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AP_HAL_ChibiOS: add support for CAN/I2C switch

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This commit is contained in:
Nathan Costa 2021-10-04 09:53:26 -07:00 committed by Andrew Tridgell
parent c781897e52
commit 9f7aa715b1
3 changed files with 47 additions and 0 deletions
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39
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
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@ -105,6 +105,45 @@ void I2CBus::clear_all()
} }
} }
/*
If bus exists, set its data and clock lines to floating
*/
void I2CBus::set_bus_to_floating(uint8_t busidx)
{
if (busidx < ARRAY_SIZE(I2CD)) {
const struct I2CInfo &info = I2CD[busidx];
const ioline_t sda_line = GPIO::resolve_alt_config(info.sda_line, PERIPH_TYPE::I2C_SDA, info.instance);
const ioline_t scl_line = GPIO::resolve_alt_config(info.scl_line, PERIPH_TYPE::I2C_SCL, info.instance);
palSetLineMode(sda_line, PAL_MODE_INPUT);
palSetLineMode(scl_line, PAL_MODE_INPUT);
}
}
/*
Check enabled I2C/CAN select pins against check_pins bitmask
*/
bool I2CBus::check_select_pins(uint8_t check_pins)
{
uint8_t enabled_pins = 0;
#ifdef HAL_GPIO_PIN_GPIO_CAN_I2C1_SEL
enabled_pins |= palReadLine(HAL_GPIO_PIN_GPIO_CAN_I2C1_SEL) << 0;
#endif
#ifdef HAL_GPIO_PIN_GPIO_CAN_I2C2_SEL
enabled_pins |= palReadLine(HAL_GPIO_PIN_GPIO_CAN_I2C2_SEL) << 1;
#endif
#ifdef HAL_GPIO_PIN_GPIO_CAN_I2C3_SEL
enabled_pins |= palReadLine(HAL_GPIO_PIN_GPIO_CAN_I2C3_SEL) << 2;
#endif
#ifdef HAL_GPIO_PIN_GPIO_CAN_I2C4_SEL
enabled_pins |= palReadLine(HAL_GPIO_PIN_GPIO_CAN_I2C4_SEL) << 3;
#endif
return (enabled_pins & check_pins) == check_pins;
}
/* /*
clear a stuck bus (bus held by a device that is holding SDA low) by clear a stuck bus (bus held by a device that is holding SDA low) by
clocking out pulses on SCL to let the device complete its clocking out pulses on SCL to let the device complete its

2
libraries/AP_HAL_ChibiOS/I2CDevice.h
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@ -52,6 +52,8 @@ public:
static void clear_all(void); static void clear_all(void);
static void clear_bus(uint8_t busidx); static void clear_bus(uint8_t busidx);
static uint8_t read_sda(uint8_t busidx); static uint8_t read_sda(uint8_t busidx);
static bool check_select_pins(uint8_t check_pins);
static void set_bus_to_floating(uint8_t busidx);
}; };
class I2CDevice : public AP_HAL::I2CDevice { class I2CDevice : public AP_HAL::I2CDevice {

6
libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat
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@ -39,6 +39,9 @@ PB7 USART1_RX USART1 SPEED_HIGH
# LEDs # LEDs
PA10 LED OUTPUT LOW PA10 LED OUTPUT LOW
# a CAN/I2C selection LED
PA5 LED_CAN_I2C OUTPUT LOW
# a fault LED # a fault LED
PA6 LED_FAULT OUTPUT LOW PA6 LED_FAULT OUTPUT LOW
@ -70,6 +73,9 @@ define HAL_DISABLE_LOOP_DELAY
PA11 CAN1_RX CAN1 PA11 CAN1_RX CAN1
PA12 CAN1_TX CAN1 PA12 CAN1_TX CAN1
# GPIO for CAN/I2C selection
PB5 GPIO_CAN_I2C1_SEL INPUT PUSHPULL FLOATING
# only one I2C bus in normal config # only one I2C bus in normal config
PA15 I2C1_SCL I2C1 PA15 I2C1_SCL I2C1
PB9 I2C1_SDA I2C1 PB9 I2C1_SDA I2C1