mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-06 07:53:43 +08:00
Antoine Drouin
90 lines
2.3 KiB
C
90 lines
2.3 KiB
C
#ifndef I2C_H
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#define I2C_H
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#include "std.h"
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//#ifndef SITL
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#include "i2c_hw.h"
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//#endif
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extern void i2c_init(void);
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extern void i2c_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished);
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extern void i2c_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t* finished);
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#define I2C_START 0x08
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#define I2C_RESTART 0x10
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#define I2C_MT_SLA_ACK 0x18
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#define I2C_MT_SLA_NACK 0x20
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#define I2C_MT_DATA_ACK 0x28
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#define I2C_MR_SLA_ACK 0x40
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#define I2C_MR_SLA_NACK 0x48
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#define I2C_MR_DATA_ACK 0x50
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#define I2C_MR_DATA_NACK 0x58
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#define I2C_IDLE 0
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#define I2C_BUSY 1
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extern volatile uint8_t i2c_status;
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#ifndef I2C_BUF_LEN
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#define I2C_BUF_LEN 16
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#endif
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extern volatile uint8_t i2c_buf[I2C_BUF_LEN];
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extern volatile uint8_t i2c_len;
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extern volatile uint8_t i2c_index;
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extern volatile uint8_t i2c_slave_addr;
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extern volatile bool_t* i2c_finished;
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#define I2cAutomaton(state) { \
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switch (state) { \
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case I2C_START: \
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case I2C_RESTART: \
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I2cSendByte(i2c_slave_addr); \
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I2cClearStart(); \
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i2c_index = 0; \
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break; \
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case I2C_MR_DATA_ACK: \
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if (i2c_index < i2c_len) { \
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i2c_buf[i2c_index] = I2C_DATA_REG; \
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i2c_index++; \
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I2cReceive(i2c_index < i2c_len - 1); \
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} \
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else { \
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/* error , we should have got NACK */ \
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I2cSendStop(); \
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} \
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break; \
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case I2C_MR_SLA_ACK: /* At least one char */ \
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/* Wait and reply with ACK or NACK */ \
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I2cReceive(i2c_index < i2c_len - 1); \
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break; \
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case I2C_MR_SLA_NACK: \
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case I2C_MT_SLA_NACK: \
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I2cSendStart(); \
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break; \
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case I2C_MT_SLA_ACK: \
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case I2C_MT_DATA_ACK: \
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if (i2c_index < i2c_len) { \
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I2cSendByte(i2c_buf[i2c_index]); \
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i2c_index++; \
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} else { \
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I2cSendStop(); \
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} \
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break; \
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case I2C_MR_DATA_NACK: \
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if (i2c_index < i2c_len) { \
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i2c_buf[i2c_index] = I2C_DATA_REG; \
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} \
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I2cSendStop(); \
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break; \
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default: \
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I2cSendStop(); \
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/* LED_ON(2); FIXME log error */ \
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} \
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} \
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#endif /* I2C_H */
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