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HAL_ChibiOS: support I2C devices on STM32F7 without DMA

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this allows us to support I2C4 on fmuv5
This commit is contained in:
Andrew Tridgell 2018-06-08 15:43:07 +10:00
parent 2af8e673cc
commit e068106669
3 changed files with 28 additions and 15 deletions
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4
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
View File

@ -255,6 +255,10 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
// calculate a timeout as twice the expected transfer time, and set as min of 4ms
uint32_t timeout_ms = 1+2*(((8*1000000UL/bus.busclock)*MAX(send_len, recv_len))/1000);
timeout_ms = MAX(timeout_ms, _timeout_ms);
// if we are not using DMA then we may need to start the bus here
bus.dma_allocate(bus.dma_handle);
bus.i2c_active = true;
osalDbgAssert(I2CD[bus.busnum].i2c->state == I2C_READY, "i2cStart state");
if(send_len == 0) {

9
libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
View File

@ -85,14 +85,11 @@ PF0 I2C2_SDA I2C2
PH7 I2C3_SCL I2C3
PH8 I2C3_SDA I2C3
# I2C4 disabled due to DMA conflicts.
# to support I2C4 we will need to add support in ChibiOS for
# using DMA on some I2C devices and not on others
#PF14 I2C4_SCK I2C4
#PF15 I2C4_SDA I2C4
PF14 I2C4_SCK I2C4 NODMA
PF15 I2C4_SDA I2C4 NODMA
# order of I2C buses
I2C_ORDER I2C2 I2C1 I2C3
I2C_ORDER I2C2 I2C1 I2C3 I2C4
# enable pins

30
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -627,17 +627,22 @@ 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)
n = int(dev[3:])
devlist.append('HAL_I2C%u_CONFIG' % n)
f.write('''
#if defined(STM32_I2C_I2C%u_RX_DMA_STREAM) && defined(STM32_I2C_I2C%u_TX_DMA_STREAM)
#define HAL_I2C%u_CONFIG { &I2CD%u, STM32_I2C_I2C%u_RX_DMA_STREAM, STM32_I2C_I2C%u_TX_DMA_STREAM }
#else
#define HAL_I2C%u_CONFIG { &I2CD%u, SHARED_DMA_NONE, SHARED_DMA_NONE }
#endif
'''
% (n, n, n, n, n, n, n, n))
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(
'#define HAL_I2C%u_CONFIG { &I2CD%u, STM32_I2C_I2C%u_RX_DMA_STREAM, STM32_I2C_I2C%u_TX_DMA_STREAM }\n'
% (n, n, n, n))
f.write('#define HAL_I2C_DEVICE_LIST %s\n\n' % ','.join(devlist))
f.write('\n#define HAL_I2C_DEVICE_LIST %s\n\n' % ','.join(devlist))
def parse_timer(str):
'''parse timer channel string, i.e TIM8_CH2N'''
@ -942,7 +947,6 @@ def write_hwdef_header(outfilename):
write_mcu_config(f)
write_USB_config(f)
write_I2C_config(f)
write_SPI_config(f)
write_ADC_config(f)
write_GPIO_config(f)
@ -957,6 +961,7 @@ def write_hwdef_header(outfilename):
write_PWM_config(f)
write_I2C_config(f)
write_UART_config(f)
if len(romfs) > 0:
@ -1033,8 +1038,15 @@ def build_peripheral_list():
continue
for prefix in prefixes:
if type.startswith(prefix):
peripherals.append(type + "_TX")
peripherals.append(type + "_RX")
ptx = type + "_TX"
prx = type + "_RX"
peripherals.append(ptx)
peripherals.append(prx)
if not ptx in bylabel:
bylabel[ptx] = p
if not prx in bylabel:
bylabel[prx] = p
if type.startswith('ADC'):
peripherals.append(type)
if type.startswith('SDIO') or type.startswith('SDMMC'):