From 08296d249c3b0dffa4a0abe5ee1d55e0d576c14a Mon Sep 17 00:00:00 2001 From: Vegard Storheil Eriksen Date: Sun, 3 Apr 2011 19:25:00 +0200 Subject: Reading ITG-3200 to USB. --- board.h | 2 +- chibios | 2 +- foo.h | 84 +++++++++++++++++++++++++++++++++++++++++++++ halconf.h | 2 +- main.cpp | 111 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++-- mcuconf.h | 12 +++++++ usbserial.h | 6 ++++ 7 files changed, 213 insertions(+), 6 deletions(-) create mode 100644 foo.h 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 index 2aa3090..0537de0 160000 --- a/chibios +++ b/chibios @@ -1 +1 @@ -Subproject commit 2aa3090be4b5ff0d74a76c2795ce3af152859ef6 +Subproject commit 0537de03cb144584727f982eb210262b0ddd4d6b 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 #include #include +#include class LEDThread : public BaseThread { 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 { + 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); } }; -- cgit v1.2.3