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Added i2c-detect-addr and other i2c improvements

This commit is contained in:
Benjamin Vedder 2024-07-08 16:08:01 +02:00
parent 07912e9ba8
commit 703e931b86
5 changed files with 114 additions and 72 deletions
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88
driver/i2c_bb.c
View File

@ -35,8 +35,6 @@ static void i2c_start_cond(i2c_bb_state *s);
static void i2c_stop_cond(i2c_bb_state *s);
static void i2c_write_bit(i2c_bb_state *s, bool bit);
static bool i2c_read_bit(i2c_bb_state *s);
static bool i2c_write_byte(i2c_bb_state *s, bool send_start, bool send_stop, unsigned char byte);
static unsigned char i2c_read_byte(i2c_bb_state *s, bool nack, bool send_stop);
static bool clock_stretch_timeout(i2c_bb_state *s);
static void i2c_delay(float seconds);
@ -88,7 +86,7 @@ bool i2c_bb_tx_rx(i2c_bb_state *s, uint16_t addr, uint8_t *txbuf, size_t txbytes
chMtxLock(&s->mutex);
if (txbytes > 0 && txbuf) {
i2c_write_byte(s, true, false, addr << 1);
i2c_bb_write_byte(s, true, false, addr << 1);
if (s->has_error) {
chMtxUnlock(&s->mutex);
@ -96,7 +94,7 @@ bool i2c_bb_tx_rx(i2c_bb_state *s, uint16_t addr, uint8_t *txbuf, size_t txbytes
}
for (unsigned int i = 0;i < txbytes;i++) {
i2c_write_byte(s, false, false, txbuf[i]);
i2c_bb_write_byte(s, false, false, txbuf[i]);
if (s->has_error) {
chMtxUnlock(&s->mutex);
@ -106,7 +104,7 @@ bool i2c_bb_tx_rx(i2c_bb_state *s, uint16_t addr, uint8_t *txbuf, size_t txbytes
}
if (rxbytes > 0) {
i2c_write_byte(s, true, false, addr << 1 | 1);
i2c_bb_write_byte(s, true, false, addr << 1 | 1);
if (s->has_error) {
chMtxUnlock(&s->mutex);
@ -114,7 +112,7 @@ bool i2c_bb_tx_rx(i2c_bb_state *s, uint16_t addr, uint8_t *txbuf, size_t txbytes
}
for (unsigned int i = 0;i < rxbytes;i++) {
rxbuf[i] = i2c_read_byte(s, i == (rxbytes - 1), false);
rxbuf[i] = i2c_bb_read_byte(s, i == (rxbytes - 1), false);
if (s->has_error) {
chMtxUnlock(&s->mutex);
return false;
@ -129,6 +127,45 @@ bool i2c_bb_tx_rx(i2c_bb_state *s, uint16_t addr, uint8_t *txbuf, size_t txbytes
return !s->has_error;
}
bool i2c_bb_write_byte(i2c_bb_state *s, bool send_start, bool send_stop, unsigned char byte) {
unsigned bit;
bool nack;
if (send_start) {
i2c_start_cond(s);
}
for (bit = 0;bit < 8;bit++) {
i2c_write_bit(s, (byte & 0x80) != 0);
byte <<= 1;
}
nack = i2c_read_bit(s);
if (send_stop) {
i2c_stop_cond(s);
}
return nack;
}
unsigned char i2c_bb_read_byte(i2c_bb_state *s, bool nack, bool send_stop) {
unsigned char byte = 0;
unsigned char bit;
for (bit = 0;bit < 8;bit++) {
byte = (byte << 1) | i2c_read_bit(s);
}
i2c_write_bit(s, nack);
if (send_stop) {
i2c_stop_cond(s);
}
return byte;
}
static void i2c_start_cond(i2c_bb_state *s) {
if (s->has_started) {
// if started, do a restart condition
@ -242,45 +279,6 @@ static bool i2c_read_bit(i2c_bb_state *s) {
return bit;
}
static bool i2c_write_byte(i2c_bb_state *s, bool send_start, bool send_stop, unsigned char byte) {
unsigned bit;
bool nack;
if (send_start) {
i2c_start_cond(s);
}
for (bit = 0;bit < 8;bit++) {
i2c_write_bit(s, (byte & 0x80) != 0);
byte <<= 1;
}
nack = i2c_read_bit(s);
if (send_stop) {
i2c_stop_cond(s);
}
return nack;
}
static unsigned char i2c_read_byte(i2c_bb_state *s, bool nack, bool send_stop) {
unsigned char byte = 0;
unsigned char bit;
for (bit = 0;bit < 8;bit++) {
byte = (byte << 1) | i2c_read_bit(s);
}
i2c_write_bit(s, nack);
if (send_stop) {
i2c_stop_cond(s);
}
return byte;
}
static bool clock_stretch_timeout(i2c_bb_state *s) {
uint32_t time_start = timer_time_now();

2
driver/i2c_bb.h
View File

@ -44,5 +44,7 @@ typedef struct {
void i2c_bb_init(i2c_bb_state *s);
void i2c_bb_restore_bus(i2c_bb_state *s);
bool i2c_bb_tx_rx(i2c_bb_state *s, uint16_t addr, uint8_t *txbuf, size_t txbytes, uint8_t *rxbuf, size_t rxbytes);
bool i2c_bb_write_byte(i2c_bb_state *s, bool send_start, bool send_stop, unsigned char byte);
unsigned char i2c_bb_read_byte(i2c_bb_state *s, bool nack, bool send_stop);
#endif /* I2C_BB_H_ */

14
lispBM/README.md
View File

@ -2975,6 +2975,20 @@ Sends a sequence of bits in an attempt to restore the i2c-bus. Can be used if an
---
#### i2c-detect-addr
| Platforms | Firmware |
|---|---|
| ESC, Express | 6.05+ |
```clj
(i2c-detect-addr address)
```
Test if address is present on the bus by writing to it and checking the nack-bit. Returns true if the address is present, nil otherwise. Can be used to detect if I2C-devices are plugged in and powered correctly.
---
#### imu-start-lsm6
| Platforms | Firmware |

2
lispBM/lispif.c
View File

@ -41,7 +41,7 @@
#define LISP_MEM_BITMAP_SIZE LBM_MEMORY_BITMAP_SIZE_18K
#define GC_STACK_SIZE 160
#define PRINT_STACK_SIZE 128
#define EXTENSION_STORAGE_SIZE 290
#define EXTENSION_STORAGE_SIZE 295
#define EXT_LOAD_CALLBACK_LEN 20
#define PROF_DATA_NUM 30

64
lispBM/lispif_vesc_extensions.c
View File

@ -3059,13 +3059,17 @@ static lbm_value ext_i2c_start(lbm_value *args, lbm_uint argn) {
return ENC_SYM_TRUE;
}
static char *i2c_not_started_msg = "I2C not started";
static lbm_value ext_i2c_tx_rx(lbm_value *args, lbm_uint argn) {
if (argn != 2 && argn != 3) {
return ENC_SYM_EERROR;
lbm_set_error_reason((char*)lbm_error_str_num_args);
return ENC_SYM_TERROR;
}
if (!i2c_started) {
return lbm_enc_i(0);
lbm_set_error_reason(i2c_not_started_msg);
return ENC_SYM_EERROR;
}
uint16_t addr = 0;
@ -3073,39 +3077,40 @@ static lbm_value ext_i2c_tx_rx(lbm_value *args, lbm_uint argn) {
size_t rxlen = 0;
uint8_t *txbuf = 0;
uint8_t *rxbuf = 0;
const unsigned int max_len = 40;
uint8_t to_send[max_len];
bool is_arr = lbm_is_array_r(args[1]);
if (!lbm_is_number(args[0])) {
return ENC_SYM_EERROR;
return ENC_SYM_TERROR;
}
addr = lbm_dec_as_u32(args[0]);
if (lbm_is_array_r(args[1])) {
if (is_arr) {
lbm_array_header_t *array = (lbm_array_header_t *)lbm_car(args[1]);
txbuf = (uint8_t*)array->data;
txlen = array->size;
} else {
txlen = lbm_list_length(args[1]);
if (txlen > 0) {
txbuf = lbm_malloc(txlen);
if (!txbuf) {
return ENC_SYM_MERROR;
}
lbm_value curr = args[1];
int ind = 0;
while (lbm_is_cons(curr)) {
lbm_value arg = lbm_car(curr);
if (lbm_is_number(arg)) {
to_send[txlen++] = lbm_dec_as_u32(arg);
txbuf[ind++] = lbm_dec_as_u32(arg);
} else {
return ENC_SYM_EERROR;
}
if (txlen == max_len) {
break;
lbm_free(txbuf);
return ENC_SYM_TERROR;
}
curr = lbm_cdr(curr);
}
if (txlen > 0) {
txbuf = to_send;
}
}
@ -3116,14 +3121,36 @@ static lbm_value ext_i2c_tx_rx(lbm_value *args, lbm_uint argn) {
}
i2c_cfg.has_error = false;
return lbm_enc_i(i2c_bb_tx_rx(&i2c_cfg, addr, txbuf, txlen, rxbuf, rxlen) ? 1 : 0);
bool res = i2c_bb_tx_rx(&i2c_cfg, addr, txbuf, txlen, rxbuf, rxlen);
if (!is_arr && txbuf) {
lbm_free(txbuf);
}
return lbm_enc_i(res ? 1 : 0);
}
static lbm_value ext_i2c_detect_addr(lbm_value *args, lbm_uint argn) {
LBM_CHECK_ARGN_NUMBER(1);
if (!i2c_started) {
lbm_set_error_reason(i2c_not_started_msg);
return ENC_SYM_EERROR;
}
uint8_t address = lbm_dec_as_u32(args[0]);
bool res = i2c_bb_write_byte(&i2c_cfg, true, true, address << 1);
return res ? ENC_SYM_NIL : ENC_SYM_TRUE;
}
static lbm_value ext_i2c_restore(lbm_value *args, lbm_uint argn) {
(void)args; (void)argn;
if (!i2c_started) {
return lbm_enc_i(0);
lbm_set_error_reason(i2c_not_started_msg);
return ENC_SYM_EERROR;
}
i2c_bb_restore_bus(&i2c_cfg);
@ -5437,6 +5464,7 @@ void lispif_load_vesc_extensions(void) {
lbm_add_extension("i2c-start", ext_i2c_start);
lbm_add_extension("i2c-tx-rx", ext_i2c_tx_rx);
lbm_add_extension("i2c-restore", ext_i2c_restore);
lbm_add_extension("i2c-detect-addr", ext_i2c_detect_addr);
// GPIO
lbm_add_extension("gpio-configure", ext_gpio_configure);