/* * This file is free software: you can redistribute it and/or modify it * under the terms of the GNU General Public License as published by the * Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This file is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * See the GNU General Public License for more details. * * You should have received a copy of the GNU General Public License along * with this program. If not, see <http://www.gnu.org/licenses/>. */ #include "I2CDevice.h" #include <AP_HAL/AP_HAL.h> #include <AP_Math/AP_Math.h> #include <AP_HAL_ESP32/Semaphores.h> #include "Scheduler.h" using namespace ESP32; #define MHZ (1000U*1000U) #define KHZ (1000U) I2CBusDesc i2c_bus_desc[] = { HAL_ESP32_I2C_BUSES }; I2CBus I2CDeviceManager::businfo[ARRAY_SIZE(i2c_bus_desc)]; I2CDeviceManager::I2CDeviceManager(void) { for (uint8_t i=0; i<ARRAY_SIZE(i2c_bus_desc); i++) { if (i2c_bus_desc[i].soft) { businfo[i].sw_handle.sda = i2c_bus_desc[i].sda; businfo[i].sw_handle.scl = i2c_bus_desc[i].scl; //TODO make modular businfo[i].sw_handle.speed = I2C_SPEED_FAST; businfo[i].soft = true; i2c_init(&(businfo[i].sw_handle)); } else { i2c_config_t i2c_bus_config; i2c_bus_config.mode = I2C_MODE_MASTER; i2c_bus_config.sda_io_num = i2c_bus_desc[i].sda; i2c_bus_config.scl_io_num = i2c_bus_desc[i].scl; i2c_bus_config.sda_pullup_en = GPIO_PULLUP_ENABLE; i2c_bus_config.scl_pullup_en = GPIO_PULLUP_ENABLE; i2c_bus_config.master.clk_speed = i2c_bus_desc[i].speed; i2c_port_t p = i2c_bus_desc[i].port; businfo[i].port = p; businfo[i].bus_clock = i2c_bus_desc[i].speed; businfo[i].soft = false; i2c_param_config(p, &i2c_bus_config); i2c_driver_install(p, I2C_MODE_MASTER, 0, 0, ESP_INTR_FLAG_IRAM); i2c_filter_enable(p, 7); } } } I2CDevice::I2CDevice(uint8_t busnum, uint8_t address, uint32_t bus_clock, bool use_smbus, uint32_t timeout_ms) : _retries(10), _address(address), bus(I2CDeviceManager::businfo[busnum]) { set_device_bus(busnum); set_device_address(address); asprintf(&pname, "I2C:%u:%02x", (unsigned)busnum, (unsigned)address); } I2CDevice::~I2CDevice() { free(pname); } bool I2CDevice::transfer(const uint8_t *send, uint32_t send_len, uint8_t *recv, uint32_t recv_len) { if (!bus.semaphore.check_owner()) { printf("I2C: not owner of 0x%x\n", (unsigned)get_bus_id()); return false; } bool result = false; if (bus.soft) { uint8_t flag_wr = (recv_len == 0 || recv == nullptr) ? I2C_NOSTOP : 0; if (send_len != 0 && send != nullptr) { //tx with optional rx (after tx) i2c_write_bytes(&bus.sw_handle, _address, send, send_len, flag_wr); } if (recv_len != 0 && recv != nullptr) { //rx only or rx after tx //rx separated from tx by (re)start i2c_read_bytes(&bus.sw_handle, _address, (uint8_t *)recv, recv_len, 0); } result = true; //TODO check all } else { i2c_cmd_handle_t cmd = i2c_cmd_link_create(); if (send_len != 0 && send != nullptr) { //tx with optional rx (after tx) i2c_master_start(cmd); i2c_master_write_byte(cmd, (_address << 1) | I2C_MASTER_WRITE, true); i2c_master_write(cmd, (uint8_t*)send, send_len, true); } if (recv_len != 0 && recv != nullptr) { //rx only or rx after tx //rx separated from tx by (re)start i2c_master_start(cmd); i2c_master_write_byte(cmd, (_address << 1) | I2C_MASTER_READ, true); i2c_master_read(cmd, (uint8_t *)recv, recv_len, I2C_MASTER_LAST_NACK); } i2c_master_stop(cmd); TickType_t timeout = 1 + 16L * (send_len + recv_len) * 1000 / bus.bus_clock / portTICK_PERIOD_MS; for (int i = 0; !result && i < _retries; i++) { result = (i2c_master_cmd_begin(bus.port, cmd, timeout) == ESP_OK); if (!result) { i2c_reset_tx_fifo(bus.port); i2c_reset_rx_fifo(bus.port); } } i2c_cmd_link_delete(cmd); } return result; } /* register a periodic callback */ AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb) { return bus.register_periodic_callback(period_usec, cb, this); } /* adjust a periodic callback */ bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec) { return bus.adjust_timer(h, period_usec); } AP_HAL::OwnPtr<AP_HAL::I2CDevice> I2CDeviceManager::get_device(uint8_t bus, uint8_t address, uint32_t bus_clock, bool use_smbus, uint32_t timeout_ms) { if (bus >= ARRAY_SIZE(i2c_bus_desc)) { return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr); } auto dev = AP_HAL::OwnPtr<AP_HAL::I2CDevice>(new I2CDevice(bus, address, bus_clock, use_smbus, timeout_ms)); return dev; } /* get mask of bus numbers for all configured I2C buses */ uint32_t I2CDeviceManager::get_bus_mask(void) const { return ((1U << ARRAY_SIZE(i2c_bus_desc)) - 1); } /* get mask of bus numbers for all configured internal I2C buses */ uint32_t I2CDeviceManager::get_bus_mask_internal(void) const { uint32_t result = 0; for (size_t i = 0; i < ARRAY_SIZE(i2c_bus_desc); i++) { if (i2c_bus_desc[i].internal) { result |= (1u << i); } } return result; } /* get mask of bus numbers for all configured external I2C buses */ uint32_t I2CDeviceManager::get_bus_mask_external(void) const { return get_bus_mask() & ~get_bus_mask_internal(); }