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HAL_ChibiOS: implement bus speed and smbus for I2C

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use the slowest speed of all devices on the bus
This commit is contained in:
Andrew Tridgell 2018-01-10 15:26:05 +11:00
parent 8260b3f65f
commit 36227aa126
2 changed files with 92 additions and 64 deletions
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118
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
View File

@ -39,61 +39,85 @@ static uint8_t rx_dma_stream[] = {
using namespace ChibiOS;
DeviceBus I2CDevice::businfo[I2CDevice::num_buses];
I2CBus I2CDeviceManager::businfo[ARRAY_SIZE(I2CD)];
I2CDevice::I2CDevice(uint8_t bus, uint8_t address) :
_retries(2),
_busnum(bus),
_address(address)
// get a handle for DMA sharing DMA channels with other subsystems
void I2CBus::dma_init(void)
{
set_device_bus(bus);
dma_handle = new Shared_DMA(tx_dma_stream[busnum], rx_dma_stream[busnum],
FUNCTOR_BIND_MEMBER(&I2CBus::dma_allocate, void),
FUNCTOR_BIND_MEMBER(&I2CBus::dma_deallocate, void));
}
// setup I2C buses
I2CDeviceManager::I2CDeviceManager(void)
{
for (uint8_t i=0; i<ARRAY_SIZE(I2CD); i++) {
businfo[i].busnum = i;
businfo[i].dma_init();
/*
setup default I2C config. As each device is opened we will
drop the speed to be the minimum speed requested
*/
businfo[i].i2ccfg.op_mode = OPMODE_I2C;
businfo[i].i2ccfg.clock_speed = 400000;
businfo[i].i2ccfg.duty_cycle = FAST_DUTY_CYCLE_2;
}
}
I2CDevice::I2CDevice(uint8_t busnum, uint8_t address, uint32_t bus_clock, bool use_smbus, uint32_t timeout_ms) :
_retries(2),
_address(address),
_use_smbus(use_smbus),
_timeout_ms(timeout_ms),
bus(I2CDeviceManager::businfo[busnum])
{
set_device_bus(busnum);
set_device_address(address);
asprintf(&pname, "I2C:%u:%02x",
(unsigned)bus, (unsigned)address);
if (businfo[_busnum].dma_handle == nullptr) {
businfo[_busnum].dma_handle = new Shared_DMA(tx_dma_stream[_busnum], rx_dma_stream[_busnum],
FUNCTOR_BIND_MEMBER(&I2CDevice::dma_allocate, void),
FUNCTOR_BIND_MEMBER(&I2CDevice::dma_deallocate, void));
(unsigned)busnum, (unsigned)address);
if (bus_clock < bus.i2ccfg.clock_speed) {
bus.i2ccfg.clock_speed = bus_clock;
if (bus_clock <= 100000) {
bus.i2ccfg.duty_cycle = STD_DUTY_CYCLE;
}
}
}
I2CDevice::~I2CDevice()
{
printf("I2C device bus %u address 0x%02x closed\n",
(unsigned)_busnum, (unsigned)_address);
(unsigned)bus.busnum, (unsigned)_address);
free(pname);
}
/*
allocate DMA channel
*/
void I2CDevice::dma_allocate(void)
void I2CBus::dma_allocate(void)
{
i2cStart(I2CD[_busnum], &i2ccfg);
i2cStart(I2CD[busnum], &i2ccfg);
}
/*
deallocate DMA channel
*/
void I2CDevice::dma_deallocate(void)
void I2CBus::dma_deallocate(void)
{
i2cStop(I2CD[_busnum]);
i2cStop(I2CD[busnum]);
}
bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len)
{
struct DeviceBus &binfo = businfo[_busnum];
bus.dma_handle->lock();
if (!init_done) {
i2ccfg.op_mode = OPMODE_I2C;
i2ccfg.clock_speed = 400000;
i2ccfg.duty_cycle = FAST_DUTY_CYCLE_2;
init_done = true;
if (_use_smbus) {
bus.i2ccfg.op_mode = OPMODE_SMBUS_HOST;
} else {
bus.i2ccfg.op_mode = OPMODE_I2C;
}
binfo.dma_handle->lock();
if (_split_transfers) {
/*
splitting the transfer() into two pieces avoids a stop condition
@ -102,25 +126,25 @@ bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len,
*/
if (send && send_len) {
if (!_transfer(send, send_len, nullptr, 0)) {
binfo.dma_handle->unlock();
bus.dma_handle->unlock();
return false;
}
}
if (recv && recv_len) {
if (!_transfer(nullptr, 0, recv, recv_len)) {
binfo.dma_handle->unlock();
bus.dma_handle->unlock();
return false;
}
}
} else {
// combined transfer
if (!_transfer(send, send_len, recv, recv_len)) {
binfo.dma_handle->unlock();
bus.dma_handle->unlock();
return false;
}
}
binfo.dma_handle->unlock();
bus.dma_handle->unlock();
return true;
}
@ -129,22 +153,21 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
{
int ret;
for(uint8_t i=0 ; i <= _retries; i++) {
i2cAcquireBus(I2CD[_busnum]);
i2cAcquireBus(I2CD[bus.busnum]);
// calculate a timeout as twice the expected transfer time, and set as min of 4ms
uint32_t timeout_ms = 1+2*(((8*1000000UL/i2ccfg.clock_speed)*MAX(send_len, recv_len))/1000);
timeout_ms = MAX(timeout_ms, 4);
uint32_t timeout_ms = 1+2*(((8*1000000UL/bus.i2ccfg.clock_speed)*MAX(send_len, recv_len))/1000);
timeout_ms = MAX(timeout_ms, _timeout_ms);
if(send_len == 0) {
ret = i2cMasterReceiveTimeout(I2CD[_busnum], _address,recv, recv_len, MS2ST(timeout_ms));
ret = i2cMasterReceiveTimeout(I2CD[bus.busnum], _address,recv, recv_len, MS2ST(timeout_ms));
} else {
ret = i2cMasterTransmitTimeout(I2CD[_busnum], _address, send, send_len,
ret = i2cMasterTransmitTimeout(I2CD[bus.busnum], _address, send, send_len,
recv, recv_len, MS2ST(timeout_ms));
}
i2cReleaseBus(I2CD[_busnum]);
i2cReleaseBus(I2CD[bus.busnum]);
if (ret != MSG_OK){
_errors = i2cGetErrors(I2CD[_busnum]);
//restart the bus
i2cStop(I2CD[_busnum]);
i2cStart(I2CD[_busnum], &i2ccfg);
i2cStop(I2CD[bus.busnum]);
i2cStart(I2CD[bus.busnum], &bus.i2ccfg);
} else {
return true;
}
@ -164,11 +187,7 @@ bool I2CDevice::read_registers_multiple(uint8_t first_reg, uint8_t *recv,
*/
AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
if (_busnum >= num_buses) {
return nullptr;
}
struct DeviceBus &binfo = businfo[_busnum];
return binfo.register_periodic_callback(period_usec, cb, this);
return bus.register_periodic_callback(period_usec, cb, this);
}
@ -177,21 +196,18 @@ AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t pe
*/
bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
{
if (_busnum >= num_buses) {
return false;
}
struct DeviceBus &binfo = businfo[_busnum];
return binfo.adjust_timer(h, period_usec);
return bus.adjust_timer(h, period_usec);
}
AP_HAL::OwnPtr<AP_HAL::I2CDevice>
I2CDeviceManager::get_device(uint8_t bus, uint8_t address)
I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
uint32_t bus_clock,
bool use_smbus,
uint32_t timeout_ms)
{
if (bus >= ARRAY_SIZE(I2CD)) {
return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
}
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address));
auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms));
return dev;
}

36
libraries/AP_HAL_ChibiOS/I2CDevice.h
View File

@ -30,6 +30,16 @@
namespace ChibiOS {
class I2CBus : public DeviceBus {
public:
I2CConfig i2ccfg;
uint8_t busnum;
void dma_allocate(void);
void dma_deallocate(void);
void dma_init(void);
};
class I2CDevice : public AP_HAL::I2CDevice {
public:
static I2CDevice *from(AP_HAL::I2CDevice *dev)
@ -37,7 +47,7 @@ public:
return static_cast<I2CDevice*>(dev);
}
I2CDevice(uint8_t bus, uint8_t address);
I2CDevice(uint8_t bus, uint8_t address, uint32_t bus_clock, bool use_smbus, uint32_t timeout_ms);
~I2CDevice();
/* See AP_HAL::I2CDevice::set_address() */
@ -65,7 +75,7 @@ public:
AP_HAL::Semaphore* get_semaphore() override {
// if asking for invalid bus number use bus 0 semaphore
return &businfo[_busnum<num_buses?_busnum:0].semaphore;
return &bus.semaphore;
}
void set_split_transfers(bool set) override {
@ -73,35 +83,37 @@ public:
}
private:
static const uint8_t num_buses = 2;
static DeviceBus businfo[num_buses];
I2CBus &bus;
bool _transfer(const uint8_t *send, uint32_t send_len,
uint8_t *recv, uint32_t recv_len);
void dma_allocate(void);
void dma_deallocate(void);
/* I2C interface #2 */
I2CConfig i2ccfg;
bool init_done = false;
uint8_t _retries;
uint8_t _busnum;
uint8_t _address;
char *pname;
bool _split_transfers;
i2cflags_t _errors;
bool _use_smbus;
uint32_t _timeout_ms;
};
class I2CDeviceManager : public AP_HAL::I2CDeviceManager {
public:
friend class I2CDevice;
static I2CBus businfo[];
// constructor
I2CDeviceManager();
static I2CDeviceManager *from(AP_HAL::I2CDeviceManager *i2c_mgr)
{
return static_cast<I2CDeviceManager*>(i2c_mgr);
}
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address) override;
AP_HAL::OwnPtr<AP_HAL::I2CDevice> get_device(uint8_t bus, uint8_t address,
uint32_t bus_clock=400000,
bool use_smbus = false,
uint32_t timeout_ms=4) override;
};
}