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HAL_ChibiOS: fix G4 I2c bus speeds

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This commit is contained in:
Andrew Tridgell 2021-10-06 10:31:24 +11:00
parent 483d308781
commit e6aae3caf6
1 changed files with 16 additions and 1 deletions
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17
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
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@ -74,6 +74,13 @@ I2CBus I2CDeviceManager::businfo[ARRAY_SIZE(I2CD)];
#define HAL_I2C_L4_400_TIMINGR 0x00702991
#endif
#ifndef HAL_I2C_G4_100_TIMINGR
#define HAL_I2C_G4_100_TIMINGR 0x60505F8C
#endif
#ifndef HAL_I2C_G4_400_TIMINGR
#define HAL_I2C_G4_400_TIMINGR 0x20501E65
#endif
/*
enable clear (toggling SCL) on I2C bus timeouts which leave SDA stuck low
*/
@ -151,7 +158,7 @@ I2CDeviceManager::I2CDeviceManager(void)
drop the speed to be the minimum speed requested
*/
businfo[i].busclock = HAL_I2C_MAX_CLOCK;
#if defined(STM32F7) || defined(STM32F3) || defined(STM32G4)
#if defined(STM32F7) || defined(STM32F3)
if (businfo[i].busclock <= 100000) {
businfo[i].i2ccfg.timingr = HAL_I2C_F7_100_TIMINGR;
businfo[i].busclock = 100000;
@ -175,6 +182,14 @@ I2CDeviceManager::I2CDeviceManager(void)
businfo[i].i2ccfg.timingr = HAL_I2C_L4_400_TIMINGR;
businfo[i].busclock = 400000;
}
#elif defined(STM32G4)
if (businfo[i].busclock <= 100000) {
businfo[i].i2ccfg.timingr = HAL_I2C_G4_100_TIMINGR;
businfo[i].busclock = 100000;
} else {
businfo[i].i2ccfg.timingr = HAL_I2C_G4_400_TIMINGR;
businfo[i].busclock = 400000;
}
#else // F1 or F4
businfo[i].i2ccfg.op_mode = OPMODE_I2C;
businfo[i].i2ccfg.clock_speed = businfo[i].busclock;