void TestTimers::check_RealTime() {
CHECKTIME(art::hrRealTime,true);
}
void TestTimers::check_stdclock() {
CHECKTIME(std::clock,false);
}
rt_err_t i2c_register_read(struct rt_i2c_bus_device *bus,
rt_uint16_t daddr,
rt_uint8_t raddr,
void *buffer,
rt_size_t count)
{
rt_int32_t ret;
rt_tick_t tick=rt_tick_get();
#ifdef NO_RT_DEVICE
rt_uint16_t NumByteToRead=count;
rt_uint8_t * pBuffer=(rt_uint8_t *)buffer;
rt_mutex_take(&I2C1_mutex,RT_WAITING_FOREVER);
rt_enter_critical();
/* While the bus is busy */
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY))
CHECKTIME(tick);
/* Send START condition */
I2C_GenerateSTART(I2C1, ENABLE);
/* Test on EV5 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
CHECKTIME(tick);
/* Send MPU6050 address for write */
I2C_Send7bitAddress(I2C1, daddr, I2C_Direction_Transmitter);
/* Test on EV6 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
CHECKTIME(tick);
/* Clear EV6 by setting again the PE bit */
I2C_Cmd(I2C1, ENABLE);
/* Send the MPU6050's internal address to write to */
I2C_SendData(I2C1, raddr);
/* Test on EV8 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
CHECKTIME(tick);
/* Send STRAT condition a second time */
I2C_GenerateSTART(I2C1, ENABLE);
/* Test on EV5 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
CHECKTIME(tick);
/* Send MPU6050 address for read */
I2C_Send7bitAddress(I2C1, daddr, I2C_Direction_Receiver);
/* Test on EV6 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED))
CHECKTIME(tick);
/* While there is data to be read */
while(NumByteToRead)
{
if(NumByteToRead == 1)
{
/* Disable Acknowledgement */
I2C_AcknowledgeConfig(I2C1, DISABLE);
/* Send STOP Condition */
I2C_GenerateSTOP(I2C1, ENABLE);
}
/* Test on EV7 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_RECEIVED))
CHECKTIME(tick);
{
/* Read a byte from the MPU6050 */
*pBuffer = I2C_ReceiveData(I2C1);
/* Point to the next location where the byte read will be saved */
pBuffer++;
/* Decrement the read bytes counter */
NumByteToRead--;
}
}
/* Enable Acknowledgement to be ready for another reception */
I2C_AcknowledgeConfig(I2C1, ENABLE);
// EXT_CRT_SECTION();
rt_exit_critical();
rt_mutex_release(&I2C1_mutex);
#else
struct rt_i2c_msg msgs[2];
RT_ASSERT(bus != RT_NULL);
RT_ASSERT(buffer != RT_NULL);
msgs[0].addr=daddr;
msgs[0].buf=&raddr;
msgs[0].len=1;
msgs[0].flags=RT_I2C_WR|I2C_RA;
msgs[1].addr=daddr;
msgs[1].buf=buffer;
msgs[1].len=count;
msgs[1].flags=RT_I2C_RD|RT_I2C_NO_READ_ACK;
err=rt_i2c_transfer(bus,msgs,2);
#endif
return RT_EOK;
out:
#ifdef NO_RT_DEVICE
// I2C_GenerateSTOP(I2C1, ENABLE);
rt_exit_critical();
rt_mutex_release(&I2C1_mutex);
#endif
return ret;
}
rt_err_t i2c_register_write(struct rt_i2c_bus_device *bus,
rt_uint16_t daddr,
rt_uint8_t raddr,
void *buffer,
rt_size_t count)
{
rt_int32_t ret;
rt_tick_t tick=rt_tick_get();
#ifdef NO_RT_DEVICE
rt_uint8_t * pBuffer=(rt_uint8_t *)buffer;
rt_mutex_take(&I2C1_mutex,RT_WAITING_FOREVER);
rt_enter_critical();
I2C_GenerateSTART(I2C1, ENABLE);
/* Test on EV5 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
CHECKTIME(tick);
/* Send MPU6050 address for write */
I2C_Send7bitAddress(I2C1, daddr, I2C_Direction_Transmitter);
/* Test on EV6 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
CHECKTIME(tick);
/* Send the MPU6050's internal address to write to */
I2C_SendData(I2C1, raddr);
/* Test on EV8 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
CHECKTIME(tick);
/* Send the byte to be written */
I2C_SendData(I2C1, *pBuffer);
/* Test on EV8 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED))
CHECKTIME(tick);
/* Send STOP condition */
I2C_GenerateSTOP(I2C1, ENABLE);
rt_exit_critical();
rt_mutex_release(&I2C1_mutex);
#else
struct rt_i2c_msg msgs[2];
rt_err_t err;
RT_ASSERT(bus != RT_NULL);
RT_ASSERT(buffer != RT_NULL);
if(count>1)
{
msgs[0].addr=daddr;
msgs[0].buf=&raddr;
msgs[0].len=1;
msgs[0].flags=RT_I2C_WR;
msgs[1].addr=daddr;
msgs[1].buf=buffer;
msgs[1].len=count;
msgs[1].flags=RT_I2C_WR|RT_I2C_NO_START;
err=rt_i2c_transfer(bus,msgs,2);
}
else
{
rt_uint8_t data[2];
data[0]=raddr;
data[1]=*((rt_uint8_t *)buffer);
msgs[0].addr=daddr;
msgs[0].buf=data;
msgs[0].len=2;
msgs[0].flags=RT_I2C_WR;
err=rt_i2c_transfer(bus,msgs,1);
}
#endif
return RT_EOK;
out:
#ifdef NO_RT_DEVICE
// I2C_GenerateSTOP(I2C1, ENABLE);
rt_exit_critical();
rt_mutex_release(&I2C1_mutex);
#endif
return ret;
}
rt_size_t i2c1_master_xfer(struct rt_i2c_bus_device *bus,
struct rt_i2c_msg msgs[],
rt_uint32_t num)
{int de=0;
struct rt_i2c_msg *msg;
rt_int32_t i, ret;
rt_tick_t tick=rt_tick_get();
GPIO_SetBits(GPIOB,GPIO_Pin_8|GPIO_Pin_9);
while(I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY))
CHECKTIME(tick);
I2C_GenerateSTART(I2Cx, ENABLE);
/* Test on EV5 and clear it */
while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT))
CHECKTIME(tick);
for (i = 0; i < num; i++)
{de=0;
msg = &msgs[i];
if (!(msg->flags & RT_I2C_NO_START))
{
if (i)
{
I2C_GenerateSTART(I2Cx, ENABLE);
while (!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_MODE_SELECT))
CHECKTIME(tick);
}de=1;
if (msg->flags & RT_I2C_RD)
{
I2C_Send7bitAddress(I2Cx, msg->addr, I2C_Direction_Receiver);
while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED))
CHECKTIME(tick);
}
else
{
I2C_Send7bitAddress(I2Cx, msg->addr, I2C_Direction_Transmitter);
while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED))
CHECKTIME(tick);
}
I2C_Cmd(I2Cx, ENABLE);
}
if (msg->flags & RT_I2C_RD)
{
ret = i2c1_recv_bytes(msg);
if (ret >= 1)
i2c_dbg("read %d byte%s\n",
ret, ret == 1 ? "" : "s");
if (ret < msg->len)
{
if (ret >= 0)
ret = -RT_EIO;
goto out;
}
}
else
{
nostart=(i+1<num && (msg[i+1].flags & RT_I2C_NO_START))
||(msg[i].flags & I2C_RA);
ret = stm32_i2c_send_bytes(msg);
if (ret >= 1)
i2c_dbg("write %d byte%s\n",
ret, ret == 1 ? "" : "s");
if (ret < msg->len)
{
if (ret >= 0)
ret = -RT_ERROR;
goto out;
}
}
}
ret = i;
return ret;
out:
de=-1;
if(de==0)GPIO_ResetBits(GPIOB,GPIO_Pin_8);else if(de==1)GPIO_ResetBits(GPIOB,GPIO_Pin_9);
i2c_dbg("error on stage %d\n",de);
// I2C_GenerateSTOP(I2Cx, ENABLE);
return ret;
}
