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[chibios] fix i2c driver when doing a receive only

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This commit is contained in:
Gautier Hattenberger
2016-09-23 18:26:55 +02:00
parent c8e4a2b944
commit 4da4db7b5e
1 changed files with 19 additions and 8 deletions
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sw/airborne/arch/chibios/mcu_periph/i2c_arch.c
+19 -8
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@@ -69,13 +69,22 @@ static void handle_i2c_thd(struct i2c_periph *p)
struct i2c_transaction *t = p->trans[p->trans_extract_idx];
p->status = I2CStartRequested;
// submit i2c transaction
msg_t status = i2cMasterTransmitTimeout(
(I2CDriver*)p->reg_addr,
(i2caddr_t)((t->slave_addr)>>1),
(uint8_t*)t->buf, (size_t)(t->len_w),
(uint8_t*)t->buf, (size_t)(t->len_r),
tmo);
msg_t status;
// submit i2c transaction (R/W or R only depending of len_w)
if (t->len_w > 0) {
status = i2cMasterTransmitTimeout(
(I2CDriver*)p->reg_addr,
(i2caddr_t)((t->slave_addr)>>1),
(uint8_t*)t->buf, (size_t)(t->len_w),
(uint8_t*)t->buf, (size_t)(t->len_r),
tmo);
} else {
status = i2cMasterReceiveTimeout(
(I2CDriver*)p->reg_addr,
(i2caddr_t)((t->slave_addr)>>1),
(uint8_t*)t->buf, (size_t)(t->len_r),
tmo);
}
chSysLock();
// end of transaction, handle fifo
@@ -94,8 +103,10 @@ static void handle_i2c_thd(struct i2c_periph *p)
break;
case MSG_TIMEOUT:
//if a timeout occurred before operation end
// mark as failed
// mark as failed and restart
t->status = I2CTransFailed;
i2cStop((I2CDriver*)p->reg_addr);
i2cStart((I2CDriver*)p->reg_addr, i->cfg);
break;
case MSG_RESET:
//if one or more I2C errors occurred, the errors can