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[paparazzi-commits] [5782] breaking I2C - don't update now, work in prog
|
From: |
antoine drouin |
|
Subject: |
[paparazzi-commits] [5782] breaking I2C - don't update now, work in progress |
|
Date: |
Thu, 02 Sep 2010 14:34:44 +0000 |
Revision: 5782
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5782
Author: poine
Date: 2010-09-02 14:34:44 +0000 (Thu, 02 Sep 2010)
Log Message:
-----------
breaking I2C - don't update now, work in progress
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.c
paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h
paparazzi3/trunk/sw/airborne/i2c.c
paparazzi3/trunk/sw/airborne/i2c.h
paparazzi3/trunk/sw/airborne/stm32/i2c_hw.c
Modified: paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.c
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.c 2010-09-02
14:18:52 UTC (rev 5781)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.c 2010-09-02
14:34:44 UTC (rev 5782)
@@ -3,7 +3,9 @@
struct Baro baro;
struct BaroBoard baro_board;
+struct i2c_transaction baro_trans;
+
static inline void baro_board_write_to_register(uint8_t baro_addr, uint8_t
reg_addr, uint8_t val_msb, uint8_t val_lsb);
static inline void baro_board_read_from_register(uint8_t baro_addr, uint8_t
reg_addr);
static inline void baro_board_set_current_register(uint8_t baro_addr, uint8_t
reg_addr);
@@ -63,11 +65,6 @@
}
-void baro_board_send_reset(void) {
- i2c2.buf[0] = 0x06;
- i2c2_transmit(0x00, 1, &baro_board.i2c_done);
-}
-
void baro_board_send_config_abs(void) {
baro_board_write_to_register(BARO_ABS_ADDR, 0x01, 0x86, 0x83);
}
@@ -76,23 +73,49 @@
baro_board_write_to_register(BARO_DIFF_ADDR, 0x01, 0x84, 0x83);
}
+void baro_board_send_reset(void) {
+ baro_trans.type = I2CTransTx;
+ baro_trans.slave_addr = 0x00;
+ baro_trans.len_w = 1;
+ baro_trans.buf[0] = 0x06;
+ i2c_submit(&i2c2,&baro_trans);
+}
+
static inline void baro_board_write_to_register(uint8_t baro_addr, uint8_t
reg_addr, uint8_t val_msb, uint8_t val_lsb) {
- i2c2.buf[0] = reg_addr;
- i2c2.buf[1] = val_msb;
- i2c2.buf[2] = val_lsb;
- i2c2_transmit(baro_addr, 3, &baro_board.i2c_done);
+ baro_trans.type = I2CTransTx;
+ baro_trans.slave_addr = baro_addr;
+ baro_trans.len_w = 3;
+ baro_trans.buf[0] = reg_addr;
+ baro_trans.buf[1] = val_msb;
+ baro_trans.buf[2] = val_lsb;
+ i2c_submit(&i2c2,&baro_trans);
}
static inline void baro_board_read_from_register(uint8_t baro_addr, uint8_t
reg_addr) {
- i2c2.buf[0] = reg_addr;
- i2c2_transceive(baro_addr, 1, 2, &baro_board.i2c_done);
+ baro_trans.type = I2CTransTxRx;
+ baro_trans.slave_addr = baro_addr;
+ baro_trans.len_w = 1;
+ baro_trans.len_r = 2;
+ baro_trans.buf[0] = reg_addr;
+ i2c_submit(&i2c2,&baro_trans);
+ // i2c2.buf[0] = reg_addr;
+ // i2c2_transceive(baro_addr, 1, 2, &baro_board.i2c_done);
}
static inline void baro_board_set_current_register(uint8_t baro_addr, uint8_t
reg_addr) {
- i2c2.buf[0] = reg_addr;
- i2c2_transmit(baro_addr, 1, &baro_board.i2c_done);
+ baro_trans.type = I2CTransTx;
+ baro_trans.slave_addr = baro_addr;
+ baro_trans.len_w = 1;
+ baro_trans.buf[0] = reg_addr;
+ i2c_submit(&i2c2,&baro_trans);
+ // i2c2.buf[0] = reg_addr;
+ // i2c2_transmit(baro_addr, 1, &baro_board.i2c_done);
}
static inline void baro_board_read_from_current_register(uint8_t baro_addr) {
- i2c2_receive(baro_addr, 2, &baro_board.i2c_done);
+ baro_trans.type = I2CTransRx;
+ baro_trans.slave_addr = baro_addr;
+ baro_trans.len_r = 2;
+ i2c_submit(&i2c2,&baro_trans);
+ // i2c2_receive(baro_addr, 2, &baro_board.i2c_done);
}
Modified: paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h
===================================================================
--- paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h 2010-09-02
14:18:52 UTC (rev 5781)
+++ paparazzi3/trunk/sw/airborne/boards/lisa_l/baro_board.h 2010-09-02
14:34:44 UTC (rev 5782)
@@ -26,24 +26,26 @@
struct BaroBoard {
enum LisaBaroStatus status;
- bool_t i2c_done;
};
extern struct BaroBoard baro_board;
+extern struct i2c_transaction baro_trans;
extern void baro_board_send_reset(void);
extern void baro_board_send_config_abs(void);
extern void baro_board_send_config_diff(void);
#define BaroEvent(_b_abs_handler, _b_diff_handler) { \
- if (baro_board.status == LBS_READING_ABS && baro_board.i2c_done) { \
- int16_t tmp = i2c2.buf[0]<<8 | i2c2.buf[1]; \
+ if (baro_board.status == LBS_READING_ABS &&
\
+ baro_trans.result == I2CTransSuccess) { \
+ int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \
baro.absolute = tmp; \
baro_board.status = LBS_READ_ABS;
\
_b_abs_handler();
\
} \
- else if (baro_board.status == LBS_READING_DIFF && baro_board.i2c_done) { \
- int16_t tmp = i2c2.buf[0]<<8 | i2c2.buf[1]; \
+ else if (baro_board.status == LBS_READING_DIFF && \
+ baro_trans.result == I2CTransSuccess) { \
+ int16_t tmp = baro_trans.buf[0]<<8 | baro_trans.buf[1]; \
baro.differential = tmp; \
baro_board.status = LBS_READ_DIFF; \
_b_diff_handler(); \
Modified: paparazzi3/trunk/sw/airborne/i2c.c
===================================================================
--- paparazzi3/trunk/sw/airborne/i2c.c 2010-09-02 14:18:52 UTC (rev 5781)
+++ paparazzi3/trunk/sw/airborne/i2c.c 2010-09-02 14:34:44 UTC (rev 5782)
@@ -124,14 +124,19 @@
#include "booz/booz2_debug.h"
-struct i2c i2c2;
+struct i2c_periph i2c2;
+//struct i2c i2c2;
+
void i2c2_init(void) {
- i2c2.status = I2CIdle;
- i2c2.finished = NULL;
+ // i2c2.status = I2CIdle;
+ // i2c2.finished = NULL;
+ // i2c2_hw_init();
+ i2c_init(&i2c2);
i2c2_hw_init();
}
+#if 0
void i2c2_receive(uint8_t slave_addr, uint8_t len, volatile bool_t* finished) {
i2c2.transaction = I2CTransRx;
i2c2.slave_addr = slave_addr;
@@ -178,9 +183,16 @@
I2C_ITConfig(I2C2, I2C_IT_EVT, ENABLE);
I2C_GenerateSTART(I2C2, ENABLE);
}
+#endif
-struct i2c_periph i2c2;
+void i2c_init(struct i2c_periph* p) {
+ p->trans_insert_idx = 0;
+ p->trans_extract_idx = 0;
+ p->status = I2CIdle;
+}
+
+
#endif /* USE_I2C2 */
Modified: paparazzi3/trunk/sw/airborne/i2c.h
===================================================================
--- paparazzi3/trunk/sw/airborne/i2c.h 2010-09-02 14:18:52 UTC (rev 5781)
+++ paparazzi3/trunk/sw/airborne/i2c.h 2010-09-02 14:34:44 UTC (rev 5782)
@@ -52,8 +52,8 @@
struct i2c_periph {
/* circular buffer holding transactions */
struct i2c_transaction* trans[I2C_TRANSACTION_QUEUE_LEN];
- uint8_t trans_insert_index;
- uint8_t trans_extract_index;
+ uint8_t trans_insert_idx;
+ uint8_t trans_extract_idx;
/* internal state of the peripheral */
volatile enum I2CStatus status;
volatile uint8_t idx_buf;
@@ -248,19 +248,20 @@
#ifdef USE_I2C2
-extern struct i2c_periph i2c2;
+//extern struct i2c i2c2;
extern void i2c2_init(void);
-extern void i2c2_receive(uint8_t slave_addr, uint8_t len, volatile bool_t*
finished);
-extern void i2c2_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t*
finished);
-extern void i2c2_transceive(uint8_t slave_addr, uint8_t len_w, uint16_t len_r,
volatile bool_t* finished);
+//extern void i2c2_receive(uint8_t slave_addr, uint8_t len, volatile bool_t*
finished);
+//extern void i2c2_transmit(uint8_t slave_addr, uint8_t len, volatile bool_t*
finished);
+//extern void i2c2_transceive(uint8_t slave_addr, uint8_t len_w, uint16_t
len_r, volatile bool_t* finished);
+extern struct i2c_periph i2c2;
+
+
+
#endif /* USE_I2C2 */
-extern struct i2c_periph i2c2;
-
extern void i2c_init(struct i2c_periph* p);
extern bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t);
-
#endif /* I2C_H */
Modified: paparazzi3/trunk/sw/airborne/stm32/i2c_hw.c
===================================================================
--- paparazzi3/trunk/sw/airborne/stm32/i2c_hw.c 2010-09-02 14:18:52 UTC (rev
5781)
+++ paparazzi3/trunk/sw/airborne/stm32/i2c_hw.c 2010-09-02 14:34:44 UTC (rev
5782)
@@ -340,17 +340,18 @@
*/
static inline void on_status_start_requested(uint32_t event) {
if (event & I2C_FLAG_SB) {
- if(i2c2.transaction == I2CTransRx) {
- I2C_Send7bitAddress(I2C2, i2c2.slave_addr, I2C_Direction_Receiver);
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
+ if(trans->type == I2CTransRx) {
+ I2C_Send7bitAddress(I2C2, trans->slave_addr, I2C_Direction_Receiver);
i2c2.status = I2CAddrRdSent;
}
- else {
- I2C_Send7bitAddress(I2C2, i2c2.slave_addr, I2C_Direction_Transmitter);
- i2c2.status = I2CAddrWrSent;
- }
- }
- else
- SPURIOUS_INTERRUPT(I2CStartRequested, event);
+ else {
+ I2C_Send7bitAddress(I2C2, trans->slave_addr, I2C_Direction_Transmitter);
+ i2c2.status = I2CAddrWrSent;
+ }
+ }
+ else
+ SPURIOUS_INTERRUPT(I2CStartRequested, event);
}
/*
@@ -359,16 +360,17 @@
*/
static inline void on_status_addr_wr_sent(uint32_t event) {
if ((event & I2C_FLAG_ADDR) && (event & I2C_FLAG_TRA)) {
- I2C_SendData(I2C2, i2c2.buf[0]);
- if (i2c2.len_w > 1) {
- I2C_SendData(I2C2, i2c2.buf[1]);
- i2c2.index = 2;
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
+ I2C_SendData(I2C2, trans->buf[0]);
+ if (trans->len_w > 1) {
+ I2C_SendData(I2C2, trans->buf[1]);
+ i2c2.idx_buf = 2;
I2C_ITConfig(I2C2, I2C_IT_BUF, ENABLE);
i2c2.status = I2CSendingByte;
}
else {
- i2c2.index = 1;
- if (i2c2.transaction == I2CTransTx) {
+ i2c2.idx_buf = 1;
+ if (trans->type == I2CTransTx) {
I2C_GenerateSTOP(I2C2, ENABLE);
i2c2.status = I2CStopRequested;
}
@@ -388,13 +390,14 @@
*/
static inline void on_status_sending_byte(uint32_t event) {
if (event & I2C_FLAG_TXE) {
- if (i2c2.index < i2c2.len_w) {
- I2C_SendData(I2C2, i2c2.buf[i2c2.index]);
- i2c2.index++;
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
+ if (i2c2.idx_buf < trans->len_w) {
+ I2C_SendData(I2C2, trans->buf[i2c2.idx_buf]);
+ i2c2.idx_buf++;
}
else {
I2C_ITConfig(I2C2, I2C_IT_BUF, DISABLE);
- if (i2c2.transaction == I2CTransTx) {
+ if (trans->type == I2CTransTx) {
I2C_GenerateSTOP(I2C2, ENABLE);
i2c2.status = I2CStopRequested;
}
@@ -415,7 +418,8 @@
*/
static inline void on_status_sending_last_byte(uint32_t event) {
if (event & I2C_FLAG_TXE) { // should really be BTF as we're supposed to
have disabled buf it already
- if (i2c2.transaction == I2CTransTx) {
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
+ if (trans->type == I2CTransTx) {
I2C_GenerateSTOP(I2C2, ENABLE);
i2c2.status = I2CStopRequested;
}
@@ -437,15 +441,17 @@
*/
static inline void on_status_stop_requested(uint32_t event) {
/* bummer.... */
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
if (event & I2C_FLAG_RXNE) {
uint8_t read_byte = I2C_ReceiveData(I2C2);
- if (i2c2.index < i2c2.len_r) {
- i2c2.buf[i2c2.index] = read_byte;
+ if (i2c2.idx_buf < trans->len_r) {
+ trans->buf[i2c2.idx_buf] = read_byte;
}
}
I2C_ITConfig(I2C2, I2C_IT_EVT|I2C_IT_BUF, DISABLE); // should only need to
disable evt, buf already disabled
- if (i2c2.finished) *i2c2.finished = TRUE;
- i2c2.status = I2CComplete;
+ // FIXME : lancer la transaction suivante
+ trans->result = I2CTransSuccess;
+ i2c2.status = I2CIdle;
}
/*
@@ -454,8 +460,9 @@
*/
static inline void on_status_addr_rd_sent(uint32_t event) {
if ((event & I2C_FLAG_ADDR) && !(event & I2C_FLAG_TRA)) {
- i2c2.index = 0;
- if(i2c2.len_r == 1) { // If we're
going to read only one byte
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
+ i2c2.idx_buf = 0;
+ if(trans->len_r == 1) { // If
we're going to read only one byte
I2C_AcknowledgeConfig(I2C2, DISABLE); // make sure
it's gonna be nacked
I2C_GenerateSTOP(I2C2, ENABLE); // and
followed by a stop
i2c2.status = I2CReadingLastByte; // and
remember we did
@@ -477,11 +484,12 @@
*/
static inline void on_status_reading_byte(uint32_t event) {
if (event & I2C_FLAG_RXNE) {
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
uint8_t read_byte = I2C_ReceiveData(I2C2);
- if (i2c2.index < i2c2.len_r) {
- i2c2.buf[i2c2.index] = read_byte;
- i2c2.index++;
- if (i2c2.index >= i2c2.len_r-1) { // We're
reading our last byte
+ if (i2c2.idx_buf < trans->len_r) {
+ trans->buf[i2c2.idx_buf] = read_byte;
+ i2c2.idx_buf++;
+ if (i2c2.idx_buf >= trans->len_r-1) { // We're
reading our last byte
I2C_AcknowledgeConfig(I2C2, DISABLE); // give them a
nack once it's done
I2C_GenerateSTOP(I2C2, ENABLE); // and follow
with a stop
i2c2.status = I2CStopRequested; // remember we
already trigered the stop
@@ -497,15 +505,16 @@
*
*/
static inline void on_status_reading_last_byte(uint32_t event) {
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
if (event & I2C_FLAG_BTF) {
uint8_t read_byte = I2C_ReceiveData(I2C2);
- i2c2.buf[i2c2.index] = read_byte;
+ trans->buf[i2c2.idx_buf] = read_byte;
I2C_GenerateSTOP(I2C2, ENABLE);
i2c2.status = I2CStopRequested;
}
else if (event & I2C_FLAG_RXNE) { // should really be BTF ?
uint8_t read_byte = I2C_ReceiveData(I2C2);
- i2c2.buf[i2c2.index] = read_byte;
+ trans->buf[i2c2.idx_buf] = read_byte;
i2c2.status = I2CStopRequested;
}
else
@@ -517,10 +526,11 @@
*
*/
static inline void on_status_restart_requested(uint32_t event) {
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
// DEBUG_S6_ON();
if (event & I2C_FLAG_SB) {
// DEBUG_S2_ON();
- I2C_Send7bitAddress(I2C2, i2c2.slave_addr, I2C_Direction_Receiver);
+ I2C_Send7bitAddress(I2C2, trans->slave_addr, I2C_Direction_Receiver);
i2c2.status = I2CAddrRdSent;
// DEBUG_S2_OFF();
}
@@ -610,9 +620,8 @@
#define I2C2_ABORT_AND_RESET() { \
- \
- if (i2c2.finished) \
- *(i2c2.finished) = TRUE; \
+ struct i2c_transaction* trans = i2c2.trans[i2c2.trans_extract_idx];
\
+ trans->result = I2CTransFailed; \
i2c2.status = I2CFailed; \
I2C_ITConfig(I2C2, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR, DISABLE); \
I2C_Cmd(I2C2, DISABLE); \
@@ -796,12 +805,11 @@
-void i2c_init(struct i2c_periph* p) {
-
-
-}
-
bool_t i2c_submit(struct i2c_periph* p, struct i2c_transaction* t) {
-
-
+ p->trans[p->trans_insert_idx] = t;
+ p->idx_buf = 0;
+ p->status = I2CStartRequested;
+ I2C_ZERO_EVENTS();
+ I2C_ITConfig(I2C2, I2C_IT_EVT, ENABLE);
+ I2C_GenerateSTART(I2C2, ENABLE);
}
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- [paparazzi-commits] [5782] breaking I2C - don't update now, work in progress,
antoine drouin <=