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tweaking I2C - broken - don't update

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This commit is contained in:
Antoine Drouin
2010-09-02 16:50:14 +00:00
parent 99487fef9a
commit 66b8cff56e
6 changed files with 47 additions and 237 deletions
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conf/autopilot/lisa_test_progs.makefile
+1 -1
View File
@@ -124,7 +124,7 @@ SRC_BOOZ=booz
SRC_BOOZ_ARCH=$(SRC_BOOZ)/arch/$(ARCHI)
#BOARD_CFG=\"boards/olimex_stm32-h103.h\"
BOARD_CFG=\"boards/lisa_0.99.h\"
BOARD_CFG=\"boards/lisa_l_1.0.h\"
#FLASH_MODE = SERIAL
FLASH_MODE = JTAG
sw/airborne/boards/lisa_l/baro_board.h
+2 -2
View File
@@ -37,14 +37,14 @@ extern void baro_board_send_config_diff(void);
#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
if (baro_board.status == LBS_READING_ABS && \
baro_trans.result == I2CTransSuccess) { \
baro_trans.status == I2CTransSuccess) { \
int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \
baro.absolute = tmp; \
baro_board.status = LBS_READ_ABS; \
_b_abs_handler(); \
} \
else if (baro_board.status == LBS_READING_DIFF && \
baro_trans.result == I2CTransSuccess) { \
baro_trans.status == I2CTransSuccess) { \
int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \
baro.differential = tmp; \
baro_board.status = LBS_READ_DIFF; \
sw/airborne/booz/ahrs/booz_ahrs_aligner.c
-1
View File
@@ -45,7 +45,6 @@ void booz_ahrs_aligner_init(void) {
samples_idx = 0;
booz_ahrs_aligner.noise = 0;
booz_ahrs_aligner.low_noise_cnt = 0;
}
#define LOW_NOISE_THRESHOLD 90000
sw/airborne/i2c.c
-56
View File
@@ -126,71 +126,15 @@ void i2c1_transceive(uint8_t slave_addr, uint8_t len_w, uint16_t len_r, volatile
struct i2c_periph i2c2;
//struct i2c i2c2;
void i2c2_init(void) {
// i2c2.status = I2CIdle;
// i2c2.finished = NULL;
// i2c2_hw_init();
i2c_init(&i2c2);
i2c2_hw_init();
}
#if 0
void i2c2_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
i2c2.transaction = I2CTransRx;
i2c2.slave_addr = slave_addr;
i2c2.len_r = len;
i2c2.finished = finished;
if (finished) *finished = FALSE;
i2c2.index = 0;
I2C_AcknowledgeConfig(I2C2, ENABLE);
i2c2.status = I2CStartRequested;
I2C_ZERO_EVENTS();
// I2c2SendStart();
I2C_ITConfig(I2C2, I2C_IT_EVT, ENABLE);
I2C_GenerateSTART(I2C2, ENABLE);
}
void i2c2_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
//MY_ASSERT((i2c2.status == I2CIdle) || (i2c2.status == I2CComplete) || (i2c2.status == I2CFailed));
i2c2.transaction = I2CTransTx;
i2c2.slave_addr = slave_addr;
i2c2.len_w = len;
i2c2.finished = finished;
if (finished) *finished = FALSE;
i2c2.index = 0;
i2c2.status = I2CStartRequested;
I2C_ZERO_EVENTS();
// I2c2SendStart();
I2C_ITConfig(I2C2, I2C_IT_EVT, ENABLE);
I2C_GenerateSTART(I2C2, ENABLE);
}
void i2c2_transceive(uint8_t slave_addr, uint8_t len_w, uint16_t len_r, volatile bool_t* finished) {
//MY_ASSERT((i2c2.status == I2CIdle) || (i2c2.status == I2CComplete) || (i2c2.status == I2CFailed));
i2c2.transaction = I2CTransTxRx;
i2c2.slave_addr = slave_addr;
i2c2.len_w = len_w;
i2c2.len_r = len_r;
i2c2.finished = finished;
if (finished) *finished = FALSE;
i2c2.index = 0;
I2C_AcknowledgeConfig(I2C2, ENABLE);
i2c2.status = I2CStartRequested;
I2C_ZERO_EVENTS();
// I2c2SendStart();
I2C_ITConfig(I2C2, I2C_IT_EVT, ENABLE);
I2C_GenerateSTART(I2C2, ENABLE);
}
#endif
void i2c_init(struct i2c_periph* p) {
p->trans_insert_idx = 0;
p->trans_extract_idx = 0;
p->status = I2CIdle;
}
sw/airborne/i2c.h
+4 -1
View File
@@ -128,6 +128,10 @@ extern volatile uint8_t i2c1_trx;
extern volatile bool_t* i2c1_finished;
extern struct i2c_periph i2c1;
extern void i2c1_init(void);
#endif /* USE_I2C1 */
@@ -135,7 +139,6 @@ extern volatile bool_t* i2c1_finished;
#ifdef USE_I2C2
extern struct i2c_periph i2c2;
extern void i2c2_init(void);
#endif /* USE_I2C2 */
sw/airborne/stm32/i2c_hw.c
+40 -176
View File
@@ -5,19 +5,17 @@
#include <stm32/flash.h>
#include <stm32/misc.h>
#include "led.h"
#define ZEROS_ERR_COUNTER(_i2c) { \
_i2c.ack_fail_cnt = 0; \
_i2c.miss_start_stop_cnt = 0; \
_i2c.arb_lost_cnt = 0; \
_i2c.over_under_cnt = 0; \
_i2c.pec_recep_cnt = 0; \
_i2c.timeout_tlow_cnt = 0; \
_i2c.smbus_alert_cnt = 0; \
_i2c.unexpected_event_cnt = 0; \
_i2c.last_unexpected_event = 0; \
_i2c.er_irq_cnt = 0; \
#define ZEROS_ERR_COUNTER(_i2c_err) { \
_i2c_err.ack_fail_cnt = 0; \
_i2c_err.miss_start_stop_cnt = 0; \
_i2c_err.arb_lost_cnt = 0; \
_i2c_err.over_under_cnt = 0; \
_i2c_err.pec_recep_cnt = 0; \
_i2c_err.timeout_tlow_cnt = 0; \
_i2c_err.smbus_alert_cnt = 0; \
_i2c_err.unexpected_event_cnt = 0; \
_i2c_err.last_unexpected_event = 0; \
_i2c_err.er_irq_cnt = 0; \
}
@@ -311,22 +309,22 @@ void i2c2_hw_init(void) {
I2C_ITConfig(I2C2, I2C_IT_ERR, ENABLE);
// DEBUG_SERVO1_INIT();
// DEBUG_SERVO2_INIT();
DEBUG_SERVO2_INIT();
}
static inline void on_status_start_requested(const struct i2c_transaction* trans, uint32_t event);
static inline void on_status_addr_wr_sent(uint32_t event);
static inline void on_status_sending_byte(uint32_t event);
//static inline void on_status_sending_last_byte(uint32_t event);
static inline void on_status_stop_requested(uint32_t event);
static inline void on_status_addr_rd_sent(uint32_t event);
static inline void on_status_reading_byte(uint32_t event);
static inline void on_status_reading_last_byte(uint32_t event);
static inline void on_status_restart_requested(uint32_t event);
static inline void on_status_start_requested(struct i2c_transaction* trans, uint32_t event);
static inline void on_status_addr_wr_sent(struct i2c_transaction* trans, uint32_t event);
static inline void on_status_sending_byte(struct i2c_transaction* trans, uint32_t event);
//static inline void on_status_sending_last_byte(struct i2c_transaction* trans, uint32_t event);
static inline void on_status_stop_requested(struct i2c_transaction* trans, uint32_t event);
static inline void on_status_addr_rd_sent(struct i2c_transaction* trans, uint32_t event);
static inline void on_status_reading_byte(struct i2c_transaction* trans, uint32_t event);
static inline void on_status_reading_last_byte(struct i2c_transaction* trans, uint32_t event);
static inline void on_status_restart_requested(struct i2c_transaction* trans, uint32_t event);
#ifdef DEBUG_I2C
#define SPURIOUS_INTERRUPT(_status, _event) { while(1); }
@@ -340,7 +338,7 @@ static inline void on_status_restart_requested(uint32_t event);
* Start Requested
*
*/
static inline void on_status_start_requested(const struct i2c_transaction* trans, uint32_t event) {
static inline void on_status_start_requested(struct i2c_transaction* trans, uint32_t event) {
if (event & I2C_FLAG_SB) {
if(trans->type == I2CTransRx) {
I2C_Send7bitAddress(I2C2, trans->slave_addr, I2C_Direction_Receiver);
@@ -359,9 +357,8 @@ static inline void on_status_start_requested(const struct i2c_transaction* trans
* Addr WR sent
*
*/
static inline void on_status_addr_wr_sent(uint32_t event) {
static inline void on_status_addr_wr_sent(struct i2c_transaction* trans, uint32_t event) {
if ((event & I2C_FLAG_ADDR) && (event & I2C_FLAG_TRA)) {
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
I2C_SendData(I2C2, trans->buf[0]);
if (trans->len_w > 1) {
I2C_SendData(I2C2, trans->buf[1]);
@@ -389,9 +386,8 @@ static inline void on_status_addr_wr_sent(uint32_t event) {
* Sending Byte
*
*/
static inline void on_status_sending_byte(uint32_t event) {
static inline void on_status_sending_byte(struct i2c_transaction* trans, uint32_t event) {
if (event & I2C_FLAG_TXE) {
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
if (i2c2.idx_buf < trans->len_w) {
I2C_SendData(I2C2, trans->buf[i2c2.idx_buf]);
i2c2.idx_buf++;
@@ -417,7 +413,7 @@ static inline void on_status_sending_byte(uint32_t event) {
* Sending last byte
*
*/
static inline void on_status_sending_last_byte(uint32_t event) {
static inline void on_status_sending_last_byte(struct i2c_transaction* trans, uint32_t event) {
if (event & I2C_FLAG_TXE) { // should really be BTF as we're supposed to have disabled buf it already
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
if (trans->type == I2CTransTx) {
@@ -440,9 +436,8 @@ static inline void on_status_sending_last_byte(uint32_t event) {
* Stop Requested
*
*/
static inline void on_status_stop_requested(uint32_t event) {
static inline void on_status_stop_requested(struct i2c_transaction* trans, uint32_t event) {
/* bummer.... */
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
if (event & I2C_FLAG_RXNE) {
uint8_t read_byte = I2C_ReceiveData(I2C2);
if (i2c2.idx_buf < trans->len_r) {
@@ -459,9 +454,8 @@ static inline void on_status_stop_requested(uint32_t event) {
* Addr RD sent
*
*/
static inline void on_status_addr_rd_sent(uint32_t event) {
static inline void on_status_addr_rd_sent(struct i2c_transaction* trans, uint32_t event) {
if ((event & I2C_FLAG_ADDR) && !(event & I2C_FLAG_TRA)) {
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
i2c2.idx_buf = 0;
if(trans->len_r == 1) { // If we're going to read only one byte
I2C_AcknowledgeConfig(I2C2, DISABLE); // make sure it's gonna be nacked
@@ -483,9 +477,8 @@ static inline void on_status_addr_rd_sent(uint32_t event) {
* Reading byte
*
*/
static inline void on_status_reading_byte(uint32_t event) {
static inline void on_status_reading_byte(struct i2c_transaction* trans, uint32_t event) {
if (event & I2C_FLAG_RXNE) {
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
uint8_t read_byte = I2C_ReceiveData(I2C2);
if (i2c2.idx_buf < trans->len_r) {
trans->buf[i2c2.idx_buf] = read_byte;
@@ -505,8 +498,7 @@ static inline void on_status_reading_byte(uint32_t event) {
* Reading last byte
*
*/
static inline void on_status_reading_last_byte(uint32_t event) {
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
static inline void on_status_reading_last_byte(struct i2c_transaction* trans, uint32_t event) {
if (event & I2C_FLAG_BTF) {
uint8_t read_byte = I2C_ReceiveData(I2C2);
trans->buf[i2c2.idx_buf] = read_byte;
@@ -526,8 +518,7 @@ static inline void on_status_reading_last_byte(uint32_t event) {
* Restart requested
*
*/
static inline void on_status_restart_requested(uint32_t event) {
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
static inline void on_status_restart_requested(struct i2c_transaction* trans, uint32_t event) {
// DEBUG_S6_ON();
if (event & I2C_FLAG_SB) {
// DEBUG_S2_ON();
@@ -561,7 +552,7 @@ static inline void on_status_restart_requested(uint32_t event) {
}
void i2c2_ev_irq_handler(void) {
// DEBUG_S4_ON();
DEBUG_S4_ON();
uint32_t event = I2C_GetLastEvent(I2C2);
struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
//#if 0
@@ -576,48 +567,48 @@ void i2c2_ev_irq_handler(void) {
on_status_start_requested(trans, event);
break;
case I2CAddrWrSent:
on_status_addr_wr_sent(event);
on_status_addr_wr_sent(trans, event);
break;
case I2CSendingByte:
// DEBUG_S4_ON();
on_status_sending_byte(event);
on_status_sending_byte(trans, event);
// DEBUG_S4_OFF();
break;
#if 0
case I2CSendingLastByte:
// DEBUG_S5_ON();
on_status_sending_last_byte(event);
on_status_sending_last_byte(trans, event);
// DEBUG_S5_OFF();
break;
#endif
case I2CStopRequested:
// DEBUG_S1_ON();
on_status_stop_requested(event);
on_status_stop_requested(trans, event);
// DEBUG_S1_OFF();
break;
case I2CAddrRdSent:
on_status_addr_rd_sent(event);
on_status_addr_rd_sent(trans, event);
break;
case I2CReadingByte:
// DEBUG_S2_ON();
on_status_reading_byte(event);
on_status_reading_byte(trans, event);
// DEBUG_S2_OFF();
break;
case I2CReadingLastByte:
// DEBUG_S5_ON();
on_status_reading_last_byte(event);
on_status_reading_last_byte(trans, event);
// DEBUG_S5_OFF();
break;
case I2CRestartRequested:
// DEBUG_S5_ON();
on_status_restart_requested(event);
on_status_restart_requested(trans, event);
// DEBUG_S5_OFF();
break;
default:
OUT_OF_SYNC_STATE_MACHINE(i2c2.status, event);
break;
}
// DEBUG_S4_OFF();
DEBUG_S4_OFF();
}
@@ -676,133 +667,6 @@ void i2c2_er_irq_handler(void) {
}
/* old code, left just for reference. New should do the same */
#if 0
/* disable IRQ, notifiy caller, update status */
#define TransactionComplete() { \
I2C_ITConfig(I2C2, I2C_IT_EVT|I2C_IT_BUF, DISABLE); \
\
if (i2c2.finished) *i2c2.finished = TRUE; \
i2c2.status = I2CComplete; \
I2c2StopHandler(); \
}
void i2c2_ev_irq_handler(void) {
// DEBUG_S6_ON();
uint32_t event = I2C_GetLastEvent(I2C2);
if (event & I2C_FLAG_RXNE) { // We're reading
// DEBUG_S2_ON();
uint8_t read_byte = I2C_ReceiveData(I2C2);
if (i2c2.index < i2c2.len_r) {
i2c2.buf[i2c2.index] = read_byte;
i2c2.index++;
} // else { something wrong happened }
if (i2c2.status == I2CStopRequested) {
TransactionComplete();
}
else if (i2c2.index >= i2c2.len_r-1) { // We're reading our last byte
I2C_AcknowledgeConfig(I2C2, DISABLE); // give them a nack once it's done
I2C_GenerateSTOP(I2C2, ENABLE); // and follow with a stop
i2c2.status = I2CStopRequested; // remember we already trigered the stop
// I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE);
// DEBUG_S1_OFF();
}
// DEBUG_S2_OFF();
}
else if ((event & I2C_FLAG_ADDR) && !(event & I2C_FLAG_TRA)) { // We got an address flag for reading
// DEBUG_S4_ON();
i2c2.index = 0; // zero our buffer index
if(i2c2.len_r == 1) { // If we're going to read only one byte
I2C_AcknowledgeConfig(I2C2, DISABLE); // make sure it's gonna be nacked
I2C_GenerateSTOP(I2C2, ENABLE); // and followed by a stop
i2c2.status = I2CStopRequested; // and remember we did
}
else {
I2C_AcknowledgeConfig(I2C2, ENABLE); // if it's more than one byte, ack it
I2C_ITConfig(I2C2, I2C_IT_BUF, ENABLE);
// DEBUG_S1_ON();
}
// DEBUG_S4_OFF();
}
else if (event & I2C_FLAG_TXE) { // TX empty
if (i2c2.status == I2CStopRequested) { // last byte already transfered
TransactionComplete(); // we're done
}
else if (i2c2.status == I2CRestartRequested) { // we've
i2c2.status = I2CReadingByte;
}
else if (i2c2.index < i2c2.len_w) { // transfering non last byte
I2C_SendData(I2C2, i2c2.buf[i2c2.index]);
i2c2.index++;
if (i2c2.index >= i2c2.len_w) {
I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE);
// DEBUG_S1_OFF();
}
}
else { // transfering last byte
if (i2c2.transaction == I2CTransTx) {
I2C_GenerateSTOP(I2C2, ENABLE);
i2c2.status = I2CStopRequested;
}
else {
I2C_GenerateSTART(I2C2, ENABLE);
i2c2.status = I2CRestartRequested;
}
I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE);
// DEBUG_S1_OFF();
}
}
else if (event & I2C_FLAG_SB) { // start
// DEBUG_S5_TOGGLE();
/* in case we haven't had the TXempty it yet */
if((i2c2.transaction == I2CTransTxRx) && (i2c2.status == I2CRestartRequested)) {
i2c2.status = I2CReadingByte;
}
if(i2c2.transaction == I2CTransRx ||
(i2c2.transaction == I2CTransTxRx && i2c2.status == I2CReadingByte))
I2C_Send7bitAddress(I2C2, i2c2.slave_addr, I2C_Direction_Receiver);
else
I2C_Send7bitAddress(I2C2, i2c2.slave_addr, I2C_Direction_Transmitter);
}
else if ((event & I2C_FLAG_BUSY) && (event & I2C_FLAG_MSL)) { /* 0x30000 196608 */
}
else if ((event & I2C_FLAG_BUSY)) { /* 0x20000 131072 */
}
else {
// DEBUG_S2_ON();
// I2C_ITConfig(I2C2, I2C_IT_EVT | I2C_IT_BUF, DISABLE);
i2c2_errors.unexpected_event_cnt++;
i2c2_errors.last_unexpected_event = event;
// while (TRUE);
// I2C_AcknowledgeConfig(I2C2, DISABLE);
// uint8_t dummy __attribute__ ((unused)) = I2C_ReceiveData(I2C2);
// I2C_GenerateSTOP(I2C2, ENABLE);
// DEBUG_S2_OFF();
}
// DEBUG_S6_OFF();
}
#endif
#endif /* USE_I2C2 */