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ChibiOS 2.6.8, until I can figure out where to get it from git.
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181
firmware/chibios/testhal/STM32F4xx/I2C/main.c
Executable file
181
firmware/chibios/testhal/STM32F4xx/I2C/main.c
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/*
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ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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Concepts and parts of this file have been contributed by Uladzimir Pylinsky
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aka barthess.
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*/
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/**
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* This demo acquire data from accelerometer and prints it in shell.
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*/
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#include <stdlib.h>
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#include "ch.h"
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#include "hal.h"
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/* buffers depth */
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#define ACCEL_RX_DEPTH 6
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#define ACCEL_TX_DEPTH 4
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/* mma8451q specific addresses */
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#define ACCEL_OUT_DATA 0x01
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#define ACCEL_CTRL_REG1 0x2A
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static uint8_t rxbuf[ACCEL_RX_DEPTH];
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static uint8_t txbuf[ACCEL_TX_DEPTH];
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static i2cflags_t errors = 0;
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static int16_t acceleration_x, acceleration_y, acceleration_z;
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#define mma8451_addr 0b0011100
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/**
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*
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*/
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static void print(char *p) {
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while (*p) {
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sdPut(&SD2, *p++);
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}
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}
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/**
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*
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*/
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static void println(char *p) {
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while (*p) {
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sdPut(&SD2, *p++);
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}
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sdWriteTimeout(&SD2, (uint8_t *)"\r\n", 2, TIME_INFINITE);
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}
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/**
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*
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*/
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static void printn(int16_t n) {
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char buf[16], *p;
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if (n > 0)
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sdPut(&SD2, '+');
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else{
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sdPut(&SD2, '-');
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n = abs(n);
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}
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if (!n)
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sdPut(&SD2, '0');
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else {
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p = buf;
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while (n)
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*p++ = (n % 10) + '0', n /= 10;
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while (p > buf)
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sdPut(&SD2, *--p);
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}
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}
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/**
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* Converts data from 2complemented representation to signed integer
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*/
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int16_t complement2signed(uint8_t msb, uint8_t lsb){
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uint16_t word = 0;
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word = (msb << 8) + lsb;
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if (msb > 0x7F){
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return -1 * ((int16_t)((~word) + 1));
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}
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return (int16_t)word;
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}
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/* I2C interface #2 */
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static const I2CConfig i2cfg2 = {
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OPMODE_I2C,
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400000,
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FAST_DUTY_CYCLE_2,
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};
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/*
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* Application entry point.
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*/
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int main(void) {
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msg_t status = RDY_OK;
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systime_t tmo = MS2ST(4);
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/*
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* System initializations.
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* - HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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halInit();
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chSysInit();
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/*
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* Starts I2C
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*/
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i2cStart(&I2CD2, &i2cfg2);
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/*
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* Prepares the Serial driver 2
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*/
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sdStart(&SD2, NULL); /* Default is 38400-8-N-1.*/
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palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
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palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
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/**
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* Prepares the accelerometer
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*/
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txbuf[0] = ACCEL_CTRL_REG1; /* register address */
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txbuf[1] = 0x1;
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i2cAcquireBus(&I2CD2);
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status = i2cMasterTransmitTimeout(&I2CD2, mma8451_addr, txbuf, 2, rxbuf, 0, tmo);
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i2cReleaseBus(&I2CD2);
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if (status != RDY_OK){
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errors = i2cGetErrors(&I2CD2);
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}
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/*
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* Normal main() thread activity, nothing in this test.
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*/
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while (TRUE) {
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palTogglePad(GPIOB, GPIOB_LED_B);
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chThdSleepMilliseconds(100);
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txbuf[0] = ACCEL_OUT_DATA; /* register address */
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i2cAcquireBus(&I2CD2);
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status = i2cMasterTransmitTimeout(&I2CD2, mma8451_addr, txbuf, 1, rxbuf, 6, tmo);
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i2cReleaseBus(&I2CD2);
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if (status != RDY_OK){
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errors = i2cGetErrors(&I2CD2);
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}
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acceleration_x = complement2signed(rxbuf[0], rxbuf[1]);
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acceleration_y = complement2signed(rxbuf[2], rxbuf[3]);
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acceleration_z = complement2signed(rxbuf[4], rxbuf[5]);
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print("x: ");
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printn(acceleration_x);
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print(" y: ");
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printn(acceleration_y);
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print(" z: ");
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printn(acceleration_z);
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println("");
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}
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}
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