mt6701 uart_redirect

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;
+}