struct mpu6050_t* mpu6050_alloc(struct avr_t * avr, uint8_t addr, struct sc18is600_t* sc18) { struct mpu6050_t* mpu; // allocate and reset the object mpu = malloc(sizeof(mpu6050_t)); memset(mpu, 0, sizeof(mpu6050_t)); mpu->avr = avr; mpu->self_addr = addr; // create the irqs mpu->irq = avr_alloc_irq(&avr->irq_pool, MPU_IRQ_IN, MPU_IRQ_COUNT, mpu_irq_names); avr_irq_register_notify(mpu->irq + MPU_IRQ_IN, mpu6050_i2c_in_hook, mpu); if (sc18) { // connect to the TWI/i2c master of the SC18IS600 avr_irq_t * sc18_irq = sc18is600_i2c_irq_get(sc18); avr_connect_irq(sc18_irq + SC18_I2C_IRQ_OUT, mpu->irq + MPU_IRQ_IN); avr_connect_irq(mpu->irq + MPU_IRQ_OUT, sc18_irq + SC18_I2C_IRQ_IN); } else { // "connect" the IRQs of the MPU to the TWI/i2c master of the AVR uint32_t i2c_irq_base = AVR_IOCTL_TWI_GETIRQ(0); avr_connect_irq(mpu->irq + MPU_IRQ_OUT, avr_io_getirq(avr, i2c_irq_base, TWI_IRQ_INPUT)); avr_connect_irq(avr_io_getirq(avr, i2c_irq_base, TWI_IRQ_OUTPUT), mpu->irq + MPU_IRQ_IN); } return mpu; }
int main(int argc, char *argv[]) { elf_firmware_t f; const char * fname = "atmega1280_i2ctest.axf"; printf("Firmware pathname is %s\n", fname); elf_read_firmware(fname, &f); printf("firmware %s f=%d mmcu=%s\n", fname, (int)f.frequency, f.mmcu); avr = avr_make_mcu_by_name(f.mmcu); if (!avr) { fprintf(stderr, "%s: AVR '%s' not known\n", argv[0], f.mmcu); exit(1); } avr_init(avr); avr_load_firmware(avr, &f); // initialize our 'peripheral', setting the mask to allow read and write i2c_eeprom_init(avr, &ee, 0xa0, 0x01, NULL, 1024); i2c_eeprom_attach(avr, &ee, AVR_IOCTL_TWI_GETIRQ(0)); ee.verbose = 1; // even if not setup at startup, activate gdb if crashing avr->gdb_port = 1234; if (0) { //avr->state = cpu_Stopped; avr_gdb_init(avr); } /* * VCD file initialization * * This will allow you to create a "wave" file and display it in gtkwave * Pressing "r" and "s" during the demo will start and stop recording * the pin changes */ // avr_vcd_init(avr, "gtkwave_output.vcd", &vcd_file, 100000 /* usec */); // avr_vcd_add_signal(&vcd_file, // avr_io_getirq(avr, AVR_IOCTL_TWI_GETIRQ(0), TWI_IRQ_STATUS), 8 /* bits */ , // "TWSR" ); printf( "\nDemo launching:\n"); int state = cpu_Running; while ((state != cpu_Done) && (state != cpu_Crashed)) state = avr_run(avr); }
void avr_twi_init(avr_t * avr, avr_twi_t * p) { p->io = _io; avr_register_io(avr, &p->io); avr_register_vector(avr, &p->twi); //printf("%s TWI%c init\n", __FUNCTION__, p->name); // allocate this module's IRQ avr_io_setirqs(&p->io, AVR_IOCTL_TWI_GETIRQ(p->name), TWI_IRQ_COUNT, NULL); avr_register_io_write(avr, p->twen.reg, avr_twi_write, p); avr_register_io_write(avr, p->r_twdr, avr_twi_write_data, p); avr_register_io_read(avr, p->r_twdr, avr_twi_read_data, p); avr_register_io_write(avr, p->twsr.reg, avr_twi_write_status, p); }