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added support for i2c1 on arm7

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This commit is contained in:
Antoine Drouin
2008-08-22 16:21:55 +00:00
parent 873b27c27b
commit 8de18146ac
10 changed files with 340 additions and 70 deletions
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conf/airframes/booz2.xml
+47 -6
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@@ -37,7 +37,8 @@
</section>
<!-- IMU v3 -->
<!--
<section name="IMU" prefix="IMU_">
<define name="GYRO_X_CHAN" value="0"/>
@@ -72,11 +73,6 @@
<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<!--
<define name="MAG_X_NEUTRAL" value="60"/>
<define name="MAG_Y_NEUTRAL" value="60"/>
-->
<define name="MAG_Z_NEUTRAL" value="0"/>
<define name="MAG_X_SENS" value=" 1000."/>
@@ -84,6 +80,51 @@
<define name="MAG_Z_SENS" value=" 1000."/>
</section>
-->
<!-- crista -->
<section name="IMU" prefix="IMU_">
<define name="GYRO_X_CHAN" value="4"/>
<define name="GYRO_Y_CHAN" value="0"/>
<define name="GYRO_Z_CHAN" value="1"/>
<define name="GYRO_X_NEUTRAL" value="32734"/>
<define name="GYRO_Y_NEUTRAL" value="32272"/>
<define name="GYRO_Z_NEUTRAL" value="32420"/>
<define name="GYRO_X_SENS" value="( 4500.)"/>
<define name="GYRO_Y_SENS" value="(-4500.)"/>
<define name="GYRO_Z_SENS" value="( 4500.)"/>
<define name="ACCEL_X_CHAN" value="2"/>
<define name="ACCEL_Y_CHAN" value="5"/>
<define name="ACCEL_Z_CHAN" value="6"/>
<define name="ACCEL_X_NEUTRAL" value="39913"/>
<define name="ACCEL_Y_NEUTRAL" value="40135"/>
<define name="ACCEL_Z_NEUTRAL" value="39755"/>
<define name="ACCEL_X_SENS" value="( 171)"/>
<define name="ACCEL_Y_SENS" value="( 167)"/>
<define name="ACCEL_Z_SENS" value="( 167)"/>
<define name="MAG_X_CHAN" value="0"/>
<define name="MAG_Y_CHAN" value="4"/>
<define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="1950"/>
<define name="MAG_Y_NEUTRAL" value="2017"/>
<define name="MAG_Z_NEUTRAL" value="2110"/>
<define name="MAG_X_SENS" value=" 467."/>
<define name="MAG_Y_SENS" value="-434."/>
<define name="MAG_Z_SENS" value=" 440."/>
</section>
<section name="STABILIZATION_RATE" prefix="BOOZ_STABILIZATION_RATE_">
conf/autopilot/conf_booz2.makefile
+61 -22
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@@ -83,7 +83,7 @@ ap.ARCH = arm7tdmi
ap.TARGET = ap
ap.TARGETDIR = ap
ap.CFLAGS += -DKILL_MOTORS
#ap.CFLAGS += -DKILL_MOTORS
ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
ap.srcs += $(BOOZ_PRIV)/booz2_main.c
@@ -107,16 +107,24 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
ap.CFLAGS += -DACTUATORS=\"actuators_buss_twi_blmc_hw.h\" -DUSE_BUSS_TWI_BLMC
ap.srcs += $(BOOZ_ARCH)/actuators_buss_twi_blmc_hw.c actuators.c
ap.CFLAGS += -DI2C_SCLL=150 -DI2C_SCLH=150 -DI2C_VIC_SLOT=10
ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.srcs += $(BOOZ_PRIV)/booz2_imu_v3.c $(BOOZ_PRIV_ARCH)/booz2_imu_v3_hw.c
#ap.srcs += $(BOOZ_PRIV)/booz2_imu_v3.c $(BOOZ_PRIV_ARCH)/booz2_imu_v3_hw.c
ap.srcs += $(BOOZ_PRIV)/booz2_imu_crista.c $(BOOZ_PRIV_ARCH)/booz2_imu_crista_hw.c
ap.CFLAGS += -DFLOAT_T=float
ap.srcs += $(BOOZ_PRIV)/booz2_imu.c
ap.CFLAGS += -DBOOZ2_ANALOG_BARO_LED=5 -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
ap.srcs += $(BOOZ_PRIV)/booz2_analog_baro.c
ap.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
#ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
ap.CFLAGS += -DUSE_AMI601
ap.srcs += AMI601.c
ap.srcs += $(BOOZ_PRIV)/booz2_autopilot.c
ap.srcs += $(BOOZ_PRIV)/booz2_stabilization.c
@@ -129,7 +137,7 @@ ap.srcs += $(BOOZ_PRIV)/booz2_filter_aligner.c
ap.srcs += $(BOOZ_PRIV)/booz2_filter_attitude_cmpl_euler.c
ap.srcs += $(BOOZ_PRIV)/booz_trig_int.c
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400 -DUART1_VIC_SLOT=6
ap.CFLAGS += -DGPS_LINK=Uart1 -DGPS_LED=7
ap.srcs += $(BOOZ_PRIV)/booz2_gps.c
ap.srcs += $(BOOZ_PRIV)/booz2_guidance.c
@@ -231,7 +239,6 @@ tunnel.srcs += $(SRC_ARCH)/uart_hw.c
#
# test GPS
#
test_gps.ARCHDIR = $(ARCHI)
test_gps.ARCH = arm7tdmi
test_gps.TARGET = test_gps
@@ -266,8 +273,9 @@ test_led.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1000.))' -DTIME_L
test_led.CFLAGS += -DLED
test_led.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
#
# test modem
#
test_modem.ARCHDIR = $(ARCHI)
test_modem.ARCH = arm7tdmi
test_modem.TARGET = test_modem
@@ -289,23 +297,54 @@ test_modem.CFLAGS += -DBOOZ_ANALOG_BARO_LED=2 -DBOOZ_ANALOG_BARO_PERIOD='SYS_TIC
test_modem.srcs += $(BOOZ_PRIV)/booz_analog_baro.c
# test imu
test_imu.ARCHDIR = $(ARCHI)
test_imu.ARCH = arm7tdmi
test_imu.TARGET = test_imu
test_imu.TARGETDIR = test_imu
#
# test AMI
#
test_ami.ARCHDIR = $(ARCHI)
test_ami.ARCH = arm7tdmi
test_ami.TARGET = test_ami
test_ami.TARGETDIR = test_ami
test_imu.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -I$(BOOZ_PRIV_ARCH)
test_imu.srcs += $(BOOZ_PRIV)/test_imu.c
test_imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1000.))' -DTIME_LED=1
test_imu.CFLAGS += -DLED
test_imu.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_ami.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV_ARCH)
test_ami.srcs += $(BOOZ_PRIV_TEST)/booz2_test_ami.c
test_ami.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./50.))' -DTIME_LED=1
test_ami.CFLAGS += -DLED
test_ami.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_imu.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
test_imu.srcs += $(SRC_ARCH)/uart_hw.c
test_ami.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
test_ami.srcs += $(SRC_ARCH)/uart_hw.c
test_ami.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
test_ami.srcs += downlink.c pprz_transport.c
test_ami.CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=11 -DI2C1_BUF_LEN=16
test_ami.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
test_ami.CFLAGS += -DUSE_AMI601
test_ami.srcs += AMI601.c
#
# test crista
#
test_crista.ARCHDIR = $(ARCHI)
test_crista.ARCH = arm7tdmi
test_crista.TARGET = test_crista
test_crista.TARGETDIR = test_crista
test_crista.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
test_crista.srcs += $(BOOZ_PRIV_TEST)/booz2_test_crista.c
test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))' -DTIME_LED=1
test_crista.CFLAGS += -DLED
test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
test_crista.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
test_crista.srcs += $(SRC_ARCH)/uart_hw.c
test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
test_crista.srcs += downlink.c pprz_transport.c
test_crista.CFLAGS += -DFLOAT_T=float
test_crista.srcs += $(BOOZ_PRIV)/booz2_imu.c
test_crista.srcs += $(BOOZ_PRIV)/booz2_imu_crista.c $(BOOZ_PRIV_ARCH)/booz2_imu_crista_hw.c
test_imu.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
test_imu.srcs += downlink.c pprz_transport.c
test_imu.CFLAGS += -DFLOAT_T=float
test_imu.srcs += $(BOOZ_PRIV)/booz_imu_int.c $(BOOZ_PRIV_ARCH)/booz_imu_int_hw.c
conf/telemetry/telemetry_booz2.xml
+19 -12
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@@ -7,17 +7,24 @@
<mode name="default">
<message name="DL_VALUE" period="1.1"/>
<message name="BOOZ_STATUS" period="1.2"/>
<!-- <message name="BOOZ2_RATE_LOOP" period=".1"/> -->
<message name="BOOZ2_STAB_ATTITUDE" period=".05"/>
<message name="BOOZ2_CMD" period=".05"/>
<message name="BOOZ2_STAB_ATTITUDE_REF" period=".05"/>
<!-- <message name="BOOZ2_RATE_LOOP" period=".05"/> -->
<!-- <message name="BOOZ2_STAB_ATTITUDE" period=".05"/> -->
<!-- <message name="BOOZ2_CMD" period=".05"/> -->
<!-- <message name="BOOZ2_STAB_ATTITUDE_REF" period=".05"/> -->
<!-- <message name="BOOZ2_ALIGNER" period=".1"/> -->
<message name="BOOZ2_FILTER" period=".5"/>
<!-- <message name="BOOZ2_FILTER" period=".5"/> -->
<!-- <message name="BOOZ2_FILTER_Q" period=".1"/> -->
<message name="BOOZ2_GUIDANCE" period=".25"/>
<message name="BOOZ2_GYRO" period=".5"/>
<message name="BOOZ2_ACCEL" period=".5"/>
<message name="BOOZ2_MAG" period=".5"/>
<!-- <message name="BOOZ2_GUIDANCE" period=".25"/> -->
<message name="BOOZ2_GYRO" period=".05"/>
<message name="BOOZ2_ACCEL" period=".05"/>
<message name="BOOZ2_MAG" period=".05"/>
<!-- <message name="IMU_ACCEL_RAW" period=".05"/> -->
<!-- <message name="IMU_GYRO_RAW" period=".1"/> -->
<!-- <message name="IMU_MAG_RAW" period=".05"/> -->
<!-- <message name="BOOZ2_FILTER_COR" period=".05"/> -->
<!-- <message name="BOOZ2_ATT_LOOP" period=".05"/> -->
<message name="ALIVE" period="2.1"/>
@@ -33,9 +40,9 @@
<process name="Imu">
<mode name="default">
<message name="IMU_ACCEL_RAW" period=".1"/>
<message name="IMU_GYRO_RAW" period=".1"/>
<message name="IMU_MAG_RAW" period=".1"/>
<!-- <message name="IMU_ACCEL_RAW" period=".1"/> -->
<!-- <message name="IMU_GYRO_RAW" period=".1"/> -->
<!-- <message name="IMU_MAG_RAW" period=".1"/> -->
<message name="IMU_DEBUG" period=".1"/>
</mode>
sw/airborne/AMI601.c
+2 -2
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@@ -66,7 +66,7 @@ void ami601_read( void ) {
ami601_i2c_done = FALSE;
ami601_status = AMI601_SENDING_REQ;
const uint8_t read_cmd[] = { 0x55, 0xAA, 0X14};
memcpy((void*)i2c_buf, read_cmd, sizeof(read_cmd));
i2c_transmit(AMI601_SLAVE_ADDR, sizeof(read_cmd), &ami601_i2c_done);
memcpy((void*)i2c1_buf, read_cmd, sizeof(read_cmd));
i2c1_transmit(AMI601_SLAVE_ADDR, sizeof(read_cmd), &ami601_i2c_done);
}
}
sw/airborne/AMI601.h
+8 -15
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@@ -16,14 +16,6 @@ extern uint8_t ami601_foo1;
extern uint8_t ami601_foo2;
extern uint8_t ami601_foo3;
extern float ami601_ax;
extern float ami601_ay;
extern float ami601_az;
extern float ami601_mx;
extern float ami601_my;
extern float ami601_mz;
#define AMI601_IDLE 0
#define AMI601_SENDING_REQ 1
#define AMI601_WAITING_MEASURE 2
@@ -36,7 +28,7 @@ extern volatile uint32_t ami601_nb_err;
#define AMI601_SLAVE_ADDR 0x60
#define AMI601EventCheckAndHandle() { \
#define AMI601Event(_handler) { \
switch (ami601_status) { \
case AMI601_SENDING_REQ : \
if ( ami601_i2c_done ) { \
@@ -51,15 +43,16 @@ extern volatile uint32_t ami601_nb_err;
break; \
case AMI601_READING_MEASURE : \
if ( ami601_i2c_done ) { \
ami601_foo1 = i2c_buf[0]; /* AA ? */ \
ami601_foo2 = i2c_buf[1]; /* 55 ? */ \
ami601_foo3 = i2c_buf[2]; /* ERR ? */ \
ami601_foo1 = i2c1_buf[0]; /* AA ? */ \
ami601_foo2 = i2c1_buf[1]; /* 55 ? */ \
ami601_foo3 = i2c1_buf[2]; /* ERR ? */ \
uint8_t i; \
for (i=0; i< AMI601_NB_CHAN; i++) { \
ami601_val[i] = i2c_buf[3 + 2 * i]; \
ami601_val[i] += i2c_buf[3 + 2 * i + 1] * 256; \
ami601_val[i] = i2c1_buf[3 + 2 * i]; \
ami601_val[i] += i2c1_buf[3 + 2 * i + 1] * 256; \
} \
ami601_status = AMI601_DATA_AVAILABLE; \
_handler(); \
} \
break; \
} \
@@ -70,7 +63,7 @@ extern volatile uint32_t ami601_nb_err;
/* T0MCR |= TMCR_MR1_I; */ \
ami601_i2c_done = FALSE; \
ami601_status = AMI601_READING_MEASURE; \
i2c_receive(AMI601_SLAVE_ADDR, 15, &ami601_i2c_done); \
i2c1_receive(AMI601_SLAVE_ADDR, 15, &ami601_i2c_done); \
}
#endif /* AMI601_H */
sw/airborne/arm7/i2c_hw.c
+55 -11
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@@ -32,16 +32,16 @@
#include "interrupt_hw.h"
/* default clock speed 37.5KHz with our 15MHz PCLK */
#ifndef I2C_SCLL
#define I2C_SCLL 200
#ifndef I2C0_SCLL
#define I2C0_SCLL 200
#endif
#ifndef I2C_SCLH
#define I2C_SCLH 200
#ifndef I2C0_SCLH
#define I2C0_SCLH 200
#endif
#ifndef I2C_VIC_SLOT
#define I2C_VIC_SLOT 9
#ifndef I2C0_VIC_SLOT
#define I2C0_VIC_SLOT 9
#endif
void i2c0_ISR(void) __attribute__((naked));
@@ -49,7 +49,7 @@ void i2c0_ISR(void) __attribute__((naked));
/* SDA0 on P0.3 */
/* SCL0 on P0.2 */
void i2c_hw_init ( void ) {
void i2c0_hw_init ( void ) {
/* set P0.2 and P0.3 to I2C0 */
PINSEL0 |= 1 << 4 | 1 << 6;
@@ -58,14 +58,14 @@ void i2c_hw_init ( void ) {
/* enable I2C */
I2C0CONSET = _BV(I2EN);
/* set bitrate */
I2C0SCLL = I2C_SCLL;
I2C0SCLH = I2C_SCLH;
I2C0SCLL = I2C0_SCLL;
I2C0SCLH = I2C0_SCLH;
// initialize the interrupt vector
VICIntSelect &= ~VIC_BIT(VIC_I2C0); // I2C0 selected as IRQ
VICIntEnable = VIC_BIT(VIC_I2C0); // I2C0 interrupt enabled
_VIC_CNTL(I2C_VIC_SLOT) = VIC_ENABLE | VIC_I2C0;
_VIC_ADDR(I2C_VIC_SLOT) = (uint32_t)i2c0_ISR; // address of the ISR
_VIC_CNTL(I2C0_VIC_SLOT) = VIC_ENABLE | VIC_I2C0;
_VIC_ADDR(I2C0_VIC_SLOT) = (uint32_t)i2c0_ISR; // address of the ISR
}
#define I2C_DATA_REG I2C0DAT
@@ -82,3 +82,47 @@ void i2c0_ISR(void)
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
#ifdef USE_I2C1
#define I2C1_DATA_REG I2C1DAT
#define I2C1_STATUS_REG I2C1STAT
void i2c1_ISR(void) __attribute__((naked));
/* SDA1 on P0.14 */
/* SCL1 on P0.11 */
void i2c1_hw_init ( void ) {
/* set P0.11 and P0.14 to I2C1 */
PINSEL0 |= 3 << 22 | 3 << 28;
/* clear all flags */
I2C1CONCLR = _BV(AAC) | _BV(SIC) | _BV(STAC) | _BV(I2ENC);
/* enable I2C */
I2C1CONSET = _BV(I2EN);
/* set bitrate */
I2C1SCLL = I2C1_SCLL;
I2C1SCLH = I2C1_SCLH;
// initialize the interrupt vector
VICIntSelect &= ~VIC_BIT(VIC_I2C1); // I2C0 selected as IRQ
VICIntEnable = VIC_BIT(VIC_I2C1); // I2C0 interrupt enabled
_VIC_CNTL(I2C1_VIC_SLOT) = VIC_ENABLE | VIC_I2C1;
_VIC_ADDR(I2C1_VIC_SLOT) = (uint32_t)i2c1_ISR; // address of the ISR
}
void i2c1_ISR(void)
{
ISR_ENTRY();
uint32_t state = I2C1_STATUS_REG;
I2c1Automaton(state);
I2c1ClearIT();
VICVectAddr = 0x00000000; // clear this interrupt from the VIC
ISR_EXIT(); // recover registers and return
}
#endif /* USE_I2C1 */
sw/airborne/arm7/i2c_hw.h
+27 -1
View File
@@ -11,7 +11,7 @@
#define I2cStopHandler() {}
#endif
extern void i2c_hw_init(void);
extern void i2c0_hw_init(void);
#define I2cSendAck() { I2C0CONSET = _BV(AA); }
#define I2cSendStop() { \
@@ -32,4 +32,30 @@ extern void i2c_hw_init(void);
#define I2cClearIT() { I2C0CONCLR = _BV(SIC); }
#ifdef USE_I2C1
extern void i2c1_hw_init(void);
#define I2c1StopHandler() {}
#define I2c1SendAck() { I2C1CONSET = _BV(AA); }
#define I2c1SendStop() { \
I2C1CONSET = _BV(STO); \
if (i2c1_finished) *i2c1_finished = TRUE; \
i2c1_status = I2C_IDLE; \
I2c1StopHandler(); \
}
#define I2c1SendStart() { I2C1CONSET = _BV(STA); }
#define I2c1SendByte(b) { I2C1_DATA_REG = b; }
#define I2c1Receive(_ack) { \
if (_ack) I2C1CONSET = _BV(AA); \
else I2C1CONCLR = _BV(AAC); \
}
#define I2c1ClearStart() { I2C1CONCLR = _BV(STAC); }
#define I2c1ClearIT() { I2C1CONCLR = _BV(SIC); }
#endif /* USE_I2C1 */
#endif /* I2C_HW_H */
sw/airborne/arm7/include/LPC21xx.h
+12
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@@ -157,6 +157,18 @@
#define I2C0SCLL I2C0->scll /* SCL Duty Cycle Register (low half word) */
#define I2C0CONCLR I2C0->conclr /* Control Clear Register */
#define I2C1 ((i2cRegs_t *)0xE005C000)
// I2C Registers
#define I2C1CONSET I2C1->conset /* Control Set Register */
#define I2C1STAT I2C1->stat /* Status Register */
#define I2C1DAT I2C1->dat /* Data Register */
#define I2C1ADR I2C1->adr /* Slave Address Register */
#define I2C1SCLH I2C1->sclh /* SCL Duty Cycle Register (high half word) */
#define I2C1SCLL I2C1->scll /* SCL Duty Cycle Register (low half word) */
#define I2C1CONCLR I2C1->conclr /* Control Clear Register */
// I2CONSET bit definition
#define AA 2
sw/airborne/i2c.c
+40 -1
View File
@@ -13,7 +13,7 @@ volatile bool_t* i2c_finished;
void i2c_init(void) {
i2c_status = I2C_IDLE;
i2c_hw_init();
i2c0_hw_init();
i2c_finished = NULL;
}
@@ -34,3 +34,42 @@ void i2c_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
I2cSendStart();
}
#ifdef USE_I2C1
volatile uint8_t i2c1_status;
volatile uint8_t i2c1_buf[I2C1_BUF_LEN];
volatile uint8_t i2c1_len;
volatile uint8_t i2c1_index;
volatile uint8_t i2c1_slave_addr;
volatile bool_t* i2c1_finished;
void i2c1_init(void) {
i2c1_status = I2C_IDLE;
i2c1_hw_init();
i2c1_finished = NULL;
}
void i2c1_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
i2c1_len = len;
i2c1_slave_addr = slave_addr | I2C_RECEIVE;
i2c1_finished = finished;
i2c1_status = I2C_BUSY;
I2c1SendStart();
}
void i2c1_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
i2c1_len = len;
i2c1_slave_addr = slave_addr & ~I2C_RECEIVE;
i2c1_finished = finished;
i2c1_status = I2C_BUSY;
I2c1SendStart();
}
#endif /* USE_I2C1 */
sw/airborne/i2c.h
+69
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@@ -86,4 +86,73 @@ extern volatile bool_t* i2c_finished;
} \
} \
#ifdef USE_I2C1
extern void i2c1_init(void);
extern void i2c1_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished);
extern void i2c1_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished);
extern volatile uint8_t i2c1_status;
extern volatile uint8_t i2c1_buf[I2C1_BUF_LEN];
extern volatile uint8_t i2c1_len;
extern volatile uint8_t i2c1_index;
extern volatile uint8_t i2c1_slave_addr;
extern volatile bool_t* i2c1_finished;
#define I2c1Automaton(state) { \
switch (state) { \
case I2C_START: \
case I2C_RESTART: \
I2c1SendByte(i2c1_slave_addr); \
I2c1ClearStart(); \
i2c1_index = 0; \
break; \
case I2C_MR_DATA_ACK: \
if (i2c1_index < i2c1_len) { \
i2c1_buf[i2c1_index] = I2C1_DATA_REG; \
i2c1_index++; \
I2c1Receive(i2c1_index < i2c1_len - 1); \
} \
else { \
/* error , we should have got NACK */ \
I2c1SendStop(); \
} \
break; \
case I2C_MR_SLA_ACK: /* At least one char */ \
/* Wait and reply with ACK or NACK */ \
I2c1Receive(i2c1_index < i2c1_len - 1); \
break; \
case I2C_MR_SLA_NACK: \
case I2C_MT_SLA_NACK: \
I2c1SendStart(); \
break; \
case I2C_MT_SLA_ACK: \
case I2C_MT_DATA_ACK: \
if (i2c1_index < i2c1_len) { \
I2c1SendByte(i2c1_buf[i2c1_index]); \
i2c1_index++; \
} else { \
I2c1SendStop(); \
} \
break; \
case I2C_MR_DATA_NACK: \
if (i2c1_index < i2c1_len) { \
i2c1_buf[i2c1_index] = I2C1_DATA_REG; \
} \
I2c1SendStop(); \
break; \
default: \
I2c1SendStop(); \
/* LED_ON(2); FIXME log error */ \
} \
} \
#endif /* USE_I2C1 */
#endif /* I2C_H */