From c6ac90fc731d8411380f582be3b91ce4e93f61fc Mon Sep 17 00:00:00 2001
From: Vegard Storheil Eriksen <zyp@jvnv.net>
Date: Mon, 11 Apr 2011 05:44:51 +0200
Subject: Create I2CSensor class and subclasses for each sensor.

---
 main.cpp | 96 ++++++++++++----------------------------------------------------
 1 file changed, 17 insertions(+), 79 deletions(-)

(limited to 'main.cpp')

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);
 				
-- 
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