mt6701 uart_redirect

3rd/delay.c

@@ -0,0 +1,9 @@
+#include "Delay.h"
+#include "ti_msp_dl_config.h"
+void delay_ms(uint16_t ms)
+{
+    while(ms--)
+    {
+        delay_cycles(CPUCLK_FREQ / 1000);
+    }
+}

3rd/delay.h

@@ -0,0 +1,7 @@
+#ifndef delay_h
+#define delay_h
+#include <stdint.h>
+
+void delay_ms(uint16_t ms);
+
+#endif /* ti_msp_dl_config_h */

3rd/mt6701.c

@@ -0,0 +1,114 @@
+#include "MT6701.h"
+#include "ti_msp_dl_config.h"
+
+volatile int16_t angle;
+volatile float angle_f;
+
+/* Data sent to the Target */
+uint8_t gTxPacket[I2C_TX_PACKET_SIZE] =
+{
+    0x03
+};
+
+/* Data received from Target */
+volatile uint8_t gRxPacket[I2C_RX_PACKET_SIZE];
+
+/* I2C clock configuration */
+DL_I2C_ClockConfig gI2CclockConfig;
+/* Frequency of selected I2C clock*/
+volatile uint32_t gClockSelFreq;
+
+/* Cycles to delay after controller transfer initiated */
+volatile uint32_t gDelayCycles;
+
+/* I2C Target address */
+#define I2C_TARGET_ADDRESS (0x06)
+
+void MT6701_iic_read_angel(void)
+{
+    /* Get I2C clock source and clock divider to use for delay cycle calculation */
+    DL_I2C_getClockConfig(I2C_1_INST, &gI2CclockConfig);
+    switch(gI2CclockConfig.clockSel)
+    {
+        case DL_I2C_CLOCK_BUSCLK:
+            gClockSelFreq = 32000000;
+            break;
+        case DL_I2C_CLOCK_MFCLK:
+            gClockSelFreq = 4000000;
+            break;
+        default:
+            break;
+    }
+    /*
+     * Calculate number of clock cycles to delay after controller transfer initiated
+     * gDelayCycles = 3 I2C functional clock cycles
+     * gDelayCycles = 3 * I2C clock divider * (CPU clock freq / I2C clock freq)
+     */
+    gDelayCycles = (3 * (gI2CclockConfig.divideRatio + 1)) *
+                   (CPUCLK_FREQ / gClockSelFreq);
+
+    /*
+     * Fill FIFO with data. This example will send a MAX of 8 bytes since it
+     * doesn't handle the case where FIFO is full
+     */
+    DL_I2C_fillControllerTXFIFO(I2C_1_INST, &gTxPacket[0], I2C_TX_PACKET_SIZE);
+
+    /* Wait for I2C to be Idle */
+    while(!(
+                DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE))
+        ;
+
+    /* Send the packet to the controller.
+     * This function will send Start + Stop automatically.
+     */
+    DL_I2C_startControllerTransfer(I2C_1_INST, I2C_TARGET_ADDRESS,
+                                   DL_I2C_CONTROLLER_DIRECTION_TX, I2C_TX_PACKET_SIZE);
+
+    /* Workaround for errata I2C_ERR_13 */
+    delay_cycles(gDelayCycles);
+
+    /* Poll until the Controller writes all bytes */
+    while(
+        DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_BUSY)
+        ;
+
+    /* Trap if there was an error */
+    if(DL_I2C_getControllerStatus(I2C_1_INST) &
+            DL_I2C_CONTROLLER_STATUS_ERROR)
+    {
+        /* LED will remain high if there is an error */
+        __BKPT(0);
+    }
+
+    /* Wait for I2C to be Idle */
+    while(!(
+                DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE))
+        ;
+
+    /* Add delay between transfers */
+    delay_cycles(1000);
+
+    /* Send a read request to Target */
+    DL_I2C_startControllerTransfer(I2C_1_INST, I2C_TARGET_ADDRESS,
+                                   DL_I2C_CONTROLLER_DIRECTION_RX, I2C_RX_PACKET_SIZE);
+
+    /*
+     * Receive all bytes from target. LED will remain high if not all bytes
+     * are received
+     */
+    for(uint8_t i = 0; i < I2C_RX_PACKET_SIZE; i++)
+    {
+        while(DL_I2C_isControllerRXFIFOEmpty(I2C_1_INST))
+            ;
+        gRxPacket[i] = DL_I2C_receiveControllerData(I2C_1_INST);
+    }
+}
+
+
+
+void MT6701_get_angle_degree(void)
+{
+    MT6701_iic_read_angel();
+    angle = ((int16_t)gRxPacket[0] << 6) | (gRxPacket[1] >> 2);
+    angle_f = (float)angle * 360 / 16384;
+}

3rd/mt6701.h

@@ -0,0 +1,25 @@
+#ifndef MT6701_H
+#define MT6701_H
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+#define I2C_TX_PACKET_SIZE (1)
+
+/*
+ * Number of bytes to received from target.
+ *  This example uses FIFO with polling, and the maximum FIFO size is 8.
+ *  Refer to interrupt examples to handle larger packets
+ */
+#define I2C_RX_PACKET_SIZE (2)
+void MT6701_iic_read_angel(void);
+void MT6701_get_angle_degree(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MT6701_H */

3rd/uart_redircet.c

@@ -0,0 +1,53 @@
+#include "ti_msp_dl_config.h"
+#include <stdio.h>
+#include <string.h>
+
+
+/* ARM Compiler 6 半主机模式禁用声明 */
+#if (__ARMCC_VERSION >= 6010050)
+__asm(".global __use_no_semihosting\n\t");
+__asm(".global __ARM_use_no_argv \n\t");
+#else
+#pragma import(__use_no_semihosting)
+#endif
+
+FILE __stdout;
+
+/* 系统退出函数实现 */
+void _sys_exit(int x)
+{
+    x = x;
+    while (1)
+        ; /* 死循环防止程序异常退出 */
+}
+
+/* ARM Compiler 6 printf重定向实现 */
+int fputc(int c, FILE *stream)
+{
+    /* 等待UART发送缓冲区就绪 */
+    while (DL_UART_Main_isBusy(UART_0_INST))
+        ;
+
+    /* 发送字符 */
+    DL_UART_Main_transmitData(UART_0_INST, (uint8_t)c);
+    return c;
+}
+
+int fputs(const char *restrict s, FILE *restrict stream)
+{
+    uint16_t i, len;
+    len = strlen(s);
+    for (i = 0; i < len; i++)
+    {
+        fputc(s[i], stream);
+    }
+    return len;
+}
+
+int puts(const char *_ptr)
+{
+    int count = fputs(_ptr, stdout);
+    count += fputc('\n', stdout); /* 自动添加换行 */
+    return count;
+}
+

3rd/uart_redircet.h

@@ -0,0 +1,7 @@
+#ifndef Uart_h
+#define Uart_h
+#include <stdint.h>
+
+void UART_Console_write(const uint8_t *data, uint16_t size);
+
+#endif /* ti_msp_dl_config_h */