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Merge pull request #9575 from jflyper/bfdev-i2c-new-clock 

[I2C] Introduce computational I2C waveform configuration for HAL based MCUs
This commit is contained in:
Michael Keller 2020-03-11 20:29:04 +13:00 committed by GitHub
parent a18a19a434 ec2aac314d
commit acdccd5a16
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 384 additions and 236 deletions
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1
make/mcu/STM32F7.mk
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@ -171,6 +171,7 @@ MCU_COMMON_SRC = \
drivers/adc_stm32f7xx.c \
drivers/audio_stm32f7xx.c \
drivers/bus_i2c_hal.c \
drivers/bus_i2c_hal_init.c \
drivers/dma_stm32f7xx.c \
drivers/light_ws2811strip_hal.c \
drivers/transponder_ir_io_hal.c \

1
make/mcu/STM32H7.mk
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@ -242,6 +242,7 @@ MCU_COMMON_SRC = \
drivers/light_ws2811strip_hal.c \
drivers/adc_stm32h7xx.c \
drivers/bus_i2c_hal.c \
drivers/bus_i2c_hal_init.c \
drivers/pwm_output_dshot_hal.c \
drivers/pwm_output_dshot_shared.c \
drivers/persistent.c \

3
make/source.mk
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@ -359,6 +359,9 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
drivers/pwm_output_dshot.c \
drivers/pwm_output_dshot_shared.c \
drivers/pwm_output_dshot_hal.c
SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
drivers/bus_i2c_hal_init.c
endif #!F3
endif #!F1

241
src/main/drivers/bus_i2c_hal.c
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@ -35,122 +35,6 @@
#include "drivers/bus_i2c.h"
#include "drivers/bus_i2c_impl.h"
#define CLOCKSPEED 800000 // i2c clockspeed 400kHz default (conform specs), 800kHz and 1200kHz (Betaflight default)
// Number of bits in I2C protocol phase
#define LEN_ADDR 7
#define LEN_RW 1
#define LEN_ACK 1
// Clock period in us during unstick transfer
#define UNSTICK_CLK_US 10
// Allow 500us for clock strech to complete during unstick
#define UNSTICK_CLK_STRETCH (500/UNSTICK_CLK_US)
static void i2cUnstick(IO_t scl, IO_t sda);
#define IOCFG_I2C_PU IO_CONFIG(GPIO_MODE_AF_OD, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLUP)
#define IOCFG_I2C IO_CONFIG(GPIO_MODE_AF_OD, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_NOPULL)
#define GPIO_AF4_I2C GPIO_AF4_I2C1
const i2cHardware_t i2cHardware[I2CDEV_COUNT] = {
#if defined(STM32F7)
#ifdef USE_I2C_DEVICE_1
{
.device = I2CDEV_1,
.reg = I2C1,
.sclPins = { I2CPINDEF(PB6), I2CPINDEF(PB8) },
.sdaPins = { I2CPINDEF(PB7), I2CPINDEF(PB9) },
.rcc = RCC_APB1(I2C1),
.ev_irq = I2C1_EV_IRQn,
.er_irq = I2C1_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_2
{
.device = I2CDEV_2,
.reg = I2C2,
.sclPins = { I2CPINDEF(PB10), I2CPINDEF(PF1) },
.sdaPins = { I2CPINDEF(PB11), I2CPINDEF(PF0) },
.rcc = RCC_APB1(I2C2),
.ev_irq = I2C2_EV_IRQn,
.er_irq = I2C2_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_3
{
.device = I2CDEV_3,
.reg = I2C3,
.sclPins = { I2CPINDEF(PA8) },
.sdaPins = { I2CPINDEF(PC9) },
.rcc = RCC_APB1(I2C3),
.ev_irq = I2C3_EV_IRQn,
.er_irq = I2C3_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_4
{
.device = I2CDEV_4,
.reg = I2C4,
.sclPins = { I2CPINDEF(PD12), I2CPINDEF(PF14) },
.sdaPins = { I2CPINDEF(PD13), I2CPINDEF(PF15) },
.rcc = RCC_APB1(I2C4),
.ev_irq = I2C4_EV_IRQn,
.er_irq = I2C4_ER_IRQn,
},
#endif
#elif defined(STM32H7)
#ifdef USE_I2C_DEVICE_1
{
.device = I2CDEV_1,
.reg = I2C1,
.sclPins = { I2CPINDEF(PB6, GPIO_AF4_I2C1), I2CPINDEF(PB8, GPIO_AF4_I2C1) },
.sdaPins = { I2CPINDEF(PB7, GPIO_AF4_I2C1), I2CPINDEF(PB9, GPIO_AF4_I2C1) },
.rcc = RCC_APB1L(I2C1),
.ev_irq = I2C1_EV_IRQn,
.er_irq = I2C1_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_2
{
.device = I2CDEV_2,
.reg = I2C2,
.sclPins = { I2CPINDEF(PB10, GPIO_AF4_I2C2), I2CPINDEF(PF1, GPIO_AF4_I2C2) },
.sdaPins = { I2CPINDEF(PB11, GPIO_AF4_I2C2), I2CPINDEF(PF0, GPIO_AF4_I2C2) },
.rcc = RCC_APB1L(I2C2),
.ev_irq = I2C2_EV_IRQn,
.er_irq = I2C2_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_3
{
.device = I2CDEV_3,
.reg = I2C3,
.sclPins = { I2CPINDEF(PA8, GPIO_AF4_I2C3) },
.sdaPins = { I2CPINDEF(PC9, GPIO_AF4_I2C3) },
.rcc = RCC_APB1L(I2C3),
.ev_irq = I2C3_EV_IRQn,
.er_irq = I2C3_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_4
{
.device = I2CDEV_4,
.reg = I2C4,
.sclPins = { I2CPINDEF(PD12, GPIO_AF4_I2C4), I2CPINDEF(PF14, GPIO_AF4_I2C4), I2CPINDEF(PB6, GPIO_AF6_I2C4), I2CPINDEF(PB8, GPIO_AF6_I2C4) },
.sdaPins = { I2CPINDEF(PD13, GPIO_AF4_I2C4), I2CPINDEF(PF15, GPIO_AF4_I2C4), I2CPINDEF(PB7, GPIO_AF6_I2C4), I2CPINDEF(PB9, GPIO_AF6_I2C4) },
.rcc = RCC_APB4(I2C4),
.ev_irq = I2C4_EV_IRQn,
.er_irq = I2C4_ER_IRQn,
},
#endif
#endif
};
i2cDevice_t i2cDevice[I2CDEV_COUNT];
#ifdef USE_I2C_DEVICE_1
void I2C1_ER_IRQHandler(void)
{
@ -210,6 +94,11 @@ static bool i2cHandleHardwareFailure(I2CDevice device)
return false;
}
uint16_t i2cGetErrorCounter(void)
{
return i2cErrorCount;
}
// Blocking write
bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
{
@ -341,124 +230,4 @@ bool i2cBusy(I2CDevice device, bool *error)
return true;
}
void i2cInit(I2CDevice device)
{
if (device == I2CINVALID) {
return;
}
i2cDevice_t *pDev = &i2cDevice[device];
const i2cHardware_t *hardware = pDev->hardware;
if (!hardware) {
return;
}
IO_t scl = pDev->scl;
IO_t sda = pDev->sda;
RCC_ClockCmd(hardware->rcc, ENABLE);
IOInit(scl, OWNER_I2C_SCL, RESOURCE_INDEX(device));
IOInit(sda, OWNER_I2C_SDA, RESOURCE_INDEX(device));
// Enable RCC
RCC_ClockCmd(hardware->rcc, ENABLE);
i2cUnstick(scl, sda);
// Init pins
#if defined(STM32F7)
IOConfigGPIOAF(scl, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, GPIO_AF4_I2C);
IOConfigGPIOAF(sda, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, GPIO_AF4_I2C);
#elif defined(STM32H7)
IOConfigGPIOAF(scl, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, pDev->sclAF);
IOConfigGPIOAF(sda, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, pDev->sdaAF);
#else
IOConfigGPIO(scl, IOCFG_AF_OD);
IOConfigGPIO(sda, IOCFG_AF_OD);
#endif
// Init I2C peripheral
I2C_HandleTypeDef *pHandle = &pDev->handle;
memset(pHandle, 0, sizeof(*pHandle));
pHandle->Instance = pDev->hardware->reg;
/// TODO: HAL check if I2C timing is correct
if (pDev->overClock) {
// 800khz Maximum speed tested on various boards without issues
pHandle->Init.Timing = 0x00500D1D;
} else {
pHandle->Init.Timing = 0x00500C6F;
}
pHandle->Init.OwnAddress1 = 0x0;
pHandle->Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
pHandle->Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
pHandle->Init.OwnAddress2 = 0x0;
pHandle->Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
pHandle->Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
HAL_I2C_Init(pHandle);
// Enable the Analog I2C Filter
HAL_I2CEx_ConfigAnalogFilter(pHandle, I2C_ANALOGFILTER_ENABLE);
// Setup interrupt handlers
HAL_NVIC_SetPriority(hardware->er_irq, NVIC_PRIORITY_BASE(NVIC_PRIO_I2C_ER), NVIC_PRIORITY_SUB(NVIC_PRIO_I2C_ER));
HAL_NVIC_EnableIRQ(hardware->er_irq);
HAL_NVIC_SetPriority(hardware->ev_irq, NVIC_PRIORITY_BASE(NVIC_PRIO_I2C_EV), NVIC_PRIORITY_SUB(NVIC_PRIO_I2C_EV));
HAL_NVIC_EnableIRQ(hardware->ev_irq);
}
uint16_t i2cGetErrorCounter(void)
{
return i2cErrorCount;
}
static void i2cUnstick(IO_t scl, IO_t sda)
{
int i;
IOHi(scl);
IOHi(sda);
IOConfigGPIO(scl, IOCFG_OUT_OD);
IOConfigGPIO(sda, IOCFG_OUT_OD);
// Clock out, with SDA high:
// 7 data bits
// 1 READ bit
// 1 cycle for the ACK
for (i = 0; i < (LEN_ADDR + LEN_RW + LEN_ACK); i++) {
// Wait for any clock stretching to finish
int timeout = UNSTICK_CLK_STRETCH;
while (!IORead(scl) && timeout) {
delayMicroseconds(UNSTICK_CLK_US);
timeout--;
}
// Pull low
IOLo(scl); // Set bus low
delayMicroseconds(UNSTICK_CLK_US/2);
IOHi(scl); // Set bus high
delayMicroseconds(UNSTICK_CLK_US/2);
}
// Generate a stop condition in case there was none
IOLo(scl);
delayMicroseconds(UNSTICK_CLK_US/2);
IOLo(sda);
delayMicroseconds(UNSTICK_CLK_US/2);
IOHi(scl); // Set bus scl high
delayMicroseconds(UNSTICK_CLK_US/2);
IOHi(sda); // Set bus sda high
}
#endif

361
src/main/drivers/bus_i2c_hal_init.c Normal file
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@ -0,0 +1,361 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#if defined(USE_I2C) && !defined(SOFT_I2C)
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/nvic.h"
#include "drivers/time.h"
#include "drivers/rcc.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_i2c_impl.h"
// Number of bits in I2C protocol phase
#define LEN_ADDR 7
#define LEN_RW 1
#define LEN_ACK 1
// Clock period in us during unstick transfer
#define UNSTICK_CLK_US 10
// Allow 500us for clock strech to complete during unstick
#define UNSTICK_CLK_STRETCH (500/UNSTICK_CLK_US)
static void i2cUnstick(IO_t scl, IO_t sda);
#define IOCFG_I2C_PU IO_CONFIG(GPIO_MODE_AF_OD, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_PULLUP)
#define IOCFG_I2C IO_CONFIG(GPIO_MODE_AF_OD, GPIO_SPEED_FREQ_VERY_HIGH, GPIO_NOPULL)
#define GPIO_AF4_I2C GPIO_AF4_I2C1
const i2cHardware_t i2cHardware[I2CDEV_COUNT] = {
#if defined(STM32F7)
#ifdef USE_I2C_DEVICE_1
{
.device = I2CDEV_1,
.reg = I2C1,
.sclPins = { I2CPINDEF(PB6), I2CPINDEF(PB8) },
.sdaPins = { I2CPINDEF(PB7), I2CPINDEF(PB9) },
.rcc = RCC_APB1(I2C1),
.ev_irq = I2C1_EV_IRQn,
.er_irq = I2C1_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_2
{
.device = I2CDEV_2,
.reg = I2C2,
.sclPins = { I2CPINDEF(PB10), I2CPINDEF(PF1) },
.sdaPins = { I2CPINDEF(PB11), I2CPINDEF(PF0) },
.rcc = RCC_APB1(I2C2),
.ev_irq = I2C2_EV_IRQn,
.er_irq = I2C2_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_3
{
.device = I2CDEV_3,
.reg = I2C3,
.sclPins = { I2CPINDEF(PA8) },
.sdaPins = { I2CPINDEF(PC9) },
.rcc = RCC_APB1(I2C3),
.ev_irq = I2C3_EV_IRQn,
.er_irq = I2C3_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_4
{
.device = I2CDEV_4,
.reg = I2C4,
.sclPins = { I2CPINDEF(PD12), I2CPINDEF(PF14) },
.sdaPins = { I2CPINDEF(PD13), I2CPINDEF(PF15) },
.rcc = RCC_APB1(I2C4),
.ev_irq = I2C4_EV_IRQn,
.er_irq = I2C4_ER_IRQn,
},
#endif
#elif defined(STM32H7)
#ifdef USE_I2C_DEVICE_1
{
.device = I2CDEV_1,
.reg = I2C1,
.sclPins = { I2CPINDEF(PB6, GPIO_AF4_I2C1), I2CPINDEF(PB8, GPIO_AF4_I2C1) },
.sdaPins = { I2CPINDEF(PB7, GPIO_AF4_I2C1), I2CPINDEF(PB9, GPIO_AF4_I2C1) },
.rcc = RCC_APB1L(I2C1),
.ev_irq = I2C1_EV_IRQn,
.er_irq = I2C1_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_2
{
.device = I2CDEV_2,
.reg = I2C2,
.sclPins = { I2CPINDEF(PB10, GPIO_AF4_I2C2), I2CPINDEF(PF1, GPIO_AF4_I2C2) },
.sdaPins = { I2CPINDEF(PB11, GPIO_AF4_I2C2), I2CPINDEF(PF0, GPIO_AF4_I2C2) },
.rcc = RCC_APB1L(I2C2),
.ev_irq = I2C2_EV_IRQn,
.er_irq = I2C2_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_3
{
.device = I2CDEV_3,
.reg = I2C3,
.sclPins = { I2CPINDEF(PA8, GPIO_AF4_I2C3) },
.sdaPins = { I2CPINDEF(PC9, GPIO_AF4_I2C3) },
.rcc = RCC_APB1L(I2C3),
.ev_irq = I2C3_EV_IRQn,
.er_irq = I2C3_ER_IRQn,
},
#endif
#ifdef USE_I2C_DEVICE_4
{
.device = I2CDEV_4,
.reg = I2C4,
.sclPins = { I2CPINDEF(PD12, GPIO_AF4_I2C4), I2CPINDEF(PF14, GPIO_AF4_I2C4), I2CPINDEF(PB6, GPIO_AF6_I2C4), I2CPINDEF(PB8, GPIO_AF6_I2C4) },
.sdaPins = { I2CPINDEF(PD13, GPIO_AF4_I2C4), I2CPINDEF(PF15, GPIO_AF4_I2C4), I2CPINDEF(PB7, GPIO_AF6_I2C4), I2CPINDEF(PB9, GPIO_AF6_I2C4) },
.rcc = RCC_APB4(I2C4),
.ev_irq = I2C4_EV_IRQn,
.er_irq = I2C4_ER_IRQn,
},
#endif
#endif
};
i2cDevice_t i2cDevice[I2CDEV_COUNT];
// Values from I2C-SMBus specification
static uint16_t trmax; // Raise time (max)
static uint16_t tfmax; // Fall time (max)
static uint8_t tsuDATmin; // SDA setup time (min)
static uint8_t thdDATmin; // SDA hold time (min)
// Silicon specific values, from datasheet
static uint8_t tAFmin; // Analog filter delay (min)
static uint8_t tAFmax; // Analog filter delay (max)
// Actual (estimated) values
static uint16_t tr = 100; // Raise time
static uint16_t tf = 100; // Fall time
static uint8_t tAF = 70; // Analog filter delay
/*
* Compute SCLDEL, SDADEL, SCLH and SCLL for TIMINGR register according to reference manuals.
*/
static void i2cClockComputeRaw(uint32_t pclkFreq, int i2cFreqKhz, int presc, int dfcoeff,
uint8_t *scldel, uint8_t *sdadel, uint16_t *sclh, uint16_t *scll)
{
if (i2cFreqKhz > 400) {
// Fm+ (Fast mode plus)
trmax = 120;
tfmax = 120;
tsuDATmin = 50;
thdDATmin = 0;
} else {
// Fm (Fast mode)
trmax = 300;
tfmax = 300;
tsuDATmin = 100;
thdDATmin = 0;
}
tAFmin = 50;
tAFmax = 90;
// Convert pclkFreq into nsec
float tI2cclk = 1000000000.0f / pclkFreq;
// Convert target i2cFreq into cycle time (nsec)
float tSCL = 1000000.0f / i2cFreqKhz;
uint32_t SCLDELmin = (trmax + tsuDATmin)/((presc + 1) * tI2cclk) - 1;
uint32_t SDADELmin = (tfmax + thdDATmin - tAFmin - ((dfcoeff + 3) * tI2cclk)) / ((presc + 1) * tI2cclk);
float tsync1 = tf + tAF + dfcoeff * tI2cclk + 3 * tI2cclk;
float tsync2 = tr + tAF + dfcoeff * tI2cclk + 3 * tI2cclk;
float tSCLHL = tSCL - tsync1 - tsync2;
float SCLHL = tSCLHL / ((presc + 1) * tI2cclk) - 1;
uint32_t SCLH = SCLHL / 4.75; // STM32CubeMX seems to use a value like this
uint32_t SCLL = (uint32_t)(SCLHL + 0.5f) - SCLH;
*scldel = SCLDELmin;
*sdadel = SDADELmin;
*sclh = SCLH - 1;
*scll = SCLL - 1;
}
static uint32_t i2cClockTIMINGR(uint32_t pclkFreq, int i2cFreqKhz, int dfcoeff)
{
#define TIMINGR(presc, scldel, sdadel, sclh, scll) \
((presc << 28)|(scldel << 20)|(sdadel << 16)|(sclh << 8)|(scll << 0))
uint8_t scldel;
uint8_t sdadel;
uint16_t sclh;
uint16_t scll;
for (int presc = 1; presc < 15; presc++) {
i2cClockComputeRaw(pclkFreq, i2cFreqKhz, presc, dfcoeff, &scldel, &sdadel, &sclh, &scll);
// If all fields are not overflowing, return TIMINGR.
// Otherwise, increase prescaler and try again.
if ((scldel < 16) && (sdadel < 16) && (sclh < 256) && (scll < 256)) {
return TIMINGR(presc, scldel, sdadel, sclh, scll);
}
}
return 0; // Shouldn't reach here
}
void i2cInit(I2CDevice device)
{
if (device == I2CINVALID) {
return;
}
i2cDevice_t *pDev = &i2cDevice[device];
const i2cHardware_t *hardware = pDev->hardware;
if (!hardware) {
return;
}
IO_t scl = pDev->scl;
IO_t sda = pDev->sda;
RCC_ClockCmd(hardware->rcc, ENABLE);
IOInit(scl, OWNER_I2C_SCL, RESOURCE_INDEX(device));
IOInit(sda, OWNER_I2C_SDA, RESOURCE_INDEX(device));
// Enable RCC
RCC_ClockCmd(hardware->rcc, ENABLE);
i2cUnstick(scl, sda);
// Init pins
#if defined(STM32F7)
IOConfigGPIOAF(scl, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, GPIO_AF4_I2C);
IOConfigGPIOAF(sda, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, GPIO_AF4_I2C);
#elif defined(STM32H7)
IOConfigGPIOAF(scl, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, pDev->sclAF);
IOConfigGPIOAF(sda, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, pDev->sdaAF);
#else
IOConfigGPIO(scl, IOCFG_AF_OD);
IOConfigGPIO(sda, IOCFG_AF_OD);
#endif
// Init I2C peripheral
I2C_HandleTypeDef *pHandle = &pDev->handle;
memset(pHandle, 0, sizeof(*pHandle));
pHandle->Instance = pDev->hardware->reg;
// Compute TIMINGR value based on peripheral clock for this device instance
uint32_t i2cPclk;
#if defined(STM32F7)
// Clock source configured in startup/system_stm32f7xx.c as:
// I2C1234 : PCLK1
i2cPclk = HAL_RCC_GetPCLK1Freq();
#elif defined(STM32H7)
// Clock sources configured in startup/system_stm32h7xx.c as:
// I2C123 : D2PCLK1 (rcc_pclk1 for APB1)
// I2C4 : D3PCLK1 (rcc_pclk4 for APB4)
i2cPclk = (pHandle->Instance == I2C4) ? HAL_RCCEx_GetD3PCLK1Freq() : HAL_RCC_GetPCLK1Freq();
#else
#error Unknown MCU type
#endif
pHandle->Init.Timing = i2cClockTIMINGR(i2cPclk, pDev->overClock ? 800 : 400, 0);
pHandle->Init.OwnAddress1 = 0x0;
pHandle->Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
pHandle->Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
pHandle->Init.OwnAddress2 = 0x0;
pHandle->Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
pHandle->Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
HAL_I2C_Init(pHandle);
// Enable the Analog I2C Filter
HAL_I2CEx_ConfigAnalogFilter(pHandle, I2C_ANALOGFILTER_ENABLE);
// Setup interrupt handlers
HAL_NVIC_SetPriority(hardware->er_irq, NVIC_PRIORITY_BASE(NVIC_PRIO_I2C_ER), NVIC_PRIORITY_SUB(NVIC_PRIO_I2C_ER));
HAL_NVIC_EnableIRQ(hardware->er_irq);
HAL_NVIC_SetPriority(hardware->ev_irq, NVIC_PRIORITY_BASE(NVIC_PRIO_I2C_EV), NVIC_PRIORITY_SUB(NVIC_PRIO_I2C_EV));
HAL_NVIC_EnableIRQ(hardware->ev_irq);
}
static void i2cUnstick(IO_t scl, IO_t sda)
{
int i;
IOHi(scl);
IOHi(sda);
IOConfigGPIO(scl, IOCFG_OUT_OD);
IOConfigGPIO(sda, IOCFG_OUT_OD);
// Clock out, with SDA high:
// 7 data bits
// 1 READ bit
// 1 cycle for the ACK
for (i = 0; i < (LEN_ADDR + LEN_RW + LEN_ACK); i++) {
// Wait for any clock stretching to finish
int timeout = UNSTICK_CLK_STRETCH;
while (!IORead(scl) && timeout) {
delayMicroseconds(UNSTICK_CLK_US);
timeout--;
}
// Pull low
IOLo(scl); // Set bus low
delayMicroseconds(UNSTICK_CLK_US/2);
IOHi(scl); // Set bus high
delayMicroseconds(UNSTICK_CLK_US/2);
}
// Generate a stop condition in case there was none
IOLo(scl);
delayMicroseconds(UNSTICK_CLK_US/2);
IOLo(sda);
delayMicroseconds(UNSTICK_CLK_US/2);
IOHi(scl); // Set bus scl high
delayMicroseconds(UNSTICK_CLK_US/2);
IOHi(sda); // Set bus sda high
}
#endif

4
src/main/startup/system_stm32f7xx.c
View File

@ -222,10 +222,14 @@
PeriphClkInitStruct.Usart6ClockSelection = RCC_USART6CLKSOURCE_PCLK2;
PeriphClkInitStruct.Uart7ClockSelection = RCC_UART7CLKSOURCE_PCLK1;
PeriphClkInitStruct.Uart8ClockSelection = RCC_UART8CLKSOURCE_PCLK1;
// I2C clock sources: Note that peripheral clock determination in bus_i2c_hal_init.c must be modified when the sources are modified.
PeriphClkInitStruct.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1;
PeriphClkInitStruct.I2c2ClockSelection = RCC_I2C2CLKSOURCE_PCLK1;
PeriphClkInitStruct.I2c3ClockSelection = RCC_I2C3CLKSOURCE_PCLK1;
PeriphClkInitStruct.I2c4ClockSelection = RCC_I2C4CLKSOURCE_PCLK1;
ret = HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct);
if (ret != HAL_OK) {
while (1);

1
src/main/startup/system_stm32h7xx.c
View File

@ -486,6 +486,7 @@ void SystemClock_Config(void)
// Current source for I2C4:
// D3PCLK1 (rcc_pclk4 = APB4 peripheral clock)
//
// Note that peripheral clock determination in bus_i2c_hal_init.c must be modified when the sources are modified.
RCC_PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_I2C123|RCC_PERIPHCLK_I2C4;
RCC_PeriphClkInit.I2c123ClockSelection = RCC_I2C123CLKSOURCE_D2PCLK1;

6
src/main/target/NUCLEOH743/target.h
View File

@ -172,6 +172,12 @@
#define I2C1_SDA PB9
#define I2C_DEVICE (I2CDEV_1)
// For testing I2C4on APB4
//#define USE_I2C_DEVICE_4
//#define I2C4_SCL PF14
//#define I2C4_SDA PF15
//#define I2C_DEVICE (I2CDEV_4)
#define USE_MAG
#define USE_MAG_HMC5883
#define USE_MAG_SPI_HMC5883

2
src/main/target/common_pre.h
View File

@ -114,6 +114,8 @@
#define USE_DSHOT_TELEMETRY_STATS
#define USE_RPM_FILTER
#define USE_DYN_IDLE
#define I2C3_OVERCLOCK true
#define I2C4_OVERCLOCK true
#define USE_GYRO_DATA_ANALYSE
#define USE_ADC_INTERNAL
#define USE_USB_CDC_HID