From 60d04bd486fe23f20f017266fab5e624ae31df0c Mon Sep 17 00:00:00 2001
From: Uladzimir Pylinski <barthess@yandex.ru>
Date: Mon, 28 Mar 2016 10:32:44 +0000
Subject: Updated I2C testhal for STM32F1x.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9174 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 testhal/STM32/STM32F1xx/I2C/.project |  2 +-
 testhal/STM32/STM32F1xx/I2C/Makefile |  2 +-
 testhal/STM32/STM32F1xx/I2C/lis3.c   | 53 ++++++++++++++++++++++++++++++------
 3 files changed, 46 insertions(+), 11 deletions(-)

(limited to 'testhal/STM32/STM32F1xx')

diff --git a/testhal/STM32/STM32F1xx/I2C/.project b/testhal/STM32/STM32F1xx/I2C/.project
index 4bc646560..2187d1f47 100644
--- a/testhal/STM32/STM32F1xx/I2C/.project
+++ b/testhal/STM32/STM32F1xx/I2C/.project
@@ -27,7 +27,7 @@
 		<link>
 			<name>os</name>
 			<type>2</type>
-			<locationURI>CHIBIOS/os</locationURI>
+			<locationURI>CHIBIOS</locationURI>
 		</link>
 	</linkedResources>
 </projectDescription>
diff --git a/testhal/STM32/STM32F1xx/I2C/Makefile b/testhal/STM32/STM32F1xx/I2C/Makefile
index cc1d094f5..d6ae323ce 100644
--- a/testhal/STM32/STM32F1xx/I2C/Makefile
+++ b/testhal/STM32/STM32F1xx/I2C/Makefile
@@ -92,7 +92,7 @@ include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f1xx.m
 # HAL-OSAL files (optional).
 include $(CHIBIOS)/os/hal/hal.mk
 include $(CHIBIOS)/os/hal/ports/STM32/STM32F1xx/platform.mk
-include $(CHIBIOS)/os/hal/boards/OLIMEX_STM32_P103/board.mk
+include $(CHIBIOS)/os/hal/boards/OLIMEX_STM32_103STK/board.mk
 include $(CHIBIOS)/os/hal/osal/rt/osal.mk
 # RTOS files (optional).
 include $(CHIBIOS)/os/rt/rt.mk
diff --git a/testhal/STM32/STM32F1xx/I2C/lis3.c b/testhal/STM32/STM32F1xx/I2C/lis3.c
index 464c29b09..8217798d6 100644
--- a/testhal/STM32/STM32F1xx/I2C/lis3.c
+++ b/testhal/STM32/STM32F1xx/I2C/lis3.c
@@ -22,14 +22,20 @@
  */
 
 #include <stdlib.h>
+#include <math.h>
+#include <string.h>
 
 #include "ch.h"
 #include "hal.h"
 
 #include "lis3.h"
 
+/* device I2C address */
 #define addr 0b0011101
 
+/* enable single byte read checks. Note: it does not work on STM32F1x */
+#define TEST_SINGLE_BYTE_READ     TRUE
+
 /* autoincrement bit position. This bit needs to perform reading of
  * multiple bytes at one request */
 #define AUTO_INCREMENT_BIT (1<<7)
@@ -59,7 +65,7 @@ void lis3Start(void){
   /* sending */
   i2cAcquireBus(&I2CD1);
   status = i2cMasterTransmitTimeout(&I2CD1, addr,
-                          accel_tx_data, 4, accel_rx_data, 0, tmo);
+                          accel_tx_data, 4, NULL, 0, tmo);
   i2cReleaseBus(&I2CD1);
 
   osalDbgCheck(MSG_OK == status);
@@ -68,25 +74,54 @@ void lis3Start(void){
 /*
  *
  */
-#include <math.h>
+static void raw2g(uint8_t *raw, float *g) {
+  int16_t tmp;
+
+  for (size_t i=0; i<3; i++){
+    tmp = raw[i*2] | (raw[i*2+1] << 8);
+    g[i] = (float)tmp / 16384.0; /* convert raw value to G */
+  }
+}
+
+/*
+ *
+ */
 void lis3GetAcc(float *result) {
   msg_t status = MSG_OK;
   systime_t tmo = MS2ST(4);
-  size_t i = 0;
-  int16_t tmp;
 
+  /* read in burst mode */
+  memset(accel_rx_data, 0x55, sizeof(accel_rx_data));
   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);
+  raw2g(accel_rx_data, result);
 
-  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 */
+#if TEST_SINGLE_BYTE_READ
+  float accel_single_byte_check[3];
+  const float check_threshold = 0.1;
+
+  /* read data byte at a time */
+  memset(accel_rx_data, 0x55, sizeof(accel_rx_data));
+  accel_tx_data[0] = ACCEL_OUT_DATA;
+  i2cAcquireBus(&I2CD1);
+  for (size_t i=0; i<6; i++) {
+    status = i2cMasterTransmitTimeout(&I2CD1, addr,
+                            accel_tx_data, 1, &accel_rx_data[i], 1, tmo);
+    osalDbgCheck(MSG_OK == status);
+    accel_tx_data[0]++;
   }
+  i2cReleaseBus(&I2CD1);
+  raw2g(accel_rx_data, accel_single_byte_check);
+
+  /* check results */
+  for (size_t i=0; i<3; i++) {
+    osalDbgCheck(fabsf(result[i] - accel_single_byte_check[i]) < check_threshold);
+  }
+#endif /* TEST_SINGLE_BYTE_READ */
 }
 
+
-- 
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