diff options
Diffstat (limited to 'testhal/STM32/I2C/lis3.c')
| -rw-r--r-- | testhal/STM32/I2C/lis3.c | 170 |
1 files changed, 170 insertions, 0 deletions
diff --git a/testhal/STM32/I2C/lis3.c b/testhal/STM32/I2C/lis3.c new file mode 100644 index 000000000..06f6da1d0 --- /dev/null +++ b/testhal/STM32/I2C/lis3.c @@ -0,0 +1,170 @@ +/**
+ * This is most complex and difficult device.
+ * It realize "read through write" paradigm. This is not standard, but
+ * most of I2C devices use this paradigm.
+ * You must write to device reading address, send restart to bus,
+ * and then begin reading process.
+ */
+
+#include <stdlib.h>
+
+#include "ch.h"
+#include "hal.h"
+
+#include "lis3.h"
+
+
+// buffers
+static i2cblock_t accel_rx_data[ACCEL_RX_DEPTH];
+static i2cblock_t accel_tx_data[ACCEL_TX_DEPTH];
+
+/* Error trap */
+static void i2c_lis3_error_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
+ (void)i2cscfg;
+ int status = 0;
+ status = i2cp->id_i2c->SR1;
+ while(TRUE);
+}
+
+// Accelerometer lis3lv02dq config
+static I2CSlaveConfig lis3 = {
+ NULL,
+ i2c_lis3_error_cb,
+ accel_rx_data,
+ ACCEL_RX_DEPTH,
+ 0,
+ 0,
+ accel_tx_data,
+ ACCEL_TX_DEPTH,
+ 0,
+ 0,
+ 0b0011101,
+ FALSE,
+};
+
+
+/**
+ * This treading need for convenient realize
+ * "read through write" process.
+ */
+static WORKING_AREA(I2CAccelThreadWA, 128);
+static Thread *i2c_accel_tp = NULL;
+static msg_t I2CAccelThread(void *arg) {
+ (void)arg;
+
+ int16_t acceleration_x = 0;
+ int16_t acceleration_y = 0;
+ int16_t acceleration_z = 0;
+
+ I2CDriver *i2cp;
+ msg_t msg;
+
+ while (TRUE) {
+ /* Waiting for wake up */
+ chSysLock();
+ i2c_accel_tp = chThdSelf();
+ chSchGoSleepS(THD_STATE_SUSPENDED);
+ msg = chThdSelf()->p_msg; /* Retrieving the message, optional.*/
+ chSysUnlock();
+
+ /***************** Perform processing here. ***************************/
+ i2cp = (I2CDriver *)msg;
+
+ /* collect measured data */
+ acceleration_x = lis3.rxbuf[0] + (lis3.rxbuf[1] << 8);
+ acceleration_y = lis3.rxbuf[2] + (lis3.rxbuf[3] << 8);
+ acceleration_z = lis3.rxbuf[4] + (lis3.rxbuf[5] << 8);
+ }
+ return 0;
+}
+
+
+
+/* This callback raise up when transfer finished */
+static void i2c_lis3_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
+
+ if (i2cp->id_slave_config->restart){ // is it restart flag set to TRUE
+ /* reset restart flag */
+ i2cp->id_slave_config->restart = FALSE;
+ /* now send restart and read acceleration data.
+ * Function i2cMasterReceive() send restart implicitly. */
+ i2cMasterReceive(i2cp, i2cscfg);
+ }
+ else{
+ /* If jump here than requested data have been read.
+ * Stop communication, release bus and wake up processing thread */
+ i2cMasterStop(i2cp);
+ i2cReleaseBus(&I2CD1);
+
+ // wake up heavy thread for data processing
+ if (i2c_accel_tp != NULL) {
+ i2c_accel_tp->p_msg = (msg_t)i2cp;
+ chSchReadyI(i2c_accel_tp);
+ i2c_accel_tp = NULL;
+ }
+ }
+}
+
+/**
+ * Init function. Here we will also start personal serving thread.
+ */
+int init_lis3(void){
+
+ /* Starting the accelerometer serving thread.*/
+ i2c_accel_tp = chThdCreateStatic(I2CAccelThreadWA,
+ sizeof(I2CAccelThreadWA),
+ HIGHPRIO,
+ I2CAccelThread,
+ NULL);
+
+ /* wait thread statup */
+ while (i2c_accel_tp == NULL)
+ chThdSleepMilliseconds(1);
+
+ lis3.txbufhead = 0;
+ lis3.rxbufhead = 0;
+
+
+ /* Write configuration data */
+ lis3.txbytes = 4;
+ /* fill transmit buffer. See datasheet to understand what we write */
+ lis3.txbuf[0] = ACCEL_CTRL_REG1 | AUTO_INCREMENT_BIT;
+ lis3.txbuf[1] = 0b11100111;
+ lis3.txbuf[2] = 0b01000001;
+ lis3.txbuf[3] = 0b00000000;
+
+ /* setting callback */
+ lis3.id_callback = i2c_lis3_cb;
+
+ i2cAcquireBus(&I2CD1);
+
+ /* sending */
+ i2cMasterTransmit(&I2CD1, &lis3);
+
+ return 0;
+}
+
+/**
+ *
+ */
+void request_acceleration_data(void){
+
+ /* fill transmit buffer with address of register that we want to read */
+ lis3.txbufhead = 0;
+ lis3.txbuf[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT; // register address
+ lis3.txbytes = 1;
+
+ /* tune receive structures */
+ lis3.rxbufhead = 0;
+ lis3.rxbytes = 6;
+
+ /* Now it is most important action. We must set restart flag to TRUE.
+ * And in callback function we must reset it to FALSE after sending
+ * of register address. In TMP75 and MAX1236 this flag does not use. */
+ lis3.restart = TRUE;
+
+ /* talk to slave what we want from it */
+ i2cAcquireBus(&I2CD1);
+ i2cMasterTransmit(&I2CD1, &lis3);
+}
+
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