Basic I2C functionality

Core/Src/main.cpp

@@ -1,12 +1,22 @@
 #include "main.h"
 
-#include <cstdlib>
+#include <cstdint>
+#include <memory>
+#include <string>
 
 #include "gpio.h"
+#include "i2c.hpp"
+#include "stm32_hal_legacy.h"
 #include "stm32f4xx_hal.h"
+#include "stm32f4xx_hal_def.h"
+#include "stm32f4xx_hal_i2c.h"
 #include "usart.hpp"
 
+// needs to be global to be accessible in error handler
+std::unique_ptr<driver::usart::Usart> usart2{nullptr};
+
 void SystemClock_Config(void);
+void checkHalStatus(HAL_StatusTypeDef);
 
 int main(void) {
 
@@ -19,20 +29,85 @@ int main(void) {
     /* Initialize all configured peripherals */
     MX_GPIO_Init();
 
-    driver::usart::Usart usart2(USART2, 115200, UART_WORDLENGTH_8B, UART_STOPBITS_1,
-                                UART_PARITY_NONE, UART_MODE_TX_RX, UART_HWCONTROL_NONE,
-                                UART_OVERSAMPLING_16);
+    usart2 = std::make_unique<driver::usart::Usart>(
+        driver::usart::Usart(USART2, 115200, UART_WORDLENGTH_8B, UART_STOPBITS_1, UART_PARITY_NONE,
+                             UART_MODE_TX_RX, UART_HWCONTROL_NONE, UART_OVERSAMPLING_16));
 
-    usart2.init();
-    usart2.println("");
-    usart2.println("\r\nWeight cell init.");
+    usart2->init();
+    usart2->println("");
+    usart2->println("\r\nWeight cell init.");
 
-    int i{0};
+    auto i2c1 = std::make_unique<driver::i2c::I2c>(
+        I2C1, 100000, I2C_DUTYCYCLE_2, 0x00, I2C_ADDRESSINGMODE_7BIT, I2C_DUALADDRESS_DISABLED,
+        0x00, I2C_GENERALCALL_DISABLED, I2C_NOSTRETCH_DISABLED);
+
+    if (!i2c1->init()) {
+        usart2->println("Error intializing I2C1!");
+        usart2->println("Last Error: " + std::to_string(i2c1->getLastError()));
+        Error_Handler();
+    } else {
+        usart2->println("I2C1 intialized successful");
+    }
+    // init NAU7802
+    {
+        std::vector<uint8_t> data = {0x01};
+        //  reset NAU7802
+        checkHalStatus(i2c1->write(0x2A, 0x00, data));
+        usart2->println("Reset nau");
+        HAL_Delay(100);
+
+        // power up digital logic
+        data[0] = 0x02;
+        i2c1->write(0x2A, 0x00, data);
+        HAL_Delay(100);
+        usart2->println("PUP digi");
+
+        // power up analog logic
+        data[0] = 0x06;
+        i2c1->write(0x2A, 0x00, data);
+        HAL_Delay(100);
+
+        usart2->println("PUP analog");
+
+        // use internal LDO as reference
+        data[0] = 0x86;
+        checkHalStatus(i2c1->write(0x2A, 0x00, data));
+        HAL_Delay(100);
+
+        // print status back to usart
+        auto ret = i2c1->read(0x2A, 0x00);
+        checkHalStatus(ret.first);
+        usart2->println("NAU7802 reports state " + std::to_string(ret.second) + " at 0x00");
+
+        // REG_CHPS CLK_CHP off
+        data[0] = 0x30;
+        checkHalStatus(i2c1->write(0x2A, 0x15, data));
+        HAL_Delay(100);
+    }
+
+    uint32_t measurement = 0;
+    auto val             = i2c1->read(0x2A, 0x12);
+    measurement |= (val.second << 16);
+
+    val = i2c1->read(0x2A, 0x13);
+    measurement |= (val.second << 8);
+
+    val = i2c1->read(0x2A, 0x14);
+    measurement |= val.second << 16;
 
     while (1) {
-        std::string buf{"Iteration #"};
+        measurement = 0;
+        val         = i2c1->read(0x2A, 0x12);
+        measurement |= (val.second << 16);
+
+        val = i2c1->read(0x2A, 0x13);
+        measurement |= (val.second << 8);
+
+        val = i2c1->read(0x2A, 0x14);
+        measurement |= val.second << 16;
+
+        usart2->println("Measurement " + std::to_string(measurement) + " counts");
 
-        usart2.println(buf + std::to_string(i++));
         HAL_Delay(1000);
     }
 }
@@ -75,6 +150,17 @@ void SystemClock_Config(void) {
     }
 }
 
+void checkHalStatus(HAL_StatusTypeDef status) {
+    if (status == HAL_OK) {
+        return;
+    }
+    if (usart2 == nullptr) {
+        Error_Handler();
+        return;  // never reached
+    }
+    usart2->println("HAL Status not okay! Calling Error Handler");
+}
+
 /**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
@@ -82,6 +168,10 @@ void SystemClock_Config(void) {
 void Error_Handler(void) {
     /* USER CODE BEGIN Error_Handler_Debug */
     /* User can add his own implementation to report the HAL error return state */
+    if (usart2 != nullptr) {
+        usart2->println("=== ERROR HANDLER ===");
+        usart2->println("entering infinite loop...");
+    }
     __disable_irq();
     while (1) {}
     /* USER CODE END Error_Handler_Debug */