--r--bma150.h24
-rw-r--r--i2csensor.cpp77
-rw-r--r--i2csensor.h26
-rw-r--r--itg3200.h24
-rw-r--r--main.cpp96
6 files changed, 192 insertions, 79 deletions
diff --git a/ak8975.h b/ak8975.h
new file mode 100644
index 0000000..beb9940
--- /dev/null
+++ b/ak8975.h
@@ -0,0 +1,24 @@
+#ifndef AK8975_H
+#define AK8975_H
+
+#include "i2csensor.h"
+
+class AK8975 : public I2CSensor {
+ public:
+ int16_t x, y, z;
+
+ void init() {
+ i2c_address = 0x0c;
+ write(0x0a, 0x01); // Start first measurement.
+ }
+
+ void update() {
+ read(0x03, 6);
+ x = (rxdata[0] | rxdata[1] << 8);
+ y = (rxdata[2] | rxdata[3] << 8);
+ z = (rxdata[4] | rxdata[5] << 8);
+ write(0x0a, 0x01); // Start a new measurement.
+ }
+};
+
+#endif
diff --git a/bma150.h b/bma150.h
new file mode 100644
index 0000000..0cd6b27
--- /dev/null
+++ b/bma150.h
@@ -0,0 +1,24 @@
+#ifndef BMA150_H
+#define BMA150_H
+
+#include "i2csensor.h"
+
+class BMA150 : public I2CSensor {
+ public:
+ int16_t x, y, z;
+
+ void init() {
+ i2c_address = 0x38;
+ read(0x14, 1);
+ write(0x14, (rxdata[0] & 0xe0) | 0x00 | 0x00); // 2g range, 25 Hz bandwidth
+ }
+
+ void update() {
+ read(0x02, 6);
+ x = ((rxdata[0] & 0xc0) | rxdata[1] << 8);
+ y = ((rxdata[2] & 0xc0) | rxdata[3] << 8);
+ z = ((rxdata[4] & 0xc0) | rxdata[5] << 8);
+ }
+};
+
+#endif
diff --git a/i2csensor.cpp b/i2csensor.cpp
new file mode 100644
index 0000000..f9d8d11
--- /dev/null
+++ b/i2csensor.cpp
@@ -0,0 +1,77 @@
+#include "i2csensor.h"
+
+namespace {
+ void callback(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
+ if(i2cp->id_slave_config->restart) {
+ i2cp->id_slave_config->restart = FALSE;
+ i2cMasterReceive(i2cp, i2cscfg);
+ } else {
+ i2cMasterStop(i2cp);
+ }
+ }
+
+ void err_callback(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
+
+ }
+
+ I2CConfig i2c_conf = {
+ opmodeI2C,
+ 100000,
+ stdDutyCycle,
+ 0,
+ 0
+ };
+};
+
+uint8_t I2CSensor::rxdata[];
+uint8_t I2CSensor::txdata[];
+
+I2CSlaveConfig I2CSensor::i2c_slave_conf = {
+ callback, err_callback,
+
+ rxdata, sizeof(rxdata), 0, 0,
+ txdata, sizeof(txdata), 0, 0,
+
+ 0,
+ FALSE,
+};
+
+void I2CSensor::enable_bus() {
+ palSetPadMode(GPIOB, 10, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
+ palSetPadMode(GPIOB, 11, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
+
+ i2cStart(&I2CD2, &i2c_conf);
+
+ while(I2CD2.id_state != I2C_READY) {
+ chThdSleepMilliseconds(1);
+ }
+}
+
+#include "usbserial.h"
+extern USBSerial usbs;
+int usbprintf(USBSerial& usbs, const char* format, ...);
+
+void I2CSensor::write(uint8_t reg, uint8_t value) {
+ I2CD2.id_state = I2C_READY;
+ i2c_slave_conf.address = i2c_address;
+ i2c_slave_conf.txbytes = 2;
+ i2c_slave_conf.txbuf[0] = reg;
+ i2c_slave_conf.txbuf[1] = value;
+
+ i2cMasterTransmit(&I2CD2, &i2c_slave_conf);
+ chThdSleepMilliseconds(2);
+}
+
+void I2CSensor::read(uint8_t reg, size_t len) {
+ I2CD2.id_state = I2C_READY;
+ i2c_slave_conf.address = i2c_address;
+ i2c_slave_conf.txbufhead = 0;
+ i2c_slave_conf.txbuf[0] = reg;
+ i2c_slave_conf.txbytes = 1;
+ i2c_slave_conf.rxbufhead = 0;
+ i2c_slave_conf.rxbytes = len;
+ i2c_slave_conf.restart = TRUE;
+
+ i2cMasterTransmit(&I2CD2, &i2c_slave_conf);
+ chThdSleepMilliseconds(2);
+}
diff --git a/i2csensor.h b/i2csensor.h
new file mode 100644
index 0000000..1878e16
--- /dev/null
+++ b/i2csensor.h
@@ -0,0 +1,26 @@
+#ifndef I2CSENSOR_H
+#define I2CSENSOR_H
+
+#include <stdint.h>
+
+#include <ch.h>
+#include <hal.h>
+
+class I2CSensor {
+ private:
+ static I2CSlaveConfig i2c_slave_conf;
+
+ public:
+ static void enable_bus();
+
+ protected:
+ uint8_t i2c_address;
+
+ void write(uint8_t reg, uint8_t value);
+ void read(uint8_t reg, size_t len);
+
+ static uint8_t rxdata[8];
+ static uint8_t txdata[2];
+};
+
+#endif
diff --git a/itg3200.h b/itg3200.h
new file mode 100644
index 0000000..f03b6f3
--- /dev/null
+++ b/itg3200.h
@@ -0,0 +1,24 @@
+#ifndef ITG3200_H
+#define ITG3200_H
+
+#include "i2csensor.h"
+
+class ITG3200 : public I2CSensor {
+ public:
+ int16_t x, y, z;
+
+ void init() {
+ i2c_address = 0x68;
+ write(0x3e, 0x03); // Select clock reference.
+ write(0x16, 0x18 | 0x05); // 2000 deg/sec range, 10 Hz bandwidth.
+ }
+
+ void update() {
+ read(0x1d, 6);
+ x = (rxdata[0] << 8 | rxdata[1]) - -50;
+ y = (rxdata[2] << 8 | rxdata[3]) - 36;
+ z = (rxdata[4] << 8 | rxdata[5]) - 2;
+ }
+};
+
+#endif
diff --git a/main.cpp b/main.cpp
index 62f7494..911e760 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,10 +1,11 @@
#include "thread.h"
#include "usbserial.h"
+#include "itg3200.h"
+#include "bma150.h"
+#include "ak8975.h"
#include <ch.h>
#include <hal.h>
-#include <pwm.h>
-#include <i2c.h>
class LEDThread : public BaseThread<LEDThread, 128> {
public:
@@ -59,95 +60,32 @@ class USBThread : public BaseThread<USBThread, 256> {
USBThread usb_thread;
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:
+ ITG3200 gyro;
+ BMA150 acc;
+ AK8975 magn;
+
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);
+ I2CSensor::enable_bus();
- i2c_gyro.txbytes = 2;
- i2c_gyro.txbuf[0] = 0x16;
- i2c_gyro.txbuf[1] = 0x18;
- i2cMasterTransmit(&I2CD2, &i2c_gyro);
- chThdSleepMilliseconds(2);
+ gyro.init();
+ acc.init();
+ magn.init();
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;
+ gyro.update();
+ acc.update();
+ magn.update();
+ x = gyro.x;
+ y = gyro.y;
+ z = gyro.z;
- 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);
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 13:37:54 +0100