diff options
| -rw-r--r-- | drivers/hmc5983.h | 76 | ||||
| -rw-r--r-- | main.cpp | 77 |
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 @@ -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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