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AP_HAL_AVR: I2CDriver initialize in HAL init

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* Makes more sense to have everything set to go by the time we're in setup.
This commit is contained in:
Pat Hickey 2012-10-11 10:48:45 -07:00 committed by Andrew Tridgell
parent ce8dc5fd5c
commit 11cfde1e46
4 changed files with 15 additions and 14 deletions
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3
libraries/AP_HAL_AVR/HAL_AVR.cpp
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@ -8,7 +8,6 @@ void HAL_AVR::init(void* opts) const {
/* uart0 is the serial port used for the console, so lets make sure /* uart0 is the serial port used for the console, so lets make sure
* it is initialized at boot */ * it is initialized at boot */
// XXX maybe this should be 57600?
uart0->begin(115200); uart0->begin(115200);
console->init((void*)uart0); console->init((void*)uart0);
/* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry* /* The AVR RCInput drivers take an AP_HAL_AVR::ISRRegistry*
@ -16,6 +15,8 @@ void HAL_AVR::init(void* opts) const {
rcin->init((void*)&isr_registry); rcin->init((void*)&isr_registry);
rcout->init(NULL); rcout->init(NULL);
spi->init(NULL); spi->init(NULL);
i2c->begin();
i2c->setTimeout(100);
analogin->init(NULL); analogin->init(NULL);
}; };

11
libraries/AP_HAL_AVR/I2CDriver.cpp
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@ -106,6 +106,13 @@ uint8_t AVRI2CDriver::writeRegisters(uint8_t addr, uint8_t reg,
return stat; return stat;
} }
uint8_t AVRI2CDriver::writeRegister(uint8_t addr, uint8_t reg, uint8_t val) {
/* Sometimes avr-gcc fails at dereferencing a uint8_t arg. */
uint8_t data[1];
data[0] = val;
return writeRegisters(addr, reg, 1, data);
}
uint8_t AVRI2CDriver::readRegisters(uint8_t addr, uint8_t reg, uint8_t AVRI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data){ uint8_t len, uint8_t* data){
uint8_t stat; uint8_t stat;
@ -137,6 +144,10 @@ uint8_t AVRI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
return stat; return stat;
} }
uint8_t AVRI2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data) {
return readRegisters(addr, reg, 1, data);
}
uint8_t AVRI2CDriver::_start() { uint8_t AVRI2CDriver::_start() {
TWCR = _BV(TWINT) | _BV(TWSTA) | _BV(TWEN); TWCR = _BV(TWINT) | _BV(TWSTA) | _BV(TWEN);
uint8_t stat = _waitInterrupt(); uint8_t stat = _waitInterrupt();

12
libraries/AP_HAL_AVR/I2CDriver.h
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@ -16,18 +16,10 @@ public:
void setTimeout(uint16_t ms) { _timeoutDelay = ms; } void setTimeout(uint16_t ms) { _timeoutDelay = ms; }
void setHighSpeed(bool active); void setHighSpeed(bool active);
uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val) { uint8_t writeRegister(uint8_t addr, uint8_t reg, uint8_t val);
/* Sometimes avr-gcc fails at dereferencing a uint8_t arg. */
uint8_t data[1];
data[0] = val;
return writeRegisters(addr, reg, 1, data);
}
uint8_t writeRegisters(uint8_t addr, uint8_t reg, uint8_t writeRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data); uint8_t len, uint8_t* data);
uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data) { uint8_t readRegister(uint8_t addr, uint8_t reg, uint8_t* data);
return readRegisters(addr, reg, 1, data);
}
uint8_t readRegisters(uint8_t addr, uint8_t reg, uint8_t readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data); uint8_t len, uint8_t* data);
uint8_t lockup_count() { return _lockup_count; } uint8_t lockup_count() { return _lockup_count; }

3
libraries/AP_HAL_AVR/examples/I2CDriver_HMC5883L/I2CDriver_HMC5883L.pde
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@ -17,9 +17,6 @@ void setup() {
hal.uart0->printf_P(PSTR("Initializing HMC5883L at address %x\r\n"), hal.uart0->printf_P(PSTR("Initializing HMC5883L at address %x\r\n"),
HMC5883L); HMC5883L);
// configure device for continuous mode
hal.i2c->begin();
hal.i2c->setTimeout(100);
uint8_t stat = hal.i2c->writeRegister(HMC5883L,0x02,0x00); uint8_t stat = hal.i2c->writeRegister(HMC5883L,0x02,0x00);
if (stat == 0) { if (stat == 0) {