From 08296d249c3b0dffa4a0abe5ee1d55e0d576c14a Mon Sep 17 00:00:00 2001
From: Vegard Storheil Eriksen <zyp@jvnv.net>
Date: Sun, 3 Apr 2011 19:25:00 +0200
Subject: Reading ITG-3200 to USB.

---
 main.cpp | 111 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++--
 1 file changed, 108 insertions(+), 3 deletions(-)

(limited to 'main.cpp')

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);
-- 
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