Revision db6bd9f8 modules/NUCLEO-L476RG/module.h
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*/ |
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#define MODULE_HAL_RTC RTCD1 |
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#if (BOARD_MPU6050_CONNECTED == true) || defined(__DOXYGEN__) |
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/** |
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* @brief I2C driver to access multiplexer, proximity sensors 5 to 8, power monitors for VSYS4.2, VIO 5.0 and VDD, EEPROM, touch sensor, and fuel gauge (front battery).
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* @brief Default I2C interface for the NUCLEO I/O.
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*/ |
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#define MODULE_HAL_I2C3 I2CD3
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#define MODULE_HAL_I2C I2CD1
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/** |
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* @brief Configuration for the I2C driver #3.
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* @brief Configuration for the I2C driver #1.
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*/ |
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extern I2CConfig moduleHalI2c3Config; |
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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extern I2CConfig moduleHalI2cConfig; |
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/** @} */ |
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#define MODULE_INIT_PERIPHERY_IF() { \
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/* serial driver */ \ |
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sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig); \ |
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/* MPU6050 demo */ \ |
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MODULE_INIT_PERIPHERY_IF_MPU6050(); \ |
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/* I2C */ \ |
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uint32_t i2c_freq = 1000000; /* maximum I2C frequency supported for this MCU */ \ |
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MODULE_INIT_PERIPHERY_IF_MPU6050(i2c_freq); \ |
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if (i2c_freq == 100000) /* standard-mode @ 100 kHz */ { \
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moduleHalI2cConfig.timingr = 0x10909CEC; /* obtained via STM32CubeMX with STM32_I2CxCLK = 80 MHz */ \ |
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} else if (i2c_freq == 400000) /* fast-mode @ 400 kHz */ { \
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moduleHalI2cConfig.timingr = 0x00702991; /* obtained via STM32CubeMX with STM32_I2CxCLK = 80 MHz */ \ |
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} else if (i2c_freq == 1000000) /* fast-mode-plus @ 10000 kHz */ { \
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moduleHalI2cConfig.timingr = 0x00300F33; /* obtained via STM32CubeMX with STM32_I2CxCLK = 80 MHz */ \ |
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} else { \
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aosDbgAssertMsg(false, "I2C frequency not supported"); \ |
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} \ |
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i2cStart(&MODULE_HAL_I2C, &moduleHalI2cConfig); \ |
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} |
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#if (BOARD_MPU6050_CONNECTED == true) |
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#define MODULE_INIT_PERIPHERY_IF_MPU6050() { \
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/* maximum I2C frequency is 1MHz for this MCU */ \ |
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uint32_t i2c3_freq = 1000000; \ |
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/* find minimum amon all devices connected to this bus */ \ |
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i2c3_freq = (MPU6050_LLD_I2C_MAXFREQUENCY < i2c3_freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : i2c3_freq; \ |
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/* calculate PRESC (prescaler): \ |
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* target is 1/(I2CXCLK * (PRESC + 1)) = 125ns \ |
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*/ \ |
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moduleHalI2c3Config.timingr = ((uint8_t)((0.000000125f * STM32_I2C3CLK) - 1)) << I2C_TIMINGR_PRESC_Pos; \ |
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/* SCL shall be low half of the time. */ \ |
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moduleHalI2c3Config.timingr |= ((uint8_t)((1.f / i2c3_freq / 2 / 0.000000125f) - 1)) << I2C_TIMINGR_SCLL_Pos; \ |
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/* SCL shall be high half the time of low or slightly longer. */ \ |
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moduleHalI2c3Config.timingr |= (uint8_t)(ceilf(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) / 2.f)) << I2C_TIMINGR_SCLH_Pos; \ |
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/* SDA shall be delayed 1/10 of SCL low, or shorter */ \ |
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moduleHalI2c3Config.timingr |= (uint8_t)(((moduleHalI2c3Config.timingr & I2C_TIMINGR_SCLL_Msk) >> I2C_TIMINGR_SCLL_Pos) * 0.1f) << I2C_TIMINGR_SDADEL_Pos; \ |
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/* SCL shall be delyed twice as long as SDA, but longer than 0. */ \ |
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moduleHalI2c3Config.timingr |= ((((moduleHalI2c3Config.timingr & I2C_TIMINGR_SDADEL_Msk) >> I2C_TIMINGR_SDADEL_Pos) * 2) + 1) << I2C_TIMINGR_SCLDEL_Pos; \ |
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/* now we can start the I2C driver */ \ |
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chSysLock(); \ |
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palSetLineMode(LINE_ARD_A4, PAL_MODE_ALTERNATE(4)); \ |
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palSetLineMode(LINE_ARD_A5, PAL_MODE_ALTERNATE(4)); \ |
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chSysUnlock(); \ |
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i2cStart(&MODULE_HAL_I2C3, &moduleHalI2c3Config); \ |
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} |
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#else /* (BOARD_MPU6050_CONNECTED == true) */ |
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#define MODULE_INIT_PERIPHERY_IF_MPU6050() {}
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#endif /* (BOARD_MPU6050_CONNECTED == true) */ |
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#define MODULE_INIT_PERIPHERY_IF_MPU6050(freq) {freq = (MPU6050_LLD_I2C_MAXFREQUENCY < freq) ? MPU6050_LLD_I2C_MAXFREQUENCY : freq;}
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#else |
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#define MODULE_INIT_PERIPHERY_IF_MPU6050(freq) {}
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#endif |
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/** |
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* @brief Periphery communication interface deinitialization hook. |
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*/ |
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#define MODULE_SHUTDOWN_PERIPHERY_IF() { \
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/* I2C */ \ |
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i2cStop(&MODULE_HAL_I2C); \ |
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/* don't stop the serial driver so messages can still be printed */ \ |
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} |
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