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diff --git a/examples/imx7d_sdb_m4/driver_examples/i2c_imx/i2c_polling_sensor_imx7d/main.c b/examples/imx7d_sdb_m4/driver_examples/i2c_imx/i2c_polling_sensor_imx7d/main.c
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+/*
+ * Copyright (c) 2015, Freescale Semiconductor, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * o Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * o Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
+ * contributors may be used to endorse or promote products derived from this
+ * software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "board.h"
+#include "debug_console_imx.h"
+#include "i2c_imx.h"
+
+static uint8_t txBuffer[5];
+static uint8_t rxBuffer[7];
+static uint8_t cmdBuffer[5];
+
+static void report_abs(void);
+static bool I2C_MasterSendDataPolling(I2C_Type *base,
+ const uint8_t *cmdBuff,
+ uint32_t cmdSize,
+ const uint8_t *txBuff,
+ uint32_t txSize);
+static bool I2C_MasterReceiveDataPolling(I2C_Type *base,
+ const uint8_t *cmdBuff,
+ uint32_t cmdSize,
+ uint8_t *rxBuff,
+ uint32_t rxSize);
+
+int main(void)
+{
+ uint8_t i;
+
+ /* Setup I2C init structure. */
+ i2c_init_config_t i2cInitConfig = {
+ .baudRate = 400000u,
+ .slaveAddress = 0x00
+ };
+
+ /* Initialize board specified hardware. */
+ hardware_init();
+
+ /* Get current module clock frequency. */
+ i2cInitConfig.clockRate = get_i2c_clock_freq(BOARD_I2C_BASEADDR);
+
+ PRINTF("\n\r++++++++++++++++ I2C Send/Receive polling Example ++++++++++++++++\n\r");
+ PRINTF("This example will configure on board accelerometer through I2C Bus\n\r");
+ PRINTF("and read 10 samples back to see if the accelerometer is configured successfully. \n\r");
+
+ PRINTF("[1].Initialize the I2C module with initialize structure. \n\r");
+ I2C_Init(BOARD_I2C_BASEADDR, &i2cInitConfig);
+
+ /* Finally, enable the I2C module */
+ I2C_Enable(BOARD_I2C_BASEADDR);
+
+ PRINTF("[2].Set on-board Acc sensor range to 2G\n\r");
+ // Place FXOS8700 into standby
+ cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1;
+ cmdBuffer[1] = 0x2A;
+ txBuffer[0] = 0x00;
+ I2C_MasterSendDataPolling(BOARD_I2C_BASEADDR, cmdBuffer, 2, txBuffer, 1);
+
+ // Disable FXOS8700's magnetometer only
+ cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1;
+ cmdBuffer[1] = 0x5B;
+ txBuffer[0] = 0x00;
+ I2C_MasterSendDataPolling(BOARD_I2C_BASEADDR, cmdBuffer, 2, txBuffer, 1);
+
+ cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1;
+ cmdBuffer[1] = 0x5C;
+ txBuffer[0] = 0x00;
+ I2C_MasterSendDataPolling(BOARD_I2C_BASEADDR, cmdBuffer, 2, txBuffer, 1);
+
+ // Set accelerometer range to 2G
+ cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1;
+ cmdBuffer[1] = 0x0E;
+ txBuffer[0] = 0x00;
+ I2C_MasterSendDataPolling(BOARD_I2C_BASEADDR, cmdBuffer, 2, txBuffer, 1);
+
+ // Set accelerometer for high resolution (maximum over sampling)
+ cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1;
+ cmdBuffer[1] = 0x2B;
+ txBuffer[0] = 0x02;
+ I2C_MasterSendDataPolling(BOARD_I2C_BASEADDR, cmdBuffer, 2, txBuffer, 1);
+
+ PRINTF("[3].Set on-board Acc sensor working at active mode\n\r");
+ cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1;
+ cmdBuffer[1] = 0x2A;
+ txBuffer[0] = 0x09;
+ I2C_MasterSendDataPolling(BOARD_I2C_BASEADDR, cmdBuffer, 2, txBuffer, 1);
+
+ PRINTF("[4].Acc sensor WHO_AM_I check... ");
+ cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1;
+ cmdBuffer[1] = 0x0D;
+ cmdBuffer[2] = (BOARD_I2C_FXOS8700_ADDR << 1) + 1;
+ I2C_MasterReceiveDataPolling(BOARD_I2C_BASEADDR, cmdBuffer, 3, rxBuffer, 1);
+ if (0xC7 == rxBuffer[0])
+ PRINTF("OK\n\r");
+ else
+ PRINTF("ERROR\n\r");
+
+ PRINTF("[5].Acquire 10 samples from Acc sensor\n\r");
+ for (i = 0; i < 10; i++)
+ report_abs();
+
+ PRINTF("\n\rExample finished!!!\n\r");
+ while (true)
+ __WFI();
+}
+
+static void report_abs(void)
+{
+ int16_t x, y, z;
+ float Ax, Ay, Az;
+
+ cmdBuffer[0] = BOARD_I2C_FXOS8700_ADDR << 1;
+ cmdBuffer[1] = 0x01;
+ cmdBuffer[2] = (BOARD_I2C_FXOS8700_ADDR << 1) + 1;
+ I2C_MasterReceiveDataPolling(BOARD_I2C_BASEADDR, cmdBuffer, 3, rxBuffer, 6);
+
+ x = ((rxBuffer[0] << 8) & 0xff00) | rxBuffer[1];
+ y = ((rxBuffer[2] << 8) & 0xff00) | rxBuffer[3];
+ z = ((rxBuffer[4] << 8) & 0xff00) | rxBuffer[5];
+ x = (int16_t)(x) >> 2;
+ y = (int16_t)(y) >> 2;
+ z = (int16_t)(z) >> 2;
+
+ Ax = x / (4.0 * 1024); //For full scale range 2g mode.
+ Ay = y / (4.0 * 1024);
+ Az = z / (4.0 * 1024);
+ PRINTF("2G MODE: X=%6.3fg Y=%6.3fg Z=%6.3fg\n\r",Ax, Ay, Az);
+}
+
+static bool I2C_MasterSendDataPolling(I2C_Type *base,
+ const uint8_t *cmdBuff,
+ uint32_t cmdSize,
+ const uint8_t *txBuff,
+ uint32_t txSize)
+{
+ if (I2C_GetStatusFlag(base, i2cStatusBusBusy))
+ return false;
+
+ /* Set I2C work under Tx mode */
+ I2C_SetDirMode(base, i2cDirectionTransmit);
+
+ /* Switch to Master Mode and Send Start Signal. */
+ I2C_SetWorkMode(base, i2cModeMaster);
+
+ /* Send first byte */
+ if (0 != cmdSize)
+ {
+ I2C_WriteByte(base, *cmdBuff++);
+ cmdSize--;
+ }
+ else
+ {
+ I2C_WriteByte(base, *txBuff++);
+ txSize--;
+ }
+
+ while (1)
+ {
+ /* Wait I2C transmission status flag assert. */
+ while (!I2C_GetStatusFlag(base, i2cStatusInterrupt));
+
+ /* Clear I2C transmission status flag. */
+ I2C_ClearStatusFlag(base, i2cStatusInterrupt);
+
+ /* Transmit complete. */
+ if ((I2C_GetStatusFlag(base, i2cStatusReceivedAck)) ||
+ ((0 == txSize) && (0 == cmdSize)))
+ {
+ /* Switch to Slave mode and Generate a Stop Signal. */
+ I2C_SetWorkMode(base, i2cModeSlave);
+
+ /* Switch back to Rx direction. */
+ I2C_SetDirMode(base, i2cDirectionReceive);
+ return true;
+ }
+ else
+ {
+ if (0 != cmdSize)
+ {
+ I2C_WriteByte(base, *cmdBuff++);
+ cmdSize--;
+ }
+ else
+ {
+ I2C_WriteByte(base, *txBuff++);
+ txSize--;
+ }
+ }
+ }
+}
+
+static bool I2C_MasterReceiveDataPolling(I2C_Type *base,
+ const uint8_t *cmdBuff,
+ uint32_t cmdSize,
+ uint8_t *rxBuff,
+ uint32_t rxSize)
+{
+ uint32_t currentDir = i2cDirectionReceive;
+
+ /* Clear I2C interrupt flag to avoid spurious interrupt */
+ I2C_ClearStatusFlag(base, i2cStatusInterrupt);
+
+ if (I2C_GetStatusFlag(base, i2cStatusBusBusy))
+ {
+ return false;
+ }
+
+ /* Set I2C work under Tx mode */
+ I2C_SetDirMode(base, i2cDirectionTransmit);
+
+ /* Switch to Master Mode and Send Start Signal. */
+ I2C_SetWorkMode(base, i2cModeMaster);
+
+ if (0 != cmdSize)
+ {
+ currentDir = i2cDirectionTransmit;
+ if (1 == cmdSize)
+ I2C_SendRepeatStart(base);
+ I2C_WriteByte(base, *cmdBuff++);
+ cmdSize--;
+ }
+ else
+ {
+ /* Change to receive state. */
+ I2C_SetDirMode(base, i2cDirectionReceive);
+
+ if (1 == rxSize)
+ /* Send Nack */
+ I2C_SetAckBit(base, false);
+ else
+ /* Send Ack */
+ I2C_SetAckBit(base, true);
+ /* dummy read to clock in 1st byte */
+ *rxBuff = I2C_ReadByte(base);
+ }
+
+ while (1)
+ {
+ /* Wait I2C transmission status flag assert. */
+ while (!I2C_GetStatusFlag(base, i2cStatusInterrupt));
+
+ /* Clear I2C transmission status flag. */
+ I2C_ClearStatusFlag(base, i2cStatusInterrupt);
+
+ if (i2cDirectionTransmit == currentDir)
+ {
+ if (0 < cmdSize)
+ {
+ if (I2C_GetStatusFlag(base, i2cStatusReceivedAck))
+ {
+ /* Switch to Slave mode and Generate a Stop Signal. */
+ I2C_SetWorkMode(base, i2cModeSlave);
+
+ /* Switch back to Rx direction. */
+ I2C_SetDirMode(base, i2cDirectionReceive);
+ return false;
+ }
+ else
+ {
+ if (1 == cmdSize)
+ I2C_SendRepeatStart(base);
+ I2C_WriteByte(base, *cmdBuff++);
+ cmdSize--;
+ }
+ }
+ else
+ {
+ /* Change to receive state. */
+ I2C_SetDirMode(base, i2cDirectionReceive);
+ currentDir = i2cDirectionReceive;
+
+ if (1 == rxSize)
+ /* Send Nack */
+ I2C_SetAckBit(base, false);
+ else
+ /* Send Ack */
+ I2C_SetAckBit(base, true);
+ /* dummy read to clock in 1st byte */
+ *rxBuff = I2C_ReadByte(base);
+ }
+ }
+ else
+ {
+ /* Normal read operation. */
+ if (2 == rxSize)
+ /* Send Nack */
+ I2C_SetAckBit(base, false);
+ else
+ /* Send Nack */
+ I2C_SetAckBit(base, true);
+
+ if (1 == rxSize)
+ /* Switch back to Tx direction to avoid additional I2C bus read. */
+ I2C_SetDirMode(base, i2cDirectionTransmit);
+ *rxBuff = I2C_ReadByte(base);
+ rxBuff++;
+ rxSize--;
+
+ /* receive finished. */
+ if (0 == rxSize)
+ {
+ /* Switch to Slave mode and Generate a Stop Signal. */
+ I2C_SetWorkMode(base, i2cModeSlave);
+
+ /* Switch back to Rx direction. */
+ I2C_SetDirMode(base, i2cDirectionReceive);
+
+ return true;
+ }
+ }
+ }
+}
+
+/*******************************************************************************
+ * EOF
+ ******************************************************************************/
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