Ian Hua
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
Revision 7:04824382eafb, committed 2013-04-28
- Comitter:
- humlet
- Date:
- Sun Apr 28 15:08:04 2013 +0000
- Parent:
- 6:5b98c902a659
- Child:
- 8:5be85bd4c5ba
- Commit message:
- stable before perf measurements
Changed in this revision
--- a/I2CDriver.cpp Sat Apr 20 20:06:44 2013 +0000
+++ b/I2CDriver.cpp Sun Apr 28 15:08:04 2013 +0000
@@ -2,10 +2,13 @@
#include "i2c_api.h"
#include "error.h"
+#include "DigitalOut.h"
+
using namespace mbed;
using namespace rtos;
-//#define I2C_ISR_DRV_SIG (1<<7)
+DigitalOut osci(p12);
+
#define DRV_USR_SIG (1<<6)
const PinName I2CDriver::c_sdas[] = {p9,p28};
@@ -16,19 +19,23 @@
#if defined(TARGET_LPC1768)
void I2CDriver::channel_0_ISR()
{
+ osci.write(1);
osSignalSet( s_channels[0]->driver, I2C_ISR_DRV_SIG);
NVIC_DisableIRQ(I2C1_IRQn);
+ osci.write(0);
}
#endif
void I2CDriver::channel_1_ISR()
{
+ osci.write(1);
osSignalSet( s_channels[1]->driver, I2C_ISR_DRV_SIG);
#if defined(TARGET_LPC1768) || defined(TARGET_LPC2368)
NVIC_DisableIRQ(I2C2_IRQn);
#elif defined(TARGET_LPC11U24)
NVIC_DisableIRQ(I2C_IRQn);
#endif
+ osci.write(0);
}
@@ -105,6 +112,7 @@
tr.ret = i2c_read(&i2c, tr.adr, tr.dta, tr.len, (tr.rep?0:1));
break;
case READ_MST_REG:
+ //printf("Disco\n");
tr.ret = i2c_write(&i2c, tr.adr,(const char*)&(tr.reg), 1, 0);
if(tr.ret)break; // error => bail out
tr.ret = i2c_read(&i2c, tr.adr, tr.dta, tr.len, (tr.rep?0:1));
--- a/I2CDriver.h Sat Apr 20 20:06:44 2013 +0000
+++ b/I2CDriver.h Sun Apr 28 15:08:04 2013 +0000
@@ -54,7 +54,7 @@
* 0 on success (ack),
* non-0 on failure (nack)
*/
- int readMaster(int address, char *data, int length, bool repeated = false);
+ int readMaster(int address, char* data, int length, bool repeated = false);
/** Read from a given I2C slave register
*
@@ -71,7 +71,7 @@
* 0 on success (ack),
* non-0 on failure (nack)
*/
- int readMaster(int address, uint8_t _register, char *data, int length, bool repeated = false);
+ int readMaster(int address, uint8_t _register, char* data, int length, bool repeated = false);
/** Read a single byte from the I2C bus
*
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/I2CDriverTest03.h Sun Apr 28 15:08:04 2013 +0000
@@ -0,0 +1,173 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "I2CMasterRtos.h"
+#include "stdint.h"
+
+const int dataReadySig = 1<<5;
+osThreadId mainThreadID = 0;
+char data[64];
+int16_t fifo[16];
+const int i2cAdr = 0x68<<1;
+int fifoAdr = 0x72;
+
+//Serial pc(USBTX, USBRX);
+
+void configMPU6050(I2CMasterRtos& i2c);
+void config(I2CMasterRtos& i2c);
+
+
+void dataReadyIsr()
+{
+ osSignalSet(mainThreadID, dataReadySig);
+}
+
+void readModWrite(I2CMasterRtos& i2c, uint8_t reg, uint8_t dta)
+{
+
+ char rd1;
+ int rStat1 = i2c.read(i2cAdr, reg, &rd1, 1);
+ char data[2];
+ data[0]=(char)reg;
+ data[1]=(char)dta;
+ char rd2;
+ int wStat = i2c.write(i2cAdr, data, 2);
+ osDelay(500);
+ int rStat2 = i2c.read(i2cAdr, reg, &rd2, 1);
+ printf("%2d%2d%2d %2x <- %2x => %2x -> %2x \n", rStat1, wStat, rStat2, reg, dta, rd1, rd2);
+}
+
+
+int doit()
+{
+ //pc.baud(115200);
+ mainThreadID = osThreadGetId();
+
+ I2CMasterRtos i2c(p28, p27,400000);
+ osDelay(500);
+
+ printf("Initialize ... \n");
+ config(i2c);
+
+ printf("Action!\n");
+
+ InterruptIn dataReadyIrq(p8);
+ dataReadyIrq.mode(PullNone);
+ dataReadyIrq.rise(&dataReadyIsr);
+
+ /*
+ data[0]=0x6a; // pwr 1 reg
+ data[1]=(1<<6)|(1<<2); // fifo on
+ i2c.write(i2cAdr,data,2,1);
+
+ data[0]=0x38; // irq conf reg
+ data[1]=1; // irq on data ready
+ i2c.write(i2cAdr,data,2,1);
+ */
+ //fifoAdr = 0x3b;
+ char devNull;
+ while(1) {
+ osSignalWait(dataReadySig, 1000); // osWaitForever
+ i2c.read(i2cAdr,fifoAdr,data,2);
+ i2c.read(i2cAdr,fifoAdr+2,data+2,12);
+ i2c.read(i2cAdr,0x3a,&devNull,1);
+ for(int i=0; i<7; i++) {
+ fifo[i] = (data[2*i]<<8) | data[2*i+1];
+ printf("%8d",fifo[i]);
+ }
+ printf(" %x\n",devNull);
+
+ }
+ return 0;
+}
+
+static void config(I2CMasterRtos& i2c)
+{
+ uint8_t ncfg=32;
+ uint8_t regs[ncfg];
+ uint8_t vals[ncfg];
+ int cnt=0;
+ regs[cnt]=0x6b;
+ vals[cnt++]=(1<<7); // pwr 1 reg //: device reset
+ regs[cnt]=0x6b;
+ vals[cnt++]=1; // pwr 1 reg // clock from x gyro all pwr sav modes off
+ regs[cnt]=0x19;
+ vals[cnt++]=199; // sample rate divider reg // sapmle rate = gyro rate / (1+x)
+ regs[cnt]=0x1a;
+ vals[cnt++]=1;// conf reg // no ext frame sync / dig low pass set to 1 => 1kHz Sampling with ~200Hz bandwidth DLPF
+ regs[cnt]=0x1b;
+ vals[cnt++]=0;// gyro conf reg // no test mode and gyro range 250°/s
+ regs[cnt]=0x1c;
+ vals[cnt++]=0;// accl conf reg // no test mode and accl range 2g
+ regs[cnt]=0x23;
+ vals[cnt++]=0xf<<3;// fifo conf reg // accl + all gyro -> fifo
+ regs[cnt]=0x37;
+ vals[cnt++]=(0<<7)|(0<<6)|(0<<5)|(0<<4); // irq conf reg // act high | 0:pupu 1:opnDrn| pulse | clear on any read
+ regs[cnt]=0x38;
+ vals[cnt++]=1|(1<<4); // irq conf reg // irq on data ready
+ regs[cnt]=0x6a;
+ vals[cnt++]=(1<<2); // pwr 1 reg // fifo reset
+ regs[cnt]=0x6a;
+ vals[cnt++]=(1<<6); // pwr 1 reg // fifo on
+
+ /*
+ readModWrite(i2c, regs[0], vals[0]);
+ char reset=0xff;
+ while(reset&(1<<7)) {
+ osDelay(100);
+ i2c.read(i2cAdr,0x6b,&reset,1,1);
+ }
+ */
+ for(int i=0; i<cnt; i++)
+ readModWrite(i2c, regs[i], vals[i]);
+}
+
+static void configMPU6050(I2CMasterRtos& i2c)
+{
+
+ data[0]=0x6b; // pwr 1 reg
+ data[1]=1<<7; // device reset
+ i2c.write(i2cAdr,data,2,1);
+ char reset=0xff;
+ while(reset&(1<<7)) {
+ osDelay(100);
+ i2c.read(i2cAdr,0x6b,&reset,1,1);
+ }
+
+ data[0]=0x19; // sample rate divider reg
+ data[1]=99; // sapmle rate = gyro rate / (1+x)
+ i2c.write(i2cAdr,data,2,1);
+
+ data[0]=0x1a; // conf reg
+ data[1]=1; // no ext frame sync / dig low pass set to 1 => 1kHz Sampling with ~200Hz bandwidth DLPF
+ i2c.write(i2cAdr,data,2,1);
+
+ data[0]=0x1b; // gyro conf reg
+ data[1]=0; // no test mode and gyro range 250°/s
+ i2c.write(i2cAdr,data,2,1);
+
+ data[0]=0x1c; // accl conf reg
+ data[1]=0; // no test mode and accl range 2g
+ i2c.write(i2cAdr,data,2,1);
+
+ data[0]=0x23; // fifo conf reg
+ data[1]=0xf<<3; // accl + all gyro -> fifo
+ i2c.write(i2cAdr,data,2,1);
+
+ data[0]=0x37; // irq conf reg
+ data[1]=(1<<7)|(0<<6)|(0<<5)|(1<<4); // act high | pupu | pulse | clear on any read
+ i2c.write(i2cAdr,data,2,1);
+
+ /*
+ data[0]=0x38; // irq conf reg
+ data[1]=1; // irq on data ready
+ i2c.write(i2cAdr,data,2,1);
+
+ data[0]=0x6a; // pwr 1 reg
+ data[1]=(1<<6); // fifo on
+ i2c.write(i2cAdr,data,2,1);
+ */
+ data[0]=0x6b; // pwr 1 reg
+ data[1]=1; // clock from x gyro all pwr sav modes off
+ i2c.write(i2cAdr,data,2,1);
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/I2CDriverTest04.h Sun Apr 28 15:08:04 2013 +0000
@@ -0,0 +1,123 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "I2CMasterRtos.h"
+#include "stdint.h"
+
+volatile int g_disco=0;
+volatile int g_len=0;
+volatile int g_freq=100000;
+const uint32_t i2cAdr = 0x68<<1;
+volatile osThreadId i2cDrvThrdID;
+
+static void config(I2CMasterRtos& i2c);
+
+void highPrioCallBck(void const *args)
+{
+ osSignalSet(i2cDrvThrdID, 1<<5);
+}
+
+void highPrioThreadFun(void const *args)
+{
+ i2cDrvThrdID = Thread::gettid();
+ I2CMasterRtos i2c(p28, p27);
+
+ config(i2c);
+
+ while(true) {
+ i2c.frequency(g_freq);
+ Thread::signal_wait(1<<5,osWaitForever);
+ // read back srf08 echo times (1+16 words)
+ const char reg= 0x3a;
+ char result[64];
+ uint32_t t1=us_ticker_read();
+ i2c.read(i2cAdr, reg, result, g_len);
+ uint32_t dt=us_ticker_read()-t1;
+ uint16_t tm=((static_cast<uint16_t>(result[0])<<8)|static_cast<uint16_t>(result[1]));
+
+ if(--g_disco>0) printf("tm=%8d dt=%4dus\n",tm,dt);
+ }
+}
+
+int doit()
+{
+ Thread highPrioThread(highPrioThreadFun,0,osPriorityAboveNormal);
+ RtosTimer highPrioTicker(highPrioCallBck, osTimerPeriodic, (void *)0);
+
+ Thread::wait(100);
+ highPrioTicker.start(1);
+
+#if defined(TARGET_LPC1768)
+ const int nTest=7;
+ const int freq[nTest]= {1e5, 1e5, 1e5, 4e5, 4e5, 4e5, 4e5};
+ const int len[nTest]= {1, 4, 6, 1, 6, 12, 29};
+#elif defined(TARGET_LPC11U24)
+ const int nTest=5;
+ const int freq[nTest]= {1e5, 1e5, 4e5, 4e5, 4e5 };
+ const int len[nTest]= {1, 4, 1, 6, 12};
+#endif
+ for(int i=0; i<nTest; ++i) {
+ g_freq = freq[i];
+ g_len = len[i];
+ printf("f=%d l=%d\n",g_freq,g_len);
+ Thread::wait(500);
+ const uint32_t dt=1e6;
+ uint32_t tStart = us_ticker_read();
+ uint32_t tLast = tStart;
+ uint32_t tAct = tStart;
+ uint32_t tMe=0;
+ do {
+ tAct=us_ticker_read();
+ if(tAct>tLast) {
+ if(tAct==tLast+1)++tMe;
+ }
+ tLast=tAct;
+ } while(tAct-tStart<dt);
+ printf("dc=%5.2f \n", 100.0*(float)tMe/dt);
+ g_disco=10;
+ while(g_disco>0);
+ }
+ return 0;
+}
+
+void readModWrite(I2CMasterRtos& i2c, uint8_t reg, uint8_t dta)
+{
+ char rd1;
+ int rStat1 = i2c.read(i2cAdr, reg, &rd1, 1);
+ char data[2];
+ data[0]=(char)reg;
+ data[1]=(char)dta;
+ char rd2;
+ int wStat = i2c.write(i2cAdr, data, 2);
+ osDelay(100);
+ int rStat2 = i2c.read(i2cAdr, reg, &rd2, 1);
+ printf("%2d%2d%2d %2x <- %2x => %2x -> %2x \n", rStat1, wStat, rStat2, reg, dta, rd1, rd2);
+}
+
+static void config(I2CMasterRtos& i2c)
+{
+ uint8_t ncfg=32;
+ uint8_t regs[ncfg];
+ uint8_t vals[ncfg];
+ int cnt=0;
+ regs[cnt]=0x6b;
+ vals[cnt++]=(1<<7); // pwr 1 reg //: device reset
+ regs[cnt]=0x6b;
+ vals[cnt++]=1; // pwr 1 reg // clock from x gyro all pwr sav modes off
+ regs[cnt]=0x19;
+ vals[cnt++]=0; // sample rate divider reg // sapmle rate = gyro rate / (1+x)
+ regs[cnt]=0x1a;
+ vals[cnt++]=0;// conf reg // no ext frame sync / no dig low pass set to 1 => 8kHz Sampling
+ regs[cnt]=0x1b;
+ vals[cnt++]=0;// gyro conf reg // no test mode and gyro range 250°/s
+ regs[cnt]=0x1c;
+ vals[cnt++]=0;// accl conf reg // no test mode and accl range 2g
+ regs[cnt]=0x23;
+ vals[cnt++]=0xf<<3;// fifo conf reg // accl + all gyro -> fifo
+ regs[cnt]=0x6a;
+ vals[cnt++]=(1<<2); // pwr 1 reg // fifo reset
+ regs[cnt]=0x6a;
+ vals[cnt++]=(1<<6); // pwr 1 reg // fifo on
+
+ for(int i=0; i<cnt; i++)
+ readModWrite(i2c, regs[i], vals[i]);
+}
\ No newline at end of file
--- a/I2CMasterRtos.h Sat Apr 20 20:06:44 2013 +0000
+++ b/I2CMasterRtos.h Sun Apr 28 15:08:04 2013 +0000
@@ -64,7 +64,7 @@
* 0 on success (ack),
* non-0 on failure (nack)
*/
- int read(int address, uint8_t _register, char *data, int length, bool repeated = false) {
+ int read(int address, uint8_t _register, char* data, int length, bool repeated = false) {
return m_drv.readMaster( address, _register, data, length, repeated);
}
--- a/mbed-NXP.lib Sat Apr 20 20:06:44 2013 +0000 +++ b/mbed-NXP.lib Sun Apr 28 15:08:04 2013 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/humlet/code/mbed-NXP/#9b3db7ced428 +http://mbed.org/users/humlet/code/mbed-NXP/#5e7f2f37d75b