diff options
Diffstat (limited to 'main.cpp')
| -rw-r--r-- | main.cpp | 111 |
1 files changed, 108 insertions, 3 deletions
@@ -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);
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