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Adds support of LSM6DS33 I2C IMU to TX16S via AUX1 port. Using CMake option -DIMU_LSM6DS33=YES the std. serial USART3/AUX1 functionality is changed to I2C2 bus.

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The temperature, gyro and linear acceleration values of LSM6DS33 are sampled and displayed at radio analogs dialog screen in SI-units.
This commit is contained in:
rotorman
2021-08-21 15:08:50 +02:00
parent 83413a2242
commit b123caba06
12 changed files with 552 additions and 68 deletions
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radio/src/targets/horus/i2c_driver.cpp
+46 -29
View File
@@ -29,39 +29,56 @@
* @param hi2c: I2C handle pointer
* @retval None
*/
void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
void I2C_MspInit(I2C_HandleTypeDef* hi2c)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if (I2C_GPIO == GPIOA)
__HAL_RCC_GPIOA_CLK_ENABLE();
else if (I2C_GPIO == GPIOB)
__HAL_RCC_GPIOB_CLK_ENABLE();
else if (I2C_GPIO == GPIOC)
__HAL_RCC_GPIOC_CLK_ENABLE();
else if (I2C_GPIO == GPIOH)
__HAL_RCC_GPIOH_CLK_ENABLE();
else
TRACE("I2C ERROR: HAL_I2C_MspInit() I2C_GPIO misconfiguration");
GPIO_PinAFConfig(I2C_GPIO, I2C_SCL_GPIO_PinSource, I2C_GPIO_AF);
GPIO_PinAFConfig(I2C_GPIO, I2C_SDA_GPIO_PinSource, I2C_GPIO_AF);
if (I2C_TP_GPIO == GPIOA)
__HAL_RCC_GPIOA_CLK_ENABLE();
else if (I2C_TP_GPIO == GPIOB)
__HAL_RCC_GPIOB_CLK_ENABLE();
else if (I2C_TP_GPIO == GPIOC)
__HAL_RCC_GPIOC_CLK_ENABLE();
else if (I2C_TP_GPIO == GPIOH)
__HAL_RCC_GPIOH_CLK_ENABLE();
else
TRACE("I2C ERROR: HAL_I2C_MspInit() I2C_GPIO misconfiguration");
GPIO_InitStruct.GPIO_Pin = I2C_SCL_GPIO_PIN | I2C_SDA_GPIO_PIN;
if ((hi2c->Instance==I2C1) || (hi2c->Instance==I2C3)) // TP
{
GPIO_PinAFConfig(I2C_TP_GPIO, I2C_TP_SCL_GPIO_PinSource, I2C_TP_GPIO_AF);
GPIO_PinAFConfig(I2C_TP_GPIO, I2C_TP_SDA_GPIO_PinSource, I2C_TP_GPIO_AF);
GPIO_InitStruct.GPIO_Pin = I2C_TP_SCL_GPIO_PIN | I2C_TP_SDA_GPIO_PIN;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_OType = GPIO_OType_OD;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(I2C_GPIO, &GPIO_InitStruct);
GPIO_Init(I2C_TP_GPIO, &GPIO_InitStruct);
}
/* Peripheral clock enable */
if (I2C == I2C1)
__HAL_RCC_I2C1_CLK_ENABLE();
else if (I2C == I2C2)
__HAL_RCC_I2C2_CLK_ENABLE();
else if (I2C == I2C3)
__HAL_RCC_I2C3_CLK_ENABLE();
else
TRACE("I2C ERROR: HAL_I2C_MspInit() I2C misconfiguration");
if (hi2c->Instance==I2C2) // IMU
{
GPIO_PinAFConfig(I2C_IMU_GPIO, I2C_IMU_SCL_GPIO_PinSource, I2C_IMU_GPIO_AF);
GPIO_PinAFConfig(I2C_IMU_GPIO, I2C_IMU_SDA_GPIO_PinSource, I2C_IMU_GPIO_AF);
GPIO_InitStruct.GPIO_Pin = I2C_IMU_SCL_GPIO_PIN | I2C_IMU_SDA_GPIO_PIN;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStruct.GPIO_OType = GPIO_OType_OD;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(I2C_IMU_GPIO, &GPIO_InitStruct);
}
/* Peripheral clock enable */
if (I2C_TP == I2C1)
__HAL_RCC_I2C1_CLK_ENABLE();
else if (I2C_TP == I2C2)
__HAL_RCC_I2C2_CLK_ENABLE();
else if (I2C_TP == I2C3)
__HAL_RCC_I2C3_CLK_ENABLE();
else
TRACE("I2C ERROR: HAL_I2C_MspInit() I2C misconfiguration");
}
/* De-initializes the GPIOx peripheral registers to their default reset values.
@@ -154,15 +171,15 @@ void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c)
GPIO_InitTypeDef GPIO_InitStructure;
/* Configure the default Alternate Function in current IO */
GPIO_PinAFConfig(I2C_GPIO, I2C_SCL_GPIO_PinSource, 0);
GPIO_PinAFConfig(I2C_GPIO, I2C_SDA_GPIO_PinSource, 0);
GPIO_PinAFConfig(I2C_TP_GPIO, I2C_TP_SCL_GPIO_PinSource, 0);
GPIO_PinAFConfig(I2C_TP_GPIO, I2C_TP_SDA_GPIO_PinSource, 0);
GPIO_InitStructure.GPIO_Pin = I2C_SCL_GPIO_PIN | I2C_SDA_GPIO_PIN;
GPIO_InitStructure.GPIO_Pin = I2C_TP_SCL_GPIO_PIN | I2C_TP_SDA_GPIO_PIN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; /* Configure a low value for IO Speed */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN; /* Configure IO Direction in Input Floating Mode */
GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; /* Leave the configuration to Open Drain */
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; /* Deactivate the Pull-up and Pull-down resistor for the current IO */
GPIO_Init(I2C_GPIO, &GPIO_InitStructure);
GPIO_Init(I2C_TP_GPIO, &GPIO_InitStructure);
}
/* Initializes the I2C according to the specified parameters
@@ -199,7 +216,7 @@ HAL_StatusTypeDef HAL_I2C_Init(I2C_HandleTypeDef *hi2c)
hi2c->Lock = HAL_UNLOCKED;
/* Init the low level hardware : GPIO, CLOCK, NVIC */
HAL_I2C_MspInit(hi2c);
I2C_MspInit(hi2c);
}
hi2c->State = HAL_I2C_STATE_BUSY;