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atbetaflight
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BST tidy

This commit is contained in:
Martin Budden 2016-06-23 09:56:41 +01:00
parent 0d00260ff2
commit 6bd1cc4dea
4 changed files with 1300 additions and 1302 deletions
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1
src/main/drivers/nvic.h
View File

@ -38,7 +38,6 @@
#define NVIC_PRIO_MPU_DATA_READY NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_MAG_DATA_READY NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_CALLBACK NVIC_BUILD_PRIORITY(0x0f, 0x0f)
#define NVIC_PRIO_BST_READ_DATA NVIC_BUILD_PRIORITY(1, 1)
// utility macros to join/split priority
#define NVIC_BUILD_PRIORITY(base,sub) (((((base)<<(4-(7-(NVIC_PRIORITY_GROUPING>>8))))|((sub)&(0x0f>>(7-(NVIC_PRIORITY_GROUPING>>8)))))<<4)&0xf0)

31
src/main/target/COLIBRI_RACE/bus_bst.h
View File

@ -17,22 +17,22 @@
#pragma once
#define TBS_CORE_PNP_PRO 0x80
#define RESERVED 0x8A
#define PNP_PRO_DIDITAL_CURRENT_SENSOR 0xC0
#define PNP_PRO_GPS 0xC2
#define TSB_BLACKBOX 0xC4
#define CLEANFLIGHT_FC 0xC8
#define CROSSFIRE_UHF_RECEIVER 0xEC
#define TBS_CORE_PNP_PRO 0x80
#define RESERVED 0x8A
#define PNP_PRO_DIDITAL_CURRENT_SENSOR 0xC0
#define PNP_PRO_GPS 0xC2
#define TSB_BLACKBOX 0xC4
#define CLEANFLIGHT_FC 0xC8
#define CROSSFIRE_UHF_RECEIVER 0xEC
#define GPS_POSITION_FRAME_ID 0x02
#define GPS_TIME_FRAME_ID 0x03
#define FC_ATTITUDE_FRAME_ID 0x1E
#define RC_CHANNEL_FRAME_ID 0x15
#define CROSSFIRE_RSSI_FRAME_ID 0x14
#define CLEANFLIGHT_MODE_FRAME_ID 0x20
#define GPS_POSITION_FRAME_ID 0x02
#define GPS_TIME_FRAME_ID 0x03
#define FC_ATTITUDE_FRAME_ID 0x1E
#define RC_CHANNEL_FRAME_ID 0x15
#define CROSSFIRE_RSSI_FRAME_ID 0x14
#define CLEANFLIGHT_MODE_FRAME_ID 0x20
#define DATA_BUFFER_SIZE 64
#define DATA_BUFFER_SIZE 64
typedef enum BSTDevice {
BSTDEV_1,
@ -53,6 +53,3 @@ void bstMasterWriteLoop(void);
void crc8Cal(uint8_t data_in);

504
src/main/target/COLIBRI_RACE/bus_bst_stm32f30x.c
View File

@ -17,33 +17,35 @@
#ifdef USE_BST
#define BST_SHORT_TIMEOUT ((uint32_t)0x1000)
#define BST_LONG_TIMEOUT ((uint32_t)(10 * BST_SHORT_TIMEOUT))
#define NVIC_PRIO_BST_READ_DATA NVIC_BUILD_PRIORITY(1, 1)
#define BST_SHORT_TIMEOUT ((uint32_t)0x1000)
#define BST_LONG_TIMEOUT ((uint32_t)(10 * BST_SHORT_TIMEOUT))
#if !defined(BST1_SCL_GPIO)
#define BST1_SCL_GPIO GPIOB
#define BST1_SCL_GPIO_AF GPIO_AF_4
#define BST1_SCL_PIN GPIO_Pin_6
#define BST1_SCL_PIN_SOURCE GPIO_PinSource6
#define BST1_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOB
#define BST1_SDA_GPIO GPIOB
#define BST1_SDA_GPIO_AF GPIO_AF_4
#define BST1_SDA_PIN GPIO_Pin_7
#define BST1_SDA_PIN_SOURCE GPIO_PinSource7
#define BST1_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOB
#define BST1_SCL_GPIO GPIOB
#define BST1_SCL_GPIO_AF GPIO_AF_4
#define BST1_SCL_PIN GPIO_Pin_6
#define BST1_SCL_PIN_SOURCE GPIO_PinSource6
#define BST1_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOB
#define BST1_SDA_GPIO GPIOB
#define BST1_SDA_GPIO_AF GPIO_AF_4
#define BST1_SDA_PIN GPIO_Pin_7
#define BST1_SDA_PIN_SOURCE GPIO_PinSource7
#define BST1_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOB
#endif
#if !defined(BST2_SCL_GPIO)
#define BST2_SCL_GPIO GPIOF
#define BST2_SCL_GPIO_AF GPIO_AF_4
#define BST2_SCL_PIN GPIO_Pin_6
#define BST2_SCL_PIN_SOURCE GPIO_PinSource6
#define BST2_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOF
#define BST2_SDA_GPIO GPIOA
#define BST2_SDA_GPIO_AF GPIO_AF_4
#define BST2_SDA_PIN GPIO_Pin_10
#define BST2_SDA_PIN_SOURCE GPIO_PinSource10
#define BST2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
#define BST2_SCL_GPIO GPIOF
#define BST2_SCL_GPIO_AF GPIO_AF_4
#define BST2_SCL_PIN GPIO_Pin_6
#define BST2_SCL_PIN_SOURCE GPIO_PinSource6
#define BST2_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOF
#define BST2_SDA_GPIO GPIOA
#define BST2_SDA_GPIO_AF GPIO_AF_4
#define BST2_SDA_PIN GPIO_Pin_10
#define BST2_SDA_PIN_SOURCE GPIO_PinSource10
#define BST2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
#endif
static volatile uint16_t bst1ErrorCount = 0;
@ -73,219 +75,219 @@ uint8_t bufferPointer = 0;
bool cleanflight_data_ready = false;
uint8_t interruptCounter = 0;
#define DEALY_SENDING_BYTE 40
#define DELAY_SENDING_BYTE 40
void bstProcessInCommand(void);
void I2C_EV_IRQHandler()
{
if(I2C_GetITStatus(BSTx, I2C_IT_ADDR)) {
CRC8 = 0;
if(I2C_GetTransferDirection(BSTx) == I2C_Direction_Receiver) {
currentWriteBufferPointer = 0;
receiverAddress = true;
I2C_SendData(BSTx, (uint8_t) writeData[currentWriteBufferPointer++]);
I2C_ITConfig(BSTx, I2C_IT_TXI, ENABLE);
} else {
readData[0] = I2C_GetAddressMatched(BSTx);
bufferPointer = 1;
}
I2C_ClearITPendingBit(BSTx, I2C_IT_ADDR);
} else if(I2C_GetITStatus(BSTx, I2C_IT_RXNE)) {
uint8_t data = I2C_ReceiveData(BSTx);
readData[bufferPointer] = data;
if(bufferPointer > 1) {
if(readData[1]+1 == bufferPointer) {
crc8Cal(0);
bstProcessInCommand();
} else {
crc8Cal(data);
}
}
bufferPointer++;
I2C_ClearITPendingBit(BSTx, I2C_IT_RXNE);
} else if(I2C_GetITStatus(BSTx, I2C_IT_TXIS)) {
if(receiverAddress) {
if(currentWriteBufferPointer > 0) {
if(!cleanflight_data_ready) {
I2C_ClearITPendingBit(BSTx, I2C_IT_TXIS);
return;
}
if(interruptCounter < DEALY_SENDING_BYTE) {
interruptCounter++;
I2C_ClearITPendingBit(BSTx, I2C_IT_TXIS);
return;
} else {
interruptCounter = 0;
}
if(writeData[0] == currentWriteBufferPointer) {
receiverAddress = false;
crc8Cal(0);
I2C_SendData(BSTx, (uint8_t) CRC8);
I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE);
} else {
crc8Cal((uint8_t) writeData[currentWriteBufferPointer]);
I2C_SendData(BSTx, (uint8_t) writeData[currentWriteBufferPointer++]);
}
}
} else if(bstWriteDataLen) {
I2C_SendData(BSTx, (uint8_t) dataBuffer[dataBufferPointer]);
if(bstWriteDataLen > 1)
dataBufferPointer++;
if(dataBufferPointer == bstWriteDataLen) {
I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE);
dataBufferPointer = 0;
bstWriteDataLen = 0;
}
} else {
}
I2C_ClearITPendingBit(BSTx, I2C_IT_TXIS);
} else if(I2C_GetITStatus(BSTx, I2C_IT_NACKF)) {
if(receiverAddress) {
receiverAddress = false;
I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE);
}
I2C_ClearITPendingBit(BSTx, I2C_IT_NACKF);
} else if(I2C_GetITStatus(BSTx, I2C_IT_STOPF)) {
if(bstWriteDataLen && dataBufferPointer == bstWriteDataLen) {
dataBufferPointer = 0;
bstWriteDataLen = 0;
}
I2C_ClearITPendingBit(BSTx, I2C_IT_STOPF);
} else if(I2C_GetITStatus(BSTx, I2C_IT_BERR)
|| I2C_GetITStatus(BSTx, I2C_IT_ARLO)
|| I2C_GetITStatus(BSTx, I2C_IT_OVR)) {
bstTimeoutUserCallback();
I2C_ClearITPendingBit(BSTx, I2C_IT_BERR | I2C_IT_ARLO | I2C_IT_OVR);
}
if(I2C_GetITStatus(BSTx, I2C_IT_ADDR)) {
CRC8 = 0;
if(I2C_GetTransferDirection(BSTx) == I2C_Direction_Receiver) {
currentWriteBufferPointer = 0;
receiverAddress = true;
I2C_SendData(BSTx, (uint8_t) writeData[currentWriteBufferPointer++]);
I2C_ITConfig(BSTx, I2C_IT_TXI, ENABLE);
} else {
readData[0] = I2C_GetAddressMatched(BSTx);
bufferPointer = 1;
}
I2C_ClearITPendingBit(BSTx, I2C_IT_ADDR);
} else if(I2C_GetITStatus(BSTx, I2C_IT_RXNE)) {
uint8_t data = I2C_ReceiveData(BSTx);
readData[bufferPointer] = data;
if(bufferPointer > 1) {
if(readData[1]+1 == bufferPointer) {
crc8Cal(0);
bstProcessInCommand();
} else {
crc8Cal(data);
}
}
bufferPointer++;
I2C_ClearITPendingBit(BSTx, I2C_IT_RXNE);
} else if(I2C_GetITStatus(BSTx, I2C_IT_TXIS)) {
if(receiverAddress) {
if(currentWriteBufferPointer > 0) {
if(!cleanflight_data_ready) {
I2C_ClearITPendingBit(BSTx, I2C_IT_TXIS);
return;
}
if(interruptCounter < DELAY_SENDING_BYTE) {
interruptCounter++;
I2C_ClearITPendingBit(BSTx, I2C_IT_TXIS);
return;
} else {
interruptCounter = 0;
}
if(writeData[0] == currentWriteBufferPointer) {
receiverAddress = false;
crc8Cal(0);
I2C_SendData(BSTx, (uint8_t) CRC8);
I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE);
} else {
crc8Cal((uint8_t) writeData[currentWriteBufferPointer]);
I2C_SendData(BSTx, (uint8_t) writeData[currentWriteBufferPointer++]);
}
}
} else if(bstWriteDataLen) {
I2C_SendData(BSTx, (uint8_t) dataBuffer[dataBufferPointer]);
if(bstWriteDataLen > 1)
dataBufferPointer++;
if(dataBufferPointer == bstWriteDataLen) {
I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE);
dataBufferPointer = 0;
bstWriteDataLen = 0;
}
} else {
}
I2C_ClearITPendingBit(BSTx, I2C_IT_TXIS);
} else if(I2C_GetITStatus(BSTx, I2C_IT_NACKF)) {
if(receiverAddress) {
receiverAddress = false;
I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE);
}
I2C_ClearITPendingBit(BSTx, I2C_IT_NACKF);
} else if(I2C_GetITStatus(BSTx, I2C_IT_STOPF)) {
if(bstWriteDataLen && dataBufferPointer == bstWriteDataLen) {
dataBufferPointer = 0;
bstWriteDataLen = 0;
}
I2C_ClearITPendingBit(BSTx, I2C_IT_STOPF);
} else if(I2C_GetITStatus(BSTx, I2C_IT_BERR)
|| I2C_GetITStatus(BSTx, I2C_IT_ARLO)
|| I2C_GetITStatus(BSTx, I2C_IT_OVR)) {
bstTimeoutUserCallback();
I2C_ClearITPendingBit(BSTx, I2C_IT_BERR | I2C_IT_ARLO | I2C_IT_OVR);
}
}
void I2C1_EV_IRQHandler()
{
I2C_EV_IRQHandler();
I2C_EV_IRQHandler();
}
void I2C2_EV_IRQHandler()
{
I2C_EV_IRQHandler();
I2C_EV_IRQHandler();
}
uint32_t bstTimeoutUserCallback()
{
if (BSTx == I2C1) {
bst1ErrorCount++;
} else {
bst2ErrorCount++;
}
I2C_GenerateSTOP(BSTx, ENABLE);
receiverAddress = false;
dataBufferPointer = 0;
bstWriteDataLen = 0;
I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE);
I2C_SoftwareResetCmd(BSTx);
return false;
if (BSTx == I2C1) {
bst1ErrorCount++;
} else {
bst2ErrorCount++;
}
I2C_GenerateSTOP(BSTx, ENABLE);
receiverAddress = false;
dataBufferPointer = 0;
bstWriteDataLen = 0;
I2C_ITConfig(BSTx, I2C_IT_TXI, DISABLE);
I2C_SoftwareResetCmd(BSTx);
return false;
}
void bstInitPort(I2C_TypeDef *BSTx/*, uint8_t Address*/)
{
NVIC_InitTypeDef nvic;
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef BST_InitStructure;
NVIC_InitTypeDef nvic;
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef BST_InitStructure;
if(BSTx == I2C1) {
RCC_AHBPeriphClockCmd(BST1_SCL_CLK_SOURCE | BST1_SDA_CLK_SOURCE, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_I2CCLKConfig(RCC_I2C1CLK_SYSCLK);
if(BSTx == I2C1) {
RCC_AHBPeriphClockCmd(BST1_SCL_CLK_SOURCE | BST1_SDA_CLK_SOURCE, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_I2CCLKConfig(RCC_I2C1CLK_SYSCLK);
GPIO_PinAFConfig(BST1_SCL_GPIO, BST1_SCL_PIN_SOURCE, BST1_SCL_GPIO_AF);
GPIO_PinAFConfig(BST1_SDA_GPIO, BST1_SDA_PIN_SOURCE, BST1_SDA_GPIO_AF);
GPIO_PinAFConfig(BST1_SCL_GPIO, BST1_SCL_PIN_SOURCE, BST1_SCL_GPIO_AF);
GPIO_PinAFConfig(BST1_SDA_GPIO, BST1_SDA_PIN_SOURCE, BST1_SDA_GPIO_AF);
GPIO_StructInit(&GPIO_InitStructure);
I2C_StructInit(&BST_InitStructure);
GPIO_StructInit(&GPIO_InitStructure);
I2C_StructInit(&BST_InitStructure);
// Init pins
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
// Init pins
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = BST1_SCL_PIN;
GPIO_Init(BST1_SCL_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BST1_SCL_PIN;
GPIO_Init(BST1_SCL_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BST1_SDA_PIN;
GPIO_Init(BST1_SDA_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BST1_SDA_PIN;
GPIO_Init(BST1_SDA_GPIO, &GPIO_InitStructure);
I2C_StructInit(&BST_InitStructure);
I2C_StructInit(&BST_InitStructure);
BST_InitStructure.I2C_Mode = I2C_Mode_I2C;
BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
BST_InitStructure.I2C_DigitalFilter = 0x00;
BST_InitStructure.I2C_OwnAddress1 = CLEANFLIGHT_FC;
BST_InitStructure.I2C_Ack = I2C_Ack_Enable;
BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
BST_InitStructure.I2C_Mode = I2C_Mode_I2C;
BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
BST_InitStructure.I2C_DigitalFilter = 0x00;
BST_InitStructure.I2C_OwnAddress1 = CLEANFLIGHT_FC;
BST_InitStructure.I2C_Ack = I2C_Ack_Enable;
BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
I2C_Init(I2C1, &BST_InitStructure);
I2C_Init(I2C1, &BST_InitStructure);
I2C_GeneralCallCmd(I2C1, ENABLE);
I2C_GeneralCallCmd(I2C1, ENABLE);
nvic.NVIC_IRQChannel = I2C1_EV_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_BST_READ_DATA);
nvic.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_BST_READ_DATA);
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
nvic.NVIC_IRQChannel = I2C1_EV_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_BST_READ_DATA);
nvic.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_BST_READ_DATA);
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
I2C_ITConfig(I2C1, I2C_IT_ADDRI | I2C_IT_RXI | I2C_IT_STOPI | I2C_IT_NACKI | I2C_IT_ERRI, ENABLE);
I2C_ITConfig(I2C1, I2C_IT_ADDRI | I2C_IT_RXI | I2C_IT_STOPI | I2C_IT_NACKI | I2C_IT_ERRI, ENABLE);
I2C_Cmd(I2C1, ENABLE);
}
I2C_Cmd(I2C1, ENABLE);
}
if(BSTx == I2C2) {
RCC_AHBPeriphClockCmd(BST2_SCL_CLK_SOURCE | BST2_SDA_CLK_SOURCE, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_I2CCLKConfig(RCC_I2C2CLK_SYSCLK);
if(BSTx == I2C2) {
RCC_AHBPeriphClockCmd(BST2_SCL_CLK_SOURCE | BST2_SDA_CLK_SOURCE, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_I2CCLKConfig(RCC_I2C2CLK_SYSCLK);
GPIO_PinAFConfig(BST2_SCL_GPIO, BST2_SCL_PIN_SOURCE, BST2_SCL_GPIO_AF);
GPIO_PinAFConfig(BST2_SDA_GPIO, BST2_SDA_PIN_SOURCE, BST2_SDA_GPIO_AF);
GPIO_PinAFConfig(BST2_SCL_GPIO, BST2_SCL_PIN_SOURCE, BST2_SCL_GPIO_AF);
GPIO_PinAFConfig(BST2_SDA_GPIO, BST2_SDA_PIN_SOURCE, BST2_SDA_GPIO_AF);
GPIO_StructInit(&GPIO_InitStructure);
I2C_StructInit(&BST_InitStructure);
GPIO_StructInit(&GPIO_InitStructure);
I2C_StructInit(&BST_InitStructure);
// Init pins
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
// Init pins
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = BST2_SCL_PIN;
GPIO_Init(BST2_SCL_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BST2_SCL_PIN;
GPIO_Init(BST2_SCL_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BST2_SDA_PIN;
GPIO_Init(BST2_SDA_GPIO, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = BST2_SDA_PIN;
GPIO_Init(BST2_SDA_GPIO, &GPIO_InitStructure);
I2C_StructInit(&BST_InitStructure);
I2C_StructInit(&BST_InitStructure);
BST_InitStructure.I2C_Mode = I2C_Mode_I2C;
BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
BST_InitStructure.I2C_DigitalFilter = 0x00;
BST_InitStructure.I2C_OwnAddress1 = CLEANFLIGHT_FC;
BST_InitStructure.I2C_Ack = I2C_Ack_Enable;
BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
BST_InitStructure.I2C_Mode = I2C_Mode_I2C;
BST_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
BST_InitStructure.I2C_DigitalFilter = 0x00;
BST_InitStructure.I2C_OwnAddress1 = CLEANFLIGHT_FC;
BST_InitStructure.I2C_Ack = I2C_Ack_Enable;
BST_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
BST_InitStructure.I2C_Timing = 0x30E0257A; // 100 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
I2C_Init(I2C2, &BST_InitStructure);
I2C_Init(I2C2, &BST_InitStructure);
I2C_GeneralCallCmd(I2C2, ENABLE);
I2C_GeneralCallCmd(I2C2, ENABLE);
nvic.NVIC_IRQChannel = I2C2_EV_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_BST_READ_DATA);
nvic.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_BST_READ_DATA);
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
nvic.NVIC_IRQChannel = I2C2_EV_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_BST_READ_DATA);
nvic.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_BST_READ_DATA);
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
I2C_ITConfig(I2C2, I2C_IT_ADDRI | I2C_IT_RXI | I2C_IT_STOPI | I2C_IT_NACKI | I2C_IT_ERRI, ENABLE);
I2C_ITConfig(I2C2, I2C_IT_ADDRI | I2C_IT_RXI | I2C_IT_STOPI | I2C_IT_NACKI | I2C_IT_ERRI, ENABLE);
I2C_Cmd(I2C2, ENABLE);
}
I2C_Cmd(I2C2, ENABLE);
}
}
void bstInit(BSTDevice index)
@ -312,83 +314,83 @@ uint16_t bstGetErrorCounter(void)
bool bstWriteBusy(void)
{
if(bstWriteDataLen)
return true;
else
return false;
if(bstWriteDataLen)
return true;
else
return false;
}
bool bstMasterWrite(uint8_t* data)
{
if(bstWriteDataLen==0) {
CRC8 = 0;
dataBufferPointer = 0;
dataBuffer[0] = *data;
dataBuffer[1] = *(data+1);
bstWriteDataLen = dataBuffer[1] + 2;
for(uint8_t i=2; i<bstWriteDataLen; i++) {
if(i==(bstWriteDataLen-1)) {
crc8Cal(0);
dataBuffer[i] = CRC8;
} else {
dataBuffer[i] = *(data+i);
crc8Cal((uint8_t)dataBuffer[i]);
}
}
return true;
}
return false;
if(bstWriteDataLen==0) {
CRC8 = 0;
dataBufferPointer = 0;
dataBuffer[0] = *data;
dataBuffer[1] = *(data+1);
bstWriteDataLen = dataBuffer[1] + 2;
for(uint8_t i=2; i<bstWriteDataLen; i++) {
if(i==(bstWriteDataLen-1)) {
crc8Cal(0);
dataBuffer[i] = CRC8;
} else {
dataBuffer[i] = *(data+i);
crc8Cal((uint8_t)dataBuffer[i]);
}
}
return true;
}
return false;
}
void bstMasterWriteLoop(void)
{
static uint32_t bstMasterWriteTimeout = 0;
uint32_t currentTime = micros();
if(bstWriteDataLen && dataBufferPointer==0) {
bool scl_set = false;
if(BSTx == I2C1)
scl_set = BST1_SCL_GPIO->IDR&BST1_SCL_PIN;
else
scl_set = BST2_SCL_GPIO->IDR&BST2_SCL_PIN;
if(I2C_GetFlagStatus(BSTx, I2C_FLAG_BUSY)==RESET && scl_set) {
I2C_TransferHandling(BSTx, dataBuffer[dataBufferPointer], dataBuffer[dataBufferPointer+1]+1, I2C_AutoEnd_Mode, I2C_Generate_Start_Write);
I2C_ITConfig(BSTx, I2C_IT_TXI, ENABLE);
dataBufferPointer = 1;
bstMasterWriteTimeout = micros();
}
} else if(currentTime>bstMasterWriteTimeout+BST_SHORT_TIMEOUT) {
bstTimeoutUserCallback();
}
static uint32_t bstMasterWriteTimeout = 0;
uint32_t currentTime = micros();
if(bstWriteDataLen && dataBufferPointer==0) {
bool scl_set = false;
if(BSTx == I2C1)
scl_set = BST1_SCL_GPIO->IDR&BST1_SCL_PIN;
else
scl_set = BST2_SCL_GPIO->IDR&BST2_SCL_PIN;
if(I2C_GetFlagStatus(BSTx, I2C_FLAG_BUSY)==RESET && scl_set) {
I2C_TransferHandling(BSTx, dataBuffer[dataBufferPointer], dataBuffer[dataBufferPointer+1]+1, I2C_AutoEnd_Mode, I2C_Generate_Start_Write);
I2C_ITConfig(BSTx, I2C_IT_TXI, ENABLE);
dataBufferPointer = 1;
bstMasterWriteTimeout = micros();
}
} else if(currentTime>bstMasterWriteTimeout+BST_SHORT_TIMEOUT) {
bstTimeoutUserCallback();
}
}
/*************************************************************************************************/
void crc8Cal(uint8_t data_in)
{
/* Polynom = x^8+x^7+x^6+x^4+x^2+1 = x^8+x^7+x^6+x^4+x^2+X^0 */
uint8_t Polynom = BST_CRC_POLYNOM;
bool MSB_Flag;
/* Polynom = x^8+x^7+x^6+x^4+x^2+1 = x^8+x^7+x^6+x^4+x^2+X^0 */
uint8_t Polynom = BST_CRC_POLYNOM;
bool MSB_Flag;
/* Step through each bit of the BYTE (8-bits) */
for (uint8_t i = 0; i < 8; i++) {
/* Clear the Flag */
MSB_Flag = false;
/* Step through each bit of the BYTE (8-bits) */
for (uint8_t i = 0; i < 8; i++) {
/* Clear the Flag */
MSB_Flag = false;
/* MSB_Set = 80; */
if (CRC8 & 0x80) {
MSB_Flag = true;
}
CRC8 <<= 1;
/* MSB_Set = 80; */
if (CRC8 & 0x80) {
MSB_Flag = true;
}
/* MSB_Set = 80; */
if (data_in & 0x80) {
CRC8++;
}
data_in <<= 1;
if (MSB_Flag == true) {
CRC8 ^= Polynom;
}
}
CRC8 <<= 1;
/* MSB_Set = 80; */
if (data_in & 0x80) {
CRC8++;
}
data_in <<= 1;
if (MSB_Flag == true) {
CRC8 ^= Polynom;
}
}
}
#endif

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src/main/target/COLIBRI_RACE/i2c_bst.c
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