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test soft i2c write and read passed

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4x-tech
2025-11-18 14:37:42 +08:00
parent 73733da6dd
commit 1d75c96f74
6 changed files with 233 additions and 184 deletions
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239
3rd/mt6701.c
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@@ -28,129 +28,134 @@ volatile uint32_t gClockSelFreq;
volatile uint32_t gDelayCycles;
/* I2C Target address */
#define I2C_TARGET_ADDRESS (0x06)
// void MT6701_iic_read_angel(void) {
// I2C_Start();
// I2C_SendByte(I2C_TARGET_ADDRESS);
// I2C_RecviveAck();
// I2C_SendByte(0X03);
// I2C_RecviveAck();
// I2C_Start();
// I2C_SendByte(I2C_TARGET_ADDRESS | 0x01);
// I2C_RecviveAck();
// gRxPacket[0] = I2C_RecviveData();
// I2C_RecviveAck();
// I2C_Start();
// I2C_SendByte(I2C_TARGET_ADDRESS | 0x01);
// I2C_RecviveAck();
// gRxPacket[1] = I2C_RecviveData();
// I2C_SendAck(1);
// I2C_Stop();
// }
#define I2C_TARGET_ADDRESS (0x06 << 1)
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 =
(5 * (gI2CclockConfig.divideRatio + 1)) * (CPUCLK_FREQ / gClockSelFreq);
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c before writing -------\n");
}
/*
* 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);
I2C_Start();
I2C_SendByte(I2C_TARGET_ADDRESS);
I2C_RecviveAck();
I2C_SendByte(0X03);
I2C_RecviveAck();
/* Wait for I2C to be Idle */
while (
!(DL_I2C_getControllerStatus(I2C_1_INST) & DL_I2C_CONTROLLER_STATUS_IDLE))
;
I2C_Start();
I2C_SendByte(I2C_TARGET_ADDRESS | 0x01);
I2C_RecviveAck();
gRxPacket[0] = I2C_RecviveData();
I2C_SendAck(1);
/* 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);
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c writing done -------\n");
}
/* 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) {
gIsI2cError = true;
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c error ------------------------------------------\n");
}
/* LED will remain high if there is an error */
__BKPT(0);
return;
}
/* 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);
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c before reading -------\n");
}
/* 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);
}
if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
printf("i2c reading done -------\n");
}
I2C_Start();
I2C_SendByte(I2C_TARGET_ADDRESS | 0x01);
I2C_RecviveAck();
gRxPacket[1] = I2C_RecviveData();
I2C_SendAck(1);
I2C_Stop();
}
// 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 =
// (5 * (gI2CclockConfig.divideRatio + 1)) * (CPUCLK_FREQ /
// gClockSelFreq);
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c before writing -------\n");
// }
// /*
// * 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);
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c writing done -------\n");
// }
// /* 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) {
// gIsI2cError = true;
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c error ------------------------------------------\n");
// }
// /* LED will remain high if there is an error */
// __BKPT(0);
// return;
// }
// /* 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);
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c before reading -------\n");
// }
// /* 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);
// }
// if (DEBUG_ENABLED & DEBUG_MT_ENABLED & DEBUG_I2C) {
// printf("i2c reading done -------\n");
// }
// }
volatile float Last_ts = 0.0;
volatile float last_angle = 0.0;