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

I2CDriverTest04.h@16:2c6432b37cce, 2014-05-17 (annotated)

Committer:
pHysiX
Date:
Sat May 17 11:56:46 2014 +0000
Revision:
16:2c6432b37cce
Parent:
14:352609d395c1 
Modified to make 400kHz default

Who changed what in which revision?

UserRevisionLine numberNew contents of line
humlet 14:352609d395c1 1 // A high prio thread reads at a rate of 1kHz from a MPU6050 gyro/acc meter's FIFO
humlet 14:352609d395c1 2 // data packets of different size, whereas the lower prio ain thread the CPU time left.
humlet 14:352609d395c1 3
humlet 7:04824382eafb 4 #include "mbed.h"
humlet 7:04824382eafb 5 #include "rtos.h"
humlet 7:04824382eafb 6 #include "I2CMasterRtos.h"
humlet 7:04824382eafb 7 #include "stdint.h"
humlet 7:04824382eafb 8
humlet 14:352609d395c1 9 //#include "DigitalOut.h"
humlet 14:352609d395c1 10 //DigitalOut osci(p8);
humlet 10:e3d6c92ff222 11
humlet 7:04824382eafb 12 volatile int g_disco=0;
humlet 7:04824382eafb 13 volatile int g_len=0;
humlet 7:04824382eafb 14 volatile int g_freq=100000;
humlet 7:04824382eafb 15 const uint32_t i2cAdr = 0x68<<1;
humlet 7:04824382eafb 16
humlet 7:04824382eafb 17 static void config(I2CMasterRtos& i2c);
humlet 7:04824382eafb 18
humlet 14:352609d395c1 19 I2CMasterRtos i2c(p28, p27);
humlet 14:352609d395c1 20
humlet 7:04824382eafb 21 void highPrioCallBck(void const *args)
humlet 7:04824382eafb 22 {
humlet 14:352609d395c1 23 //I2CDriver::osci2.write(0);
humlet 14:352609d395c1 24 const char reg= 0x74;
humlet 14:352609d395c1 25 static char result[64];
humlet 14:352609d395c1 26 //I2CDriver::osci2.write(1);
humlet 14:352609d395c1 27 // read from MPU600's fifo
humlet 14:352609d395c1 28 i2c.frequency(g_freq);
humlet 14:352609d395c1 29 uint32_t t1=us_ticker_read();
humlet 14:352609d395c1 30 //I2CDriver::osci2.write(0);
humlet 14:352609d395c1 31 int stat = i2c.read(i2cAdr, reg, result, g_len);
humlet 14:352609d395c1 32 uint32_t dt=us_ticker_read()-t1;
humlet 14:352609d395c1 33 if(stat!=0) {
humlet 14:352609d395c1 34 printf("\n%x %d %d %d\n",stat,g_freq,g_len,dt);
humlet 14:352609d395c1 35 exit(0);
humlet 14:352609d395c1 36 }
humlet 14:352609d395c1 37 int16_t val=((static_cast<int16_t>(result[0])<<8)|static_cast<int16_t>(result[1]));
humlet 7:04824382eafb 38
humlet 14:352609d395c1 39 if(--g_disco>0)printf("val=%8d dt=%4dus\n",val,dt);
humlet 7:04824382eafb 40 }
humlet 7:04824382eafb 41
humlet 7:04824382eafb 42 int doit()
humlet 7:04824382eafb 43 {
humlet 14:352609d395c1 44 config(i2c);
humlet 14:352609d395c1 45
humlet 7:04824382eafb 46 RtosTimer highPrioTicker(highPrioCallBck, osTimerPeriodic, (void *)0);
humlet 7:04824382eafb 47
humlet 14:352609d395c1 48 Thread::wait(500);
humlet 7:04824382eafb 49 highPrioTicker.start(1);
humlet 10:e3d6c92ff222 50
humlet 7:04824382eafb 51 #if defined(TARGET_LPC1768)
humlet 7:04824382eafb 52 const int nTest=7;
humlet 7:04824382eafb 53 const int freq[nTest]= {1e5, 1e5, 1e5, 4e5, 4e5, 4e5, 4e5};
humlet 14:352609d395c1 54 const int len[nTest]= {1, 4, 7, 1, 6, 12, 36};
humlet 7:04824382eafb 55 #elif defined(TARGET_LPC11U24)
humlet 7:04824382eafb 56 const int nTest=5;
humlet 7:04824382eafb 57 const int freq[nTest]= {1e5, 1e5, 4e5, 4e5, 4e5 };
humlet 13:530968937ccb 58 const int len[nTest]= {1, 6, 1, 6, 32};
humlet 7:04824382eafb 59 #endif
humlet 7:04824382eafb 60 for(int i=0; i<nTest; ++i) {
humlet 7:04824382eafb 61 g_freq = freq[i];
humlet 7:04824382eafb 62 g_len = len[i];
humlet 7:04824382eafb 63 printf("f=%d l=%d\n",g_freq,g_len);
humlet 7:04824382eafb 64 Thread::wait(500);
humlet 14:352609d395c1 65 //highPrioTicker.start(1);
humlet 7:04824382eafb 66 const uint32_t dt=1e6;
humlet 7:04824382eafb 67 uint32_t tStart = us_ticker_read();
humlet 7:04824382eafb 68 uint32_t tLast = tStart;
humlet 7:04824382eafb 69 uint32_t tAct = tStart;
humlet 7:04824382eafb 70 uint32_t tMe=0;
humlet 14:352609d395c1 71 do { // loop an count consecutive µs ticker edges
humlet 14:352609d395c1 72 //osci.write(!osci.read());
humlet 7:04824382eafb 73 tAct=us_ticker_read();
humlet 14:352609d395c1 74 #if defined(TARGET_LPC1768)
humlet 14:352609d395c1 75 if(tAct==tLast+1)++tMe;
humlet 14:352609d395c1 76 #elif defined(TARGET_LPC11U24)
humlet 14:352609d395c1 77 uint32_t delta = tAct-tLast;
humlet 14:352609d395c1 78 if(delta<=2)tMe+=delta; // on the 11U24 this loop takes a bit longer than 1µs (ISR ~3µs, task switch ~8µs)
humlet 14:352609d395c1 79 #endif
humlet 7:04824382eafb 80 tLast=tAct;
humlet 7:04824382eafb 81 } while(tAct-tStart<dt);
humlet 14:352609d395c1 82 //highPrioTicker.stop();
humlet 14:352609d395c1 83 // and calculate the duty cycle from this measurement
humlet 7:04824382eafb 84 printf("dc=%5.2f \n", 100.0*(float)tMe/dt);
humlet 14:352609d395c1 85 g_disco=5;
humlet 7:04824382eafb 86 while(g_disco>0);
humlet 7:04824382eafb 87 }
humlet 7:04824382eafb 88 return 0;
humlet 7:04824382eafb 89 }
humlet 7:04824382eafb 90
humlet 7:04824382eafb 91 void readModWrite(I2CMasterRtos& i2c, uint8_t reg, uint8_t dta)
humlet 10:e3d6c92ff222 92 {
humlet 7:04824382eafb 93 char rd1;
humlet 7:04824382eafb 94 int rStat1 = i2c.read(i2cAdr, reg, &rd1, 1);
humlet 7:04824382eafb 95 char data[2];
humlet 7:04824382eafb 96 data[0]=(char)reg;
humlet 7:04824382eafb 97 data[1]=(char)dta;
humlet 7:04824382eafb 98 char rd2;
humlet 7:04824382eafb 99 int wStat = i2c.write(i2cAdr, data, 2);
humlet 7:04824382eafb 100 osDelay(100);
humlet 7:04824382eafb 101 int rStat2 = i2c.read(i2cAdr, reg, &rd2, 1);
humlet 12:6ddadcbbdca2 102 printf("(%3x%3x%3x) %2x <- %2x => %2x -> %2x \n", rStat1, wStat, rStat2, reg, dta, rd1, rd2);
humlet 7:04824382eafb 103 }
humlet 7:04824382eafb 104
humlet 7:04824382eafb 105 static void config(I2CMasterRtos& i2c)
humlet 7:04824382eafb 106 {
humlet 7:04824382eafb 107 uint8_t ncfg=32;
humlet 7:04824382eafb 108 uint8_t regs[ncfg];
humlet 7:04824382eafb 109 uint8_t vals[ncfg];
humlet 7:04824382eafb 110 int cnt=0;
humlet 7:04824382eafb 111 regs[cnt]=0x6b;
humlet 7:04824382eafb 112 vals[cnt++]=(1<<7); // pwr 1 reg //: device reset
humlet 7:04824382eafb 113 regs[cnt]=0x6b;
humlet 7:04824382eafb 114 vals[cnt++]=1; // pwr 1 reg // clock from x gyro all pwr sav modes off
humlet 7:04824382eafb 115 regs[cnt]=0x19;
humlet 7:04824382eafb 116 vals[cnt++]=0; // sample rate divider reg // sapmle rate = gyro rate / (1+x)
humlet 7:04824382eafb 117 regs[cnt]=0x1a;
humlet 10:e3d6c92ff222 118 vals[cnt++]=0;// conf reg // no ext frame sync / no dig low pass set to 1 => 8kHz Sampling
humlet 7:04824382eafb 119 regs[cnt]=0x1b;
humlet 7:04824382eafb 120 vals[cnt++]=0;// gyro conf reg // no test mode and gyro range 250°/s
humlet 7:04824382eafb 121 regs[cnt]=0x1c;
humlet 7:04824382eafb 122 vals[cnt++]=0;// accl conf reg // no test mode and accl range 2g
humlet 7:04824382eafb 123 regs[cnt]=0x23;
humlet 7:04824382eafb 124 vals[cnt++]=0xf<<3;// fifo conf reg // accl + all gyro -> fifo
humlet 7:04824382eafb 125 regs[cnt]=0x6a;
humlet 7:04824382eafb 126 vals[cnt++]=(1<<2); // pwr 1 reg // fifo reset
humlet 7:04824382eafb 127 regs[cnt]=0x6a;
humlet 7:04824382eafb 128 vals[cnt++]=(1<<6); // pwr 1 reg // fifo on
humlet 7:04824382eafb 129
humlet 7:04824382eafb 130 for(int i=0; i<cnt; i++)
humlet 7:04824382eafb 131 readModWrite(i2c, regs[i], vals[i]);
humlet 7:04824382eafb 132 }