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Очередная попытка реализовать чтение IMU как в рабочей прошивке оказалась провальной.
Поэтому было принято решение перенести проект на C++ и писать его подобно рабочей прошивке.
Реализован драйвер для I2C.
Добавлены файлы интерфейса IMU и конкретного ICM20948.
This commit is contained in:
Раджаб Бисултанов
2026-04-10 16:54:04 +03:00
parent b62fd39a67
commit d59cf7cd55
20 changed files with 732 additions and 2366 deletions
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13138
Source/Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g431xx.h
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269
Source/Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g4xx.h
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/**
******************************************************************************
* @file stm32g4xx.h
* @author MCD Application Team
* @brief CMSIS STM32G4xx Device Peripheral Access Layer Header File.
*
* The file is the unique include file that the application programmer
* is using in the C source code, usually in main.c. This file contains:
* - Configuration section that allows to select:
* - The STM32G4xx device used in the target application
* - To use or not the peripheral’s drivers in application code(i.e.
* code will be based on direct access to peripheral’s registers
* rather than drivers API), this option is controlled by
* "#define USE_HAL_DRIVER"
*
******************************************************************************
* @attention
*
* Copyright (c) 2019 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32g4xx
* @{
*/
#ifndef __STM32G4xx_H
#define __STM32G4xx_H
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
/** @addtogroup Library_configuration_section
* @{
*/
/**
* @brief STM32 Family
*/
#if !defined (STM32G4)
#define STM32G4
#endif /* STM32G4 */
/* Uncomment the line below according to the target STM32G4 device used in your
application
*/
#if !defined (STM32G431xx) && !defined (STM32G441xx) && !defined (STM32G471xx) && \
!defined (STM32G473xx) && !defined (STM32G474xx) && !defined (STM32G484xx) && \
!defined (STM32GBK1CB) && !defined (STM32G491xx) && !defined (STM32G4A1xx) && \
!defined (STM32G411xB) && !defined (STM32G411xC) && !defined (STM32G414xx)
/* #define STM32G411xB */ /*!< STM32G411xB Devices */
/* #define STM32G411xC */ /*!< STM32G411xC Devices */
/* #define STM32G414xx */ /*!< STM32G414xx Devices */
#define STM32G431xx /*!< STM32G431xx Devices */
/* #define STM32G441xx */ /*!< STM32G441xx Devices */
/* #define STM32G471xx */ /*!< STM32G471xx Devices */
/* #define STM32G473xx */ /*!< STM32G473xx Devices */
/* #define STM32G483xx */ /*!< STM32G483xx Devices */
/* #define STM32G474xx */ /*!< STM32G474xx Devices */
/* #define STM32G484xx */ /*!< STM32G484xx Devices */
/* #define STM32G491xx */ /*!< STM32G491xx Devices */
/* #define STM32G4A1xx */ /*!< STM32G4A1xx Devices */
/* #define STM32GBK1CB */ /*!< STM32GBK1CB Devices */
#endif
/* Tip: To avoid modifying this file each time you need to switch between these
devices, you can define the device in your toolchain compiler preprocessor.
*/
#if !defined (USE_HAL_DRIVER)
/**
* @brief Comment the line below if you will not use the peripherals drivers.
In this case, these drivers will not be included and the application code will
be based on direct access to peripherals registers
*/
/*#define USE_HAL_DRIVER */
#endif /* USE_HAL_DRIVER */
/**
* @brief CMSIS Device version number V1.2.5
*/
#define __STM32G4_CMSIS_VERSION_MAIN (0x01U) /*!< [31:24] main version */
#define __STM32G4_CMSIS_VERSION_SUB1 (0x02U) /*!< [23:16] sub1 version */
#define __STM32G4_CMSIS_VERSION_SUB2 (0x05U) /*!< [15:8] sub2 version */
#define __STM32G4_CMSIS_VERSION_RC (0x00U) /*!< [7:0] release candidate */
#define __STM32G4_CMSIS_VERSION ((__STM32G4_CMSIS_VERSION_MAIN << 24)\
|(__STM32G4_CMSIS_VERSION_SUB1 << 16)\
|(__STM32G4_CMSIS_VERSION_SUB2 << 8 )\
|(__STM32G4_CMSIS_VERSION_RC))
/**
* @}
*/
/** @addtogroup Device_Included
* @{
*/
#if defined(STM32G431xx)
#include "stm32g431xx.h"
#elif defined(STM32G441xx)
#include "stm32g441xx.h"
#elif defined(STM32G471xx)
#include "stm32g471xx.h"
#elif defined(STM32G473xx)
#include "stm32g473xx.h"
#elif defined(STM32G483xx)
#include "stm32g483xx.h"
#elif defined(STM32G474xx)
#include "stm32g474xx.h"
#elif defined(STM32G484xx)
#include "stm32g484xx.h"
#elif defined(STM32G491xx)
#include "stm32g491xx.h"
#elif defined(STM32G4A1xx)
#include "stm32g4a1xx.h"
#elif defined(STM32GBK1CB)
#include "stm32gbk1cb.h"
#elif defined(STM32G411xB)
#include "stm32g411xb.h"
#elif defined(STM32G411xC)
#include "stm32g411xc.h"
#elif defined(STM32G414xx)
#include "stm32g414xx.h"
#else
#error "Please select first the target STM32G4xx device used in your application (in stm32g4xx.h file)"
#endif
/**
* @}
*/
/** @addtogroup Exported_types
* @{
*/
typedef enum
{
RESET = 0,
SET = !RESET
} FlagStatus, ITStatus;
typedef enum
{
DISABLE = 0,
ENABLE = !DISABLE
} FunctionalState;
#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
typedef enum
{
SUCCESS = 0,
ERROR = !SUCCESS
} ErrorStatus;
/**
* @}
*/
/** @addtogroup Exported_macros
* @{
*/
#define SET_BIT(REG, BIT) ((REG) |= (BIT))
#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT))
#define READ_BIT(REG, BIT) ((REG) & (BIT))
#define CLEAR_REG(REG) ((REG) = (0x0))
#define WRITE_REG(REG, VAL) ((REG) = (VAL))
#define READ_REG(REG) ((REG))
#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK)))
#define POSITION_VAL(VAL) (__CLZ(__RBIT(VAL)))
/* Use of CMSIS compiler intrinsics for register exclusive access */
/* Atomic 32-bit register access macro to set one or several bits */
#define ATOMIC_SET_BIT(REG, BIT) \
do { \
uint32_t val; \
do { \
val = __LDREXW((__IO uint32_t *)&(REG)) | (BIT); \
} while ((__STREXW(val,(__IO uint32_t *)&(REG))) != 0U); \
} while(0)
/* Atomic 32-bit register access macro to clear one or several bits */
#define ATOMIC_CLEAR_BIT(REG, BIT) \
do { \
uint32_t val; \
do { \
val = __LDREXW((__IO uint32_t *)&(REG)) & ~(BIT); \
} while ((__STREXW(val,(__IO uint32_t *)&(REG))) != 0U); \
} while(0)
/* Atomic 32-bit register access macro to clear and set one or several bits */
#define ATOMIC_MODIFY_REG(REG, CLEARMSK, SETMASK) \
do { \
uint32_t val; \
do { \
val = (__LDREXW((__IO uint32_t *)&(REG)) & ~(CLEARMSK)) | (SETMASK); \
} while ((__STREXW(val,(__IO uint32_t *)&(REG))) != 0U); \
} while(0)
/* Atomic 16-bit register access macro to set one or several bits */
#define ATOMIC_SETH_BIT(REG, BIT) \
do { \
uint16_t val; \
do { \
val = __LDREXH((__IO uint16_t *)&(REG)) | (BIT); \
} while ((__STREXH(val,(__IO uint16_t *)&(REG))) != 0U); \
} while(0)
/* Atomic 16-bit register access macro to clear one or several bits */
#define ATOMIC_CLEARH_BIT(REG, BIT) \
do { \
uint16_t val; \
do { \
val = __LDREXH((__IO uint16_t *)&(REG)) & ~(BIT); \
} while ((__STREXH(val,(__IO uint16_t *)&(REG))) != 0U); \
} while(0)
/* Atomic 16-bit register access macro to clear and set one or several bits */
#define ATOMIC_MODIFYH_REG(REG, CLEARMSK, SETMASK) \
do { \
uint16_t val; \
do { \
val = (__LDREXH((__IO uint16_t *)&(REG)) & ~(CLEARMSK)) | (SETMASK); \
} while ((__STREXH(val,(__IO uint16_t *)&(REG))) != 0U); \
} while(0)
/**
* @}
*/
#if defined (USE_HAL_DRIVER)
#include "stm32g4xx_hal.h"
#endif /* USE_HAL_DRIVER */
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* __STM32G4xx_H */
/**
* @}
*/
/**
* @}
*/

2124
Source/Drivers/CMSIS/Include/core_cm4.h
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35
Source/Drivers/GPIO.cpp Normal file
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#include "GPIO.H"
#include "stm32g4xx.h"
void GPIO_InitPin(unsigned long Pin)
{
unsigned long port = (Pin & 0x000000F0UL) >> 4;
GPIO_TypeDef* gpio = (GPIO_TypeDef*)(((unsigned char*)GPIOA) + (port * 0x0400));
unsigned long rcc = 1UL << port;
unsigned long pin = Pin & 0x0000000FUL;
unsigned long af = (Pin & 0x0F000000UL) >> 24;
unsigned long pupd = (Pin & 0x00F00000UL) >> 20;
unsigned long ospeed = (Pin & 0x000F0000UL) >> 16;
unsigned long mode = (Pin & 0x0000F000UL) >> 12;
unsigned long otype = (Pin & 0x00000100UL) >> 8;
unsigned long set = (Pin & 0x00000200UL) >> 9;
if (!(RCC->AHB2ENR & rcc)) RCC->AHB2ENR |= rcc;
gpio->AFR[pin >> 3] &= ~(0x0000000FUL << ((pin & 0x07) * 4));
gpio->AFR[pin >> 3] |= af << ((pin & 0x07) * 4);
gpio->OSPEEDR &= ~(0x00000003UL << (pin * 2));
gpio->OSPEEDR |= ospeed << (pin * 2);
gpio->OTYPER &= ~(0x00000001UL << pin);
gpio->OTYPER |= otype << pin;
gpio->PUPDR &= ~(0x00000003UL << (pin * 2));
gpio->PUPDR |= pupd << (pin * 2);
gpio->BSRR = 1 << (set ? pin : pin+16);
gpio->MODER &= ~(0x00000003UL << (pin * 2));
gpio->MODER |= mode << (pin * 2);
}

74
Source/Drivers/GPIO.h Normal file
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#pragma once
#ifndef GPIO_H
#define GPIO_H
#define GPIO_PIN_0 0x00000000UL
#define GPIO_PIN_1 0x00000001UL
#define GPIO_PIN_2 0x00000002UL
#define GPIO_PIN_3 0x00000003UL
#define GPIO_PIN_4 0x00000004UL
#define GPIO_PIN_5 0x00000005UL
#define GPIO_PIN_6 0x00000006UL
#define GPIO_PIN_7 0x00000007UL
#define GPIO_PIN_8 0x00000008UL
#define GPIO_PIN_9 0x00000009UL
#define GPIO_PIN_10 0x0000000AUL
#define GPIO_PIN_11 0x0000000BUL
#define GPIO_PIN_12 0x0000000CUL
#define GPIO_PIN_13 0x0000000DUL
#define GPIO_PIN_14 0x0000000EUL
#define GPIO_PIN_15 0x0000000FUL
#define GPIO_PORT_A 0x00000000UL
#define GPIO_PORT_B 0x00000010UL
#define GPIO_PORT_C 0x00000020UL
#define GPIO_PORT_D 0x00000030UL
#define GPIO_PORT_E 0x00000040UL
#define GPIO_PORT_F 0x00000070UL
#define GPIO_PORT_G 0x00000080UL
#define GPIO_PORT_H 0x00000090UL
#define GPIO_PORT_I 0x000000A0UL
#define GPIO_PORT_J 0x000000B0UL
#define GPIO_PORT_K 0x000000C0UL
#define GPIO_PUSHPULL 0x00000000UL
#define GPIO_OPENDRAIN 0x00000100UL
#define GPIO_RESET 0x00000000UL
#define GPIO_SET 0x00000200UL
#define GPIO_INPUT 0x00000000UL
#define GPIO_OUTPUT 0x00001000UL
#define GPIO_ALTER 0x00002000UL
#define GPIO_ANALOG 0x00003000UL
#define GPIO_OSPEED_LOW 0x00000000UL
#define GPIO_OSPEED_MEDIUM 0x00010000UL
#define GPIO_OSPEED_FAST 0x00020000UL
#define GPIO_OSPEED_HIGH 0x00030000UL
#define GPIO_NOPUPD 0x00000000UL
#define GPIO_PULLUP 0x00100000UL
#define GPIO_PULLDOWN 0x00200000UL
#define GPIO_AF0 0x00000000UL
#define GPIO_AF1 0x01000000UL
#define GPIO_AF2 0x02000000UL
#define GPIO_AF3 0x03000000UL
#define GPIO_AF4 0x04000000UL
#define GPIO_AF5 0x05000000UL
#define GPIO_AF6 0x06000000UL
#define GPIO_AF7 0x07000000UL
#define GPIO_AF8 0x08000000UL
#define GPIO_AF9 0x09000000UL
#define GPIO_AF10 0x0A000000UL
#define GPIO_AF11 0x0B000000UL
#define GPIO_AF12 0x0C000000UL
#define GPIO_AF13 0x0D000000UL
#define GPIO_AF14 0x0E000000UL
#define GPIO_AF15 0x0F000000UL
void GPIO_InitPin(unsigned long Pin);
#endif

19
Source/Drivers/HAL_M/GPIO/Inc/HAL_GPIO.h
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@@ -1,19 +0,0 @@
#ifndef HAL_GPIO
#define HAL_GPIO
#include "stm32g431xx.h"
// I/O MODES
#define INPUT_MODE ((uint32_t) 0x00) // input mode
#define OUTPUT_MODE ((uint32_t) 0x01) // general purpose output mode
#define ALT_FUNC_MODE ((uint32_t) 0x02) // alternative function mode
#define ANALOG_MODE ((uint32_t) 0x03) // alanog mode (reset state)
// CLOCK ENABLING
#define GPIO_CLOCK_EN_GPIOA (RCC->AHB2ENR |= (1 << 0))
#define GPIO_CLOCK_EN_GPIOB (RCC->AHB2ENR |= (1 << 1))
#define GPIO_CLOCK_EN_GPIOC (RCC->AHB2ENR |= (1 << 2))
#endif

3
Source/Drivers/HAL_M/GPIO/Src/HAL_GPIO.c
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#include "GPIO/Inc/HAL_GPIO.h"

377
Source/Drivers/I2C.cpp Normal file
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#include "I2C.h"
#include "stm32g4xx.h"
#include "GPIO.h"
#include <string.h>
struct I2C_Data
{
I2C_TypeDef* I2C;
IRQn_Type IRQn;
I2C_Request *Head, *Device;
unsigned char Index;
};
static I2C_Data I2C1_Data = { I2C1, I2C1_EV_IRQn, 0, 0, 0 };
static void EV_IRQHandler(I2C_Data& I2C)
{
if ((I2C.I2C->CR1 & I2C_CR1_TXIE) && (I2C.I2C->ISR & I2C_ISR_TXE))
{
const I2C_Request& device = *I2C.Device;
I2C.I2C->TXDR = device.Buffer[I2C.Index++];
if (I2C.Index < device.Write) return;
I2C.I2C->CR1 = I2C_CR1_TCIE | I2C_CR1_PE;
I2C.Index = 0;
return;
}
if ((I2C.I2C->CR1 & I2C_CR1_TCIE) && (I2C.I2C->ISR & I2C_ISR_TC))
{
const I2C_Request& device = *I2C.Device;
if (device.Read)
{
I2C.I2C->CR2 &= ~I2C_CR2_NBYTES_Msk;
I2C.I2C->CR2 |= I2C_CR2_START | I2C_CR2_RD_WRN | (((unsigned long)device.Read)<<I2C_CR2_NBYTES_Pos);
I2C.I2C->CR1 = I2C_CR1_RXIE | I2C_CR1_PE;
}
else
{
I2C.I2C->CR2 |= I2C_CR2_STOP;
I2C.I2C->CR1 = I2C_CR1_STOPIE | I2C_CR1_PE;
}
return;
}
if ((I2C.I2C->CR1 & I2C_CR1_RXIE) && (I2C.I2C->ISR & I2C_ISR_RXNE))
{
const I2C_Request& device = *I2C.Device;
device.Buffer[I2C.Index++] = I2C.I2C->RXDR;
if(I2C.Index<device.Read) return;
I2C.I2C->CR1 = I2C_CR1_STOPIE | I2C_CR1_PE;
I2C.I2C->CR2 |= I2C_CR2_STOP;
I2C.Index=0;
return;
}
if ((I2C.I2C->CR1 & I2C_CR1_STOPIE) && (I2C.I2C->ISR & I2C_ISR_STOPF))
{
I2C_Request& device = *I2C.Device;
I2C.I2C->ICR = I2C_ICR_STOPCF;
I2C.I2C->CR1 = I2C_CR1_PE;
I2C.I2C->CR2 &= ~(I2C_CR2_SADD_Msk | I2C_CR2_RD_WRN | I2C_CR2_NBYTES_Msk);
unsigned char addr = device.Address;
device.Address = 0;
I2C.Device=device.Next;
if(device.CallbackProc) device.CallbackProc(addr, device.Buffer, device.Read);
}
if (I2C.I2C->CR1 == I2C_CR1_PE)
{
if(!I2C.Device)
{
do
{
I2C.Device = (I2C_Request*)__LDREXW((volatile unsigned int*)&I2C.Head);
} while(__STREXW(0, (volatile unsigned int*)&I2C.Head));
if(!I2C.Device) return;
}
const I2C_Request& device = *I2C.Device;
if (!(I2C.I2C->CR2 & I2C_CR2_SADD_Msk))
{
I2C.I2C->CR2 &= ~(I2C_CR2_SADD_Msk | I2C_CR2_RD_WRN | I2C_CR2_NBYTES_Msk);
if(device.Write)
{
I2C.I2C->CR2 |= I2C_CR2_START | (device.Address << (I2C_CR2_SADD_Pos + 1)) | (((unsigned long)device.Write)<<I2C_CR2_NBYTES_Pos);
I2C.I2C->CR1 = I2C_CR1_TXIE | I2C_CR1_PE;
}
else
{
I2C.I2C->CR2 |= I2C_CR2_START | (device.Address << (I2C_CR2_SADD_Pos + 1)) | I2C_CR2_RD_WRN | (((unsigned long)device.Read)<<I2C_CR2_NBYTES_Pos);
I2C.I2C->CR1 = I2C_CR1_RXIE | I2C_CR1_PE;
}
}
return;
}
}
extern "C" void I2C1_EV_IRQHandler()
{
EV_IRQHandler(I2C1_Data);
}
static void Init(I2C_TypeDef* I2C, IRQn_Type IRQn)
{
//I2C->TIMINGR = 0x00303D5BUL; // 100kHz
I2C->TIMINGR = 0x10802D9BUL; // 400kHz
I2C->CR1 = I2C_CR1_PE;
while(I2C->ISR & I2C_ISR_BUSY) { }
NVIC_SetPriority(IRQn, 1);
NVIC_EnableIRQ(IRQn);
}
static bool I2C_CheckDeviceWhoAmI(I2C_TypeDef* I2C, unsigned char Address, unsigned char WhoAmI_Reg, unsigned char Expected_ID)
{
if (I2C->ISR & I2C_ISR_BUSY) return false;
I2C->ICR = I2C_ICR_STOPCF | I2C_ICR_NACKCF;
uint32_t timeout = 100000;
I2C->CR2 = (Address << 1) | (1 << 16) | I2C_CR2_START;
while (!(I2C->ISR & I2C_ISR_TXIS))
{
if (I2C->ISR & I2C_ISR_NACKF)
{
I2C->ICR = I2C_ICR_NACKCF;
return false;
}
if ((timeout--) == 0) return false;
}
I2C->TXDR = WhoAmI_Reg;
timeout = 100000;
while (!(I2C->ISR & I2C_ISR_TC))
{
if ((timeout--) == 0) return false;
}
I2C->CR2 = (Address << 1) | (1 << 16) | I2C_CR2_RD_WRN | I2C_CR2_START | I2C_CR2_AUTOEND;
timeout = 100000;
while (!(I2C->ISR & I2C_ISR_RXNE))
{
if (I2C->ISR & I2C_ISR_NACKF)
{
I2C->ICR = I2C_ICR_NACKCF;
return false;
}
if ((timeout--) == 0) return false;
}
unsigned char received_id = (unsigned char)I2C->RXDR;
timeout = 100000;
while (!(I2C->ISR & I2C_ISR_STOPF))
{
if ((timeout--) == 0) return false;
}
I2C->ICR = I2C_ICR_STOPCF;
I2C->CR2 = 0;
if (received_id == Expected_ID)
{
return true;
}
else
{
return false;
}
}
static bool I2C_CheckDevice(I2C_TypeDef* I2C, unsigned char Address)
{
if (I2C->ISR & I2C_ISR_BUSY) return false;
I2C->ICR = I2C_ICR_STOPCF | I2C_ICR_NACKCF;
I2C->CR2 = (Address << 1) | I2C_CR2_AUTOEND | I2C_CR2_START;
uint32_t timeout = 100000;
while (!(I2C->ISR & I2C_ISR_STOPF))
{
if ((timeout--) == 0) return false;
}
bool device_present = false;
if (I2C->ISR & I2C_ISR_NACKF)
{
I2C->ICR = I2C_ICR_NACKCF;
device_present = false;
}
else device_present = true;
I2C->ICR = I2C_ICR_STOPCF;
I2C->CR2 = 0;
return device_present;
}
void I2C1_Init()
{
if (RCC->APB1ENR1 & RCC_APB1ENR1_I2C1EN) return;
RCC->APB1ENR1 |= RCC_APB1ENR1_I2C1EN;
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOBEN;
GPIO_InitPin(GPIO_PIN_8 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF4 | GPIO_OSPEED_HIGH | GPIO_OPENDRAIN | GPIO_PULLUP);
GPIO_InitPin(GPIO_PIN_9 | GPIO_PORT_B | GPIO_ALTER | GPIO_AF4 | GPIO_OSPEED_HIGH | GPIO_OPENDRAIN | GPIO_PULLUP);
Init(I2C1, I2C1_EV_IRQn);
}
static void Stop(I2C_TypeDef* I2C)
{
I2C->CR2 |= I2C_CR2_STOP;
while (!(I2C->ISR & I2C_ISR_STOPF)) { asm volatile("NOP"); }
I2C->ICR = I2C_ICR_STOPCF;
I2C->CR2 = 0;
}
static void Read(I2C_TypeDef* I2C, unsigned char Address, unsigned char* Data, unsigned char Size)
{
I2C->CR2 &= ~(I2C_CR2_SADD_Msk | I2C_CR2_NBYTES_Msk);
I2C->CR2 |= (Address << (I2C_CR2_SADD_Pos + 1)) | I2C_CR2_RD_WRN | (((unsigned long)Size)<<I2C_CR2_NBYTES_Pos);
I2C->CR2 |= I2C_CR2_START;
while (Size--)
{
while (!(I2C->ISR & I2C_ISR_RXNE)) { }
*Data++ = I2C->RXDR;
}
}
static void Write(I2C_TypeDef* I2C, unsigned char Address, const unsigned char* Data, unsigned char Size)
{
I2C->CR2 &= ~(I2C_CR2_SADD_Msk | I2C_CR2_RD_WRN | I2C_CR2_NBYTES_Msk);
I2C->CR2 |= (Address << (I2C_CR2_SADD_Pos + 1)) | (((unsigned long)Size)<<I2C_CR2_NBYTES_Pos);
I2C->CR2 |= I2C_CR2_START;
while (I2C->CR2 & I2C_CR2_START) { asm volatile("NOP"); }
while (Size--)
{
while (!(I2C->ISR & I2C_ISR_TXE)) { asm volatile("NOP"); }
I2C->TXDR = *Data++;
}
while(!(I2C->ISR & I2C_ISR_TC)) { asm volatile("NOP"); }
}
static void Write2(I2C_TypeDef* I2C, unsigned char Address, const unsigned char* Data1, unsigned char Size1, const unsigned char* Data2, unsigned char Size2)
{
I2C->CR2 &= ~(I2C_CR2_SADD_Msk | I2C_CR2_RD_WRN | I2C_CR2_NBYTES_Msk);
I2C->CR2 |= (Address << (I2C_CR2_SADD_Pos + 1)) | (((unsigned long)Size1+Size2)<<I2C_CR2_NBYTES_Pos);
I2C->CR2 |= I2C_CR2_START;
while (Size1--)
{
while (!(I2C->ISR & I2C_ISR_TXE)) { asm volatile("NOP"); }
I2C->TXDR = *Data1++;
}
while (Size2--)
{
while (!(I2C->ISR & I2C_ISR_TXE)) { asm volatile("NOP"); }
I2C->TXDR = *Data2++;
}
while (!(I2C->ISR & I2C_ISR_TC)) { asm volatile("NOP"); }
}
static bool Trans(I2C_Data& I2C, I2C_Request* Request, unsigned char Address, const unsigned char* Data, unsigned char SizeWrite, unsigned char SizeRead)
{
if (Request->Address || SizeWrite>Request->Size || SizeRead>Request->Size || (SizeWrite==0 && SizeRead==0)) return false;
if (SizeWrite) memcpy(Request->Buffer, Data, SizeWrite);
Request->Write = SizeWrite;
Request->Read = SizeRead;
Request->Address = Address;
do
{
I2C_Request* dev = (I2C_Request*)__LDREXW((volatile unsigned int*)&I2C.Head);
Request->Next = dev;
} while (__STREXW((unsigned int)Request, (volatile unsigned int*)&I2C.Head));
if (I2C.I2C->CR1 == I2C_CR1_PE) NVIC_SetPendingIRQ(I2C.IRQn);
return true;
}
bool I2C1_Trans(I2C_Request* Request, unsigned char Address, const void* Data, unsigned char SizeWrite, unsigned char SizeRead)
{
return Trans(I2C1_Data, Request, Address, (unsigned char*)Data, SizeWrite, SizeRead);
}
void I2C1_Write(unsigned char Address, unsigned char Data)
{
Write(I2C1, Address, &Data, 1);
}
void I2C1_Write(unsigned char Address, const void* Data, unsigned char Size)
{
Write(I2C1, Address, (unsigned char*)Data, Size);
}
void I2C1_Write2(unsigned char Address, const void* Data1, unsigned char Size1, const void* Data2, unsigned char Size2)
{
Write2(I2C1, Address, (unsigned char*)Data1, Size1, (unsigned char*)Data2, Size2);
}
void I2C1_Read(unsigned char Address, void* Data, unsigned char Size)
{
Read(I2C1, Address, (unsigned char*)Data, Size);
}
bool I2C1_CheckDevice(unsigned char Address)
{
return I2C_CheckDevice(I2C1, Address);
}
bool I2C1_CheckDeviceWhoAmI(unsigned char Address, unsigned char WhoAmI_Reg, unsigned char Expected_ID)
{
return I2C_CheckDeviceWhoAmI(I2C1, Address, WhoAmI_Reg, Expected_ID);
}
void I2C1_Stop()
{
Stop(I2C1);
}

29
Source/Drivers/I2C.h Normal file
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@@ -0,0 +1,29 @@
#pragma once
#ifndef I2C_H
#define I2C_H
struct I2C_Request
{
void (*CallbackProc)(unsigned char Address, const unsigned char* Data, unsigned char Size);
unsigned char* Buffer;
unsigned char Size;
unsigned char Address;
unsigned char Write;
unsigned char Read;
I2C_Request* Next;
};
void I2C1_Init();
bool I2C1_Trans(I2C_Request* Request, unsigned char Address, const void* Data, unsigned char SizeWrite, unsigned char SizeRead);
void I2C1_Write(unsigned char Address, unsigned char Data);
void I2C1_Write(unsigned char Address, const void* Data, unsigned char Size);
void I2C1_Write2(unsigned char Address, const void* Data1, unsigned char Size1, const void* Data2, unsigned char Size2);
void I2C1_Read(unsigned char Address, void* Data, unsigned char Size);
bool I2C1_CheckDevice(unsigned char Address);
bool I2C1_CheckDeviceWhoAmI(unsigned char Address, unsigned char WhoAmI_Reg, unsigned char Expected_ID);
void I2C1_Stop();
#endif