mirror of https://github.com/ArduPilot/ardupilot
168 lines
5.0 KiB
C
168 lines
5.0 KiB
C
#ifndef _I2C_H
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#define _I2C_H
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#include <hal_types.h>
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#include <hal.h>
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#include "dma.h"
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#define I2C_50KHz_SPEED 50000
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#define I2C_75KHz_SPEED 75000
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#define I2C_100KHz_SPEED 100000
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#define I2C_250KHz_SPEED 250000
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#define I2C_400KHz_SPEED 400000
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#define I2C_BIT_MASK ((uint32_t)0x00FFFFFF)
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// SR1 bits
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#define I2C_BIT_SMBALERT ((uint32_t)0x0008000)
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#define I2C_BIT_TIMEOUT ((uint32_t)0x4000)
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#define I2C_BIT_PECERR ((uint32_t)0x1000)
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#define I2C_BIT_OVR ((uint32_t)0x0800)
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#define I2C_BIT_AF ((uint32_t)0x0400)
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#define I2C_BIT_ARLO ((uint32_t)0x0200)
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#define I2C_BIT_BERR ((uint32_t)0x0100)
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#define I2C_BIT_TXE ((uint32_t)0x0080)
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#define I2C_BIT_RXNE ((uint32_t)0x0040)
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#define I2C_BIT_STOPF ((uint32_t)0x0010)
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#define I2C_BIT_ADD10 ((uint32_t)0x0008)
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#define I2C_BIT_BTF ((uint32_t)0x0004)
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#define I2C_BIT_ADDR ((uint32_t)0x0002)
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#define I2C_BIT_SB ((uint32_t)0x0001)
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// interrupt enable bits
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#define I2C_IE_BUF ((uint16_t)0x0400)
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#define I2C_IE_EVT ((uint16_t)0x0200)
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#define I2C_IE_ERR ((uint16_t)0x0100)
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//SR2 bits
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#define I2C_BIT_DUALF ((uint32_t)0x0080)
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#define I2C_BIT_SMBHOST ((uint32_t)0x0040)
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#define I2C_BIT_SMBDEFAULT ((uint32_t)0x0020)
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#define I2C_BIT_GENCALL ((uint32_t)0x0010)
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#define I2C_BIT_TRA ((uint32_t)0x0004)
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#define I2C_BIT_BUSY ((uint32_t)0x0002)
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#define I2C_BIT_MSL ((uint32_t)0x0001)
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#define I2C_NACKPosition_Next ((uint16_t)0x0800)
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#define I2C_NACKPosition_Current ((uint16_t)0xF7FF)
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#define I2C_Direction_Transmitter ((uint8_t)0x00)
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#define I2C_Direction_Receiver ((uint8_t)0x01)
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/* Maximum Timeout values for events waiting loops */
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#undef I2C_TIMEOUT
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#define I2C_TIMEOUT (300)// in uS - wait for byte transfer: 10us per bit (100kHz) * 9 bits
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#define I2C_SMALL_TIMEOUT (50) // in uS - wait for bit
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#define I2C_OK 0
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#define I2C_NO_DEVICE 1
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#define I2C_ERROR 2
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#define I2C_BUS_BUSY 2
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#define I2C_ERR_WRITE 6
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#define I2C_NO_REGISTER 8 // 8 Acknolege Failed - not "no device"! this happens when we try to read non-existent register from chip
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#define I2C_BUS_ERR 99
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#define I2C_ERR_STOP 98
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#define I2C_STOP_BERR 97
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#define I2C_STOP_BUSY 96
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#define I2C_ERR_TIMEOUT 95
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#define I2C_ERR_REGISTER 94
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#define I2C_ERR_OVERRUN 93
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#define I2C_DMA_BUSY 103
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#define I2C_PENDING 255
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#define I2C_DMA_ERROR 100
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#define DMA_BUFSIZE 8 // we read just 6 bytes from compass
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typedef struct I2C_DMA {
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uint32_t channel;
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dma_stream stream_rx;
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dma_stream stream_tx;
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} I2C_dma;
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typedef struct I2c_state {
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Handler handler;
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volatile bool busy;
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} i2c_state;
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extern uint32_t i2c_bit_time;
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/**
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* @brief I2C device type.
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*/
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typedef struct i2c_dev {
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I2C_TypeDef* I2Cx;
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const gpio_dev *gpio_port;
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uint8_t sda_pin;
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uint8_t scl_pin;
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uint32_t clk;
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uint8_t gpio_af;
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IRQn_Type ev_nvic_line; /* Event IRQ number */
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IRQn_Type er_nvic_line; /* Error IRQ number */
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// I2C_dma dma;
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i2c_state *state;
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} i2c_dev;
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#ifdef __cplusplus
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extern "C" {
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#endif
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void i2c_init(const i2c_dev *dev, uint16_t address, uint32_t speed);
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void i2c_deinit(const i2c_dev *dev);
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uint32_t i2c_write(const i2c_dev *dev, uint8_t addr, const uint8_t *tx_buff, uint8_t txlen);
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uint32_t i2c_read (const i2c_dev *dev, uint8_t addr, const uint8_t *tx_buff, uint8_t txlen, uint8_t *rx_buff, uint8_t rxlen);
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void i2c_lowLevel_deinit(const i2c_dev *dev);
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void i2c_master_release_bus(const i2c_dev *dev);
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bool i2c_bus_reset(const i2c_dev *dev);
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static inline void i2c_set_isr_handler(const i2c_dev *dev, Handler h){
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IRQn_Type irq;
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dev->state->handler = h;
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irq=dev->er_nvic_line;
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enable_nvic_irq(irq, I2C_INT_PRIORITY); // 8 bits * 4uS = 32uS max reaction time
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irq=dev->ev_nvic_line;
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enable_nvic_irq(irq, I2C_INT_PRIORITY);
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}
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static inline void i2c_clear_isr_handler(const i2c_dev *dev){
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dev->state->handler=0;
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}
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static inline void i2c_send_address(const i2c_dev *dev, uint8_t address, uint8_t direction)
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{
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/* Test on the direction to set/reset the read/write bit */
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if (direction != I2C_Direction_Transmitter) {
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dev->I2Cx->DR = address | I2C_OAR1_ADD0; /* Set the address bit0 for read */
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} else {
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dev->I2Cx->DR = address & (uint8_t)~((uint8_t)I2C_OAR1_ADD0); /* Reset the address bit0 for write */
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}
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}
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#ifdef I2C_DEBUG
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uint32_t i2c_get_operation_time(uint8_t *psr1);
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#endif
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extern const i2c_dev* const _I2C1;
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extern const i2c_dev* const _I2C2;
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#ifdef __cplusplus
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}
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#endif
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#endif
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