ardupilot/libraries/AP_HAL_ESP32/I2CDevice.cpp

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "I2CDevice.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_HAL_ESP32/Semaphores.h>
#include "Scheduler.h"
using namespace ESP32;
#define MHZ (1000U*1000U)
#define KHZ (1000U)
I2CBusDesc i2c_bus_desc[] = { HAL_ESP32_I2C_BUSES };
I2CBus I2CDeviceManager::businfo[ARRAY_SIZE(i2c_bus_desc)];
I2CDeviceManager::I2CDeviceManager(void)
{
for (uint8_t i=0; i<ARRAY_SIZE(i2c_bus_desc); i++) {
if (i2c_bus_desc[i].soft) {
businfo[i].sw_handle.sda = i2c_bus_desc[i].sda;
businfo[i].sw_handle.scl = i2c_bus_desc[i].scl;
//TODO make modular
businfo[i].sw_handle.speed = I2C_SPEED_FAST;
businfo[i].soft = true;
i2c_init(&(businfo[i].sw_handle));
} else {
i2c_config_t i2c_bus_config;
i2c_bus_config.mode = I2C_MODE_MASTER;
i2c_bus_config.sda_io_num = i2c_bus_desc[i].sda;
i2c_bus_config.scl_io_num = i2c_bus_desc[i].scl;
i2c_bus_config.sda_pullup_en = GPIO_PULLUP_ENABLE;
i2c_bus_config.scl_pullup_en = GPIO_PULLUP_ENABLE;
i2c_bus_config.master.clk_speed = i2c_bus_desc[i].speed;
i2c_port_t p = i2c_bus_desc[i].port;
businfo[i].port = p;
businfo[i].bus_clock = i2c_bus_desc[i].speed;
businfo[i].soft = false;
i2c_param_config(p, &i2c_bus_config);
i2c_driver_install(p, I2C_MODE_MASTER, 0, 0, ESP_INTR_FLAG_IRAM);
i2c_filter_enable(p, 7);
}
}
}
I2CDevice::I2CDevice(uint8_t busnum, uint8_t address, uint32_t bus_clock, bool use_smbus, uint32_t timeout_ms) :
_retries(10),
_address(address),
bus(I2CDeviceManager::businfo[busnum])
{
set_device_bus(busnum);
set_device_address(address);
asprintf(&pname, "I2C:%u:%02x",
(unsigned)busnum, (unsigned)address);
}
I2CDevice::~I2CDevice()
{
free(pname);
}
bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
if (!bus.semaphore.check_owner()) {
printf("I2C: not owner of 0x%x\n", (unsigned)get_bus_id());
return false;
}
bool result = false;
if (bus.soft) {
uint8_t flag_wr = (recv_len == 0 || recv == nullptr) ? I2C_NOSTOP : 0;
if (send_len != 0 && send != nullptr) {
//tx with optional rx (after tx)
i2c_write_bytes(&bus.sw_handle,
_address,
send,
send_len,
flag_wr);
}
if (recv_len != 0 && recv != nullptr) {
//rx only or rx after tx
//rx separated from tx by (re)start
i2c_read_bytes(&bus.sw_handle,
_address,
(uint8_t *)recv, recv_len, 0);
}
result = true; //TODO check all
} else {
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
if (send_len != 0 && send != nullptr) {
//tx with optional rx (after tx)
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (_address << 1) | I2C_MASTER_WRITE, true);
i2c_master_write(cmd, (uint8_t*)send, send_len, true);
}
if (recv_len != 0 && recv != nullptr) {
//rx only or rx after tx
//rx separated from tx by (re)start
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (_address << 1) | I2C_MASTER_READ, true);
i2c_master_read(cmd, (uint8_t *)recv, recv_len, I2C_MASTER_LAST_NACK);
}
i2c_master_stop(cmd);
TickType_t timeout = 1 + 16L * (send_len + recv_len) * 1000 / bus.bus_clock / portTICK_PERIOD_MS;
for (int i = 0; !result && i < _retries; i++) {
result = (i2c_master_cmd_begin(bus.port, cmd, timeout) == ESP_OK);
if (!result) {
i2c_reset_tx_fifo(bus.port);
i2c_reset_rx_fifo(bus.port);
}
}
i2c_cmd_link_delete(cmd);
}
return result;
}
/*
register a periodic callback
*/
AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
return bus.register_periodic_callback(period_usec, cb, this);
}
/*
adjust a periodic callback
*/
bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
{
return bus.adjust_timer(h, period_usec);
}
AP_HAL::OwnPtr<AP_HAL::I2CDevice>
I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
uint32_t bus_clock,
bool use_smbus,
uint32_t timeout_ms)
{
if (bus >= ARRAY_SIZE(i2c_bus_desc)) {
return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
}
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms));
return dev;
}
/*
get mask of bus numbers for all configured I2C buses
*/
uint32_t I2CDeviceManager::get_bus_mask(void) const
{
return ((1U << ARRAY_SIZE(i2c_bus_desc)) - 1);
}
/*
get mask of bus numbers for all configured internal I2C buses
*/
uint32_t I2CDeviceManager::get_bus_mask_internal(void) const
{
uint32_t result = 0;
for (size_t i = 0; i < ARRAY_SIZE(i2c_bus_desc); i++) {
if (i2c_bus_desc[i].internal) {
result |= (1u << i);
}
}
return result;
}
/*
get mask of bus numbers for all configured external I2C buses
*/
uint32_t I2CDeviceManager::get_bus_mask_external(void) const
{
return get_bus_mask() & ~get_bus_mask_internal();
}