HAL update

inc/DMP_ICM20948.h

@@ -3,7 +3,7 @@
 
 //#include <stdint.h>
 #include "main.h"
-#include "stm32l0xx_hal.h"
+//#include "stm32l4xx_hal.h"
 #include "HAL_STM32_config.h"
 
 /*************************************************************************
@@ -12,10 +12,6 @@
 #ifdef __cplusplus
 
 typedef struct {
-  int i2c_speed;
-  uint8_t is_SPI;
-  int cs_pin;
-  int spi_speed;
   int mode;
   uint8_t enable_gyroscope;
   uint8_t enable_accelerometer;

inc/HAL_STM32_config.h

@@ -8,12 +8,35 @@
 #ifndef INC_HAL_STM32_CONFIG_H_
 #define INC_HAL_STM32_CONFIG_H_
 
+#define USE_SPI 1
 
+#if (!USE_SPI && defined(HAL_I2C_MODULE_ENABLED))
+	#define IS_SPI false
+#endif
+#if (USE_SPI && defined(HAL_SPI_MODULE_ENABLED))
+	#define IS_SPI true
+#endif // BUS_SELECT
 
-extern SPI_HandleTypeDef hspi1;
 
-#define CHIP_SELECT_PIN SPI1_CS_Pin
-#define CHIP_SELECT_PORT SPI1_CS_GPIO_Port
-#define SPI_INSTANCE hspi1
+#ifdef HAL_SPI_MODULE_ENABLED
+
+	extern SPI_HandleTypeDef hspi1;
+
+	#define CHIP_SELECT_PIN SPI1_CS_Pin
+	#define CHIP_SELECT_PORT SPI1_CS_GPIO_Port
+
+	#define SPI_INSTANCE hspi1
+
+#endif // HAL_SPI_MODULE_ENABLED
+
+#ifdef HAL_I2C_MODULE_ENABLED
+
+	extern I2C_HandleTypeDef hi2c1;
+
+	#define I2C_INSTANCE hi2c1
+	#define I2C_ADDRESS  0x69
+
+#endif // HAL_I2C_MODULE_ENABLED
+
 
 #endif /* INC_HAL_STM32_CONFIG_H_ */

src/DMP_ICM20948.cpp

@@ -7,7 +7,7 @@
 //#include <SPI.h>
 //#include <Arduino.h>
 #include <math.h>
-#include "stm32l0xx_hal.h"
+//#include "stm32l4xx_hal.h"
 
 // InvenSense drivers and utils
 #include "Icm20948.h"
@@ -18,9 +18,6 @@
   Variables
 *************************************************************************/
 
-int chipSelectPin;
-int com_speed;
-
 uint8_t I2C_Address = 0x69;
 
 float gyro[3];
@@ -93,6 +90,9 @@ int spi_master_read_register(uint8_t reg, uint8_t* rbuffer, uint32_t rlen)
     SPI.endTransaction();
     digitalWrite(chipSelectPin, HIGH);
 	 */
+
+#ifdef HAL_SPI_MODULE_ENABLED
+
 	CS_Select();
 
     // 3. Adresovanie registra
@@ -112,53 +112,100 @@ int spi_master_read_register(uint8_t reg, uint8_t* rbuffer, uint32_t rlen)
     // 5. Chip select HIGH
     CS_Deselect();
 
+#endif // HAL_SPI_MODULE_ENABLED
+
     return 0;
 }
 
 int spi_master_write_register(uint8_t reg, const uint8_t* wbuffer, uint32_t wlen)
 {
-	 HAL_StatusTypeDef status;
-	    uint8_t dummy = 0x00;
-	    uint8_t addr  = (reg & 0x7F) | 0x00;
 
-	    // 1. Dummy transfer (pôvodne SPI.transfer(0x00) mimo transakcie)
-	    status = HAL_SPI_Transmit(&SPI_INSTANCE, &dummy, 1, HAL_MAX_DELAY);
-	    if (status != HAL_OK) return -1;
+#ifdef HAL_SPI_MODULE_ENABLED
 
-	    // 2. Chip Select LOW
-	    CS_Select();
+	HAL_StatusTypeDef status;
+	uint8_t dummy = 0x00;
+	uint8_t addr  = (reg & 0x7F) | 0x00;
+
+	// 1. Dummy transfer (pôvodne SPI.transfer(0x00) mimo transakcie)
+	status = HAL_SPI_Transmit(&SPI_INSTANCE, &dummy, 1, HAL_MAX_DELAY);
+	if (status != HAL_OK) return -1;
 
-	    // 3. Odoslanie adresy registra
-	    status = HAL_SPI_Transmit(&SPI_INSTANCE, &addr, 1, HAL_MAX_DELAY);
-	    if (status != HAL_OK) {
-	        CS_Deselect();
-	        return -2;
-	    }
+	// 2. Chip Select LOW
+	CS_Select();
 
-	    // 4. Odoslanie všetkých dát
-	    if (wlen > 0) {
-	        status = HAL_SPI_Transmit(&SPI_INSTANCE, (uint8_t*)wbuffer, wlen, HAL_MAX_DELAY);
-	        if (status != HAL_OK) {
-	            CS_Deselect();
-	            return -3;
-	        }
-	    }
+	// 3. Odoslanie adresy registra
+	status = HAL_SPI_Transmit(&SPI_INSTANCE, &addr, 1, HAL_MAX_DELAY);
+	if (status != HAL_OK) {
+		CS_Deselect();
+		return -2;
+	}
 
-	    // 5. Chip Select HIGH
-	    CS_Deselect();
+	// 4. Odoslanie všetkých dát
+	if (wlen > 0) {
+		status = HAL_SPI_Transmit(&SPI_INSTANCE, (uint8_t*)wbuffer, wlen, HAL_MAX_DELAY);
+		if (status != HAL_OK) {
+			CS_Deselect();
+			return -3;
+		}
+	}
 
-	    return 0;
+	// 5. Chip Select HIGH
+	CS_Deselect();
+
+#endif // HAL_SPI_MODULE_ENABLED
+
+	return 0;
 }
 
 int i2c_master_write_register(uint8_t address, uint8_t reg, uint32_t len, const uint8_t *data)
 {
 
-  return -1;
+#ifdef HAL_I2C_MODULE_ENABLED
+
+	HAL_StatusTypeDef status = HAL_I2C_Mem_Write(
+        &I2C_INSTANCE,
+        (address << 1),       // STM32 expects 8-bit address
+        reg,                  // Register address
+        I2C_MEMADD_SIZE_8BIT, // Register size
+        (uint8_t *)data,
+        len,
+        HAL_MAX_DELAY
+    );
+
+    if (status != HAL_OK)
+    {
+
+        return -1;
+    }
+
+#endif // HAL_I2C_MODULE_ENABLED
+
+    return 0;
 }
 
 int i2c_master_read_register(uint8_t address, uint8_t reg, uint32_t len, uint8_t *buff)
 {
-  return -1;
+
+#ifdef HAL_I2C_MODULE_ENABLED
+
+    HAL_StatusTypeDef status = HAL_I2C_Mem_Read(
+        &I2C_INSTANCE,
+        (address << 1),       // STM32 expects 8-bit address
+        reg,                  // Register address
+        I2C_MEMADD_SIZE_8BIT, // Register size
+        buff,
+        len,
+        HAL_MAX_DELAY
+    );
+
+    if (status != HAL_OK)
+    {
+        return -1;
+    }
+
+#endif // HAL_I2C_MODULE_ENABLED
+
+    return 0;
 }
 
 
@@ -215,8 +262,9 @@ int load_dmp3(void)
 
 void inv_icm20948_sleep_us(int us)
 {
-  //delayMicroseconds(us);
-	// TODO Implement!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+  // delayMicroseconds(us);
+  while(us--)
+	  __ASM volatile ("NOP");
 }
 
 void inv_icm20948_sleep(int ms)
@@ -242,24 +290,21 @@ void initiliaze_SPI(void)
 
 void initiliaze_I2C(void)
 {
-//    Wire.begin();
-//    Wire.setClock(com_speed);
+	I2C_Address = I2C_ADDRESS;
 }
 
 bool is_interface_SPI = false;
 void set_comm_interface(DMP_ICM20948Settings settings)
 {
-    chipSelectPin = settings.cs_pin;
-    is_interface_SPI = settings.is_SPI;
+    is_interface_SPI = IS_SPI;
+
     if (is_interface_SPI)
     {
-        com_speed = settings.spi_speed;
         initiliaze_SPI();
     }
     else
     {
-        com_speed = settings.i2c_speed;
-        //initiliaze_I2C();
+        initiliaze_I2C();
     }
 
 }