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);
}
