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| author | barthess <barthess@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2011-12-31 13:12:11 +0000 |
|---|---|---|
| committer | barthess <barthess@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2011-12-31 13:12:11 +0000 |
| commit | bb25813ee93489b793b120ef7e595fa313e14234 (patch) | |
| tree | 138f1fa4848197687a6733e5d0f82645545053f7 /testhal/STM32F4xx/I2C/main.c | |
| parent | 409fb83520d52bdf62baedfe639d8704f50bb5b1 (diff) | |
| download | ChibiOS-bb25813ee93489b793b120ef7e595fa313e14234.tar.gz ChibiOS-bb25813ee93489b793b120ef7e595fa313e14234.tar.bz2 ChibiOS-bb25813ee93489b793b120ef7e595fa313e14234.zip | |
I2C. Added simple test for STM32F4x.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@3697 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'testhal/STM32F4xx/I2C/main.c')
| -rw-r--r-- | testhal/STM32F4xx/I2C/main.c | 167 |
1 files changed, 167 insertions, 0 deletions
diff --git a/testhal/STM32F4xx/I2C/main.c b/testhal/STM32F4xx/I2C/main.c new file mode 100644 index 000000000..9caff15ec --- /dev/null +++ b/testhal/STM32F4xx/I2C/main.c @@ -0,0 +1,167 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdlib.h>
+
+#include "ch.h"
+#include "hal.h"
+
+/* buffers depth */
+#define ACCEL_RX_DEPTH 6
+#define ACCEL_TX_DEPTH 4
+
+/* mma8451q specific addresses */
+#define ACCEL_OUT_DATA 0x01
+#define ACCEL_CTRL_REG1 0x2A
+
+static uint8_t rxbuf[ACCEL_RX_DEPTH];
+static uint8_t txbuf[ACCEL_TX_DEPTH];
+static i2cflags_t errors = 0;
+static int16_t acceleration_x, acceleration_y, acceleration_z;
+#define mma8451_addr 0b0011100
+
+/**
+ *
+ */
+static void print(char *p) {
+
+ while (*p) {
+ chIOPut(&SD2, *p++);
+ }
+}
+
+/**
+ *
+ */
+static void println(char *p) {
+
+ while (*p) {
+ chIOPut(&SD2, *p++);
+ }
+ chIOWriteTimeout(&SD2, (uint8_t *)"\r\n", 2, TIME_INFINITE);
+}
+
+/**
+ *
+ */
+static void printn(int16_t n) {
+ char buf[16], *p;
+
+ if (n > 0)
+ chIOPut(&SD2, '+');
+ else{
+ chIOPut(&SD2, '-');
+ n = abs(n);
+ }
+
+ if (!n)
+ chIOPut(&SD2, '0');
+ else {
+ p = buf;
+ while (n)
+ *p++ = (n % 10) + '0', n /= 10;
+ while (p > buf)
+ chIOPut(&SD2, *--p);
+ }
+}
+
+/**
+ * Converts data from 2complemented representation to signed integer
+ */
+int16_t complement2signed(uint8_t msb, uint8_t lsb){
+ uint16_t word = 0;
+ word = (msb << 8) + lsb;
+ if (msb > 0x7F){
+ return -1 * ((int16_t)((~word) + 1));
+ }
+ return (int16_t)word;
+}
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+ msg_t status = RDY_OK;
+
+ /*
+ * System initializations.
+ * - HAL initialization, this also initializes the configured device drivers
+ * and performs the board-specific initializations.
+ * - Kernel initialization, the main() function becomes a thread and the
+ * RTOS is active.
+ */
+ halInit();
+ chSysInit();
+
+ /*
+ * Prepares the Serial driver 2
+ */
+ sdStart(&SD2, NULL); /* Default is 38400-8-N-1.*/
+ palSetPadMode(GPIOA, 2, PAL_MODE_ALTERNATE(7));
+ palSetPadMode(GPIOA, 3, PAL_MODE_ALTERNATE(7));
+
+ /* I2C interface #2 */
+ static const I2CConfig i2cfg2 = {
+ OPMODE_I2C,
+ 400000,
+ FAST_DUTY_CYCLE_16_9,
+ };
+ i2cStart(&I2CD2, &i2cfg2);
+
+ /**
+ * Prepares the accelerometer
+ */
+ txbuf[0] = ACCEL_CTRL_REG1; // register address
+ txbuf[1] = 0x1;
+ i2cAcquireBus(&I2CD2);
+ i2cMasterTransmitTimeout(&I2CD2, mma8451_addr, txbuf, 2, rxbuf, 0, TIME_INFINITE);
+ i2cReleaseBus(&I2CD2);
+
+ /*
+ * Normal main() thread activity, nothing in this test.
+ */
+ while (TRUE) {
+ chThdSleepMilliseconds(100);
+
+ txbuf[0] = ACCEL_OUT_DATA; // register address
+ i2cAcquireBus(&I2CD2);
+ status = i2cMasterTransmitTimeout(&I2CD2, mma8451_addr, txbuf, 1, rxbuf, 6, TIME_INFINITE);
+ i2cReleaseBus(&I2CD2);
+
+ if (status != RDY_OK){
+ errors = i2cGetErrors(&I2CD2);
+ }
+
+ acceleration_x = complement2signed(rxbuf[0], rxbuf[1]);
+ acceleration_y = complement2signed(rxbuf[2], rxbuf[3]);
+ acceleration_z = complement2signed(rxbuf[4], rxbuf[5]);
+
+ print("x: ");
+ printn(acceleration_x);
+ print(" y: ");
+ printn(acceleration_y);
+ print(" z: ");
+ printn(acceleration_z);
+ println("");
+ }
+}
+
+
+
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