1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
|
#include "i2csensor.h"
namespace {
void callback(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
if(i2cp->id_slave_config->restart) {
i2cp->id_slave_config->restart = FALSE;
i2cMasterReceive(i2cp, i2cscfg);
} else {
i2cMasterStop(i2cp);
}
}
void err_callback(I2CDriver* i2cp, I2CSlaveConfig* i2cscfg) {
}
I2CConfig i2c_conf = {
opmodeI2C,
100000,
stdDutyCycle,
0,
0
};
};
uint8_t I2CSensor::rxdata[];
uint8_t I2CSensor::txdata[];
I2CSlaveConfig I2CSensor::i2c_slave_conf = {
callback, err_callback,
rxdata, sizeof(rxdata), 0, 0,
txdata, sizeof(txdata), 0, 0,
0,
FALSE,
};
void I2CSensor::enable_bus() {
palSetPadMode(GPIOB, 10, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
palSetPadMode(GPIOB, 11, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
i2cStart(&I2CD2, &i2c_conf);
while(I2CD2.id_state != I2C_READY) {
chThdSleepMilliseconds(1);
}
}
#include "usbserial.h"
extern USBSerial usbs;
int usbprintf(USBSerial& usbs, const char* format, ...);
void I2CSensor::write(uint8_t reg, uint8_t value) {
I2CD2.id_state = I2C_READY;
i2c_slave_conf.address = i2c_address;
i2c_slave_conf.txbytes = 2;
i2c_slave_conf.txbuf[0] = reg;
i2c_slave_conf.txbuf[1] = value;
i2cMasterTransmit(&I2CD2, &i2c_slave_conf);
chThdSleepMilliseconds(2);
}
void I2CSensor::read(uint8_t reg, size_t len) {
I2CD2.id_state = I2C_READY;
i2c_slave_conf.address = i2c_address;
i2c_slave_conf.txbufhead = 0;
i2c_slave_conf.txbuf[0] = reg;
i2c_slave_conf.txbytes = 1;
i2c_slave_conf.rxbufhead = 0;
i2c_slave_conf.rxbytes = len;
i2c_slave_conf.restart = TRUE;
i2cMasterTransmit(&I2CD2, &i2c_slave_conf);
chThdSleepMilliseconds(2);
}
|
