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AP_HAL_FLYMAPLE: I2CDriver improvements to interrupt hygiene

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This commit is contained in:
Mike McCauley 2013-10-10 14:51:43 +10:00
parent 8e5a9b06fb
commit 38512e3756
1 changed files with 13 additions and 17 deletions
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30
libraries/AP_HAL_FLYMAPLE/I2CDriver.cpp
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@ -14,6 +14,8 @@
*/
/*
Flymaple port by Mike McCauley
Uses the low level libmaple i2c library.
Caution: requires fixes against the libmaple git master as of 2013-10-10
*/
#include <AP_HAL.h>
@ -26,12 +28,9 @@
using namespace AP_HAL_FLYMAPLE_NS;
// We use a 0 delay to go as fast as we can with bitbanging
//static TwoWire twowire(5, 9, 0); // Flymaple has non-standard SCL, SDA, speed ~285kHz
extern const AP_HAL::HAL& hal;
// This is the instancxe of the libmaple I2C device to use
// This is the instance of the libmaple I2C device to use
#define FLYMAPLE_I2C_DEVICE I2C1
FLYMAPLEI2CDriver::FLYMAPLEI2CDriver(AP_HAL::Semaphore* semaphore)
@ -104,22 +103,19 @@ uint8_t FLYMAPLEI2CDriver::readRegister(uint8_t addr, uint8_t reg, uint8_t* data
uint8_t FLYMAPLEI2CDriver::readRegisters(uint8_t addr, uint8_t reg,
uint8_t len, uint8_t* data)
{
// Write the desired register we wish to read
data[0] = reg; // Temp steal this
i2c_msg msgs[1];
// We conduct a write of the register number we want followed by a read
data[0] = reg; // Temporarily steal this for the write
i2c_msg msgs[2];
msgs[0].addr = addr;
msgs[0].flags = 0; // Write
msgs[0].length = 1;
msgs[0].data = data;
if (_transfer(msgs, 1))
return 1; // Fail
// Now read it
msgs[0].addr = addr;
msgs[0].flags = I2C_MSG_READ;
msgs[0].length = len;
msgs[0].data = data;
return _transfer(msgs, 1);
// Second transaction is a read
msgs[1].addr = addr;
msgs[1].flags = I2C_MSG_READ;
msgs[1].length = len;
msgs[1].data = data;
return _transfer(msgs, 2);
}
uint8_t FLYMAPLEI2CDriver::lockup_count() {
@ -130,7 +126,7 @@ uint8_t FLYMAPLEI2CDriver::_transfer(i2c_msg *msgs, uint16 num)
{
// ALERT: patch to libmaple required for this to work else
// crashes next line due to a bug in latest git libmaple see http://forums.leaflabs.com/topic.php?id=13458
int32 result = i2c_master_xfer(I2C1, msgs, 1, _timeout_ms);
int32 result = i2c_master_xfer(I2C1, msgs, num, _timeout_ms);
if (result != 0)
{
// Some sort of I2C bus fault, or absent device, reinitialise the bus