1 files changed, 92 insertions, 0 deletions
diff --git a/testhal/STM32/STM32F1xx/I2C/lis3.c b/testhal/STM32/STM32F1xx/I2C/lis3.c
new file mode 100644
index 000000000..6a1c79164
--- /dev/null
+++ b/testhal/STM32/STM32F1xx/I2C/lis3.c
@@ -0,0 +1,92 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * This is device 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 addr 0b0011101
+
+/* autoincrement bit position. This bit needs to perform reading of
+ * multiple bytes at one request */
+#define AUTO_INCREMENT_BIT (1<<7)
+
+/* slave specific addresses */
+#define ACCEL_STATUS_REG  0x27
+#define ACCEL_CTRL_REG1   0x20
+#define ACCEL_OUT_DATA    0x28
+
+/* buffers */
+static uint8_t accel_rx_data[8];
+static uint8_t accel_tx_data[8];
+
+/*
+ *
+ */
+void lis3Start(void){
+  msg_t status = MSG_OK;
+  systime_t tmo = MS2ST(4);
+
+  /* configure accelerometer */
+  accel_tx_data[0] = ACCEL_CTRL_REG1 | AUTO_INCREMENT_BIT;
+  accel_tx_data[1] = 0b11100111;
+  accel_tx_data[2] = 0b01000001;
+  accel_tx_data[3] = 0b00000000;
+
+  /* sending */
+  i2cAcquireBus(&I2CD1);
+  status = i2cMasterTransmitTimeout(&I2CD1, addr,
+                          accel_tx_data, 4, accel_rx_data, 0, tmo);
+  i2cReleaseBus(&I2CD1);
+
+  osalDbgCheck(MSG_OK == status);
+}
+
+/*
+ *
+ */
+#include <math.h>
+void lis3GetAcc(float *result) {
+  msg_t status = MSG_OK;
+  systime_t tmo = MS2ST(4);
+  size_t i = 0;
+  int16_t tmp;
+
+  accel_tx_data[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT;
+  i2cAcquireBus(&I2CD1);
+  status = i2cMasterTransmitTimeout(&I2CD1, addr,
+                          accel_tx_data, 1, accel_rx_data, 6, tmo);
+  i2cReleaseBus(&I2CD1);
+
+  osalDbgCheck(MSG_OK == status);
+
+  for (i=0; i<3; i++){
+    tmp = accel_rx_data[i*2] + (accel_rx_data[i*2+1] << 8);
+    result[i] = tmp;
+    result[i] /= 16384; /* convert raw value to G */
+  }
+}
+