mirror of https://github.com/rusefi/ChibiOS.git
79 lines
2.0 KiB
C
79 lines
2.0 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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#define lis3_addr 0b0011101
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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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static int16_t acceleration_x = 0;
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static int16_t acceleration_y = 0;
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static int16_t acceleration_z = 0;
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/* Error trap */
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static void i2c_lis3_error_cb(I2CDriver *i2cp, const 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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/* This callback raise up when transfer finished */
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static void i2c_lis3_cb(I2CDriver *i2cp, const I2CSlaveConfig *i2cscfg){
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(void)i2cp;
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(void)i2cscfg;
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}
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/* Accelerometer lis3lv02dq config */
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static const I2CSlaveConfig lis3 = {
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i2c_lis3_cb,
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i2c_lis3_error_cb,
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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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/* configure accelerometer */
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accel_tx_data[0] = ACCEL_CTRL_REG1 | AUTO_INCREMENT_BIT; /* register address */
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accel_tx_data[1] = 0b11100111;
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accel_tx_data[2] = 0b01000001;
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accel_tx_data[3] = 0b00000000;
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/* sending */
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i2cMasterTransmit(&I2CD1, &lis3, lis3_addr, accel_tx_data, 4, accel_rx_data, 0);
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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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accel_tx_data[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT; // register address
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//i2cAcquireBus(&I2CD1);
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i2cMasterTransmit(&I2CD1, &lis3, lis3_addr, accel_tx_data, 1, accel_rx_data, 6);
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//i2cReleaseBus(&I2CD1);
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acceleration_x = accel_rx_data[0] + (accel_rx_data[1] << 8);
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acceleration_y = accel_rx_data[2] + (accel_rx_data[3] << 8);
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acceleration_z = accel_rx_data[4] + (accel_rx_data[5] << 8);
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}
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