142 lines
3.2 KiB
C
142 lines
3.2 KiB
C
/**
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* This is most complex and difficult device.
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* It realize "read through write" paradigm. This is not standard, but
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* most of I2C devices use this paradigm.
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* You must write to device reading address, send restart to bus,
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* and then begin reading process.
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*/
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#include <stdlib.h>
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#include "ch.h"
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#include "hal.h"
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#include "lis3.h"
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// buffers
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static i2cblock_t accel_rx_data[ACCEL_RX_DEPTH];
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static i2cblock_t accel_tx_data[ACCEL_TX_DEPTH];
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/* Error trap */
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static void i2c_lis3_error_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
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(void)i2cscfg;
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int status = 0;
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status = i2cp->id_i2c->SR1;
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while(TRUE);
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}
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// Accelerometer lis3lv02dq config
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static I2CSlaveConfig lis3 = {
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NULL,
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i2c_lis3_error_cb,
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0,
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0,
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accel_rx_data,
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accel_tx_data,
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0b0011101,
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7,
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0,
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0,
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{NULL},
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};
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/**
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* This treading need for convenient realize
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* "read through write" process.
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*/
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static WORKING_AREA(I2CAccelThreadWA, 128);
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static Thread *i2c_accel_tp = NULL;
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static msg_t I2CAccelThread(void *arg) {
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(void)arg;
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int16_t acceleration_x = 0;
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int16_t acceleration_y = 0;
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int16_t acceleration_z = 0;
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I2CDriver *i2cp;
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msg_t msg;
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while (TRUE) {
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/* Waiting for wake up */
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chSysLock();
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i2c_accel_tp = chThdSelf();
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chSchGoSleepS(THD_STATE_SUSPENDED);
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msg = chThdSelf()->p_msg; /* Retrieving the message, optional.*/
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chSysUnlock();
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/***************** Perform processing here. ***************************/
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i2cp = (I2CDriver *)msg;
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/* collect measured data */
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acceleration_x = lis3.rxbuf[0] + (lis3.rxbuf[1] << 8);
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acceleration_y = lis3.rxbuf[2] + (lis3.rxbuf[3] << 8);
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acceleration_z = lis3.rxbuf[4] + (lis3.rxbuf[5] << 8);
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}
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return 0;
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}
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/* This callback raise up when transfer finished */
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static void i2c_lis3_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
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(void) i2cscfg;
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// only wake up processing thread
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if (i2c_accel_tp != NULL) {
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i2c_accel_tp->p_msg = (msg_t)i2cp;
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chSchReadyI(i2c_accel_tp);
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i2c_accel_tp = NULL;
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}
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}
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/**
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* Init function. Here we will also start personal serving thread.
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*/
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int init_lis3(void){
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/* Starting the accelerometer serving thread.*/
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i2c_accel_tp = chThdCreateStatic(I2CAccelThreadWA,
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sizeof(I2CAccelThreadWA),
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HIGHPRIO,
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I2CAccelThread,
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NULL);
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/* wait thread statup */
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while (i2c_accel_tp == NULL)
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chThdSleepMilliseconds(1);
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lis3.rxbytes = 0; //set to 0 because we need only transmit
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/* configure accelerometer */
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lis3.txbytes = 4;
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lis3.txbuf[0] = ACCEL_CTRL_REG1 | AUTO_INCREMENT_BIT; // register address
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lis3.txbuf[1] = 0b11100111;
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lis3.txbuf[2] = 0b01000001;
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lis3.txbuf[3] = 0b00000000;
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/* sending */
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i2cMasterTransmit(&I2CD1, &lis3);
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chThdSleepMilliseconds(1);
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lis3.id_callback = i2c_lis3_cb;
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return 0;
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}
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/**
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*
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*/
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void request_acceleration_data(void){
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lis3.txbuf[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT; // register address
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lis3.txbytes = 1;
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lis3.rxbytes = 6;
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i2cAcquireBus(&I2CD1);
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i2cMasterTransmit(&I2CD1, &lis3);
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i2cReleaseBus(&I2CD1);
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}
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