/*
* Reads an int24 from the MS5611 address `adr`, stores it to `d`.
*/
static void ms5611_read_s24(uint8_t adr, int32_t* d)
{
uint32_t data_received; //To store result
uint8_t adc_adr = 0x00; //Command to read ADC from baro
spi_enable(MS5611_SPID); // The SPI peripheral is enabled. // CHIBIOS spiSelect(&MS5611_SPID);
spi_send8(MS5611_SPID, adr); // Data is written to the SPI interface after the previous write transfer has finished.
//TODO: Sleep for 1 ms
/*
* Wait for conversion to complete. There doesn't appear to be any way
* to do this without timing it, unfortunately.
*
* If we just watch the clock we'll consume enormous CPU time for little
* gain. Instead we'll sleep for "roughly" 1ms and then wait until at least
* the desired 0.6ms have passed.
*/
spi_send8(MS5611_SPID, adc_adr); // Asks the device to send the results from the ADC.
data_received = spi_read(MS5611_SPID); //A ADC_READ command returns a 3 byte result
*d = data_received;
/*
//OLD CODE:
uint8_t adc_adr = 0x00, rx[3];
int32_t t0;
*/
/* Start conversion */
//spiSelect(&MS5611_SPID);
//spiSend(&MS5611_SPID, 1, (void*)&adr);
/*
* Wait for conversion to complete. There doesn't appear to be any way
* to do this without timing it, unfortunately.
*
* If we just watch the clock we'll consume enormous CPU time for little
* gain. Instead we'll sleep for "roughly" 1ms and then wait until at least
* the desired 0.6ms have passed.
*/
// t0 = halGetCounterValue();
//chThdSleepMilliseconds(1);
//while(halGetCounterValue() - t0 < US2RTT(600)) {
// chThdYield();
//}
/* Deassert CS */
//spiUnselect(&MS5611_SPID);
/* Read ADC result */
// spiSelect(&MS5611_SPID);
// spiSend(&MS5611_SPID, 1, (void*)&adc_adr);
// spiReceive(&MS5611_SPID, 3, (void*)rx);
//spiUnselect(&MS5611_SPID);
// *d = rx[0] << 16 | rx[1] << 8 | rx[2];
}
void radio_write_single_reg(uint8_t reg, uint8_t data)
{
while(SPI_SR(R_SPI) & SPI_SR_BSY);
gpio_clear(R_CS_PORT, R_CS_PIN);
spi_send8(R_SPI, reg | (1<<7));
spi_read8(R_SPI);
// Wait until send FIFO is empty
while(SPI_SR(R_SPI) & SPI_SR_BSY);
spi_send8(R_SPI, data);
spi_read8(R_SPI);
// Wait until send FIFO is empty
while(SPI_SR(R_SPI) & SPI_SR_BSY);
gpio_set(R_CS_PORT, R_CS_PIN);
}
uint8_t radio_read_single_reg(uint8_t reg)
{
while(SPI_SR(R_SPI) & SPI_SR_BSY);
gpio_clear(R_CS_PORT, R_CS_PIN);
spi_send8(R_SPI, reg & 0x7F);
spi_read8(R_SPI);
// Wait until send FIFO is empty
while(SPI_SR(R_SPI) & SPI_SR_BSY);
spi_send8(R_SPI, 0x0);
while(SPI_SR(R_SPI) & SPI_SR_BSY);
uint8_t out = spi_read8(R_SPI);
gpio_set(R_CS_PORT, R_CS_PIN);
return out;
}
static void radio_write_reg_start(uint8_t reg)
{
while(SPI_SR(R_SPI) & SPI_SR_BSY);
gpio_clear(R_CS_PORT, R_CS_PIN);
spi_send8(R_SPI, reg | (1<<7));
spi_read8(R_SPI);
}
void radio_read_burst_reg(uint8_t reg, uint8_t *buff, uint16_t len)
{
while(SPI_SR(R_SPI) & SPI_SR_BSY);
gpio_clear(R_CS_PORT, R_CS_PIN);
spi_send8(R_SPI, reg & 0x7F);
spi_read8(R_SPI);
// Wait until send FIFO is empty
while(SPI_SR(R_SPI) & SPI_SR_BSY);
uint16_t i;
for ( i = 0; i < len; i++)
{
spi_send8(R_SPI, 0x0);
while(SPI_SR(R_SPI) & SPI_SR_BSY);
buff[i] = spi_read8(R_SPI);
}
gpio_set(R_CS_PORT, R_CS_PIN);
}
void radio_write_burst_reg(uint8_t reg, uint8_t *data, uint16_t len)
{
while(SPI_SR(R_SPI) & SPI_SR_BSY);
gpio_clear(R_CS_PORT, R_CS_PIN);
spi_send8(R_SPI, reg | (1<<7));
spi_read8(R_SPI);
// Wait until send FIFO is empty
uint16_t i = 0;
for (i = 0; i < len; i++)
{
while(SPI_SR(R_SPI) & SPI_SR_BSY);
spi_send8(R_SPI, data[i]);
spi_read8(R_SPI);
}
// Wait until send FIFO is empty
while(SPI_SR(R_SPI) & SPI_SR_BSY);
gpio_set(R_CS_PORT, R_CS_PIN);
}
/*
* Reads a uint16 from the MS5611 address `adr`, stores it to `c`.
*/
static void ms5611_read_u16(uint8_t adr, uint16_t* c)
{
/* adr must be 0xA0 to 0xAE */
uint16_t data_received;
spi_enable(MS5611_SPID); // The SPI peripheral is enabled. // CHIBIOS spiSelect(&MS5611_SPID);
spi_send8(MS5611_SPID, adr); // Data is written to the SPI interface after the previous write transfer has finished.
data_received = spi_read(MS5611_SPID); //A PROM read returns a 2 byte result
spi_disable(MS5611_SPID); // spiUnselect(&MS5611_SPID);
*c = data_received;
}
/*
* Resets the MS5611. Sends 0x1E, waits 5ms.
*
*/
static void ms5611_reset()
{
uint8_t adr = 0x1E; // Wgat is stored here?
uint16_t i = 0;
spi_enable(MS5611_SPID); // The SPI peripheral is enabled. // CHIBIOS spiSelect(&MS5611_SPID);
spi_send8(MS5611_SPID, adr); // Data is written to the SPI interface after the previous write transfer has finished.
// Note that in chibios an adress is sent, while here the origenal data is sent??
// spiSend(&MS5611_SPID, 1, (void*)&adr);
//TODO: time this instead
for (i = 0; i < 10000; i++)
{
__asm__("nop"); //Not a pretty way of doing this, but will do for now // chThdSleepMilliseconds(5);
}
spi_disable(MS5611_SPID); // spiUnselect(&MS5611_SPID);
}
static void radio_write_reg_continuing(uint8_t data)
{
while(SPI_SR(R_SPI) & SPI_SR_BSY);
spi_send8(R_SPI, data);
spi_read8(R_SPI);
}
int main(void)
{
uint8_t temp;
int16_t gyr_x;
clock_setup();
gpio_setup();
usart_setup();
spi_setup();
gpio_clear(GPIOE, GPIO3);
spi_send8(SPI1, GYR_CTRL_REG1);
spi_read8(SPI1);
spi_send8(SPI1, GYR_CTRL_REG1_PD | GYR_CTRL_REG1_XEN | GYR_CTRL_REG1_YEN | GYR_CTRL_REG1_ZEN | (3 << GYR_CTRL_REG1_BW_SHIFT));
spi_read8(SPI1);
gpio_set(GPIOE, GPIO3);
gpio_clear(GPIOE, GPIO3);
spi_send8(SPI1, GYR_CTRL_REG4);
spi_read8(SPI1);
spi_send8(SPI1, (1 << GYR_CTRL_REG4_FS_SHIFT));
spi_read8(SPI1);
gpio_set(GPIOE, GPIO3);
while (1) {
gpio_clear(GPIOE, GPIO3);
spi_send8(SPI1, GYR_WHO_AM_I | GYR_RNW);
spi_read8(SPI1);
spi_send8(SPI1, 0);
temp=spi_read8(SPI1);
my_usart_print_int(USART2, (temp));
gpio_set(GPIOE, GPIO3);
gpio_clear(GPIOE, GPIO3);
spi_send8(SPI1, GYR_STATUS_REG | GYR_RNW);
spi_read8(SPI1);
spi_send8(SPI1, 0);
temp=spi_read8(SPI1);
my_usart_print_int(USART2, (temp));
gpio_set(GPIOE, GPIO3);
gpio_clear(GPIOE, GPIO3);
spi_send8(SPI1, GYR_OUT_TEMP | GYR_RNW);
spi_read8(SPI1);
spi_send8(SPI1, 0);
temp=spi_read8(SPI1);
my_usart_print_int(USART2, (temp));
gpio_set(GPIOE, GPIO3);
gpio_clear(GPIOE, GPIO3);
spi_send8(SPI1, GYR_OUT_X_L | GYR_RNW);
spi_read8(SPI1);
spi_send8(SPI1, 0);
gyr_x=spi_read8(SPI1);
gpio_set(GPIOE, GPIO3);
gpio_clear(GPIOE, GPIO3);
spi_send8(SPI1, GYR_OUT_X_H | GYR_RNW);
spi_read8(SPI1);
spi_send8(SPI1, 0);
gyr_x|=spi_read8(SPI1) << 8;
my_usart_print_int(USART2, (gyr_x));
gpio_set(GPIOE, GPIO3);
int i;
for (i = 0; i < 80000; i++) /* Wait a bit. */
__asm__("nop");
}
return 0;
}
