Ian Hua / I2cRtosDriver

I2CRTOS Driver by Helmut Schmücker. Removed included mbed-rtos library to prevent multiple definition. Make sure to include mbed-rtos library in your program!

Fork of I2cRtosDriver by Helmut Schmücker

I2CDriverTest03.h@7:04824382eafb, 2013-04-28 (annotated)

Committer:
humlet
Date:
Sun Apr 28 15:08:04 2013 +0000
Revision:
7:04824382eafb
Child:
13:530968937ccb
stable before perf measurements

Who changed what in which revision?

UserRevisionLine numberNew contents of line
humlet 7:04824382eafb 1 #include "mbed.h"
humlet 7:04824382eafb 2 #include "rtos.h"
humlet 7:04824382eafb 3 #include "I2CMasterRtos.h"
humlet 7:04824382eafb 4 #include "stdint.h"
humlet 7:04824382eafb 5
humlet 7:04824382eafb 6 const int dataReadySig = 1<<5;
humlet 7:04824382eafb 7 osThreadId mainThreadID = 0;
humlet 7:04824382eafb 8 char data[64];
humlet 7:04824382eafb 9 int16_t fifo[16];
humlet 7:04824382eafb 10 const int i2cAdr = 0x68<<1;
humlet 7:04824382eafb 11 int fifoAdr = 0x72;
humlet 7:04824382eafb 12
humlet 7:04824382eafb 13 //Serial pc(USBTX, USBRX);
humlet 7:04824382eafb 14
humlet 7:04824382eafb 15 void configMPU6050(I2CMasterRtos& i2c);
humlet 7:04824382eafb 16 void config(I2CMasterRtos& i2c);
humlet 7:04824382eafb 17
humlet 7:04824382eafb 18
humlet 7:04824382eafb 19 void dataReadyIsr()
humlet 7:04824382eafb 20 {
humlet 7:04824382eafb 21 osSignalSet(mainThreadID, dataReadySig);
humlet 7:04824382eafb 22 }
humlet 7:04824382eafb 23
humlet 7:04824382eafb 24 void readModWrite(I2CMasterRtos& i2c, uint8_t reg, uint8_t dta)
humlet 7:04824382eafb 25 {
humlet 7:04824382eafb 26
humlet 7:04824382eafb 27 char rd1;
humlet 7:04824382eafb 28 int rStat1 = i2c.read(i2cAdr, reg, &rd1, 1);
humlet 7:04824382eafb 29 char data[2];
humlet 7:04824382eafb 30 data[0]=(char)reg;
humlet 7:04824382eafb 31 data[1]=(char)dta;
humlet 7:04824382eafb 32 char rd2;
humlet 7:04824382eafb 33 int wStat = i2c.write(i2cAdr, data, 2);
humlet 7:04824382eafb 34 osDelay(500);
humlet 7:04824382eafb 35 int rStat2 = i2c.read(i2cAdr, reg, &rd2, 1);
humlet 7:04824382eafb 36 printf("%2d%2d%2d %2x <- %2x => %2x -> %2x \n", rStat1, wStat, rStat2, reg, dta, rd1, rd2);
humlet 7:04824382eafb 37 }
humlet 7:04824382eafb 38
humlet 7:04824382eafb 39
humlet 7:04824382eafb 40 int doit()
humlet 7:04824382eafb 41 {
humlet 7:04824382eafb 42 //pc.baud(115200);
humlet 7:04824382eafb 43 mainThreadID = osThreadGetId();
humlet 7:04824382eafb 44
humlet 7:04824382eafb 45 I2CMasterRtos i2c(p28, p27,400000);
humlet 7:04824382eafb 46 osDelay(500);
humlet 7:04824382eafb 47
humlet 7:04824382eafb 48 printf("Initialize ... \n");
humlet 7:04824382eafb 49 config(i2c);
humlet 7:04824382eafb 50
humlet 7:04824382eafb 51 printf("Action!\n");
humlet 7:04824382eafb 52
humlet 7:04824382eafb 53 InterruptIn dataReadyIrq(p8);
humlet 7:04824382eafb 54 dataReadyIrq.mode(PullNone);
humlet 7:04824382eafb 55 dataReadyIrq.rise(&dataReadyIsr);
humlet 7:04824382eafb 56
humlet 7:04824382eafb 57 /*
humlet 7:04824382eafb 58 data[0]=0x6a; // pwr 1 reg
humlet 7:04824382eafb 59 data[1]=(1<<6)|(1<<2); // fifo on
humlet 7:04824382eafb 60 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 61
humlet 7:04824382eafb 62 data[0]=0x38; // irq conf reg
humlet 7:04824382eafb 63 data[1]=1; // irq on data ready
humlet 7:04824382eafb 64 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 65 */
humlet 7:04824382eafb 66 //fifoAdr = 0x3b;
humlet 7:04824382eafb 67 char devNull;
humlet 7:04824382eafb 68 while(1) {
humlet 7:04824382eafb 69 osSignalWait(dataReadySig, 1000); // osWaitForever
humlet 7:04824382eafb 70 i2c.read(i2cAdr,fifoAdr,data,2);
humlet 7:04824382eafb 71 i2c.read(i2cAdr,fifoAdr+2,data+2,12);
humlet 7:04824382eafb 72 i2c.read(i2cAdr,0x3a,&devNull,1);
humlet 7:04824382eafb 73 for(int i=0; i<7; i++) {
humlet 7:04824382eafb 74 fifo[i] = (data[2*i]<<8) | data[2*i+1];
humlet 7:04824382eafb 75 printf("%8d",fifo[i]);
humlet 7:04824382eafb 76 }
humlet 7:04824382eafb 77 printf(" %x\n",devNull);
humlet 7:04824382eafb 78
humlet 7:04824382eafb 79 }
humlet 7:04824382eafb 80 return 0;
humlet 7:04824382eafb 81 }
humlet 7:04824382eafb 82
humlet 7:04824382eafb 83 static void config(I2CMasterRtos& i2c)
humlet 7:04824382eafb 84 {
humlet 7:04824382eafb 85 uint8_t ncfg=32;
humlet 7:04824382eafb 86 uint8_t regs[ncfg];
humlet 7:04824382eafb 87 uint8_t vals[ncfg];
humlet 7:04824382eafb 88 int cnt=0;
humlet 7:04824382eafb 89 regs[cnt]=0x6b;
humlet 7:04824382eafb 90 vals[cnt++]=(1<<7); // pwr 1 reg //: device reset
humlet 7:04824382eafb 91 regs[cnt]=0x6b;
humlet 7:04824382eafb 92 vals[cnt++]=1; // pwr 1 reg // clock from x gyro all pwr sav modes off
humlet 7:04824382eafb 93 regs[cnt]=0x19;
humlet 7:04824382eafb 94 vals[cnt++]=199; // sample rate divider reg // sapmle rate = gyro rate / (1+x)
humlet 7:04824382eafb 95 regs[cnt]=0x1a;
humlet 7:04824382eafb 96 vals[cnt++]=1;// conf reg // no ext frame sync / dig low pass set to 1 => 1kHz Sampling with ~200Hz bandwidth DLPF
humlet 7:04824382eafb 97 regs[cnt]=0x1b;
humlet 7:04824382eafb 98 vals[cnt++]=0;// gyro conf reg // no test mode and gyro range 250°/s
humlet 7:04824382eafb 99 regs[cnt]=0x1c;
humlet 7:04824382eafb 100 vals[cnt++]=0;// accl conf reg // no test mode and accl range 2g
humlet 7:04824382eafb 101 regs[cnt]=0x23;
humlet 7:04824382eafb 102 vals[cnt++]=0xf<<3;// fifo conf reg // accl + all gyro -> fifo
humlet 7:04824382eafb 103 regs[cnt]=0x37;
humlet 7:04824382eafb 104 vals[cnt++]=(0<<7)|(0<<6)|(0<<5)|(0<<4); // irq conf reg // act high | 0:pupu 1:opnDrn| pulse | clear on any read
humlet 7:04824382eafb 105 regs[cnt]=0x38;
humlet 7:04824382eafb 106 vals[cnt++]=1|(1<<4); // irq conf reg // irq on data ready
humlet 7:04824382eafb 107 regs[cnt]=0x6a;
humlet 7:04824382eafb 108 vals[cnt++]=(1<<2); // pwr 1 reg // fifo reset
humlet 7:04824382eafb 109 regs[cnt]=0x6a;
humlet 7:04824382eafb 110 vals[cnt++]=(1<<6); // pwr 1 reg // fifo on
humlet 7:04824382eafb 111
humlet 7:04824382eafb 112 /*
humlet 7:04824382eafb 113 readModWrite(i2c, regs[0], vals[0]);
humlet 7:04824382eafb 114 char reset=0xff;
humlet 7:04824382eafb 115 while(reset&(1<<7)) {
humlet 7:04824382eafb 116 osDelay(100);
humlet 7:04824382eafb 117 i2c.read(i2cAdr,0x6b,&reset,1,1);
humlet 7:04824382eafb 118 }
humlet 7:04824382eafb 119 */
humlet 7:04824382eafb 120 for(int i=0; i<cnt; i++)
humlet 7:04824382eafb 121 readModWrite(i2c, regs[i], vals[i]);
humlet 7:04824382eafb 122 }
humlet 7:04824382eafb 123
humlet 7:04824382eafb 124 static void configMPU6050(I2CMasterRtos& i2c)
humlet 7:04824382eafb 125 {
humlet 7:04824382eafb 126
humlet 7:04824382eafb 127 data[0]=0x6b; // pwr 1 reg
humlet 7:04824382eafb 128 data[1]=1<<7; // device reset
humlet 7:04824382eafb 129 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 130 char reset=0xff;
humlet 7:04824382eafb 131 while(reset&(1<<7)) {
humlet 7:04824382eafb 132 osDelay(100);
humlet 7:04824382eafb 133 i2c.read(i2cAdr,0x6b,&reset,1,1);
humlet 7:04824382eafb 134 }
humlet 7:04824382eafb 135
humlet 7:04824382eafb 136 data[0]=0x19; // sample rate divider reg
humlet 7:04824382eafb 137 data[1]=99; // sapmle rate = gyro rate / (1+x)
humlet 7:04824382eafb 138 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 139
humlet 7:04824382eafb 140 data[0]=0x1a; // conf reg
humlet 7:04824382eafb 141 data[1]=1; // no ext frame sync / dig low pass set to 1 => 1kHz Sampling with ~200Hz bandwidth DLPF
humlet 7:04824382eafb 142 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 143
humlet 7:04824382eafb 144 data[0]=0x1b; // gyro conf reg
humlet 7:04824382eafb 145 data[1]=0; // no test mode and gyro range 250°/s
humlet 7:04824382eafb 146 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 147
humlet 7:04824382eafb 148 data[0]=0x1c; // accl conf reg
humlet 7:04824382eafb 149 data[1]=0; // no test mode and accl range 2g
humlet 7:04824382eafb 150 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 151
humlet 7:04824382eafb 152 data[0]=0x23; // fifo conf reg
humlet 7:04824382eafb 153 data[1]=0xf<<3; // accl + all gyro -> fifo
humlet 7:04824382eafb 154 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 155
humlet 7:04824382eafb 156 data[0]=0x37; // irq conf reg
humlet 7:04824382eafb 157 data[1]=(1<<7)|(0<<6)|(0<<5)|(1<<4); // act high | pupu | pulse | clear on any read
humlet 7:04824382eafb 158 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 159
humlet 7:04824382eafb 160 /*
humlet 7:04824382eafb 161 data[0]=0x38; // irq conf reg
humlet 7:04824382eafb 162 data[1]=1; // irq on data ready
humlet 7:04824382eafb 163 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 164
humlet 7:04824382eafb 165 data[0]=0x6a; // pwr 1 reg
humlet 7:04824382eafb 166 data[1]=(1<<6); // fifo on
humlet 7:04824382eafb 167 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 168 */
humlet 7:04824382eafb 169 data[0]=0x6b; // pwr 1 reg
humlet 7:04824382eafb 170 data[1]=1; // clock from x gyro all pwr sav modes off
humlet 7:04824382eafb 171 i2c.write(i2cAdr,data,2,1);
humlet 7:04824382eafb 172 }
humlet 7:04824382eafb 173