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Merge branch 'stm32_i2c_watchdog'

Browse Source
This commit is contained in:
Felix Ruess
2014-04-13 16:17:21 +02:00
parent 14e221d403 c56ad3498b
commit bd51144fa6
2 changed files with 193 additions and 118 deletions
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sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
+192 -118
View File
@@ -81,7 +81,75 @@ static inline void __enable_irq(void) { asm volatile ("cpsie i"); }
#define NVIC_I2C3_IRQ_PRIO NVIC_I2C_IRQ_PRIO
#endif
#if defined(STM32F1)
static void i2c_setup_gpio(uint32_t i2c) {
switch (i2c) {
#if USE_I2C1
case I2C1:
gpio_enable_clock(I2C1_GPIO_PORT);
gpio_set_mode(I2C1_GPIO_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN,
I2C1_GPIO_SCL | I2C1_GPIO_SDA);
break;
#endif
#if USE_I2C2
case I2C2:
gpio_enable_clock(I2C2_GPIO_PORT);
gpio_set_mode(I2C2_GPIO_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
break;
#endif
default:
break;
}
}
#elif defined(STM32F4)
static void i2c_setup_gpio(uint32_t i2c) {
switch (i2c) {
#if USE_I2C1
case I2C1:
gpio_enable_clock(I2C1_GPIO_PORT);
gpio_mode_setup(I2C1_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE,
I2C1_GPIO_SCL | I2C1_GPIO_SDA);
gpio_set_output_options(GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C1_GPIO_SCL | I2C1_GPIO_SDA);
gpio_set_af(I2C1_GPIO_PORT, GPIO_AF4, I2C1_GPIO_SCL | I2C1_GPIO_SDA);
break;
#endif
#if USE_I2C2
case I2C2:
gpio_enable_clock(I2C2_GPIO_PORT);
gpio_mode_setup(I2C2_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
gpio_set_output_options(I2C2_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
gpio_set_af(I2C2_GPIO_PORT, GPIO_AF4,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
break;
#endif
#if USE_I2C3
case I2C3:
gpio_enable_clock(I2C3_GPIO_PORT_SCL);
gpio_mode_setup(I2C3_GPIO_PORT_SCL, GPIO_MODE_AF, GPIO_PUPD_NONE, I2C3_GPIO_SCL);
gpio_set_output_options(I2C3_GPIO_PORT_SCL, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C3_GPIO_SCL);
gpio_set_af(I2C3_GPIO_PORT_SCL, GPIO_AF4, I2C3_GPIO_SCL);
gpio_enable_clock(I2C3_GPIO_PORT_SDA);
gpio_mode_setup(I2C3_GPIO_PORT_SDA, GPIO_MODE_AF, GPIO_PUPD_NONE, I2C3_GPIO_SDA);
gpio_set_output_options(I2C3_GPIO_PORT_SDA, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C3_GPIO_SDA);
gpio_set_af(I2C3_GPIO_PORT_SDA, GPIO_AF4, I2C3_GPIO_SDA);
break;
#endif
default:
break;
}
}
#endif
static inline void PPRZ_I2C_SEND_STOP(uint32_t i2c)
{
@@ -129,7 +197,6 @@ static inline void PPRZ_I2C_SEND_START(struct i2c_periph *periph)
i2c_clear_stop(i2c);
i2c_peripheral_enable(i2c);
i2c_send_start(i2c);
periph->status = I2CStartRequested;
}
@@ -848,6 +915,7 @@ static inline void i2c_irq(struct i2c_periph *periph)
if (periph->trans_extract_idx == periph->trans_insert_idx)
{
periph->watchdog = -1; // stop watchdog
#ifdef I2C_DEBUG_LED
LED2_ON();
LED1_ON();
@@ -895,14 +963,13 @@ I2C_SoftwareResetCmd(periph->reg_addr, DISABLE);
PRINT_CONFIG_VAR(I2C1_CLOCK_SPEED)
struct i2c_errors i2c1_errors;
volatile uint32_t i2c1_watchdog_counter;
void i2c1_hw_init(void) {
i2c1.reg_addr = (void *)I2C1;
i2c1.init_struct = NULL;
i2c1.errors = &i2c1_errors;
i2c1_watchdog_counter = 0;
i2c1.watchdog = -1;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c1_errors);
@@ -926,19 +993,8 @@ void i2c1_hw_init(void) {
/* Enable peripheral clocks -------------------------------------------------*/
/* Enable I2C1 clock */
rcc_periph_clock_enable(RCC_I2C1);
/* Enable GPIO clock */
gpio_enable_clock(I2C1_GPIO_PORT);
#if defined(STM32F1)
gpio_set_mode(I2C1_GPIO_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN,
I2C1_GPIO_SCL | I2C1_GPIO_SDA);
#elif defined(STM32F4)
gpio_mode_setup(I2C1_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE,
I2C1_GPIO_SCL | I2C1_GPIO_SDA);
gpio_set_output_options(GPIOB, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C1_GPIO_SCL | I2C1_GPIO_SDA);
gpio_set_af(I2C1_GPIO_PORT, GPIO_AF4, I2C1_GPIO_SCL | I2C1_GPIO_SDA);
#endif
/* setup gpio clock and pins */
i2c_setup_gpio(I2C1);
i2c_reset(I2C1);
@@ -962,16 +1018,16 @@ void i2c1_hw_init(void) {
void i2c1_ev_isr(void) {
uint32_t i2c = (uint32_t) i2c1.reg_addr;
i2c_disable_interrupt(i2c, I2C_CR2_ITERREN);
i2c_irq(&i2c1);
i2c1_watchdog_counter = 0;
i2c1.watchdog = 0; // restart watchdog
i2c_irq(&i2c1);;
i2c_enable_interrupt(i2c, I2C_CR2_ITERREN);
}
void i2c1_er_isr(void) {
uint32_t i2c = (uint32_t) i2c1.reg_addr;
i2c_disable_interrupt(i2c, I2C_CR2_ITEVTEN);
i2c1.watchdog = 0; // restart watchdog
i2c_irq(&i2c1);
i2c1_watchdog_counter = 0;
i2c_enable_interrupt(i2c, I2C_CR2_ITEVTEN);
}
@@ -986,14 +1042,13 @@ void i2c1_er_isr(void) {
PRINT_CONFIG_VAR(I2C2_CLOCK_SPEED)
struct i2c_errors i2c2_errors;
volatile uint32_t i2c2_watchdog_counter;
void i2c2_hw_init(void) {
i2c2.reg_addr = (void *)I2C2;
i2c2.init_struct = NULL;
i2c2.errors = &i2c2_errors;
i2c2_watchdog_counter = 0;
i2c2.watchdog = -1;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c2_errors);
@@ -1012,20 +1067,9 @@ void i2c2_hw_init(void) {
/* Enable peripheral clocks -------------------------------------------------*/
/* Enable I2C2 clock */
rcc_periph_clock_enable(RCC_I2C2);
/* Enable GPIO clock */
gpio_enable_clock(I2C2_GPIO_PORT);
#if defined(STM32F1)
gpio_set_mode(I2C2_GPIO_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
#elif defined(STM32F4)
gpio_mode_setup(I2C2_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
gpio_set_output_options(I2C2_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
gpio_set_af(I2C2_GPIO_PORT, GPIO_AF4,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
#endif
/* setup gpio clock and pins */
i2c_setup_gpio(I2C2);
i2c_reset(I2C2);
@@ -1048,16 +1092,16 @@ void i2c2_hw_init(void) {
void i2c2_ev_isr(void) {
uint32_t i2c = (uint32_t) i2c2.reg_addr;
i2c_disable_interrupt(i2c, I2C_CR2_ITERREN);
i2c2.watchdog = 0; // restart watchdog
i2c_irq(&i2c2);
i2c2_watchdog_counter = 0;
i2c_enable_interrupt(i2c, I2C_CR2_ITERREN);
}
void i2c2_er_isr(void) {
uint32_t i2c = (uint32_t) i2c2.reg_addr;
i2c_disable_interrupt(i2c, I2C_CR2_ITEVTEN);
i2c2.watchdog = 0; // restart watchdog
i2c_irq(&i2c2);
i2c2_watchdog_counter = 0;
i2c_enable_interrupt(i2c, I2C_CR2_ITEVTEN);
}
@@ -1073,14 +1117,13 @@ void i2c2_er_isr(void) {
PRINT_CONFIG_VAR(I2C3_CLOCK_SPEED)
struct i2c_errors i2c3_errors;
volatile uint32_t i2c3_watchdog_counter;
void i2c3_hw_init(void) {
i2c3.reg_addr = (void *)I2C3;
i2c3.init_struct = NULL;
i2c3.errors = &i2c3_errors;
i2c3_watchdog_counter = 0;
i2c3.watchdog = -1;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c3_errors);
@@ -1099,18 +1142,9 @@ void i2c3_hw_init(void) {
/* Enable peripheral clocks -------------------------------------------------*/
/* Enable I2C3 clock */
rcc_periph_clock_enable(RCC_I2C3);
/* Enable GPIO clock */
gpio_enable_clock(I2C3_GPIO_PORT_SCL);
gpio_mode_setup(I2C3_GPIO_PORT_SCL, GPIO_MODE_AF, GPIO_PUPD_NONE, I2C3_GPIO_SCL);
gpio_set_output_options(I2C3_GPIO_PORT_SCL, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C3_GPIO_SCL);
gpio_set_af(I2C3_GPIO_PORT_SCL, GPIO_AF4, I2C3_GPIO_SCL);
gpio_enable_clock(I2C3_GPIO_PORT_SDA);
gpio_mode_setup(I2C3_GPIO_PORT_SDA, GPIO_MODE_AF, GPIO_PUPD_NONE, I2C3_GPIO_SDA);
gpio_set_output_options(I2C3_GPIO_PORT_SDA, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C3_GPIO_SDA);
gpio_set_af(I2C3_GPIO_PORT_SDA, GPIO_AF4, I2C3_GPIO_SDA);
/* setup gpio clock and pins */
i2c_setup_gpio(I2C3);
i2c_reset(I2C3);
@@ -1133,8 +1167,8 @@ void i2c3_hw_init(void) {
void i2c3_ev_isr(void) {
uint32_t i2c = (uint32_t) i2c3.reg_addr;
i2c_disable_interrupt(i2c, I2C_CR2_ITERREN);
i2c3.watchdog = 0; // restart watchdog
i2c_irq(&i2c3);
i2c3_watchdog_counter = 0;
i2c_enable_interrupt(i2c, I2C_CR2_ITERREN);
}
@@ -1142,8 +1176,8 @@ void i2c3_er_isr(void) {
uint32_t i2c = (uint32_t) i2c3.reg_addr;
i2c_disable_interrupt(i2c, I2C_CR2_ITEVTEN);
I2C_CR2(i2c) &= ~I2C_CR2_ITEVTEN;
i2c3.watchdog = 0; // restart watchdog
i2c_irq(&i2c3);
i2c3_watchdog_counter = 0;
i2c_enable_interrupt(i2c, I2C_CR2_ITEVTEN);
}
@@ -1244,79 +1278,119 @@ void i2c_setbitrate(struct i2c_periph *periph, int bitrate)
}
/// @todo Watchdog timer
void i2c_event(void)
{
static inline void i2c_scl_set(uint32_t i2c) {
#if USE_I2C1
if (i2c == I2C1)
gpio_set(I2C1_GPIO_PORT, I2C1_GPIO_SCL);
#endif
#if USE_I2C2
if (i2c == I2C2)
gpio_set(I2C2_GPIO_PORT, I2C2_GPIO_SCL);
#endif
#if USE_I2C3
if (i2c == I2C3)
gpio_set(I2C3_GPIO_PORT_SCL, I2C3_GPIO_SCL);
#endif
}
static inline void i2c_scl_clear(uint32_t i2c) {
#if USE_I2C1
if (i2c == I2C1)
gpio_clear(I2C1_GPIO_PORT, I2C1_GPIO_SCL);
#endif
#if USE_I2C2
if (i2c == I2C2)
gpio_clear(I2C2_GPIO_PORT, I2C2_GPIO_SCL);
#endif
#if USE_I2C3
if (i2c == I2C3)
gpio_clear(I2C3_GPIO_PORT_SCL, I2C3_GPIO_SCL);
#endif
}
#define WD_DELAY 20 // number of ticks with 2ms - 40ms delay before resetting the bus
#define WD_RECOVERY_TICKS 10 // number of generated SCL clocking pulses
static void i2c_wd_check(struct i2c_periph *periph) {
uint32_t i2c = (uint32_t) periph->reg_addr;
if (periph->watchdog > WD_DELAY) {
if (periph->watchdog == WD_DELAY + 1) {
i2c_disable_interrupt(i2c, I2C_CR2_ITEVTEN);
i2c_disable_interrupt(i2c, I2C_CR2_ITERREN);
i2c_peripheral_disable(i2c);
#if USE_I2C1
if (i2c == I2C1) {
gpio_setup_output(I2C1_GPIO_PORT, I2C1_GPIO_SCL);
gpio_setup_input(I2C1_GPIO_PORT, I2C1_GPIO_SDA);
}
#endif
#if USE_I2C2
if (i2c == I2C2) {
gpio_setup_output(I2C2_GPIO_PORT, I2C2_GPIO_SCL);
gpio_setup_input(I2C2_GPIO_PORT, I2C2_GPIO_SDA);
}
#endif
#if USE_I2C3
if (i2c == I2C3) {
gpio_setup_output(I2C3_GPIO_PORT_SCL, I2C3_GPIO_SCL);
gpio_setup_input(I2C3_GPIO_PORT_SDA,I2C3_GPIO_SDA);
}
#endif
i2c_scl_clear(i2c);
}
else if (periph->watchdog < WD_DELAY + WD_RECOVERY_TICKS) {
if ((periph->watchdog - WD_DELAY) % 2)
i2c_scl_clear(i2c);
else
i2c_scl_set(i2c);
}
else {
i2c_scl_set(i2c);
/* setup gpios for normal i2c operation again */
i2c_setup_gpio(i2c);
periph->trans_insert_idx = 0;
periph->trans_extract_idx = 0;
periph->status = I2CIdle;
i2c_enable_interrupt(i2c, I2C_CR2_ITEVTEN);
i2c_enable_interrupt(i2c, I2C_CR2_ITERREN);
i2c_peripheral_enable(i2c);
periph->watchdog = 0; // restart watchdog
periph->errors->timeout_tlow_cnt++;
return;
}
}
if (periph->watchdog >= 0)
periph->watchdog++;
}
#include "mcu_periph/sys_time.h"
void i2c_event(void) {
static uint32_t i2c_wd_timer;
if (SysTimeTimer(i2c_wd_timer) > 2000) { // 2ms (500Hz) periodic watchdog check
SysTimeTimerStart(i2c_wd_timer);
#ifdef USE_I2C1
i2c1_watchdog_counter++;
i2c_wd_check(&i2c1);
#endif
#ifdef USE_I2C2
i2c2_watchdog_counter++;
if (i2c2_watchdog_counter > 10000)
{
i2c2.errors->timeout_tlow_cnt++;
i2c2_watchdog_counter = 0;
}
#ifdef I2C_DEBUG_LED
if (i2c2_watchdog_counter == 0)
{
__disable_irq();
LED2_ON();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
if (i2c2.status == I2CIdle)
{
LED1_ON();
LED1_OFF();
}
else if (i2c2.status == I2CStartRequested)
{
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
}
LED2_OFF();
//regs = (I2C_TypeDef *) i2c2.reg_addr;
//LED_SHOW_ACTIVE_BITS(regs);
__enable_irq();
}
i2c_wd_check(&i2c2);
#endif
//if (i2c2.status == I2CIdle)
{
//if (i2c_idle(&i2c2))
{
//__disable_irq();
// More work to do
//if (i2c2.trans_extract_idx != i2c2.trans_insert_idx)
{
// Restart transaction doing the Rx part now
//PPRZ_I2C_SEND_START(&i2c2);
}
//__enable_irq();
}
}
#endif
#ifdef USE_I2C3
i2c3_watchdog_counter++;
i2c_wd_check(&i2c3);
#endif
}
}
/////////////////////////////////////////////////////////
sw/airborne/mcu_periph/i2c.h
+1
View File
@@ -146,6 +146,7 @@ struct i2c_periph {
void* reg_addr;
void *init_struct;
struct i2c_errors *errors;
volatile int16_t watchdog;
};
/** I2C errors counter.