1 files changed, 78 insertions, 0 deletions
diff --git a/testhal/STM32F1xx/I2C/lis3.c b/testhal/STM32F1xx/I2C/lis3.c
new file mode 100644
index 000000000..401f56199
--- /dev/null
+++ b/testhal/STM32F1xx/I2C/lis3.c
@@ -0,0 +1,78 @@
+/**
+ * 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"
+
+
+#define lis3_addr 0b0011101
+
+
+/* buffers */
+static i2cblock_t accel_rx_data[ACCEL_RX_DEPTH];
+static i2cblock_t accel_tx_data[ACCEL_TX_DEPTH];
+
+static int16_t acceleration_x = 0;
+static int16_t acceleration_y = 0;
+static int16_t acceleration_z = 0;
+
+/* 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 callback raise up when transfer finished */
+static void i2c_lis3_cb(I2CDriver *i2cp, const I2CSlaveConfig *i2cscfg){
+  (void)i2cp;
+  (void)i2cscfg;
+}
+
+
+/* Accelerometer lis3lv02dq config */
+static const I2CSlaveConfig lis3 = {
+	i2c_lis3_cb,
+  i2c_lis3_error_cb,
+};
+
+
+/**
+ * Init function. Here we will also start personal serving thread.
+ */
+int init_lis3(void){
+  /* 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, 4, accel_rx_data, 0);
+  return 0;
+}
+
+/**
+ *
+ */
+void request_acceleration_data(void){
+  accel_tx_data[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT; // register address
+  //i2cAcquireBus(&I2CD1);
+  i2cMasterTransmit(&I2CD1, &lis3, lis3_addr, accel_tx_data, 1, accel_rx_data, 6);
+  //i2cReleaseBus(&I2CD1);
+
+  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);
+}
+