1 files changed, 181 insertions, 0 deletions
diff --git a/testhal/STM32F4xx/I2C/main.c b/testhal/STM32F4xx/I2C/main.c
new file mode 100644
index 000000000..e83a98ffd
--- /dev/null
+++ b/testhal/STM32F4xx/I2C/main.c
@@ -0,0 +1,181 @@
+/*
+    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.
+*/
+/*
+   Concepts and parts of this file have been contributed by Uladzimir Pylinsky
+   aka barthess.
+ */
+
+/**
+ * This demo acquire data from accelerometer and prints it in shell.
+ */
+
+#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) {
+    sdPut(&SD2, *p++);
+  }
+}
+
+/**
+ *
+ */
+static void println(char *p) {
+
+  while (*p) {
+    sdPut(&SD2, *p++);
+  }
+  sdWriteTimeout(&SD2, (uint8_t *)"\r\n", 2, TIME_INFINITE);
+}
+
+/**
+ *
+ */
+static void printn(int16_t n) {
+  char buf[16], *p;
+
+  if (n > 0)
+    sdPut(&SD2, '+');
+  else{
+    sdPut(&SD2, '-');
+    n = abs(n);
+  }
+
+  if (!n)
+    sdPut(&SD2, '0');
+  else {
+    p = buf;
+    while (n)
+      *p++ = (n % 10) + '0', n /= 10;
+    while (p > buf)
+      sdPut(&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;
+}
+
+/* I2C interface #2 */
+static const I2CConfig i2cfg2 = {
+    OPMODE_I2C,
+    400000,
+    FAST_DUTY_CYCLE_2,
+};
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+  msg_t status = RDY_OK;
+  systime_t tmo = MS2ST(4);
+
+  /*
+   * 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();
+
+  /*
+   * Starts I2C
+   */
+  i2cStart(&I2CD2, &i2cfg2);
+
+  /*
+   * 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));
+
+  /**
+   * Prepares the accelerometer
+   */
+  txbuf[0] = ACCEL_CTRL_REG1; /* register address */
+  txbuf[1] = 0x1;
+  i2cAcquireBus(&I2CD2);
+  status = i2cMasterTransmitTimeout(&I2CD2, mma8451_addr, txbuf, 2, rxbuf, 0, tmo);
+  i2cReleaseBus(&I2CD2);
+
+  if (status != RDY_OK){
+    errors = i2cGetErrors(&I2CD2);
+  }
+
+  /*
+   * Normal main() thread activity, nothing in this test.
+   */
+  while (TRUE) {
+    palTogglePad(GPIOB, GPIOB_LED_B);
+    chThdSleepMilliseconds(100);
+
+    txbuf[0] = ACCEL_OUT_DATA; /* register address */
+    i2cAcquireBus(&I2CD2);
+    status = i2cMasterTransmitTimeout(&I2CD2, mma8451_addr, txbuf, 1, rxbuf, 6, tmo);
+    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("");
+  }
+}
+
+
+