93 lines
2.9 KiB
C
93 lines
2.9 KiB
C
#include <stdio.h>
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#include "driver/i2c.h"
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#define I2C_MASTER_SCL_IO 4 /*!< gpio number for I2C master clock */
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#define I2C_MASTER_SDA_IO 26 /*!< gpio number for I2C master data */
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#define I2C_MASTER_NUM I2C_NUM_0 /*!< I2C port number for master dev */
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#define I2C_MASTER_TX_BUF_DISABLE 0 /*!< I2C master do not need buffer */
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#define I2C_MASTER_RX_BUF_DISABLE 0 /*!< I2C master do not need buffer */
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#define I2C_MASTER_FREQ_HZ 100000 /*!< I2C master clock frequency */
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#define WRITEW_BIT 1
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#define MPU_ADDR (0x68<<1)
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/*
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esp_err_t i2c_master_read_slave(i2c_port_t i2c_num, uint8_t* data_rd, size_t size)
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{
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if (size == 0) {
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return ESP_OK;
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}
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i2c_cmd_handle_t cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, ( ESP_SLAVE_ADDR << 1 ) | READ_BIT, ACK_CHECK_EN);
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if (size > 1) {
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i2c_master_read(cmd, data_rd, size - 1, ACK_VAL);
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}
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i2c_master_read_byte(cmd, data_rd + size - 1, NACK_VAL);
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i2c_master_stop(cmd);
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esp_err_t ret = i2c_master_cmd_begin(i2c_num, cmd, 1000 / portTICK_RATE_MS);
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i2c_cmd_link_delete(cmd);
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return ret;
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}
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*/
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static esp_err_t setreg(int i2c_num, int reg, int val) {
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i2c_cmd_handle_t cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, ( MPU_ADDR | I2C_MASTER_WRITE), true);
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i2c_master_write_byte(cmd, reg, true);
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i2c_master_write_byte(cmd, val, true);
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i2c_master_stop(cmd);
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esp_err_t ret = i2c_master_cmd_begin(i2c_num, cmd, 100 / portTICK_RATE_MS);
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i2c_cmd_link_delete(cmd);
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return ret;
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}
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static int getreg(int i2c_num, int reg) {
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unsigned char byte;
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i2c_cmd_handle_t cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, ( MPU_ADDR | I2C_MASTER_WRITE), true);
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i2c_master_write_byte(cmd, reg, true);
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, ( MPU_ADDR | I2C_MASTER_READ), true);
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i2c_master_read_byte(cmd, &byte, false);
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i2c_master_stop(cmd);
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esp_err_t ret=i2c_master_cmd_begin(i2c_num, cmd, 100 / portTICK_RATE_MS);
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i2c_cmd_link_delete(cmd);
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if (ret!=ESP_OK) return -1;
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return byte;
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}
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esp_err_t mpu6050_start(int i2c_num, int samp_div) {
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int i=getreg(i2c_num, 0x75);
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printf("Mpu: %x\n", i);
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return ESP_OK;
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}
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void mpu6050_poll(int *x, int *y, int *z) {
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}
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//Actually initializes the i2c port, but atm there's nothing else connected to it... should put this
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//into some io init routine or something tho'.
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void mpu6050_init() {
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int i2c_master_port = I2C_MASTER_NUM;
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i2c_config_t conf;
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conf.mode = I2C_MODE_MASTER;
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conf.sda_io_num = I2C_MASTER_SDA_IO;
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conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
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conf.scl_io_num = I2C_MASTER_SCL_IO;
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conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
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conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
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i2c_param_config(i2c_master_port, &conf);
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i2c_driver_install(i2c_master_port, conf.mode, 1024, 1024, 0);
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mpu6050_start(I2C_MASTER_NUM, 10);
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}
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