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atbetaflight/src/main/drivers/bus_i2c_stm32f30x.c

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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it 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 is distributed in the hope that it 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <platform.h>
#include "build/debug.h"
#include "drivers/system.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "drivers/rcc.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_i2c_impl.h"
#if defined(USE_I2C) && !defined(SOFT_I2C)
#define IOCFG_I2C_PU IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_UP)
#define IOCFG_I2C IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_OD, GPIO_PuPd_NOPULL)
#define I2C_HIGHSPEED_TIMING 0x00500E30 // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
#define I2C_STANDARD_TIMING 0x00E0257A // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10.
#define I2C_GPIO_AF GPIO_AF_4
static uint32_t i2cTimeout;
static volatile uint16_t i2cErrorCount = 0;
const i2cHardware_t i2cHardware[I2CDEV_COUNT] = {
#ifdef USE_I2C_DEVICE_1
{
.device = I2CDEV_1,
.reg = I2C1,
.sclPins = { DEFIO_TAG_E(PA15), DEFIO_TAG_E(PB6), DEFIO_TAG_E(PB8) },
.sdaPins = { DEFIO_TAG_E(PA14), DEFIO_TAG_E(PB7), DEFIO_TAG_E(PB9) },
.rcc = RCC_APB1(I2C1),
},
#endif
#ifdef USE_I2C_DEVICE_2
{
.device = I2CDEV_2,
.reg = I2C2,
.sclPins = { DEFIO_TAG_E(PA9), DEFIO_TAG_E(PF6) },
.sdaPins = { DEFIO_TAG_E(PA10) },
.rcc = RCC_APB1(I2C2),
},
#endif
};
i2cDevice_t i2cDevice[I2CDEV_COUNT];
///////////////////////////////////////////////////////////////////////////////
// I2C TimeoutUserCallback
///////////////////////////////////////////////////////////////////////////////
uint32_t i2cTimeoutUserCallback(void)
{
i2cErrorCount++;
return false;
}
void i2cInit(I2CDevice device)
{
if (device == I2CINVALID || device > I2CDEV_COUNT) {
return;
}
i2cDevice_t *pDev = &i2cDevice[device];
const i2cHardware_t *hw = pDev->hardware;
if (!hw) {
return;
}
I2C_TypeDef *I2Cx = pDev->reg;
IO_t scl = pDev->scl;
IO_t sda = pDev->sda;
RCC_ClockCmd(hw->rcc, ENABLE);
RCC_I2CCLKConfig(I2Cx == I2C2 ? RCC_I2C2CLK_SYSCLK : RCC_I2C1CLK_SYSCLK);
IOInit(scl, OWNER_I2C_SCL, RESOURCE_INDEX(device));
IOConfigGPIOAF(scl, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, GPIO_AF_4);
IOInit(sda, OWNER_I2C_SDA, RESOURCE_INDEX(device));
IOConfigGPIOAF(sda, pDev->pullUp ? IOCFG_I2C_PU : IOCFG_I2C, GPIO_AF_4);
I2C_InitTypeDef i2cInit = {
.I2C_Mode = I2C_Mode_I2C,
.I2C_AnalogFilter = I2C_AnalogFilter_Enable,
.I2C_DigitalFilter = 0x00,
.I2C_OwnAddress1 = 0x00,
.I2C_Ack = I2C_Ack_Enable,
.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit,
.I2C_Timing = (pDev->overClock ? I2C_HIGHSPEED_TIMING : I2C_STANDARD_TIMING)
};
I2C_Init(I2Cx, &i2cInit);
I2C_StretchClockCmd(I2Cx, ENABLE);
I2C_Cmd(I2Cx, ENABLE);
}
uint16_t i2cGetErrorCounter(void)
{
return i2cErrorCount;
}
bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
{
if (device == I2CINVALID || device > I2CDEV_COUNT) {
return false;
}
I2C_TypeDef *I2Cx = i2cDevice[device].reg;
if (!I2Cx) {
return false;
}
addr_ <<= 1;
/* Test on BUSY Flag */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Send Register address */
I2C_SendData(I2Cx, (uint8_t) reg);
/* Wait until TCR flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET)
{
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
/* Wait until TXIS flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Write data to TXDR */
I2C_SendData(I2Cx, data);
/* Wait until STOPF flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Clear STOPF flag */
I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
return true;
}
bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t* buf)
{
if (device == I2CINVALID || device > I2CDEV_COUNT) {
return false;
}
I2C_TypeDef *I2Cx = i2cDevice[device].reg;
if (!I2Cx) {
return false;
}
addr_ <<= 1;
/* Test on BUSY Flag */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Send Register address */
I2C_SendData(I2Cx, (uint8_t) reg);
/* Wait until TC flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, len, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
/* Wait until all data are received */
while (len) {
/* Wait until RXNE flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Read data from RXDR */
*buf = I2C_ReceiveData(I2Cx);
/* Point to the next location where the byte read will be saved */
buf++;
/* Decrement the read bytes counter */
len--;
}
/* Wait until STOPF flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback();
}
}
/* Clear STOPF flag */
I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
/* If all operations OK */
return true;
}
#endif
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