lucalizaranzu/Shmingo-HAL
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Added delay functions

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This commit is contained in:
Ea-r-th
2025-09-15 23:48:16 -07:00
parent b2d10f5e5e
commit d4136f0761
6 changed files with 109 additions and 51 deletions
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15
SHAL/Include/Core/SHAL_CORE.h
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@@ -11,9 +11,24 @@
#include <cstdint>
//Overall init function for SHAL --------------------------
void SHAL_init();
//---------------------------------------------------------
//Universal structs and defines ---------------------------
//Currently configures systick to count down in microseconds
void systick_init();
//Max of 16ms, use SHAL_delay_ms for longer delay
void SHAL_delay_us(uint32_t us);
void SHAL_delay_ms(uint32_t ms);
//---------------------------------------------------------

30
SHAL/Include/Peripheral/I2C/SHAL_I2C.h
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@@ -5,6 +5,8 @@
#ifndef SHMINGO_HAL_SHAL_I2C_H
#define SHMINGO_HAL_SHAL_I2C_H
#include <cstdio>
#include "SHAL_CORE.h"
#include "SHAL_I2C_REG.h"
@@ -17,16 +19,26 @@ public:
void init(I2C_Pair pair) volatile;
///
/// \param addr I2C address of slave device
/// \param reg Address of register in slave device to write to
/// \param data Data to write to slave register
void masterTransmit(uint8_t addr, uint8_t reg, uint8_t data);
/// General I2C function to send commands to a device, then read back any returned data if necessary
/// \param addr address of slave device
/// \param writeData pointer to array of write commands
/// \param writeLen number of write commands
/// \param readData pointer to buffer to write received data to
/// \param readLen number of bytes to be read
void masterWriteRead(uint8_t addr,const uint8_t* writeData, size_t writeLen, uint8_t* readData, size_t readLen);
/// Function to write an array of commands to an I2C device
/// \param addr Address of slave device
/// \param writeData Pointer to array of commands
/// \param writeLen Number of commands
void masterWrite(uint8_t addr, const uint8_t* writeData, uint8_t writeLen);
/// Function to read bytes from an I2C device
/// \param addr Address of slave device
/// \param readBuffer Pointer to buffer where data will be placed
/// \param bytesToRead Number of bytes to read
void masterRead(uint8_t addr, uint8_t* readBuffer, uint8_t bytesToRead);
///
/// \param addr I2C address of slave device
/// \param reg Register to read data from
uint8_t masterReceive(uint8_t addr, uint8_t reg);
//Manually set the clock configuration. Refer to your MCU's reference manual for examples
void setClockConfig(uint8_t prescaler, uint8_t dataSetupTime, uint8_t dataHoldTime, uint8_t SCLHighPeriod, uint8_t SCLLowPeriod);

1
SHAL/Include/SHAL.h
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@@ -11,5 +11,6 @@
#include "SHAL_TIM.h"
#include "SHAL_GPIO.h"
#include "SHAL_UART.h"
#include "SHAL_I2C.h"
#endif

31
SHAL/Src/Core/SHAL_CORE.cpp Normal file
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@@ -0,0 +1,31 @@
//
// Created by Luca on 9/15/2025.
//
#include "SHAL_CORE.h"
void SHAL_init(){
systick_init(); //Just this for now
}
void systick_init(){
SysTick->CTRL = 0; //disable first
SysTick->LOAD = 0xFFFFFF; //max 24-bit
SysTick->VAL = 0; //clear
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk;
}
void SHAL_delay_us(uint32_t us){
uint32_t start = SysTick->VAL;
uint32_t ticks = us * (SystemCoreClock / 1000000U);
//handle wraparound with 24-bit mask
while (((start - SysTick->VAL) & 0x00FFFFFF) < ticks) { }
}
void SHAL_delay_ms(uint32_t ms){
while(ms-- > 0){
SHAL_delay_us(1000);
}
}

73
SHAL/Src/Peripheral/I2C/SHAL_I2C.cpp
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@@ -54,59 +54,48 @@ void SHAL_I2C::setClockConfig(uint32_t configuration) {
*getI2CTimerReg(m_I2CPair).reg = configuration;
}
void SHAL_I2C::masterTransmit(uint8_t addr, uint8_t reg, uint8_t data) {
void SHAL_I2C::masterWriteRead(uint8_t addr,const uint8_t* writeData, size_t writeLen, uint8_t* readData, size_t readLen) {
volatile I2C_TypeDef* I2CPeripheral = getI2CPair(m_I2CPair).I2CReg;
//Wait until not busy
//Wait for I2C bus
while (I2CPeripheral->ISR & I2C_ISR_BUSY);
//Send start + slave address
I2CPeripheral->CR2 = (addr << 1) | (2 << I2C_CR2_NBYTES_Pos) | I2C_CR2_START | I2C_CR2_AUTOEND; //Pack bits in compliance with I2C format
//Write phase
if (writeLen > 0) {
//Configure: NBYTES = wlen, write mode, START
I2CPeripheral->CR2 = (addr << 1) |
(writeLen << I2C_CR2_NBYTES_Pos) |
I2C_CR2_START;
//Wait until TX ready
while (!(I2CPeripheral->ISR & I2C_ISR_TXIS));
for (size_t i = 0; i < writeLen; i++) {
while (!(I2CPeripheral->ISR & I2C_ISR_TXIS)); // TX ready
I2CPeripheral->TXDR = writeData[i];
}
//Send register address
I2CPeripheral->TXDR = reg;
//Wait until transfer complete
while (!(I2CPeripheral->ISR & I2C_ISR_TC));
}
//Wait until TX ready
while (!(I2CPeripheral->ISR & I2C_ISR_TXIS));
//Read phase
if (readLen > 0) {
I2CPeripheral->CR2 = (addr << 1) |
I2C_CR2_RD_WRN |
(readLen << I2C_CR2_NBYTES_Pos) |
I2C_CR2_START | I2C_CR2_AUTOEND;
//Send data to write to register
I2CPeripheral->TXDR = data;
for (size_t i = 0; i < readLen; i++) {
while (!(I2CPeripheral->ISR & I2C_ISR_RXNE)); //RX ready
readData[i] = static_cast<uint8_t>(I2CPeripheral->RXDR);
}
}
}
void SHAL_I2C::masterWrite(uint8_t addr, const uint8_t *writeData, uint8_t writeLen) {
masterWriteRead(addr,writeData,writeLen,nullptr,0);
}
uint8_t SHAL_I2C::masterReceive(uint8_t addr, uint8_t reg) {
volatile I2C_TypeDef* I2CPeripheral = getI2CPair(m_I2CPair).I2CReg;
//Send register address with write
//Wait for bus
while (I2CPeripheral->ISR & I2C_ISR_BUSY);
//Send start with I2C config
I2CPeripheral->CR2 = (addr << 1) | (1 << I2C_CR2_NBYTES_Pos) | I2C_CR2_START;
//Wait for transmit
while (!(I2CPeripheral->ISR & I2C_ISR_TXIS));
//Set address to read from
I2CPeripheral->TXDR = reg;
//Wait for transfer to complete
while (!(I2CPeripheral->ISR & I2C_ISR_TC));
//Restart in read mode, auto end
I2CPeripheral->CR2 = (addr << 1) | I2C_CR2_RD_WRN |
(1 << I2C_CR2_NBYTES_Pos) |
I2C_CR2_START | I2C_CR2_AUTOEND;
//Wait
while (!(I2C1->ISR & I2C_ISR_RXNE));
return (uint8_t)I2C1->RXDR;
void SHAL_I2C::masterRead(uint8_t addr, uint8_t *readBuffer, uint8_t bytesToRead) {
masterWriteRead(addr,nullptr,0,readBuffer,bytesToRead);
}
SHAL_I2C& I2CManager::get(uint8_t I2CBus) {

10
SHAL/Src/main.cpp
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@@ -13,10 +13,14 @@ void tim2Handler(){
int main() {
SHAL_init();
//Setup UART2 (used by nucleo devices for USB comms)
SHAL_UART2.init(UART_Pair::Tx2A2_Rx2A3);
SHAL_UART2.begin(115200);
SHAL_I2C1.init(I2C_Pair::SCL1B6_SDA1B7);
//Use pin C3 to trigger a function on external interrupt
PIN(C3).useAsExternalInterrupt(TriggerMode::RISING_EDGE,c3Interrupt);
@@ -27,6 +31,12 @@ int main() {
PIN(A4).setPinMode(PinMode::OUTPUT_MODE);
PIN(A5).setPinMode(PinMode::OUTPUT_MODE);
c3Interrupt();
SHAL_delay_ms(3000);
c3Interrupt(); //test
while (true) {
__WFI();
}