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I2C. Usage example added. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/i2c_dev@2864 35acf78f-673a-0410-8e92-d51de3d6d3f4
master
barthess 2011-04-01 18:23:35 +00:00
parent 7a694b4402
commit 573b5e875b
15 changed files with 1834 additions and 0 deletions
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213
testhal/STM32/I2C/Makefile Normal file
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##############################################################################
# Build global options
# NOTE: Can be overridden externally.
#
# Compiler options here.
ifeq ($(USE_OPT),)
USE_OPT = -O0 -ggdb -fomit-frame-pointer -falign-functions=16 -Wall -Wextra
#USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -Wall -Wextra
endif
# C++ specific options here (added to USE_OPT).
ifeq ($(USE_CPPOPT),)
USE_CPPOPT = -fno-rtti
endif
# Enable this if you want the linker to remove unused code and data
ifeq ($(USE_LINK_GC),)
USE_LINK_GC = yes
endif
# If enabled, this option allows to compile the application in THUMB mode.
ifeq ($(USE_THUMB),)
USE_THUMB = yes
endif
# Enable register caching optimization (read documentation).
ifeq ($(USE_CURRP_CACHING),)
USE_CURRP_CACHING = no
endif
#
# Build global options
##############################################################################
##############################################################################
# Architecture or project specific options
#
# Enable this if you really want to use the STM FWLib.
ifeq ($(USE_FWLIB),)
USE_FWLIB = no
endif
#
# Architecture or project specific options
##############################################################################
##############################################################################
# Project, sources and paths
#
# Define project name here
PROJECT = ch
# Define linker script file here
LDSCRIPT= ch.ld
# Imported source files
CHIBIOS = ../../..
include $(CHIBIOS)/boards/OLIMEX_STM32_P103/board.mk
include $(CHIBIOS)/os/hal/platforms/STM32/platform.mk
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/ports/GCC/ARMCMx/STM32/port.mk
include $(CHIBIOS)/os/kernel/kernel.mk
include $(CHIBIOS)/test/test.mk
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(PORTSRC) \
$(KERNSRC) \
$(TESTSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(CHIBIOS)/os/various/evtimer.c \
$(CHIBIOS)/os/various/syscalls.c \
main.c \
i2c_pns.c \
lis3.c\
tmp75.c\
max1236.c\
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC =
# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACSRC =
# C++ sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
ACPPSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCSRC =
# C sources to be compiled in THUMB mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
# option that results in lower performance and larger code size.
TCPPSRC =
# List ASM source files here
ASMSRC = $(PORTASM)
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) \
$(CHIBIOS)/os/various
#
# Project, sources and paths
##############################################################################
##############################################################################
# Compiler settings
#
# -lm äîáàâëåí èìåííî çäåñü, ïîòîìó ÷òî áîëüøå íåêóäà
MCU = cortex-m3
#TRGT = arm-elf-
TRGT = arm-none-eabi-
CC = $(TRGT)gcc
CPPC = $(TRGT)g++
# Enable loading with g++ only if you need C++ runtime support.
# NOTE: You can use C++ even without C++ support if you are careful. C++
# runtime support makes code size explode.
LD = $(TRGT)gcc
#LD = $(TRGT)g++
CP = $(TRGT)objcopy
AS = $(TRGT)gcc -x assembler-with-cpp
OD = $(TRGT)objdump
HEX = $(CP) -O ihex
BIN = $(CP) -O binary
# ARM-specific options here
AOPT =
# THUMB-specific options here
TOPT = -mthumb -DTHUMB
# Define C warning options here
CWARN = -Wall -Wextra -Wstrict-prototypes
# Define C++ warning options here
CPPWARN = -Wall -Wextra
#
# Compiler settings
##############################################################################
##############################################################################
# Start of default section
#
# List all default C defines here, like -D_DEBUG=1
DDEFS =
# List all default ASM defines here, like -D_DEBUG=1
DADEFS =
# List all default directories to look for include files here
DINCDIR =
# List the default directory to look for the libraries here
DLIBDIR =
# List all default libraries here
DLIBS =
#
# End of default section
##############################################################################
##############################################################################
# Start of user section
#
# List all user C define here, like -D_DEBUG=1
UDEFS =
# Define ASM defines here
UADEFS =
# List all user directories here
UINCDIR =
# List the user directory to look for the libraries here
ULIBDIR =
# List all user libraries here
ULIBS =
#
# End of user defines
##############################################################################
ifeq ($(USE_FWLIB),yes)
include $(CHIBIOS)/ext/stm32lib/stm32lib.mk
CSRC += $(STM32SRC)
INCDIR += $(STM32INC)
USE_OPT += -DUSE_STDPERIPH_DRIVER
endif
include $(CHIBIOS)/os/ports/GCC/ARMCMx/rules.mk

113
testhal/STM32/I2C/ch.ld Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* ST32F103 memory setup.
*/
__main_stack_size__ = 0x0400;
__process_stack_size__ = 0x0400;
__stacks_total_size__ = __main_stack_size__ + __process_stack_size__;
MEMORY
{
flash : org = 0x08000000, len = 128k
ram : org = 0x20000000, len = 20k
}
__ram_start__ = ORIGIN(ram);
__ram_size__ = LENGTH(ram);
__ram_end__ = __ram_start__ + __ram_size__;
SECTIONS
{
. = 0;
.text : ALIGN(16) SUBALIGN(16)
{
_text = .;
KEEP(*(vectors))
*(.text)
*(.text.*)
*(.rodata)
*(.rodata.*)
*(.glue_7t)
*(.glue_7)
*(.gcc*)
} > flash
.ctors :
{
PROVIDE(_ctors_start_ = .);
KEEP(*(SORT(.ctors.*)))
KEEP(*(.ctors))
PROVIDE(_ctors_end_ = .);
} > flash
.dtors :
{
PROVIDE(_dtors_start_ = .);
KEEP(*(SORT(.dtors.*)))
KEEP(*(.dtors))
PROVIDE(_dtors_end_ = .);
} > flash
.ARM.extab : {*(.ARM.extab* .gnu.linkonce.armextab.*)}
__exidx_start = .;
.ARM.exidx : {*(.ARM.exidx* .gnu.linkonce.armexidx.*)} > flash
__exidx_end = .;
.eh_frame_hdr : {*(.eh_frame_hdr)}
.eh_frame : ONLY_IF_RO {*(.eh_frame)}
. = ALIGN(4);
_etext = .;
_textdata = _etext;
.data :
{
_data = .;
*(.data)
. = ALIGN(4);
*(.data.*)
. = ALIGN(4);
*(.ramtext)
. = ALIGN(4);
_edata = .;
} > ram AT > flash
.bss :
{
_bss_start = .;
*(.bss)
. = ALIGN(4);
*(.bss.*)
. = ALIGN(4);
*(COMMON)
. = ALIGN(4);
_bss_end = .;
} > ram
}
PROVIDE(end = .);
_end = .;
__heap_base__ = _end;
__heap_end__ = __ram_end__ - __stacks_total_size__;

507
testhal/STM32/I2C/chconf.h Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file templates/chconf.h
* @brief Configuration file template.
* @details A copy of this file must be placed in each project directory, it
* contains the application specific kernel settings.
*
* @addtogroup config
* @details Kernel related settings and hooks.
* @{
*/
#ifndef _CHCONF_H_
#define _CHCONF_H_
/*===========================================================================*/
/* Kernel parameters. */
/*===========================================================================*/
/**
* @brief System tick frequency.
* @details Frequency of the system timer that drives the system ticks. This
* setting also defines the system tick time unit.
*/
#if !defined(CH_FREQUENCY) || defined(__DOXYGEN__)
#define CH_FREQUENCY 1000
#endif
/**
* @brief Round robin interval.
* @details This constant is the number of system ticks allowed for the
* threads before preemption occurs. Setting this value to zero
* disables the preemption for threads with equal priority and the
* round robin becomes cooperative. Note that higher priority
* threads can still preempt, the kernel is always preemptive.
*
* @note Disabling the round robin preemption makes the kernel more compact
* and generally faster.
*/
#if !defined(CH_TIME_QUANTUM) || defined(__DOXYGEN__)
#define CH_TIME_QUANTUM 20
#endif
/**
* @brief Nested locks.
* @details If enabled then the use of nested @p chSysLock() / @p chSysUnlock()
* operations is allowed.<br>
* For performance and code size reasons the recommended setting
* is to leave this option disabled.<br>
* You may use this option if you need to merge ChibiOS/RT with
* external libraries that require nested lock/unlock operations.
*
* @note T he default is @p FALSE.
*/
#if !defined(CH_USE_NESTED_LOCKS) || defined(__DOXYGEN__)
#define CH_USE_NESTED_LOCKS TRUE
#endif
/**
* @brief Managed RAM size.
* @details Size of the RAM area to be managed by the OS. If set to zero
* then the whole available RAM is used. The core memory is made
* available to the heap allocator and/or can be used directly through
* the simplified core memory allocator.
*
* @note In order to let the OS manage the whole RAM the linker script must
* provide the @p __heap_base__ and @p __heap_end__ symbols.
* @note Requires @p CH_USE_COREMEM.
*/
#if !defined(CH_MEMCORE_SIZE) || defined(__DOXYGEN__)
#define CH_MEMCORE_SIZE 0
#endif
/*===========================================================================*/
/* Performance options. */
/*===========================================================================*/
/**
* @brief OS optimization.
* @details If enabled then time efficient rather than space efficient code
* is used when two possible implementations exist.
*
* @note This is not related to the compiler optimization options.
* @note The default is @p TRUE.
*/
#if !defined(CH_OPTIMIZE_SPEED) || defined(__DOXYGEN__)
#define CH_OPTIMIZE_SPEED FALSE
#endif
/**
* @brief Exotic optimization.
* @details If defined then a CPU register is used as storage for the global
* @p currp variable. Caching this variable in a register greatly
* improves both space and time OS efficiency. A side effect is that
* one less register has to be saved during the context switch
* resulting in lower RAM usage and faster context switch.
*
* @note This option is only usable with the GCC compiler and is only useful
* on processors with many registers like ARM cores.
* @note If this option is enabled then ALL the libraries linked to the
* ChibiOS/RT code <b>must</b> be recompiled with the GCC option @p
* -ffixed-@<reg@>.
* @note This option must be enabled in the Makefile, it is listed here for
* documentation only.
*/
#if defined(__DOXYGEN__)
#define CH_CURRP_REGISTER_CACHE "reg"
#endif
/*===========================================================================*/
/* Subsystem options. */
/*===========================================================================*/
/**
* @brief Threads registry APIs.
* @details If enabled then the registry APIs are included in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_USE_REGISTRY) || defined(__DOXYGEN__)
#define CH_USE_REGISTRY TRUE
#endif
/**
* @brief Threads synchronization APIs.
* @details If enabled then the @p chThdWait() function is included in
* the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_USE_WAITEXIT) || defined(__DOXYGEN__)
#define CH_USE_WAITEXIT TRUE
#endif
/**
* @brief Semaphores APIs.
* @details If enabled then the Semaphores APIs are included in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_USE_SEMAPHORES) || defined(__DOXYGEN__)
#define CH_USE_SEMAPHORES TRUE
#endif
/**
* @brief Semaphores queuing mode.
* @details If enabled then the threads are enqueued on semaphores by
* priority rather than in FIFO order.
*
* @note The default is @p FALSE. Enable this if you have special requirements.
* @note Requires @p CH_USE_SEMAPHORES.
*/
#if !defined(CH_USE_SEMAPHORES_PRIORITY) || defined(__DOXYGEN__)
#define CH_USE_SEMAPHORES_PRIORITY FALSE
#endif
/**
* @brief Atomic semaphore API.
* @details If enabled then the semaphores the @p chSemSignalWait() API
* is included in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_SEMAPHORES.
*/
#if !defined(CH_USE_SEMSW) || defined(__DOXYGEN__)
#define CH_USE_SEMSW TRUE
#endif
/**
* @brief Mutexes APIs.
* @details If enabled then the mutexes APIs are included in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_USE_MUTEXES) || defined(__DOXYGEN__)
#define CH_USE_MUTEXES FALSE
#endif
/**
* @brief Conditional Variables APIs.
* @details If enabled then the conditional variables APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_MUTEXES.
*/
#if !defined(CH_USE_CONDVARS) || defined(__DOXYGEN__)
#define CH_USE_CONDVARS FALSE
#endif
/**
* @brief Conditional Variables APIs with timeout.
* @details If enabled then the conditional variables APIs with timeout
* specification are included in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_CONDVARS.
*/
#if !defined(CH_USE_CONDVARS_TIMEOUT) || defined(__DOXYGEN__)
#define CH_USE_CONDVARS_TIMEOUT TRUE
#endif
/**
* @brief Events Flags APIs.
* @details If enabled then the event flags APIs are included in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_USE_EVENTS) || defined(__DOXYGEN__)
#define CH_USE_EVENTS TRUE
#endif
/**
* @brief Events Flags APIs with timeout.
* @details If enabled then the events APIs with timeout specification
* are included in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_EVENTS.
*/
#if !defined(CH_USE_EVENTS_TIMEOUT) || defined(__DOXYGEN__)
#define CH_USE_EVENTS_TIMEOUT TRUE
#endif
/**
* @brief Synchronous Messages APIs.
* @details If enabled then the synchronous messages APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_USE_MESSAGES) || defined(__DOXYGEN__)
#define CH_USE_MESSAGES TRUE
#endif
/**
* @brief Synchronous Messages queuing mode.
* @details If enabled then messages are served by priority rather than in
* FIFO order.
*
* @note The default is @p FALSE. Enable this if you have special requirements.
* @note Requires @p CH_USE_MESSAGES.
*/
#if !defined(CH_USE_MESSAGES_PRIORITY) || defined(__DOXYGEN__)
#define CH_USE_MESSAGES_PRIORITY FALSE
#endif
/**
* @brief Mailboxes APIs.
* @details If enabled then the asynchronous messages (mailboxes) APIs are
* included in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_SEMAPHORES.
*/
#if !defined(CH_USE_MAILBOXES) || defined(__DOXYGEN__)
#define CH_USE_MAILBOXES TRUE
#endif
/**
* @brief I/O Queues APIs.
* @details If enabled then the I/O queues APIs are included in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_SEMAPHORES.
*/
#if !defined(CH_USE_QUEUES) || defined(__DOXYGEN__)
#define CH_USE_QUEUES TRUE
#endif
/**
* @brief Core Memory Manager APIs.
* @details If enabled then the core memory manager APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_USE_MEMCORE) || defined(__DOXYGEN__)
#define CH_USE_MEMCORE TRUE
#endif
/**
* @brief Heap Allocator APIs.
* @details If enabled then the memory heap allocator APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_COREMEM and either @p CH_USE_MUTEXES or
* @p CH_USE_SEMAPHORES.
* @note Mutexes are recommended.
*/
#if !defined(CH_USE_HEAP) || defined(__DOXYGEN__)
#define CH_USE_HEAP FALSE
#endif
/**
* @brief C-runtime allocator.
* @details If enabled the the heap allocator APIs just wrap the C-runtime
* @p malloc() and @p free() functions.
*
* @note The default is @p FALSE.
* @note Requires @p CH_USE_HEAP.
* @note The C-runtime may or may not require @p CH_USE_COREMEM, see the
* appropriate documentation.
*/
#if !defined(CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
#define CH_USE_MALLOC_HEAP FALSE
#endif
/**
* @brief Memory Pools Allocator APIs.
* @details If enabled then the memory pools allocator APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_USE_MEMPOOLS) || defined(__DOXYGEN__)
#define CH_USE_MEMPOOLS FALSE
#endif
/**
* @brief Dynamic Threads APIs.
* @details If enabled then the dynamic threads creation APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_USE_WAITEXIT.
* @note Requires @p CH_USE_HEAP and/or @p CH_USE_MEMPOOLS.
*/
#if !defined(CH_USE_DYNAMIC) || defined(__DOXYGEN__)
#define CH_USE_DYNAMIC FALSE
#endif
/*===========================================================================*/
/* Debug options. */
/*===========================================================================*/
/**
* @brief Debug option, parameters checks.
* @details If enabled then the checks on the API functions input
* parameters are activated.
*
* @note The default is @p FALSE.
*/
#if !defined(CH_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_CHECKS TRUE
#endif
/**
* @brief Debug option, consistency checks.
* @details If enabled then all the assertions in the kernel code are
* activated. This includes consistency checks inside the kernel,
* runtime anomalies and port-defined checks.
*
* @note The default is @p FALSE.
*/
#if !defined(CH_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_ASSERTS TRUE
#endif
/**
* @brief Debug option, trace buffer.
* @details If enabled then the context switch circular trace buffer is
* activated.
*
* @note The default is @p FALSE.
*/
#if !defined(CH_DBG_ENABLE_TRACE) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_TRACE TRUE
#endif
/**
* @brief Debug option, stack checks.
* @details If enabled then a runtime stack check is performed.
*
* @note The default is @p FALSE.
* @note The stack check is performed in a architecture/port dependent way.
* It may not be implemented or some ports.
* @note The default failure mode is to halt the system with the global
* @p panic_msg variable set to @p NULL.
*/
#if !defined(CH_DBG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
#define CH_DBG_ENABLE_STACK_CHECK TRUE
#endif
/**
* @brief Debug option, stacks initialization.
* @details If enabled then the threads working area is filled with a byte
* value when a thread is created. This can be useful for the
* runtime measurement of the used stack.
*
* @note The default is @p FALSE.
*/
#if !defined(CH_DBG_FILL_THREADS) || defined(__DOXYGEN__)
#define CH_DBG_FILL_THREADS TRUE
#endif
/**
* @brief Debug option, threads profiling.
* @details If enabled then a field is added to the @p Thread structure that
* counts the system ticks occurred while executing the thread.
*
* @note The default is @p TRUE.
* @note This debug option is defaulted to TRUE because it is required by
* some test cases into the test suite.
*/
#if !defined(CH_DBG_THREADS_PROFILING) || defined(__DOXYGEN__)
#define CH_DBG_THREADS_PROFILING FALSE
#endif
/*===========================================================================*/
/* Kernel hooks. */
/*===========================================================================*/
/**
* @brief Threads descriptor structure extension.
* @details User fields added to the end of the @p Thread structure.
*/
#if !defined(THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
#define THREAD_EXT_FIELDS \
/* Add threads custom fields here.*/
#endif
/**
* @brief Threads initialization hook.
* @details User initialization code added to the @p chThdInit() API.
*
* @note It is invoked from within @p chThdInit() and implicitily from all
* the threads creation APIs.
*/
#if !defined(THREAD_EXT_INIT_HOOK) || defined(__DOXYGEN__)
#define THREAD_EXT_INIT_HOOK(tp) { \
/* Add threads initialization code here.*/ \
}
#endif
/**
* @brief Threads finalization hook.
* @details User finalization code added to the @p chThdExit() API.
*
* @note It is inserted into lock zone.
* @note It is also invoked when the threads simply return in order to
* terminate.
*/
#if !defined(THREAD_EXT_EXIT_HOOK) || defined(__DOXYGEN__)
#define THREAD_EXT_EXIT_HOOK(tp) { \
/* Add threads finalization code here.*/ \
}
#endif
/**
* @brief Idle Loop hook.
* @details This hook is continuously invoked by the idle thread loop.
*/
#if !defined(IDLE_LOOP_HOOK) || defined(__DOXYGEN__)
#define IDLE_LOOP_HOOK() { \
/* Idle loop code here.*/ \
}
#endif
/**
* @brief System tick event hook.
* @details This hook is invoked in the system tick handler immediately
* after processing the virtual timers queue.
*/
#if !defined(SYSTEM_TICK_EVENT_HOOK) || defined(__DOXYGEN__)
#define SYSTEM_TICK_EVENT_HOOK() { \
/* System tick event code here.*/ \
}
#endif
/**
* @brief System halt hook.
* @details This hook is invoked in case to a system halting error before
* the system is halted.
*/
#if !defined(SYSTEM_HALT_HOOK) || defined(__DOXYGEN__)
#define SYSTEM_HALT_HOOK() { \
/* System halt code here.*/ \
}
#endif
/*===========================================================================*/
/* Port-specific settings (override port settings defaulted in chcore.h). */
/*===========================================================================*/
#endif /* _CHCONF_H_ */
/** @} */

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testhal/STM32/I2C/halconf.h Normal file
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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file templates/halconf.h
* @brief HAL configuration header.
* @details HAL configuration file, this file allows to enable or disable the
* various device drivers from your application. You may also use
* this file in order to override the device drivers default settings.
*
* @addtogroup HAL_CONF
* @{
*/
#ifndef _HALCONF_H_
#define _HALCONF_H_
#include "mcuconf.h"
/**
* @brief Enables the PAL subsystem.
*/
#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
#define HAL_USE_PAL TRUE
#endif
/**
* @brief Enables the ADC subsystem.
*/
#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
#define HAL_USE_ADC TRUE
#endif
/**
* @brief Enables the CAN subsystem.
*/
#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
#define HAL_USE_CAN FALSE
#endif
/**
* @brief Enables the I2C subsystem.
*/
#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
#define HAL_USE_I2C TRUE
#endif
/**
* @brief Enables the MAC subsystem.
*/
#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
#define HAL_USE_MAC FALSE
#endif
/**
* @brief Enables the MMC_SPI subsystem.
*/
#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
#define HAL_USE_MMC_SPI FALSE
#endif
/**
* @brief Enables the PWM subsystem.
*/
#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
#define HAL_USE_PWM TRUE
#endif
/**
* @brief Enables the SERIAL subsystem.
*/
#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
#define HAL_USE_SERIAL FALSE
#endif
/**
* @brief Enables the SPI subsystem.
*/
#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
#define HAL_USE_SPI FALSE
#endif
/**
* @brief Enables the UART subsystem.
*/
#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
#define HAL_USE_UART TRUE
#endif
/*===========================================================================*/
/* ADC driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
#define ADC_USE_WAIT TRUE
#endif
/**
* @brief Enables the @p adcAcquireBus() and @p adcReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define ADC_USE_MUTUAL_EXCLUSION TRUE
#endif
/*===========================================================================*/
/* CAN driver related settings. */
/*===========================================================================*/
/**
* @brief Sleep mode related APIs inclusion switch.
*/
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
#define CAN_USE_SLEEP_MODE TRUE
#endif
/*===========================================================================*/
/* I2C driver related settings. */
/*===========================================================================*/
/**
* @brief Enables the mutual exclusion APIs on the I2C bus.
*/
#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define I2C_USE_MUTUAL_EXCLUSION TRUE
#endif
/*===========================================================================*/
/* MAC driver related settings. */
/*===========================================================================*/
/*===========================================================================*/
/* MMC_SPI driver related settings. */
/*===========================================================================*/
/**
* @brief Block size for MMC transfers.
*/
#if !defined(MMC_SECTOR_SIZE) || defined(__DOXYGEN__)
#define MMC_SECTOR_SIZE 512
#endif
/**
* @brief Delays insertions.
* @details If enabled this options inserts delays into the MMC waiting
* routines releasing some extra CPU time for the threads with
* lower priority, this may slow down the driver a bit however.
* This option is recommended also if the SPI driver does not
* use a DMA channel and heavily loads the CPU.
*/
#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
#define MMC_NICE_WAITING TRUE
#endif
/**
* @brief Number of positive insertion queries before generating the
* insertion event.
*/
#if !defined(MMC_POLLING_INTERVAL) || defined(__DOXYGEN__)
#define MMC_POLLING_INTERVAL 10
#endif
/**
* @brief Interval, in milliseconds, between insertion queries.
*/
#if !defined(MMC_POLLING_DELAY) || defined(__DOXYGEN__)
#define MMC_POLLING_DELAY 10
#endif
/**
* @brief Uses the SPI polled API for small data transfers.
* @details Polled transfers usually improve performance because it
* saves two context switches and interrupt servicing. Note
* that this option has no effect on large transfers which
* are always performed using DMAs/IRQs.
*/
#if !defined(MMC_USE_SPI_POLLING) || defined(__DOXYGEN__)
#define MMC_USE_SPI_POLLING TRUE
#endif
/*===========================================================================*/
/* PAL driver related settings. */
/*===========================================================================*/
/*===========================================================================*/
/* PWM driver related settings. */
/*===========================================================================*/
/*===========================================================================*/
/* SERIAL driver related settings. */
/*===========================================================================*/
/**
* @brief Default bit rate.
* @details Configuration parameter, this is the baud rate selected for the
* default configuration.
*/
#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
#define SERIAL_DEFAULT_BITRATE 38400
#endif
/**
* @brief Serial buffers size.
* @details Configuration parameter, you can change the depth of the queue
* buffers depending on the requirements of your application.
* @note The default is 64 bytes for both the transmission and receive
* buffers.
*/
#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_BUFFERS_SIZE 16
#endif
/*===========================================================================*/
/* SPI driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
#define SPI_USE_WAIT TRUE
#endif
/**
* @brief Enables the @p spiAcquireBus() and @p spiReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define SPI_USE_MUTUAL_EXCLUSION TRUE
#endif
/*===========================================================================*/
/* UART driver related settings. */
/*===========================================================================*/
#endif /* _HALCONF_H_ */
/** @} */

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#include "ch.h"
#include "hal.h"
#include "i2c_pns.h"
#include "lis3.h"
#include "tmp75.h"
#include "max1236.h"
/* I2C1 */
static I2CConfig i2cfg1 = {
opmodeI2C,
100000,
stdDutyCycle,
0,
0,
};
/* I2C2 */
static I2CConfig i2cfg2 = {
opmodeI2C,
100000,
stdDutyCycle,
0,
0,
};
void I2CInit_pns(void){
i2cInit();
i2cStart(&I2CD1, &i2cfg1);
while(I2CD1.id_state != I2C_READY){ // wait ready status
chThdSleepMilliseconds(1);
}
i2cStart(&I2CD2, &i2cfg2);
while(I2CD2.id_state != I2C_READY){ // wait ready status
chThdSleepMilliseconds(1);
}
/* tune ports for I2C1*/
palSetPadMode(IOPORT2, 6, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
palSetPadMode(IOPORT2, 7, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
/* tune ports for I2C2*/
palSetPadMode(IOPORT2, 10, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
palSetPadMode(IOPORT2, 11, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);
/* startups. Pauses added just to be safe */
init_max1236();
chThdSleepMilliseconds(100);
init_lis3();
chThdSleepMilliseconds(100);
}

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#ifndef I2C_PNS_H_
#define I2C_PNS_H_
void I2CInit_pns(void);
#endif /* I2C_PNS_H_ */

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/**
* This is most complex and difficult device.
* It realize "read through write" paradigm. This is not standard, but
* most of I2C devices use this paradigm.
* You must write to device reading address, send restart to bus,
* and then begin reading process.
*/
#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "lis3.h"
// buffers
static i2cblock_t accel_rx_data[ACCEL_RX_DEPTH];
static i2cblock_t accel_tx_data[ACCEL_TX_DEPTH];
/* Error trap */
static void i2c_lis3_error_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
(void)i2cscfg;
int status = 0;
status = i2cp->id_i2c->SR1;
while(TRUE);
}
// Accelerometer lis3lv02dq config
static I2CSlaveConfig lis3 = {
NULL,
i2c_lis3_error_cb,
accel_rx_data,
ACCEL_RX_DEPTH,
0,
0,
accel_tx_data,
ACCEL_TX_DEPTH,
0,
0,
0b0011101,
FALSE,
};
/**
* This treading need for convenient realize
* "read through write" process.
*/
static WORKING_AREA(I2CAccelThreadWA, 128);
static Thread *i2c_accel_tp = NULL;
static msg_t I2CAccelThread(void *arg) {
(void)arg;
int16_t acceleration_x = 0;
int16_t acceleration_y = 0;
int16_t acceleration_z = 0;
I2CDriver *i2cp;
msg_t msg;
while (TRUE) {
/* Waiting for wake up */
chSysLock();
i2c_accel_tp = chThdSelf();
chSchGoSleepS(THD_STATE_SUSPENDED);
msg = chThdSelf()->p_msg; /* Retrieving the message, optional.*/
chSysUnlock();
/***************** Perform processing here. ***************************/
i2cp = (I2CDriver *)msg;
/* collect measured data */
acceleration_x = lis3.rxbuf[0] + (lis3.rxbuf[1] << 8);
acceleration_y = lis3.rxbuf[2] + (lis3.rxbuf[3] << 8);
acceleration_z = lis3.rxbuf[4] + (lis3.rxbuf[5] << 8);
}
return 0;
}
/* This callback raise up when transfer finished */
static void i2c_lis3_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
if (i2cp->id_slave_config->restart){ // is it restart flag set to TRUE
/* reset restart flag */
i2cp->id_slave_config->restart = FALSE;
/* now send restart and read acceleration data.
* Function i2cMasterReceive() send restart implicitly. */
i2cMasterReceive(i2cp, i2cscfg);
}
else{
/* If jump here than requested data have been read.
* Stop communication, release bus and wake up processing thread */
i2cMasterStop(i2cp);
i2cReleaseBus(&I2CD1);
// wake up heavy thread for data processing
if (i2c_accel_tp != NULL) {
i2c_accel_tp->p_msg = (msg_t)i2cp;
chSchReadyI(i2c_accel_tp);
i2c_accel_tp = NULL;
}
}
}
/**
* Init function. Here we will also start personal serving thread.
*/
int init_lis3(void){
/* Starting the accelerometer serving thread.*/
i2c_accel_tp = chThdCreateStatic(I2CAccelThreadWA,
sizeof(I2CAccelThreadWA),
HIGHPRIO,
I2CAccelThread,
NULL);
/* wait thread statup */
while (i2c_accel_tp == NULL)
chThdSleepMilliseconds(1);
lis3.txbufhead = 0;
lis3.rxbufhead = 0;
/* Write configuration data */
lis3.txbytes = 4;
/* fill transmit buffer. See datasheet to understand what we write */
lis3.txbuf[0] = ACCEL_CTRL_REG1 | AUTO_INCREMENT_BIT;
lis3.txbuf[1] = 0b11100111;
lis3.txbuf[2] = 0b01000001;
lis3.txbuf[3] = 0b00000000;
/* setting callback */
lis3.id_callback = i2c_lis3_cb;
i2cAcquireBus(&I2CD1);
/* sending */
i2cMasterTransmit(&I2CD1, &lis3);
return 0;
}
/**
*
*/
void request_acceleration_data(void){
/* fill transmit buffer with address of register that we want to read */
lis3.txbufhead = 0;
lis3.txbuf[0] = ACCEL_OUT_DATA | AUTO_INCREMENT_BIT; // register address
lis3.txbytes = 1;
/* tune receive structures */
lis3.rxbufhead = 0;
lis3.rxbytes = 6;
/* Now it is most important action. We must set restart flag to TRUE.
* And in callback function we must reset it to FALSE after sending
* of register address. In TMP75 and MAX1236 this flag does not use. */
lis3.restart = TRUE;
/* talk to slave what we want from it */
i2cAcquireBus(&I2CD1);
i2cMasterTransmit(&I2CD1, &lis3);
}

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#include <stdlib.h>
#include "ch.h"
#ifndef LIS3_H_
#define LIS3_H_
/* buffers depth */
#define ACCEL_RX_DEPTH 8
#define ACCEL_TX_DEPTH 8
/* autoincrement bit position. This bit needs to perform reading of
* multiple bytes at one request */
#define AUTO_INCREMENT_BIT (1<<7)
/* slave specific addresses */
#define ACCEL_STATUS_REG 0x27
#define ACCEL_CTRL_REG1 0x20
#define ACCEL_OUT_DATA 0x28
inline int init_lis3(void);
inline void request_acceleration_data(void);
#endif /* LIS3_H_ */

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/**
* Lets imagine that we have board with LIS3LV02DL accelerometer on channel #1
* and MAX1236 ADC, TMP75 thermometer on channel #2.
*
* NOTE: I assume, that you have datasheets on all this stuff.
*
* NOTE: Also, I assume, that you know how to I2C works.
*
* In order from simplicity to complexity:
* TMP75
* MAX1236
* LIS3LV02DL
*
* Project splitted to separate source files for each device.
*
* Data from sensors we will be read from different thread sleeping different
* amount of time.
*/
#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "i2c_pns.h"
#include "tmp75.h"
#include "max1236.h"
#include "lis3.h"
/* Temperature polling thread */
static WORKING_AREA(PollTmp75ThreadWA, 128);
static msg_t PollTmp75Thread(void *arg) {
(void)arg;
systime_t time = chTimeNow();
while (TRUE) {
time += MS2ST(1000);
/* Call reading function */
request_temperature();
chThdSleepUntil(time);
}
return 0;
}
/* MAX1236 polling thread */
static WORKING_AREA(PollMax1236ThreadWA, 128);
static msg_t PollMax1236Thread(void *arg) {
(void)arg;
systime_t time = chTimeNow();
while (TRUE) {
time += MS2ST(20);
/* Call reading function */
read_max1236();
chThdSleepUntil(time);
}
return 0;
}
static WORKING_AREA(PollAccelThreadWA, 128);
static msg_t PollAccelThread(void *arg) {
(void)arg;
systime_t time = chTimeNow();
while (TRUE) {
time += MS2ST(2);
request_acceleration_data();
chThdSleepUntil(time);
}
return 0;
}
/*
* Entry point, note, the main() function is already a thread in the system
* on entry.
*/
int main(void) {
halInit();
chSysInit();
I2CInit_pns();
/* Create temperature thread */
chThdCreateStatic(PollTmp75ThreadWA,
sizeof(PollTmp75ThreadWA),
NORMALPRIO,
PollTmp75Thread,
NULL);
/* Create max1236 thread */
chThdCreateStatic(PollMax1236ThreadWA,
sizeof(PollMax1236ThreadWA),
NORMALPRIO,
PollMax1236Thread,
NULL);
/* Create accelerometer thread */
chThdCreateStatic(PollAccelThreadWA,
sizeof(PollAccelThreadWA),
HIGHPRIO,
PollAccelThread,
NULL);
/* main loop that do nothing */
while (TRUE) {
chThdSleepMilliseconds(500);
}
return 0;
}

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/*
* main.h
*
* Created on: 25.03.2011
* Author: barthess
*/
#ifndef MAIN_H_
#define MAIN_H_
// ãëîáàëüíûå ôëàãè
#define GET_FILTERED_RAW_GYRO TRUE
#define GET_FILTERED_RAW_ACCEL TRUE
#endif /* MAIN_H_ */

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/**
* Maxim ADC has not so suitable default settings after startup.
* So we will create init function to tune this ADC.
*/
#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "max1236.h"
// Data buffers
static i2cblock_t max1236_rx_data[MAX1236_RX_DEPTH];
static i2cblock_t max1236_tx_data[MAX1236_TX_DEPTH];
/* Error trap */
static void i2c_max1236_error_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
(void)i2cscfg;
int status = 0;
status = i2cp->id_i2c->SR1;
while(TRUE);
}
/* This callback raise up when transfer finished */
static void i2c_max1236_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
uint16_t ch1 = 0;
uint16_t ch2 = 0;
uint16_t ch3 = 0;
uint16_t ch4 = 0;
/* send stop */
i2cMasterStop(i2cp);
/* unlock bus */
i2cReleaseBus(&I2CD2);
/* get ADC data */
ch1 = ((i2cscfg->rxbuf[0] & 0xF) << 8) + i2cscfg->rxbuf[1];
ch2 = ((i2cscfg->rxbuf[2] & 0xF) << 8) + i2cscfg->rxbuf[3];
ch3 = ((i2cscfg->rxbuf[4] & 0xF) << 8) + i2cscfg->rxbuf[5];
ch4 = ((i2cscfg->rxbuf[6] & 0xF) << 8) + i2cscfg->rxbuf[7];
}
// ADC maxim MAX1236 config
static I2CSlaveConfig max1236 = {
NULL, // first set to NULL. We will set this pointer to the function later.
i2c_max1236_error_cb,
max1236_rx_data,
MAX1236_RX_DEPTH,
0,
0,
max1236_tx_data,
MAX1236_TX_DEPTH,
0,
0,
0b0110100,
FALSE,
};
/**
* Initilization routine. See datasheet on page 13 to understand
* how to initialize ADC.
*/
void init_max1236(void){
/* lock bus */
i2cAcquireBus(&I2CD2);
/* this data we must send to IC to setup ADC settings */
max1236.txbufhead = 0;
max1236.txbytes = 2; // total 2 bytes to be sent
max1236.txbuf[0] = 0b10000011; // config register content. Consult datasheet
max1236.txbuf[1] = 0b00000111; // config register content. Consult datasheet
// transmit out 2 bytes
i2cMasterTransmit(&I2CD2, &max1236);
while(I2CD2.id_state != I2C_READY) // wait
chThdSleepMilliseconds(1);
/* now add pointer to callback function */
max1236.id_callback = i2c_max1236_cb;
/*clear transmitting structures */
max1236.txbytes = 0;
max1236.txbufhead = 0;
/* unlock bus */
i2cReleaseBus(&I2CD2);
}
/* Now simply read 8 bytes to get all 4 ADC channels */
void read_max1236(void){
/* tune receive buffer */
max1236.rxbufhead = 0;
max1236.rxbytes = 8;
/* lock bus */
i2cAcquireBus(&I2CD2);
/* start reading */
i2cMasterReceive(&I2CD2, &max1236);
}

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#include "ch.h"
#ifndef MAX1236_H_
#define MAX1236_H_
#define MAX1236_RX_DEPTH 8
#define MAX1236_TX_DEPTH 2
void init_max1236(void);
void read_max1236(void);
#endif /* MAX1236_H_ */

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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* STM32 drivers configuration.
* The following settings override the default settings present in
* the various device driver implementation headers.
* Note that the settings for each driver only have effect if the whole
* driver is enabled in halconf.h.
*
* IRQ priorities:
* 15...0 Lowest...Highest.
*
* DMA priorities:
* 0...3 Lowest...Highest.
*/
/*
* HAL driver system settings.
*/
#define STM32_SW STM32_SW_PLL
#define STM32_PLLSRC STM32_PLLSRC_HSE
#define STM32_PLLXTPRE STM32_PLLXTPRE_DIV1
#define STM32_PLLMUL_VALUE 9
#define STM32_HPRE STM32_HPRE_DIV1
#define STM32_PPRE1 STM32_PPRE1_DIV2
#define STM32_PPRE2 STM32_PPRE2_DIV2
#define STM32_ADCPRE STM32_ADCPRE_DIV4
#define STM32_MCO STM32_MCO_NOCLOCK
/*
* ADC driver system settings.
*/
#define STM32_ADC_USE_ADC1 TRUE
#define STM32_ADC_ADC1_DMA_PRIORITY 3
#define STM32_ADC_ADC1_IRQ_PRIORITY 5
#define STM32_ADC_ADC1_DMA_ERROR_HOOK() chSysHalt()
/*
* CAN driver system settings.
*/
#define STM32_CAN_USE_CAN1 FALSE
#define STM32_CAN_CAN1_IRQ_PRIORITY 11
/*
* PWM driver system settings.
*/
#define STM32_PWM_USE_TIM1 FALSE
#define STM32_PWM_USE_TIM2 FALSE
#define STM32_PWM_USE_TIM3 TRUE
#define STM32_PWM_USE_TIM4 TRUE
#define STM32_PWM_USE_TIM5 FALSE
#define STM32_PWM_TIM1_IRQ_PRIORITY 7
#define STM32_PWM_TIM2_IRQ_PRIORITY 7
#define STM32_PWM_TIM3_IRQ_PRIORITY 7
#define STM32_PWM_TIM4_IRQ_PRIORITY 7
#define STM32_PWM_TIM5_IRQ_PRIORITY 7
/*
* SERIAL driver system settings.
*/
#define STM32_SERIAL_USE_USART1 FALSE
#define STM32_SERIAL_USE_USART2 FALSE
#define STM32_SERIAL_USE_USART3 FALSE
#define STM32_SERIAL_USE_UART4 FALSE
#define STM32_SERIAL_USE_UART5 FALSE
#define STM32_SERIAL_USART1_PRIORITY 12
#define STM32_SERIAL_USART2_PRIORITY 12
#define STM32_SERIAL_USART3_PRIORITY 12
#define STM32_SERIAL_UART4_PRIORITY 12
#define STM32_SERIAL_UART5_PRIORITY 12
/*
* SPI driver system settings.
*/
#define STM32_SPI_USE_SPI1 FALSE
#define STM32_SPI_USE_SPI2 FALSE
#define STM32_SPI_USE_SPI3 FALSE
#define STM32_SPI_SPI1_DMA_PRIORITY 2
#define STM32_SPI_SPI2_DMA_PRIORITY 2
#define STM32_SPI_SPI3_DMA_PRIORITY 2
#define STM32_SPI_SPI1_IRQ_PRIORITY 10
#define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_SPI3_IRQ_PRIORITY 10
#define STM32_SPI_SPI1_DMA_ERROR_HOOK() chSysHalt()
#define STM32_SPI_SPI2_DMA_ERROR_HOOK() chSysHalt()
#define STM32_SPI_SPI3_DMA_ERROR_HOOK() chSysHalt()
/*
* UART driver system settings.
*/
#define STM32_UART_USE_USART1 TRUE
#define STM32_UART_USE_USART2 FALSE
#define STM32_UART_USE_USART3 FALSE
#define STM32_UART_USART1_IRQ_PRIORITY 12
#define STM32_UART_USART2_IRQ_PRIORITY 12
#define STM32_UART_USART3_IRQ_PRIORITY 12
#define STM32_UART_USART1_DMA_PRIORITY 0
#define STM32_UART_USART2_DMA_PRIORITY 0
#define STM32_UART_USART3_DMA_PRIORITY 0
#define STM32_UART_USART1_DMA_ERROR_HOOK() chSysHalt()
#define STM32_UART_USART2_DMA_ERROR_HOOK() chSysHalt()
#define STM32_UART_USART3_DMA_ERROR_HOOK() chSysHalt()
/*
* I2C driver system settings.
*/
#define STM32_I2C_USE_I2C1 TRUE
#define STM32_I2C_USE_I2C2 TRUE
#define STM32_I2C_I2C1_IRQ_PRIORITY 11
#define STM32_I2C_I2C2_IRQ_PRIORITY 11
#define STM32_I2C_I2C1_DMA_PRIORITY 4
#define STM32_I2C_I2C2_DMA_PRIORITY 4
#define STM32_I2C_I2C1_DMA_ERROR_HOOK() chSysHalt()
#define STM32_I2C_I2C2_DMA_ERROR_HOOK() chSysHalt()

72
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/**
* TMP75 is most simple I2C device in our case. It is already useful with
* default settings after powerup.
* You only must read 2 sequential bytes from it.
*/
#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "tmp75.h"
// input buffer
static i2cblock_t tmp75_rx_data[TMP75_RX_DEPTH];
static i2cblock_t tmp75_tx_data[TMP75_TX_DEPTH];
// Simple error trap
static void i2c_tmp75_error_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
(void)i2cscfg;
int status = 0;
status = i2cp->id_i2c->SR1;
while(TRUE);
}
/* This callback raise up when transfer finished */
static void i2c_tmp75_cb(I2CDriver *i2cp, I2CSlaveConfig *i2cscfg){
int16_t temperature = 0;
/* Manually send stop signal to the bus. This is important! */
i2cMasterStop(i2cp);
/* unlock bus */
i2cReleaseBus(&I2CD2);
/* store temperature value */
temperature = (i2cscfg->rxbuf[0] << 8) + i2cscfg->rxbuf[1];
}
// Fill TMP75 config.
static I2CSlaveConfig tmp75 = {
i2c_tmp75_cb,
i2c_tmp75_error_cb,
tmp75_rx_data,
TMP75_RX_DEPTH,
0,
0,
tmp75_tx_data,
TMP75_TX_DEPTH,
0,
0,
0b1001000,
FALSE,
};
/* This is main function. */
void request_temperature(void){
tmp75.txbytes = 0; // set to zero just to be safe
/* tune receiving buffer */
tmp75.rxbufhead = 0;// point to beginig of buffer
tmp75.rxbytes = 2; // we need read 2 bytes
/* get exclusive access to the bus */
i2cAcquireBus(&I2CD2);
/* start receiving process in background and return */
i2cMasterReceive(&I2CD2, &tmp75);
}

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#ifndef TMP75_H_
#define TMP75_H_
/* buffers depth */
#define TMP75_RX_DEPTH 2
#define TMP75_TX_DEPTH 2
void init_tmp75(void);
void request_temperature(void);
#endif /* TMP75_H_ */