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