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Diffstat (limited to 'software/i2c_demo/i2c_demo.c')
-rw-r--r--software/i2c_demo/i2c_demo.c318
1 files changed, 0 insertions, 318 deletions
diff --git a/software/i2c_demo/i2c_demo.c b/software/i2c_demo/i2c_demo.c
deleted file mode 100644
index 4011c09..0000000
--- a/software/i2c_demo/i2c_demo.c
+++ /dev/null
@@ -1,318 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include "platform.h"
-#include <string.h>
-#include <unistd.h>
-#include <math.h>
-#include "stdatomic.h"
-
-#define MPU6050_ADDR 0x68
-
-#define MPU6050_RA_ACCEL_XOUT_H 0x3B
-#define MPU6050_RA_ACCEL_XOUT_L 0x3C
-#define MPU6050_RA_ACCEL_YOUT_H 0x3D
-#define MPU6050_RA_ACCEL_YOUT_L 0x3E
-#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
-#define MPU6050_RA_ACCEL_ZOUT_L 0x40
-#define MPU6050_RA_TEMP_OUT_H 0x41
-#define MPU6050_RA_TEMP_OUT_L 0x42
-#define MPU6050_RA_GYRO_XOUT_H 0x43
-#define MPU6050_RA_GYRO_XOUT_L 0x44
-#define MPU6050_RA_GYRO_YOUT_H 0x45
-#define MPU6050_RA_GYRO_YOUT_L 0x46
-#define MPU6050_RA_GYRO_ZOUT_H 0x47
-#define MPU6050_RA_GYRO_ZOUT_L 0x48
-#define MPU6050_RA_PWR_MGMT_1 0x6B
-#define MPU6050_RA_WHO_AM_I 0x75
-
-#define SDA PIN_8_OFFSET
-#define SCL PIN_9_OFFSET
-
-#define LONG 25 // Equals ~400KHz
-#define SHORT 5
-
-//busy wait for the specified time
-void wait_ms(uint64_t ms) {
- static const uint64_t ms_tick = RTC_FREQ/1000;
- volatile uint64_t * mtime = (uint64_t*) (CLINT_CTRL_ADDR + CLINT_MTIME);
- uint64_t then = (ms_tick * ms) + *mtime;
- while(*mtime<then);
-}
-
-inline void delay_number_of_nop(uint32_t count)
-{
- for(volatile uint32_t j = 0; j < count; j++)
- {
- asm("nop");
- }
-}
-
-_Bool i2c_busy(void)
-{
- GPIO_REG(GPIO_INPUT_EN) |= ((0x1 << SCL) | (0x1 << SDA));
- GPIO_REG(GPIO_OUTPUT_EN) &= ~((0x1 << SCL) | (0x1 << SDA));
- return (GPIO_REG(GPIO_INPUT_VAL) & ((0x1 << SCL) | (0x1 << SDA))) != ((0x1 << SCL) | (0x1 << SDA));
-}
-
-void i2c_start(void)
-{
- GPIO_REG(GPIO_INPUT_EN) &= ~((0x1 << SDA) | (0x1 << SCL));
-
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_EN) |= (0x1 << SDA);
- delay_number_of_nop(SHORT);
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SCL);
- GPIO_REG(GPIO_OUTPUT_EN) |= (0x1 << SCL);
-}
-
-void i2c_repeated_start(void)
-{
- delay_number_of_nop(SHORT);
- GPIO_REG(GPIO_OUTPUT_VAL) |= (0x1 << SCL);
- GPIO_REG(GPIO_OUTPUT_EN) |= (0x1 << SCL);
- delay_number_of_nop(SHORT);
- i2c_start();
-}
-
-
-void i2c_stop(void)
-{
- GPIO_REG(GPIO_INPUT_EN) |= (0x1 << SCL);
- GPIO_REG(GPIO_OUTPUT_EN) &= ~(0x1 << SCL);
- delay_number_of_nop(SHORT);
- GPIO_REG(GPIO_INPUT_EN) |= (0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_EN) &= ~(0x1 << SDA);
-}
-
-void i2c_init(void)
-{
- //GPIO_REG(GPIO_IOF_EN) &= ((0x1 << SCL) | (0x1 << SDA));
- GPIO_REG(GPIO_OUTPUT_EN) &= ~((0x1 << SCL) | (0x1 << SDA));
- GPIO_REG(GPIO_PULLUP_EN) |= ((0x1 << SDA) | (0x1 << SCL));
- GPIO_REG(GPIO_INPUT_EN) |= (0x1 << SDA) | (0x1 << SCL);
-}
-
-void i2c_send_bytes_rs(uint8_t* data, uint8_t size, _Bool rs, uint8_t* data_r, uint8_t size_r)
-{
- uint8_t address_r = data[0] | 0x01;
-
- for(uint8_t ii=0; ii<size; ii++)
- {
- GPIO_REG(GPIO_INPUT_EN) &= ~(0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_EN) |= (0x1 << SDA);
- for(uint8_t i=0; i<9; i++)
- {
- delay_number_of_nop(SHORT);
-
- if(i != 8)
- {
- if(data[ii] & 0x80)
- GPIO_REG(GPIO_OUTPUT_VAL) |= (0x1 << SDA);
- else
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SDA);
- }
- else
- {
- GPIO_REG(GPIO_INPUT_EN) |= (0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_EN) &= ~(0x1 << SDA);
- if((GPIO_REG(GPIO_INPUT_VAL) & (0x1 << SDA)) != 0x0)
- {
- printf("NO ACK\n");
- }
-
- GPIO_REG(GPIO_INPUT_EN) &= ~(0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_EN) |= (0x1 << SDA);
- if(rs == 0)
- {
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SDA);
- }
- else
- {
- GPIO_REG(GPIO_OUTPUT_VAL) |= (0x1 << SDA);
- }
-
- }
- delay_number_of_nop(LONG-SHORT);
-
- GPIO_REG(GPIO_OUTPUT_VAL) |= (0x1 << SCL);
-
- delay_number_of_nop(LONG);
-
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SCL);
-
- data[ii] <<= 1;
- }
- }
-
- if(rs == 0)
- return;
-
- GPIO_REG(GPIO_OUTPUT_VAL) |= (0x1 << SCL);
-
- delay_number_of_nop(SHORT);
-
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SDA);
-
- delay_number_of_nop(SHORT);
-
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SCL);
-
- for(uint8_t i=0; i<9; i++)
- {
- delay_number_of_nop(SHORT);
- if(i != 8)
- {
- if(address_r & 0x80)
- GPIO_REG(GPIO_OUTPUT_VAL) |= (0x1 << SDA);
- else
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SDA);
- }
- else
- {
- GPIO_REG(GPIO_INPUT_EN) |= (0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_EN) &= ~(0x1 << SDA);
- if((GPIO_REG(GPIO_INPUT_VAL) & (0x1 << SDA)) != 0x0)
- {
- printf("NO ACK\n");
- }
- }
- delay_number_of_nop(LONG-SHORT);
-
- GPIO_REG(GPIO_OUTPUT_VAL) |= (0x1 << SCL);
-
- delay_number_of_nop(LONG);
-
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SCL);
-
- address_r <<= 1;
- }
-
- // Receive Data
- for(uint8_t ii=0; ii<size_r; ii++)
- {
- for(uint8_t i=0; i<9; i++)
- {
- GPIO_REG(GPIO_OUTPUT_VAL) |= (0x1 << SCL);
-
- if(i!=8)
- data_r[ii] <<= 1;
-
- delay_number_of_nop(SHORT);
-
- if(i!=8)
- {
- if((GPIO_REG(GPIO_INPUT_VAL) & (0x1 << SDA)) != 0x0)
- {
- data_r[ii] |= 0x1;
- }
- }
- else if(ii == (size_r-1))
- {
- GPIO_REG(GPIO_INPUT_EN) &= ~(0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_EN) |= (0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SDA);
- } else {
-
- }
-
- delay_number_of_nop(LONG-SHORT);
-
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SCL);
-
- if((i==7) && (ii != (size_r-1))){
- GPIO_REG(GPIO_INPUT_EN) &= ~(0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_EN) |= (0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_VAL) &= ~(0x1 << SDA);
- }
- delay_number_of_nop(LONG);
-
- }
-
- if(ii != (size_r-1)){
- GPIO_REG(GPIO_INPUT_EN) |= (0x1 << SDA);
- GPIO_REG(GPIO_OUTPUT_EN) &= ~(0x1 << SDA);
- delay_number_of_nop(SHORT);
- }
- }
-}
-
-void write_byte(uint8_t address, uint8_t reg_addr, uint8_t val)
-{
- uint8_t temp[3];
- uint8_t data;
- temp[0]=address<<1;
- temp[1]=reg_addr;
- temp[2]=val;
- while(i2c_busy());
- i2c_start();
- i2c_send_bytes_rs(temp, sizeof(temp), 0, &data, 1);
- i2c_stop();
-}
-
-uint8_t read_byte(uint8_t address, uint8_t reg_addr)
-{
- uint8_t temp[2];
- uint8_t data;
- temp[0]=address<<1;
- temp[1]=reg_addr;
- while(i2c_busy());
- i2c_start();
- i2c_send_bytes_rs(temp, sizeof(temp), 1, &data, 1);
- i2c_stop();
- return data;
-}
-
-void read_bytes(uint8_t address, uint8_t reg_addr, uint8_t* data, uint8_t size)
-{
- uint8_t temp[2];
- temp[0]=address<<1;
- temp[1]=reg_addr;
- while(i2c_busy());
- i2c_start();
- i2c_send_bytes_rs(temp, sizeof(temp), 1, data, size);
- i2c_stop();
-}
-
-int main(int argc, char **argv)
-{
- uint8_t data;
- uint8_t accel[6];
-
- printf("BIT-BANG I2C DEMO with MPU-6050 IMU\n");
-
- i2c_init();
-
- printf("Power Management 1: 0x%02X\n", read_byte(MPU6050_ADDR, MPU6050_RA_PWR_MGMT_1));
- write_byte(MPU6050_ADDR, MPU6050_RA_PWR_MGMT_1, 0x80);
-
- wait_ms(10);
-
- printf("Power Management 1: 0x%02X\n", read_byte(MPU6050_ADDR, MPU6050_RA_PWR_MGMT_1));
- write_byte(MPU6050_ADDR, MPU6050_RA_PWR_MGMT_1, 0x00);
-
- printf("CHIP_ID: 0x%02X\n", read_byte(MPU6050_ADDR, MPU6050_RA_WHO_AM_I));
- printf("DONE\n");
-
- while(1)
- {
- //for(uint8_t i=0; i<6; i++){
- // accel[i]=read_byte(MPU6050_ADDR, 0x3B+i);
- //}
- read_bytes(MPU6050_ADDR, 0x3B, accel, 6);
- int16_t x_accel = (accel[0]<<8)+accel[1];
- int16_t y_accel = (accel[2]<<8)+accel[3];
- int16_t z_accel = (accel[4]<<8)+accel[5];
-
- float z_g = z_accel;
- z_g = z_g/16384.0;
- int32_t z_g_int = z_g*100;
- z_g_int = abs(z_g_int);
- printf("Gravity in Z %d.%d\n", z_g_int/100, z_g_int%100);
-
- //printf("X: %06d, Y: %06d, Z: %06d\n", x_accel, y_accel, z_accel);
-
- wait_ms(100);
- }
-
- return 0;
-}
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