/**
* \brief Initialize the twi master module
*
* \param twim Base address of the TWIM (i.e. &AVR32_TWIM)
* \param *opt Options for initializing the twim module
* (see \ref twim_options_t)
* \retval STATUS_OK Transaction is successful
* \retval ERR_INVALID_ARG Invalid arg resulting in wrong CWGR Exponential
* \retval ERR_IO_ERROR NACK is received or Bus Arbitration lost
*/
status_code_t twim_master_init (volatile avr32_twim_t *twim,
const twim_options_t *opt)
{
bool global_interrupt_enabled = cpu_irq_is_enabled ();
// Initialize bus transfer status
transfer_status = TWI_SUCCESS;
// Disable TWI interrupts
if (global_interrupt_enabled) {
cpu_irq_disable ();
}
twim->idr = ~0UL;
// Enable master transfer
twim->cr = AVR32_TWIM_CR_MEN_MASK;
// Reset TWI
twim->cr = AVR32_TWIM_CR_SWRST_MASK;
if (global_interrupt_enabled) {
cpu_irq_enable ();
}
// Clear SR
twim->scr = ~0UL;
// register Register twim_master_interrupt_handler interrupt on level CONF_TWIM_IRQ_LEVEL
irqflags_t flags = cpu_irq_save();
irq_register_handler(twim_master_interrupt_handler,
CONF_TWIM_IRQ_LINE, CONF_TWIM_IRQ_LEVEL);
cpu_irq_restore(flags);
/*
if (opt->smbus) {
// Enable SMBUS Transfer
twim->cr = AVR32_TWIM_CR_SMEN_MASK;
twim->smbtr = (uint32_t) -1;
}
*/
// Select the speed
if (twim_set_speed (twim, opt->speed, opt->pba_hz) ==
ERR_INVALID_ARG) {
return ERR_INVALID_ARG;
}
// Probe the component
twim_probe (twim, opt->chip);
//Check for nack and abitration
if (transfer_status == TWI_RECEIVE_NACK
|| transfer_status == TWI_ARBITRATION_LOST) {
return ERR_IO_ERROR;
}
return STATUS_OK;
}
void lsm330dlc_init(void)
{
if(twim_probe(&AVR32_TWIM0, LSM330_ACC_SLAVE_ADDRESS) == STATUS_OK)
{
print_util_dbg_print("LSM330 sensor found (0x18) \r\n");
}
else
{
print_util_dbg_print("LSM330 sensor not responding (0x18) \r\n");
return;
}
lsm330dlc_acc_init();
lsm330dlc_gyro_init();
lsm330dlc_get_acc_config();
lsm330dlc_get_gyro_config();
}
void hmc5883l_init_slow()
{
if(twim_probe(&AVR32_TWIM0, HMC5883_SLAVE_ADDRESS) == STATUS_OK)
{
print_util_dbg_print("HMC5883 compass sensor found (0x1E) \r\n");
}
else
{
print_util_dbg_print("HMC5883 compass sensor not responding (0x1E) \r\n");
return;
}
static uint8_t compass_default_configuration[4] =
{
CONF_REG_A,
(HMC_SAMPLE_AVG) << 5 | (HMC_RATE) << 2 | HMC_MODE,
(HMC_RANGE) << 5,
(HMC_MODE)
};
twim_write(&AVR32_TWIM0, (uint8_t*)&compass_default_configuration, 4, HMC5883_SLAVE_ADDRESS, false);
}
