ardupilot/libraries/AP_HAL_F4Light/tim_i2c.h

157 lines
2.9 KiB
C++

#pragma once
#include <stdbool.h>
#include <stm32f4xx.h>
#include <hal.h>
#include "systick.h"
#include "Scheduler.h"
#include "timer.h"
//#define SI2C_DEBUG 1
//#define SI2C_PROF 1
class Soft_I2C {
public:
typedef enum STATE {
START,
// address
A_0L,
A_0H,
A_1L,
A_1H,
A_2L,
A_2H,
A_3L,
A_3H,
A_4L,
A_4H,
A_5L,
A_5H,
A_6L,
A_6H,
A_7L,
A_7H,
A_AL,
A_AH,
// byte write
W_0L,
W_0H,
W_1L,
W_1H,
W_2L,
W_2H,
W_3L,
W_3H,
W_4L,
W_4H,
W_5L,
W_5H,
W_6L,
W_6H,
W_7L,
W_7H,
W_AL,
W_AH,
STOP,
STOP2,
RESTART,
RESTART2, // 2nd stage
DUMMY,
// byte read after restart
R_0L,
R_0H,
R_1L,
R_1H,
R_2L,
R_2H,
R_3L,
R_3H,
R_4L,
R_4H,
R_5L,
R_5H,
R_6L,
R_6H,
R_7L,
R_7H,
R_AL,
R_AH,
} State;
#ifdef SI2C_DEBUG
typedef struct SI2C_STATE {
uint32_t time;
State state;
unsigned int sda;
unsigned int f_sda;
} SI2C_State;
#endif
Soft_I2C();
void init();
void init_hw( const gpio_dev *scl_dev, uint8_t scl_bit, const gpio_dev *sda_dev, uint8_t sda_bit, const timer_dev *tim);
uint8_t writeBuffer( uint8_t addr_, uint8_t len_, const uint8_t *data);
uint8_t read( uint8_t addr_, uint8_t reg, uint8_t len, uint8_t* buf);
uint8_t transfer(uint8_t addr, uint8_t send_len, const uint8_t *send, uint8_t len, uint8_t *buf);
bool bus_reset(void);
void set_low_speed(bool s) { }
private:
void tick(); // ISR
bool _start(void);
uint8_t wait_done();
const gpio_dev *_scl_dev;
uint8_t _scl_bit;
const gpio_dev *_sda_dev;
uint8_t _sda_bit;
const timer_dev * _timer;
volatile GPIO_TypeDef *scl_port; // for quick direct access to hardware
uint16_t scl_pin;
volatile GPIO_TypeDef *sda_port;
uint16_t sda_pin;
volatile bool done;
volatile uint8_t result;
volatile State state;
bool f_sda; // what line we touch
bool wait_scl; // flag - we wait for SCL stretching
bool was_restart;
uint8_t data; // data byte to output / from input
const uint8_t *send;
uint8_t send_len;
uint8_t *recv;
uint8_t recv_len;
uint8_t _addr;
uint16_t bit_time;
#ifdef SI2C_DEBUG
#define SI2C_LOG_SIZE 199
static SI2C_State log[SI2C_LOG_SIZE];
static uint16_t log_ptr;
#endif
#ifdef SI2C_PROF
static uint64_t full_time;
static uint32_t int_count;
#endif
};