1 files changed, 135 insertions, 0 deletions
diff --git a/testhal/STM32/I2C/lis3.c b/testhal/STM32/I2C/lis3.c
new file mode 100644
index 000000000..26a3292f5
--- /dev/null
+++ b/testhal/STM32/I2C/lis3.c
@@ -0,0 +1,135 @@
+/**
+ * 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, const I2CSlaveConfig *i2cscfg){
+  (void)i2cscfg;
+  int status = 0;
+  status = i2cp->id_i2c->SR1;
+  while(TRUE);
+}
+
+/**
+ * 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;
+
+  I2CSlaveConfig *i2cscfg;
+  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. ***************************/
+    i2cscfg = (I2CSlaveConfig *)msg;
+
+    /* collect measured data */
+    acceleration_x = accel_rx_data[0] + (accel_rx_data[1] << 8);
+    acceleration_y = accel_rx_data[2] + (accel_rx_data[3] << 8);
+    acceleration_z = accel_rx_data[4] + (accel_rx_data[5] << 8);
+  }
+  return 0;
+}
+
+/* This callback raise up when transfer finished */
+static void i2c_lis3_cb(I2CDriver *i2cp, const I2CSlaveConfig *i2cscfg){
+  (void) i2cp;
+  /* only wake up processing thread */
+  if (i2c_accel_tp != NULL) {
+    i2c_accel_tp->p_msg = (msg_t)i2cscfg;
+    chSchReadyI(i2c_accel_tp);
+    i2c_accel_tp = NULL;
+  }
+}
+
+
+/* Accelerometer lis3lv02dq config */
+static const I2CSlaveConfig lis3 = {
+	i2c_lis3_cb,
+  i2c_lis3_error_cb,
+};
+
+
+#define lis3_addr 0b0011101
+
+
+
+/**
+ * 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);
+
+#define TXBYTES 4
+#define RXBYTES 0 /* set to 0 because we need only transmit */
+
+  /* configure accelerometer */
+  accel_tx_data[0] = ACCEL_CTRL_REG1 | AUTO_INCREMENT_BIT; /* register address */
+  accel_tx_data[1] = 0b11100111;
+  accel_tx_data[2] = 0b01000001;
+  accel_tx_data[3] = 0b00000000;
+
+  /* sending */
+  i2cMasterTransmit(&I2CD1, &lis3, lis3_addr, accel_tx_data, TXBYTES, accel_rx_data, RXBYTES);
+  chThdSleepMilliseconds(1);
+
+#undef RXBYTES
+#undef TXBYTES
+
+  return 0;
+}
+
+/**
+ *
+ */
+void request_acceleration_data(void){
+#define RXBYTES 6
+#define TXBYTES 1
+  accel_tx_data[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT; // register address
+  i2cAcquireBus(&I2CD1);
+  i2cMasterTransmit(&I2CD1, &lis3, lis3_addr, accel_tx_data, TXBYTES, accel_rx_data, RXBYTES);
+  i2cReleaseBus(&I2CD1);
+#undef RXBYTES
+#undef TXBYTES
+}
+