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HAL_F4Light: changes in I2C driver for Matekf405-CTR board

This commit is contained in:
night-ghost 2018-05-10 11:00:02 +05:00 committed by Andrew Tridgell
parent 27b4fd5b50
commit b95bc6595c
4 changed files with 118 additions and 49 deletions
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152
libraries/AP_HAL_F4Light/I2CDevice.cpp
View File

@ -35,14 +35,6 @@ uint8_t I2CDevice::dev_count; // number of devices
#ifdef I2C_DEBUG #ifdef I2C_DEBUG
I2C_State I2CDevice::log[I2C_LOG_SIZE] IN_CCM; I2C_State I2CDevice::log[I2C_LOG_SIZE] IN_CCM;
uint8_t I2CDevice::log_ptr=0; uint8_t I2CDevice::log_ptr=0;
static uint32_t op_time;
static uint32_t op_sr1;
inline uint32_t i2c_get_operation_time(uint16_t *psr1){
if(psr1) *psr1 = op_sr1;
return op_time;
}
#endif #endif
@ -55,7 +47,7 @@ void I2CDevice::lateInit() {
I2CDevice::I2CDevice(uint8_t bus, uint8_t address) I2CDevice::I2CDevice(uint8_t bus, uint8_t address)
: _bus(bus) : _bus(bus)
, _address(address) , _address(address)
, _retries(1) , _retries(5)
, _lockup_count(0) , _lockup_count(0)
, _initialized(false) , _initialized(false)
, _slow(false) , _slow(false)
@ -103,13 +95,15 @@ void I2CDevice::init(){
#if defined(BOARD_SOFT_I2C) || defined(BOARD_SOFT_I2C1) #if defined(BOARD_SOFT_I2C) || defined(BOARD_SOFT_I2C1)
if(s_i2c==NULL) s_i2c = new Soft_I2C; if(s_i2c==NULL) s_i2c = new Soft_I2C;
const stm32_pin_info &p_sda = PIN_MAP[_I2C1->sda_pin]; { // isolate p_sda & p_scl
const stm32_pin_info &p_scl = PIN_MAP[_I2C1->scl_pin]; const stm32_pin_info &p_sda = PIN_MAP[_I2C1->sda_pin];
s_i2c->init_hw( const stm32_pin_info &p_scl = PIN_MAP[_I2C1->scl_pin];
p_scl.gpio_device, p_scl.gpio_bit, s_i2c->init_hw(
p_sda.gpio_device, p_sda.gpio_bit, p_scl.gpio_device, p_scl.gpio_bit,
_timers[_bus] p_sda.gpio_device, p_sda.gpio_bit,
); _timers[_bus]
);
}
#else #else
dev = _I2C1; dev = _I2C1;
#endif #endif
@ -128,13 +122,15 @@ void I2CDevice::init(){
#if defined(BOARD_SOFT_I2C) || defined(BOARD_SOFT_I2C2) #if defined(BOARD_SOFT_I2C) || defined(BOARD_SOFT_I2C2)
if(s_i2c==NULL) s_i2c = new Soft_I2C; if(s_i2c==NULL) s_i2c = new Soft_I2C;
const stm32_pin_info &p_sda = PIN_MAP[_I2C2->sda_pin]; { // isolate p_sda & p_scl
const stm32_pin_info &p_scl = PIN_MAP[_I2C2->scl_pin]; const stm32_pin_info &p_sda = PIN_MAP[_I2C2->sda_pin];
s_i2c->init_hw( const stm32_pin_info &p_scl = PIN_MAP[_I2C2->scl_pin];
p_scl.gpio_device, p_scl.gpio_bit, s_i2c->init_hw(
p_sda.gpio_device, p_sda.gpio_bit, p_scl.gpio_device, p_scl.gpio_bit,
_timers[_bus] p_sda.gpio_device, p_sda.gpio_bit,
); _timers[_bus]
);
}
#else #else
dev = _I2C2; dev = _I2C2;
#endif #endif
@ -152,13 +148,15 @@ void I2CDevice::init(){
if(hal_param_helper->_flexi_i2c){ // move external I2C to flexi port if(hal_param_helper->_flexi_i2c){ // move external I2C to flexi port
#if defined(BOARD_SOFT_I2C) || defined(BOARD_SOFT_I2C3) #if defined(BOARD_SOFT_I2C) || defined(BOARD_SOFT_I2C3)
if(s_i2c==NULL) s_i2c = new Soft_I2C; if(s_i2c==NULL) s_i2c = new Soft_I2C;
const stm32_pin_info &p_sda = PIN_MAP[_I2C2->sda_pin]; { // isolate p_sda & p_scl
const stm32_pin_info &p_scl = PIN_MAP[_I2C2->scl_pin]; const stm32_pin_info &p_sda = PIN_MAP[_I2C2->sda_pin];
s_i2c->init_hw( const stm32_pin_info &p_scl = PIN_MAP[_I2C2->scl_pin];
p_scl.gpio_device, p_scl.gpio_bit, s_i2c->init_hw(
p_sda.gpio_device, p_sda.gpio_bit, p_scl.gpio_device, p_scl.gpio_bit,
_timers[_bus] p_sda.gpio_device, p_sda.gpio_bit,
); _timers[_bus]
);
}
#else #else
dev = _I2C2; dev = _I2C2;
#endif #endif
@ -294,7 +292,6 @@ again:
#ifdef I2C_DEBUG #ifdef I2C_DEBUG
I2C_State &sp = log[log_ptr]; // remember last operation I2C_State &sp = log[log_ptr]; // remember last operation
sp.start = i2c_get_operation_time(&sp.op_sr1);
sp.time = Scheduler::_micros(); sp.time = Scheduler::_micros();
sp.bus =_bus; sp.bus =_bus;
sp.addr =_address; sp.addr =_address;
@ -303,6 +300,9 @@ again:
sp.ret = ret; sp.ret = ret;
sp.sr1 = _dev->I2Cx->SR1; sp.sr1 = _dev->I2Cx->SR1;
sp.sr2 = _dev->I2Cx->SR2; sp.sr2 = _dev->I2Cx->SR2;
sp.cr1 = _dev->I2Cx->CR1;
sp.state = _state;
sp.pos = I2C_FINISH;
if(log_ptr<I2C_LOG_SIZE-1) log_ptr++; if(log_ptr<I2C_LOG_SIZE-1) log_ptr++;
else log_ptr=0; else log_ptr=0;
#endif #endif
@ -344,6 +344,7 @@ again:
_dev->I2Cx->CR1 |= I2C_CR1_SWRST; // set SoftReset for some time _dev->I2Cx->CR1 |= I2C_CR1_SWRST; // set SoftReset for some time
hal_yield(0); hal_yield(0);
_dev->I2Cx->CR1 &= (uint16_t)(~I2C_CR1_SWRST); // clear SoftReset flag _dev->I2Cx->CR1 &= (uint16_t)(~I2C_CR1_SWRST); // clear SoftReset flag
_dev->I2Cx->CR1 |= I2C_CR1_PE; // enable
} }
if((_retries-retries) > 0 || ret==I2C_BUS_ERR){ // not reset bus or log error on 1st try, except ArbitrationLost error if((_retries-retries) > 0 || ret==I2C_BUS_ERR){ // not reset bus or log error on 1st try, except ArbitrationLost error
@ -443,8 +444,6 @@ uint32_t I2CDevice::i2c_write(uint8_t addr, const uint8_t *tx_buff, uint8_t len)
// Bus got! enable Acknowledge for our operation // Bus got! enable Acknowledge for our operation
_dev->I2Cx->CR1 |= I2C_CR1_ACK; _dev->I2Cx->CR1 |= I2C_CR1_ACK;
_dev->I2Cx->CR1 &= ~I2C_NACKPosition_Next; _dev->I2Cx->CR1 &= ~I2C_NACKPosition_Next;
// Send START condition
_dev->I2Cx->CR1 |= I2C_CR1_START;
// need to wait until transfer complete // need to wait until transfer complete
uint32_t t = hal_micros(); uint32_t t = hal_micros();
@ -453,6 +452,8 @@ uint32_t I2CDevice::i2c_write(uint8_t addr, const uint8_t *tx_buff, uint8_t len)
_task = Scheduler::get_current_task();// if function called from task - store it and pause _task = Scheduler::get_current_task();// if function called from task - store it and pause
EnterCriticalSection; EnterCriticalSection;
// Send START condition
_dev->I2Cx->CR1 |= I2C_CR1_START;
_dev->I2Cx->CR2 |= I2C_CR2_ITBUFEN | I2C_CR2_ITEVTEN | I2C_CR2_ITERREN; // Enable interrupts _dev->I2Cx->CR2 |= I2C_CR2_ITBUFEN | I2C_CR2_ITEVTEN | I2C_CR2_ITERREN; // Enable interrupts
if(_task) Scheduler::task_pause(timeout); if(_task) Scheduler::task_pause(timeout);
@ -486,18 +487,45 @@ uint32_t I2CDevice::i2c_read(uint8_t addr, const uint8_t *tx_buff, uint8_t txlen
_state = I2C_want_SB; _state = I2C_want_SB;
_error = I2C_ERR_TIMEOUT; _error = I2C_ERR_TIMEOUT;
_dev->I2Cx->CR1 &= ~I2C_NACKPosition_Next; // I2C_NACKPosition_Current _dev->I2Cx->CR1 &= ~I2C_NACKPosition_Next; // I2C_NACKPosition_Current
_dev->I2Cx->CR1 |= I2C_CR1_ACK; // Bus got! enable Acknowledge for our operation _dev->I2Cx->CR1 |= I2C_CR1_ACK; // enable Acknowledge for our operation
_dev->I2Cx->CR1 |= I2C_CR1_START; // Send START condition
uint32_t t = hal_micros(); uint32_t t = hal_micros();
uint32_t timeout = i2c_bit_time * 9 * (txlen+rxlen) * 8 + 100; // time to transfer all data *8 plus 100uS uint32_t timeout = i2c_bit_time * 9 * (txlen+rxlen) * 8 + 100; // time to transfer all data *8 plus 100uS
_task = Scheduler::get_current_task(); // if function called from task - store it and pause _task = Scheduler::get_current_task(); // if function called from task - store it and pause
EnterCriticalSection; EnterCriticalSection;
#ifdef I2C_DEBUG
{
I2C_State &sp = log[log_ptr]; // remember last operation
sp.time = Scheduler::_micros();
sp.cr1 = _dev->I2Cx->CR1;
sp.sr1 = _dev->I2Cx->SR1;
sp.sr2 = _dev->I2Cx->SR2;
sp.state = _state;
sp.pos = I2C_START;
if(log_ptr<I2C_LOG_SIZE-1) log_ptr++;
else log_ptr=0;
}
#endif
_dev->I2Cx->CR1 |= I2C_CR1_START; // Send START condition
if(_task) Scheduler::task_pause(timeout); if(_task) Scheduler::task_pause(timeout);
_dev->I2Cx->CR2 |= I2C_CR2_ITBUFEN | I2C_CR2_ITEVTEN | I2C_CR2_ITERREN; // Enable interrupts _dev->I2Cx->CR2 |= I2C_CR2_ITBUFEN | I2C_CR2_ITEVTEN | I2C_CR2_ITERREN; // Enable interrupts
#ifdef I2C_DEBUG
I2C_State &sp = log[log_ptr]; // remember last operation
sp.time = Scheduler::_micros();
sp.cr1 = _dev->I2Cx->CR1;
sp.sr1 = _dev->I2Cx->SR1;
sp.sr2 = _dev->I2Cx->SR2;
sp.state = _state;
sp.pos = I2C_START;
if(log_ptr<I2C_LOG_SIZE-1) log_ptr++;
else log_ptr=0;
#endif
LeaveCriticalSection; LeaveCriticalSection;
if(_completion_cb) return I2C_PENDING; if(_completion_cb) return I2C_PENDING;
@ -552,6 +580,19 @@ void I2CDevice::isr_ev(){
_dev->I2Cx->CR1 |= I2C_CR1_STOP; /* Generate Stop */ _dev->I2Cx->CR1 |= I2C_CR1_STOP; /* Generate Stop */
} }
#ifdef I2C_DEBUG
I2C_State &sp = log[log_ptr]; // remember last operation
sp.time = Scheduler::_micros();
sp.sr1 = sr1itflags;
sp.sr2 = _dev->I2Cx->SR2;
sp.cr1 = _dev->I2Cx->CR1;
sp.state = _state;
sp.pos = I2C_ERR;
if(log_ptr<I2C_LOG_SIZE-1) log_ptr++;
else log_ptr=0;
#endif
if(_error) { // смысла ждать больше нет if(_error) { // смысла ждать больше нет
finish_transfer(); finish_transfer();
} }
@ -632,7 +673,7 @@ void I2CDevice::isr_ev(){
// Send START condition a second time // Send START condition a second time
_dev->I2Cx->CR1 |= I2C_CR1_START; _dev->I2Cx->CR1 |= I2C_CR1_START;
_state = I2C_want_RX_SB; _state = I2C_want_RX_SB;
// _dev->I2Cx->CR2 |= I2C_CR2_ITBUFEN; // enable TXE interrupt - too early! only after ADDR _dev->I2Cx->CR2 &= ~I2C_CR2_ITBUFEN; // disable TXE interrupt - just for case, should be disabled
} else { } else {
_dev->I2Cx->CR1 |= I2C_CR1_STOP; // Send STOP condition _dev->I2Cx->CR1 |= I2C_CR1_STOP; // Send STOP condition
_error = I2C_OK; // TX is done _error = I2C_OK; // TX is done
@ -640,11 +681,24 @@ void I2CDevice::isr_ev(){
finish_transfer(); finish_transfer();
} }
} else { // BTF on receive } else { // BTF on receive??
// //
} }
} }
#ifdef I2C_DEBUG
I2C_State &sp = log[log_ptr]; // remember last operation
sp.time = Scheduler::_micros();
sp.sr1 = sr1itflags;
sp.sr2 = sr2itflags;
sp.cr1 = _dev->I2Cx->CR1;
sp.state = _state;
sp.pos = I2C_ISR;
if(log_ptr<I2C_LOG_SIZE-1) log_ptr++;
else log_ptr=0;
#endif
} }
} }
@ -653,7 +707,7 @@ void I2CDevice::finish_transfer(){
_dev->I2Cx->CR2 &= ~(I2C_CR2_ITBUFEN | I2C_CR2_ITEVTEN | I2C_CR2_ITERREN); // Disable interrupts _dev->I2Cx->CR2 &= ~(I2C_CR2_ITBUFEN | I2C_CR2_ITEVTEN | I2C_CR2_ITERREN); // Disable interrupts
i2c_clear_isr_handler(_dev); i2c_clear_isr_handler(_dev);
_dev->I2Cx->CR1 &= ~(I2C_CR1_STOP | I2C_CR1_START); // clear CR1 - just for case
Handler h; Handler h;
if( (h=_completion_cb) ){ // io completion if( (h=_completion_cb) ){ // io completion
@ -676,7 +730,11 @@ uint32_t I2CDevice::wait_stop_done(bool is_write){
uint8_t i; uint8_t i;
for(i=0; i<10; i++){ for(i=0; i<10; i++){
ret=I2C_OK; if( (_dev->I2Cx->CR1 & I2C_CR1_PE) ) {
ret=I2C_OK;
} else {
ret=91;
}
// Wait to make sure that STOP control bit has been cleared - bus released // Wait to make sure that STOP control bit has been cleared - bus released
t = hal_micros(); t = hal_micros();
while (_dev->I2Cx->CR1 & I2C_CR1_STOP ){ while (_dev->I2Cx->CR1 & I2C_CR1_STOP ){
@ -689,7 +747,7 @@ uint32_t I2CDevice::wait_stop_done(bool is_write){
} }
if(sr1 & I2C_BIT_TIMEOUT & I2C_BIT_MASK) { // bus timeout if(sr1 & I2C_BIT_TIMEOUT & I2C_BIT_MASK) { // bus timeout
_dev->I2Cx->SR1 = (uint16_t)(~I2C_BIT_TIMEOUT); // reset it _dev->I2Cx->SR1 = (uint16_t)(~I2C_BIT_TIMEOUT); // reset it
ret= I2C_ERR_TIMEOUT; // STOP generated by hardware ret= I2C_ERR_STOP_TIMEOUT; // STOP generated by hardware
break; break;
} }
@ -697,6 +755,7 @@ uint32_t I2CDevice::wait_stop_done(bool is_write){
ret=I2C_ERR_STOP; ret=I2C_ERR_STOP;
break; break;
} }
hal_yield(0);
} }
/* wait while the bus is busy */ /* wait while the bus is busy */
@ -713,11 +772,10 @@ uint32_t I2CDevice::wait_stop_done(bool is_write){
if(ret==I2C_OK) return ret; if(ret==I2C_OK) return ret;
if(i>0){ _dev->I2Cx->CR1 |= I2C_CR1_SWRST; // set SoftReset for some time
_dev->I2Cx->CR1 |= I2C_CR1_SWRST; // set SoftReset for some time hal_yield(0);
hal_yield(0); _dev->I2Cx->CR1 &= (uint16_t)(~I2C_CR1_SWRST); // clear SoftReset flag
_dev->I2Cx->CR1 &= (uint16_t)(~I2C_CR1_SWRST); // clear SoftReset flag _dev->I2Cx->CR1 |= I2C_CR1_PE; // enable
}
if(i>1){ if(i>1){
last_error = ret; // remember last_error = ret; // remember

13
libraries/AP_HAL_F4Light/I2CDevice.h
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@ -34,19 +34,28 @@
using namespace F4Light; using namespace F4Light;
#ifdef I2C_DEBUG #ifdef I2C_DEBUG
enum I2C_Log_State {
I2C_START,
I2C_ISR,
I2C_STOP,
I2C_ERR,
I2C_FINISH,
};
typedef struct I2C_STATE { typedef struct I2C_STATE {
uint32_t start;
uint32_t time; uint32_t time;
uint8_t addr; uint8_t addr;
uint8_t bus; uint8_t bus;
uint8_t send_len; uint8_t send_len;
uint8_t recv_len; uint8_t recv_len;
uint8_t ret; uint8_t ret;
uint16_t op_sr1; uint16_t cr1;
uint16_t sr1; uint16_t sr1;
uint16_t sr2; uint16_t sr2;
uint16_t st_sr1; uint16_t st_sr1;
uint16_t st_sr2; uint16_t st_sr2;
uint8_t state;
I2C_Log_State pos;
} I2C_State; } I2C_State;
#endif #endif

1
libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/board.h
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@ -109,6 +109,7 @@
//#define BOARD_I2C_BUS_INT 1 // hardware internal I2C //#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
#define BOARD_I2C_BUS_EXT 0 // external I2C #define BOARD_I2C_BUS_EXT 0 // external I2C
#define BOARD_I2C_BUS_SLOW 0 // slow down bus with this number #define BOARD_I2C_BUS_SLOW 0 // slow down bus with this number
//#define BOARD_SOFT_I2C1
#define BOARD_BARO_DEFAULT HAL_BARO_BMP280_I2C #define BOARD_BARO_DEFAULT HAL_BARO_BMP280_I2C
#define HAL_BARO_BMP280_BUS BOARD_I2C_BUS_EXT #define HAL_BARO_BMP280_BUS BOARD_I2C_BUS_EXT

1
libraries/AP_HAL_F4Light/hardware/hal/i2c.h
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@ -71,6 +71,7 @@
#define I2C_ERR_TIMEOUT 95 #define I2C_ERR_TIMEOUT 95
#define I2C_ERR_REGISTER 94 #define I2C_ERR_REGISTER 94
#define I2C_ERR_OVERRUN 93 #define I2C_ERR_OVERRUN 93
#define I2C_ERR_STOP_TIMEOUT 92
#define I2C_DMA_BUSY 103 #define I2C_DMA_BUSY 103
#define I2C_PENDING 255 #define I2C_PENDING 255
#define I2C_DMA_ERROR 100 #define I2C_DMA_ERROR 100