void SensorsTaskOSInit(void)
{
osSemaphoreDef(i2cTransactSem);
i2cSem = osSemaphoreCreate(osSemaphore(i2cTransactSem), 1);
ALBI2CHandle.Instance = ALB_I2C;
ALBI2CHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
ALBI2CHandle.Init.Timing = I2C_TIMING_100KHZ;
ALBI2CHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
ALBI2CHandle.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
ALBI2CHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
ALBI2CHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
ALBI2CHandle.Init.OwnAddress1 = 0x00;
ALBI2CHandle.Init.OwnAddress2 = 0x00;
assert_param(HAL_I2C_Init(&ALBI2CHandle) == HAL_OK);
SLBI2CHandle.Instance = SLB_I2C;
SLBI2CHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
SLBI2CHandle.Init.Timing = I2C_TIMING_100KHZ;
SLBI2CHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
SLBI2CHandle.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
SLBI2CHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
SLBI2CHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
SLBI2CHandle.Init.OwnAddress1 = 0x00;
SLBI2CHandle.Init.OwnAddress2 = 0x00;
assert_param(HAL_I2C_Init(&SLBI2CHandle) == HAL_OK);
}
/**
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void)
{
/* USER CODE BEGIN I2C1_Init 0 */
/* USER CODE END I2C1_Init 0 */
/* USER CODE BEGIN I2C1_Init 1 */
/* USER CODE END I2C1_Init 1 */
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 400000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN I2C1_Init 2 */
/* USER CODE END I2C1_Init 2 */
}
/**
* @brief Configures I2C interface
* @param None
* @retval HAL status
*/
static HAL_StatusTypeDef I2C_SHIELDS_Init(void)
{
HAL_StatusTypeDef ret_val = HAL_OK;
if(HAL_I2C_GetState(&I2C_SHIELDS_Handle) == HAL_I2C_STATE_RESET)
{
/* I2C_SHIELDS peripheral configuration */
// I2C_SHIELDS_Handle.Init.ClockSpeed = NUCLEO_I2C_SHIELDS_SPEED;
// I2C_SHIELDS_Handle.Init.DutyCycle = I2C_DUTYCYCLE_2;
#ifdef STM32F401xE
I2C_SHIELDS_Handle.Init.ClockSpeed = NUCLEO_I2C_SHIELDS_SPEED;
I2C_SHIELDS_Handle.Init.DutyCycle = I2C_DUTYCYCLE_2;
#endif
#ifdef STM32L053xx
I2C_SHIELDS_Handle.Init.Timing = 0x0070D8FF; /*Refer AN4235-Application note Document*/
#endif
I2C_SHIELDS_Handle.Init.OwnAddress1 = 0x33;
I2C_SHIELDS_Handle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2C_SHIELDS_Handle.Instance = NUCLEO_I2C_SHIELDS;
/* Init the I2C */
I2C_SHIELDS_MspInit();
ret_val = HAL_I2C_Init(&I2C_SHIELDS_Handle);
}
return ret_val;
}
/* I2C2 init function */
void MX_I2C2_Init(void)
{
hi2c2.Instance = I2C2;
hi2c2.Init.Timing = 0x20303E5D;
hi2c2.Init.OwnAddress1 = 0;
hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c2.Init.OwnAddress2 = 0;
hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c2) != HAL_OK)
{
Error_Handler();
}
/**Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
}
void VL6180x_Shield_I2C1_Init(I2C_HandleTypeDef *hi2c1) {
GPIO_InitTypeDef GPIO_InitStruct;
/* Peripheral clock enable */
__I2C1_CLK_ENABLE();
/**I2C1 GPIO Configuration
PB8 ------> I2C1_SCL
PB9 ------> I2C1_SDA
*/
GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
hi2c1->Instance = I2C1;
hi2c1->Init.ClockSpeed = 400000;
hi2c1->Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1->Init.OwnAddress1 = 0;
hi2c1->Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1->Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
hi2c1->Init.OwnAddress2 = 0;
hi2c1->Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
hi2c1->Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
HAL_I2C_Init(hi2c1);
}
/* I2C3 init function */
void MX_I2C3_Init(void)
{
/*
* The following is the required sequence in master mode.
*
* Program the peripheral input clock in I2C_CR2 Register in order to generate correct
* timings
* Configure the clock control registers
* Configure the rise time register
* Program the I2C_CR1 register to enable the peripheral
* Set the START bit in the I2C_CR1 register to generate a Start condition
*/
hi2c3.Instance = I2C3;
hi2c3.Init.ClockSpeed = 100000;
hi2c3.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c3.Init.OwnAddress1 = 0;
hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
hi2c3.Init.OwnAddress2 = 0;
hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
HAL_I2C_Init(&hi2c3);
}
int initMPU(void){
int initOkay = -1;
HAL_I2C_StateTypeDef state;
uint8_t tempByte = 13;
uint8_t buffer[10] = {0,0,0,0,0,0,0,0,0,0};
hnd.Instance = I2C1;
hnd.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hnd.Init.ClockSpeed = 400000;
hnd.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hnd.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hnd.Init.DutyCycle = I2C_DUTYCYCLE_2;
hnd.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
hnd.Init.OwnAddress1 = 0x00;
HAL_I2C_Init(&hnd);
__HAL_I2C_ENABLE(&hnd);
state = HAL_I2C_GetState(&hnd);
if(state == HAL_I2C_STATE_READY){
initOkay = 0;
}
buffer[0]=MPU6050_RA_PWR_MGMT_1;
buffer[1]=0x80;
printf("READ: %u",SCCB_Read(MPU6050_RA_WHO_AM_I));
printf("error: %u",HAL_I2C_GetError(&hnd));
return initOkay;
}
CSensor::CSensor() : mMPU1(false, mHandle),
mMPU2(true, mHandle)
{
mHandle.Instance = I2C1;
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_I2C1_CLK_ENABLE();
GPIO_InitTypeDef initPort;
initPort.Pin = GPIO_PIN_6 | GPIO_PIN_7;
initPort.Mode = GPIO_MODE_AF_OD;
initPort.Pull = GPIO_PULLUP;
initPort.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
initPort.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, &initPort);
mHandle.Init.ClockSpeed = 400000U;
mHandle.Init.DutyCycle = I2C_DUTYCYCLE_2;
mHandle.Init.OwnAddress2 = 0x00U;
mHandle.Init.OwnAddress1 = 0x00U;
mHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
mHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
mHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
mHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
HAL_I2C_Init(&mHandle);
if(false == (mMPU1.init() && mMPU2.init()))
{
//Error-Handler
}
mMPU1.writeRegister(MPU6050::CONFIG, static_cast<UInt8>(ELowPass::BANDWIDTH_44));
mMPU2.writeRegister(MPU6050::CONFIG, static_cast<UInt8>(ELowPass::BANDWIDTH_44));
}
/**
* @brief Configures I2C interface
* @retval HAL status
*/
static HAL_StatusTypeDef I2C_EXPBD_Init(void)
{
HAL_StatusTypeDef ret_val = HAL_OK;
if(HAL_I2C_GetState(&I2C_EXPBD_Handle) == HAL_I2C_STATE_RESET)
{
/* I2C_EXPBD peripheral configuration */
#if ((defined (USE_STM32F4XX_NUCLEO)) || (defined (USE_STM32L1XX_NUCLEO)))
I2C_EXPBD_Handle.Init.ClockSpeed = NUCLEO_I2C_EXPBD_SPEED;
I2C_EXPBD_Handle.Init.DutyCycle = I2C_DUTYCYCLE_2;
#endif
#if (defined (USE_STM32L0XX_NUCLEO))
I2C_EXPBD_Handle.Init.Timing = NUCLEO_I2C_EXPBD_TIMING_400KHZ; /* 400KHz */
#endif
I2C_EXPBD_Handle.Init.OwnAddress1 = 0x33;
I2C_EXPBD_Handle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2C_EXPBD_Handle.Instance = NUCLEO_I2C_EXPBD;
/* Init the I2C */
I2C_EXPBD_MspInit();
ret_val = HAL_I2C_Init(&I2C_EXPBD_Handle);
}
return ret_val;
}
void i2c_frequency(i2c_t *obj, int hz) {
MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
I2cHandle.Instance = (I2C_TypeDef *)(obj->i2c);
// Common settings: I2C clock = 32 MHz, Analog filter = ON, Digital filter coefficient = 0
switch (hz) {
case 100000:
I2cHandle.Init.Timing = 0x20602938; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
break;
case 400000:
I2cHandle.Init.Timing = 0x00B0122A; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
break;
case 1000000:
I2cHandle.Init.Timing = 0x0030040E; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
break;
default:
break;
}
// I2C configuration
I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
I2cHandle.Init.OwnAddress1 = 0;
I2cHandle.Init.OwnAddress2 = 0;
I2cHandle.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
HAL_I2C_Init(&I2cHandle);
}
/*******************************************************************************
* @brief : Initialise et configure le peripherique I2C #2
* @param : Aucun.
* @return : Rien.
******************************************************************************/
void LBF_I2C1_Init (uint32_t I2C1_Speed)
{
// Following settings assume I2C1 core clock (=APB1 clock in Default LimiFrog setting)
// is 8MHz and target I2C1 speed is 100KHz
// TODO Find a way to ensure I2C2 clock remains 8MHz if STM32L4 core clock modified
#define I2C1_PRESC 0x1 // tPRESC = (PRESC+1) x tI2C2CLK -- 0.25us / 4MHz
#define I2C1_SCLL 0x13 // tSCLL = (SCLL+1) x tPRESC -- 5us
#define I2C1_SCLH 0x0F // tSCLH = (SCLH+1) x tPRESC -- 4us
#define I2C1_SDADEL 0x2 // tSDADEL = SDADEL x tPRESC -- 0.5us
#define I2C1_SCLDEL 0x4 // tSCLDEL = (SCLDEL+1) x tPRESC -- 1.25us
// I2C speed: 400KHz,
// defined by tSCL = tSCLL + tSCLH + tSYNC1 + tSYNC2 ~ 2.5us (400KHz)
// where tSYNC1 and tSYNC2 are delays introduced by the analog and/or digital noise filters and resync mechasinsms -- refer to Ref Manual I2C section (I2C master mode)
// SCLDEL defines setup time: SDA stable before SCL rising edge
// SDADEL defines hold time: SDA stable after SCL *falling* edge (as per I2C spec?)
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = ((uint32_t)I2C1_PRESC ) << 28
| ((uint32_t)I2C1_SCLDEL ) << 20
| ((uint32_t)I2C1_SDADEL ) << 16
| ((uint32_t)I2C1_SCLH ) << 8
| ((uint32_t)I2C1_SCLL ) ;
//Contents of the I2C_TIMINGR_register value
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
HAL_I2C_Init(&hi2c1);
}
/* I2C1 init function */
static void MX_I2C1_Init(void)
{
hi2c1.Instance = I2C1;
hi2c1.Init.Timing = 0x2000090E;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
/**Configure Digital filter
*/
if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
}
void i2c_hal_intialization()
{
/*------------------- Initialization I2C bus -------------------*/
/*---------- Setup GPIOB - I2C1 port --------------*/
__GPIOB_CLK_ENABLE(); // Enable clock source for GPIOB
I2C1_GPIO_struct.Pin = I2C1_SDA|I2C1_SCL;
I2C1_GPIO_struct.Mode = GPIO_MODE_AF_OD;
I2C1_GPIO_struct.Pull = GPIO_PULLUP;
I2C1_GPIO_struct.Speed = GPIO_SPEED_HIGH;
I2C1_GPIO_struct.Alternate = GPIO_AF4_I2C1;
HAL_GPIO_Init(GPIOB, & I2C1_GPIO_struct);
/*------------------- Setup I2C1 -------------------*/
__I2C1_CLK_ENABLE(); // Enable clock source for I2C peripherals
I2C1_struct.Instance = I2C1;
I2C1_struct.Init.ClockSpeed = 400000;
I2C1_struct.Init.DutyCycle = I2C_DUTYCYCLE_2;
I2C1_struct.Init.OwnAddress1 = 0;
I2C1_struct.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2C1_struct.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
I2C1_struct.Init.OwnAddress2 = 0;
I2C1_struct.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
I2C1_struct.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
HAL_I2C_Init(&I2C1_struct);
}
void i2c_frequency(i2c_t *obj, int hz)
{
MBED_ASSERT((hz > 0) && (hz <= 400000));
I2cHandle.Instance = (I2C_TypeDef *)(obj->i2c);
int timeout;
// wait before init
timeout = LONG_TIMEOUT;
while ((__HAL_I2C_GET_FLAG(&I2cHandle, I2C_FLAG_BUSY)) && (timeout-- != 0));
// I2C configuration
I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2cHandle.Init.ClockSpeed = hz;
I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
I2cHandle.Init.DutyCycle = I2C_DUTYCYCLE_2;
I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
I2cHandle.Init.OwnAddress1 = 0;
I2cHandle.Init.OwnAddress2 = 0;
HAL_I2C_Init(&I2cHandle);
if (obj->slave) {
/* Enable Address Acknowledge */
I2cHandle.Instance->CR1 |= I2C_CR1_ACK;
}
}
/**
* @brief Initializes peripherals used by the I2C EEPROM driver.
* @param None
* @retval None
*/
bool TWI_open(new_twi* TwiStruct)
{
if(!TwiStruct)
return false;
I2C_HandleTypeDef *I2cHandle = calloc(1, sizeof(I2C_HandleTypeDef));
if(!I2cHandle)
return false;
//I2C_InitTypeDef I2C_InitStructure;
TwiStruct->udata = (void *)I2cHandle;
sEE_LowLevel_Init(TwiStruct);
/*##-1- Configure the I2C peripheral #######################################*/
I2cHandle->Instance = sEE_I2C[TwiStruct->TwiNr];
I2cHandle->Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2cHandle->Init.Timing = I2C_TIMING;
I2cHandle->Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
//I2cHandle->Init.DutyCycle = I2C_DUTYCYCLE_2;
I2cHandle->Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
I2cHandle->Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
I2cHandle->Init.OwnAddress1 = TwiStruct->MasterSlaveAddr;
//I2cHandle.Init.OwnAddress2 = 0xFF;
if(HAL_I2C_Init(I2cHandle) != HAL_OK)
{
/* Initialization Error */
return false;
}
return true;
}
void i2c_frequency(i2c_t *obj, int hz) {
I2cHandle.Instance = (I2C_TypeDef *)(obj->i2c);
// Common settings: I2C clock = 48 MHz, Analog filter = ON, Digital filter coefficient = 0
switch (hz) {
case 100000:
I2cHandle.Init.Timing = 0x10805E89; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
break;
case 400000:
I2cHandle.Init.Timing = 0x00901850; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
break;
case 1000000:
I2cHandle.Init.Timing = 0x00700818; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
break;
default:
error("Only 100kHz, 400kHz and 1MHz I2C frequencies are supported.");
break;
}
// I2C configuration
I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
I2cHandle.Init.OwnAddress1 = 0;
I2cHandle.Init.OwnAddress2 = 0;
I2cHandle.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
HAL_I2C_Init(&I2cHandle);
}
bool ADXL345::init(RANGE range, DATA_RATE dataRate){
GPIO PB10(GPIOB, GPIO::PIN10);
GPIO PB11(GPIOB, GPIO::PIN11);
PB10.init(GPIO::AF, GPIO::OD, GPIO::NONE, GPIO::MEDIUM);
PB11.init(GPIO::AF, GPIO::OD, GPIO::NONE, GPIO::MEDIUM);
/* Init I2C peripherals */
__HAL_RCC_I2C2_CLK_ENABLE();
i2c2.Instance = I2C2;
i2c2.Init.ClockSpeed = 100000; // clock speed 100kHz
i2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
i2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
i2c2.Init.DutyCycle = I2C_DUTYCYCLE_2;
i2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
i2c2.Init.OwnAddress1 = 0x00;
i2c2.Init.OwnAddress2 = 0x00;
i2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
HAL_I2C_Init(&i2c2);
if(this->getDevID() != 0xE5){
return false;
}
this->writeByte(POWER_CTL_REG, 0x08); // enable mesuare mode
this->clearSettings();
this->setRange(range);
this->setDataRate(dataRate);
return true;
}
void i2c_frequency(i2c_t *obj, int hz)
{
MBED_ASSERT((hz == 100000) || (hz == 400000) || (hz == 1000000));
I2cHandle.Instance = (I2C_TypeDef *)(obj->i2c);
int timeout;
// wait before init
timeout = LONG_TIMEOUT;
while ((__HAL_I2C_GET_FLAG(&I2cHandle, I2C_FLAG_BUSY)) && (timeout-- != 0));
// Common settings: I2C clock = 48 MHz, Analog filter = ON, Digital filter coefficient = 0
switch (hz) {
case 100000:
I2cHandle.Init.Timing = 0x10805E89; // Standard mode with Rise Time = 400ns and Fall Time = 100ns
break;
case 400000:
I2cHandle.Init.Timing = 0x00901850; // Fast mode with Rise Time = 250ns and Fall Time = 100ns
break;
case 1000000:
I2cHandle.Init.Timing = 0x00700818; // Fast mode Plus with Rise Time = 60ns and Fall Time = 100ns
break;
default:
break;
}
// I2C configuration
I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
I2cHandle.Init.OwnAddress1 = 0;
I2cHandle.Init.OwnAddress2 = 0;
I2cHandle.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
HAL_I2C_Init(&I2cHandle);
}
int tca9545_init(void){
GPIO_InitTypeDef GPIO_InitStruct;
uint8_t buf;
GPIO_InitStruct.Pin = tca9545RESET_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
HAL_GPIO_Init(tca9545RESET_PORT, &GPIO_InitStruct);
tca9545_reset();
/* Init I2C Bus */
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 400000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
HAL_I2C_Init(&hi2c1);
/* Check the chip information */
buf = tca9545_get();
return 0;
}
void I2C_Reset(void)
{
HAL_GPIO_WritePin(I2Cx_WAKEUP_GPIO_PORT, I2Cx_WAKEUP_PIN, GPIO_PIN_RESET);
HAL_I2C_DeInit(&I2cHandle);
HAL_I2C_Init(&I2cHandle);
HAL_Delay(5);
HAL_GPIO_WritePin(I2Cx_WAKEUP_GPIO_PORT, I2Cx_WAKEUP_PIN, GPIO_PIN_SET);
HAL_Delay(400);
}
/* I2C1 init function */
static void MX_I2C1_Init(void)
{
hi2c1.Instance = I2C1;
// hi2c1.Init.Timing = 0x2000090E;
hi2c1.Init.Timing =
(1 << I2C_TIMINGR_PRESC_Pos) |
(0x13 << I2C_TIMINGR_SCLL_Pos) |
(0x0F << I2C_TIMINGR_SCLH_Pos) |
(0x2 << I2C_TIMINGR_SDADEL_Pos) |
(0x4 << I2C_TIMINGR_SCLDEL_Pos) ;
hi2c1.Init.OwnAddress1 = I2C_SLAVE_ADDR << 1;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
Error_Handler();
}
/**Configure Analogue filter
*/
if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
{
Error_Handler();
}
uart_printf("i2c init..\r\n");
HAL_I2C_Init(&hi2c1);
uart_printf("i2c init done..\r\n");
}
/* I2C3 init function */
void MX_I2C3_Init(void)
{
hi2c3.Instance = I2C3;
hi2c3.Init.ClockSpeed = 400000;
hi2c3.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c3.Init.OwnAddress1 = 0x32 << 1;
hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
hi2c3.Init.OwnAddress2 = 0;
hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
HAL_I2C_Init(&hi2c3);
}
void SSD1306_I2C_Init(void) {
hi2c.Instance = SSD1306_I2Cx;
hi2c.Init.ClockSpeed = SSD1306_CLOCK;
hi2c.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c.Init.OwnAddress1 = 0;
hi2c.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
hi2c.Init.OwnAddress2 = 0;
hi2c.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
hi2c.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
HAL_I2C_MspInit(&hi2c);
HAL_I2C_Init(&hi2c);
}
/**
* @brief Initializes the I2C
* @param None
* @retval None
*/
void I2C2_Init()
{
/* Make sure we only initialize it once */
if (!prvInitialized)
{
/* Mutex semaphore for mutual exclusion to the I2C2 device */
xSemaphore = xSemaphoreCreateMutex();
if (xSemaphoreTake(xSemaphore, 100) == pdTRUE)
{
/* I2C clock & GPIOB enable */
__GPIOB_CLK_ENABLE();
__I2C2_CLK_ENABLE();
/* I2C SDA and SCL configuration */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.Pin = I2C_SCL_PIN | I2C_SDA_PIN;
GPIO_InitStructure.Mode = GPIO_MODE_AF_OD;
GPIO_InitStructure.Alternate = GPIO_AF4_I2C2;
GPIO_InitStructure.Pull = GPIO_NOPULL;
GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init(I2C_PORT, &GPIO_InitStructure);
// /* NVIC Configuration */
// NVIC_InitTypeDef NVIC_InitStructure;
// /* Event interrupt */
// NVIC_InitStructure.NVIC_IRQChannel = I2C1_EV_IRQn;
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY;
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
// NVIC_Init(&NVIC_InitStructure);
// /* Error interrupt */
// NVIC_InitStructure.NVIC_IRQChannel = I2C1_ER_IRQn;
// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 14;
// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
// NVIC_Init(&NVIC_InitStructure);
/* I2C Init */
HAL_I2C_Init(&I2C_Handle);
/* Enable the I2C1 interrupts */
// I2C_ITConfig(I2C_PERIPHERAL, I2C_IT_EVT, ENABLE);
// I2C_ITConfig(I2C_PERIPHERAL, I2C_IT_ERR, ENABLE);
xSemaphoreGive(xSemaphore);
}
prvInitialized = true;
}
}
void MX_I2C3_Init( I2C_HandleTypeDef &i2c, uint32_t speed )
{
i2c.Instance = I2C3;
i2c.Init.ClockSpeed = speed;
i2c.State = HAL_I2C_STATE_RESET;
i2c.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
i2c.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
i2c.Init.DutyCycle = I2C_DUTYCYCLE_16_9;
i2c.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
i2c.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
i2c.Init.OwnAddress1 = 0;
i2c.Init.OwnAddress2 = 0;
HAL_I2C_Init( &i2c );
}
// Initialize i2c1. Currently connected to the IMU and the digital pot
void init_i2c1(void)
{
//I2C_HandleTypeDef *hi2c1 contains our handle information
//set config for the initial state of the i2c.
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = I2C_CLOCK_RATE; //clock frequency; less than 400kHz
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2; //for fast mode (doesn't matter now)
hi2c1.Init.OwnAddress1 = 0x0; //device address of the STM32 (doesn't matter)
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; //using 7 bit addresses
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED; //disable dual address
hi2c1.Init.OwnAddress2 = 0x0; //second device addr (doesn't matter)
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED; //don't use 0x0 addr
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED; //allow slave to stretch SCL
hi2c1.State = HAL_I2C_STATE_RESET;
HAL_I2C_Init(&hi2c1);
}
/**
* @brief Configures I2C interface.
* @param None
* @retval None
*/
static void I2Cx_Init(void)
{
if(HAL_I2C_GetState(&I2cHandle) == HAL_I2C_STATE_RESET)
{
/* DISCOVERY_I2Cx peripheral configuration */
I2cHandle.Init.ClockSpeed = 10000;
I2cHandle.Init.DutyCycle = I2C_DUTYCYCLE_2;
I2cHandle.Init.OwnAddress1 = 0x33;
I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2cHandle.Instance = DISCOVERY_I2Cx;
/* Init the I2C */
I2Cx_MspInit();
HAL_I2C_Init(&I2cHandle);
}
}
/**
* @brief initializes the M24LR04E
* @param None
* @retval None
*/
void M24LR04E_init ()
{
I2CHandle.Instance = I2C;
I2CHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2CHandle.Init.Timing = I2C_TIMING_100KHZ;
I2CHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
I2CHandle.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
I2CHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
I2CHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
I2CHandle.Init.OwnAddress1 = 0xFE;
I2CHandle.Init.OwnAddress2 = 0xFE;
if(HAL_I2C_Init(&I2CHandle) != HAL_OK) {
get_app_config()->error_code = I2C_ERROR;
Error_Handler();
}
}
/**
* @brief Discovery I2Cx Bus initialization
* @param None
* @retval None
*/
void I2Cbar_Init(void)
{
if(HAL_I2C_GetState(&I2CbarHandle) == HAL_I2C_STATE_RESET)
{
I2CbarHandle.Instance = DISCOVERY_I2Cbar;
I2CbarHandle.Init.OwnAddress1 = BAROMETER_I2C_ADDRESS;
I2CbarHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
I2CbarHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
I2CbarHandle.Init.OwnAddress2 = 0;
I2CbarHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
I2CbarHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
/* Init the I2C */
I2Cbar_MspInit();
HAL_I2C_Init(&I2CbarHandle);
}
}
/* I2C1 init function */
void MX_I2C1_Init(void)
{
hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 400000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = I2C_ADDR_HOST_MCU;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_ENABLED;
HAL_I2C_Init(&hi2c1);
NVIC_SetPriority(I2C1_EV_IRQn, 6);
HAL_NVIC_EnableIRQ(I2C1_EV_IRQn);
}