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ChibiOS: implement way to clear i2c bus by toggling clock line

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This commit is contained in:
Siddharth Purohit 2018-02-06 01:10:05 +05:30 committed by Andrew Tridgell
parent 238db04187
commit 40142e5aef
4 changed files with 42 additions and 0 deletions
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3
libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
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@ -109,6 +109,9 @@ static THD_FUNCTION(main_loop,arg)
{
daemon_task = chThdGetSelfX();
//Clear all I2C Buses
ChibiOS::I2CBus::clear_all();
ChibiOS::Shared_DMA::init();
hal.uartA->begin(115200);

32
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
View File

@ -51,6 +51,38 @@ void I2CBus::dma_init(void)
FUNCTOR_BIND_MEMBER(&I2CBus::dma_deallocate, void));
}
// Clear Bus to avoid bus lockup
void I2CBus::clear_all()
{
#if defined(HAL_GPIO_PIN_I2C1_SCL) && defined(HAL_I2C1_SCL_AF)
clear_bus(HAL_GPIO_PIN_I2C1_SCL, HAL_I2C1_SCL_AF);
#endif
#if defined(HAL_GPIO_PIN_I2C2_SCL) && defined(HAL_I2C2_SCL_AF)
clear_bus(HAL_GPIO_PIN_I2C1_SCL, HAL_I2C1_SCL_AF);
#endif
#if defined(HAL_GPIO_PIN_I2C3_SCL) && defined(HAL_I2C3_SCL_AF)
clear_bus(HAL_GPIO_PIN_I2C1_SCL, HAL_I2C1_SCL_AF);
#endif
#if defined(HAL_GPIO_PIN_I2C4_SCL) && defined(HAL_I2C4_SCL_AF)
clear_bus(HAL_GPIO_PIN_I2C1_SCL, HAL_I2C1_SCL_AF);
#endif
}
//This code blocks!
void I2CBus::clear_bus(ioline_t scl_line, uint8_t scl_af)
{
//send dummy clock
palSetLineMode(scl_line, PAL_MODE_OUTPUT_PUSHPULL);
for(int i = 0; i < 20; i++) {
palToggleLine(scl_line);
hal.scheduler->delay_microseconds(200);
}
palSetLineMode(scl_line, PAL_MODE_ALTERNATE(scl_af) | PAL_STM32_OSPEED_MID2 | PAL_STM32_OTYPE_OPENDRAIN);
}
// setup I2C buses
I2CDeviceManager::I2CDeviceManager(void)
{

2
libraries/AP_HAL_ChibiOS/I2CDevice.h
View File

@ -40,6 +40,8 @@ public:
void dma_allocate(void);
void dma_deallocate(void);
void dma_init(void);
static void clear_all(void);
static void clear_bus(ioline_t scl_line, uint8_t scl_af);
};
class I2CDevice : public AP_HAL::I2CDevice {

5
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -509,6 +509,11 @@ def write_I2C_config(f):
for dev in i2c_list:
if not dev.startswith('I2C') or dev[3] not in "1234":
error("Bad I2C_ORDER element %s" % dev)
if dev + "_SCL" in bylabel:
p = bylabel[dev + "_SCL"]
f.write(
'#define HAL_%s_SCL_AF %d\n' % (dev, p.af)
)
n = int(dev[3:])
devlist.append('HAL_I2C%u_CONFIG' % n)
f.write(