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i2c: Add recovery code for i2c bus errors
I2C bus errors are now recoverable. The bus is properly reset and an error indication is now provided to the caller whenever a bus error occurs during processing of the transaction list. For now, the users of the I2C layer just retry infinitely on failure. The BMP085 and HMC5843 code should be changed to report errors to its callers to allow a more sensible retry strategy. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1625 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac
stac
parent
0122394481
commit
88e73906d0
@ -91,7 +91,7 @@ void PIOS_BMP085_Init(void)
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/* Read all 22 bytes of calibration data in one transfer, this is a very optimised way of doing things */
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uint8_t Data[BMP085_CALIB_LEN];
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PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN);
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while (!PIOS_BMP085_Read(BMP085_CALIB_ADDR, Data, BMP085_CALIB_LEN)) continue;
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/* Parameters AC1-AC6 */
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CalibData.AC1 = (Data[0] << 8) | Data[1];
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@ -121,9 +121,9 @@ void PIOS_BMP085_StartADC(ConversionTypeTypeDef Type)
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{
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/* Start the conversion */
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if(Type == TemperatureConv) {
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PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR);
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while (!PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_TEMP_ADDR)) continue;
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} else if(Type == PressureConv) {
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PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR);
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while (!PIOS_BMP085_Write(BMP085_CTRL_ADDR, BMP085_PRES_ADDR)) continue;
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}
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CurrentRead = Type;
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@ -145,7 +145,7 @@ void PIOS_BMP085_ReadADC(void)
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/* Read and store the 16bit result */
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if(CurrentRead == TemperatureConv) {
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/* Read the temperature conversion */
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PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3); /* Read 3 since it is more reliable on i2c than the proper read of 2 bytes. */
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while (!PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 2)) continue;
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RawTemperature = ((Data[0] << 8) | Data[1]);
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X1 = (RawTemperature - CalibData.AC6) * CalibData.AC5 >> 15;
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@ -154,7 +154,7 @@ void PIOS_BMP085_ReadADC(void)
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Temperature = (B5 + 8) >> 4;
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} else {
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/* Read the pressure conversion */
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PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3);
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while (!PIOS_BMP085_Read(BMP085_ADC_MSB, Data, 3)) continue;
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RawPressure = ((Data[0] << 16) | (Data[1] << 8) | Data[2]) >> (8 - BMP085_OVERSAMPLING);
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B6 = B5 - 4000;
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@ -116,13 +116,13 @@ void PIOS_HMC5843_Config(PIOS_HMC5843_ConfigTypeDef *HMC5843_Config_Struct)
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MODE |= (uint8_t) (HMC5843_Config_Struct->Mode);
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// CRTL_REGA
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PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_A, CRTLA);
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while(!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_A, CRTLA));
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// CRTL_REGB
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PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_B, CRTLB);
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while(!PIOS_HMC5843_Write(PIOS_HMC5843_CONFIG_REG_B, CRTLB));
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// Mode register
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PIOS_HMC5843_Write(PIOS_HMC5843_MODE_REG, MODE);
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while(!PIOS_HMC5843_Write(PIOS_HMC5843_MODE_REG, MODE));
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}
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/**
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@ -133,8 +133,8 @@ void PIOS_HMC5843_ReadMag(int16_t out[3])
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uint8_t buffer[6];
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uint8_t crtlB;
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PIOS_HMC5843_Read(PIOS_HMC5843_CONFIG_REG_B, &crtlB, 1);
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PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_XMSB_REG, buffer, 6);
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while(!PIOS_HMC5843_Read(PIOS_HMC5843_CONFIG_REG_B, &crtlB, 1));
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while(!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_XMSB_REG, buffer, 6));
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switch(crtlB & 0xE0) {
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case 0x00:
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@ -193,7 +193,7 @@ void PIOS_HMC5843_ReadMag(int16_t out[3])
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*/
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void PIOS_HMC5843_ReadID(uint8_t out[4])
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{
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PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_IDA_REG, out, 3);
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while(!PIOS_HMC5843_Read(PIOS_HMC5843_DATAOUT_IDA_REG, out, 3));
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out[3] = '\0';
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}
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@ -44,6 +44,7 @@
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#include <pios_i2c_priv.h>
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enum i2c_adapter_event {
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I2C_EVENT_BUS_ERROR,
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I2C_EVENT_START,
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I2C_EVENT_STARTED_MORE_TXN_READ,
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I2C_EVENT_STARTED_MORE_TXN_WRITE,
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@ -64,6 +65,7 @@ enum i2c_adapter_event {
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};
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static void go_fsm_fault (struct pios_i2c_adapter * i2c_adapter);
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static void go_bus_error (struct pios_i2c_adapter * i2c_adapter);
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static void go_stopping (struct pios_i2c_adapter * i2c_adapter);
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static void go_stopped (struct pios_i2c_adapter * i2c_adapter);
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static void go_starting (struct pios_i2c_adapter * i2c_adapter);
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@ -98,16 +100,25 @@ static void i2c_adapter_process_auto(struct pios_i2c_adapter * i2c_adapter);
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static void i2c_adapter_inject_event(struct pios_i2c_adapter * i2c_adapter, enum i2c_adapter_event event);
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static void i2c_adapter_fsm_init(struct pios_i2c_adapter * i2c_adapter);
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static bool i2c_adapter_wait_for_stopped(struct pios_i2c_adapter * i2c_adapter);
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static void i2c_adapter_reset_bus(struct pios_i2c_adapter * i2c_adapter);
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const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM_STATES] = {
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[I2C_STATE_FSM_FAULT] = {
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.entry_fn = go_fsm_fault,
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},
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[I2C_STATE_BUS_ERROR] = {
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.entry_fn = go_bus_error,
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.next_state = {
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[I2C_EVENT_AUTO] = I2C_STATE_STOPPING,
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},
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},
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[I2C_STATE_STOPPED] = {
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.entry_fn = go_stopped,
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.next_state = {
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[I2C_EVENT_START] = I2C_STATE_STARTING,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -115,6 +126,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.entry_fn = go_stopping,
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.next_state = {
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[I2C_EVENT_STOPPED] = I2C_STATE_STOPPED,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -125,6 +137,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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[I2C_EVENT_STARTED_MORE_TXN_WRITE] = I2C_STATE_W_MORE_TXN_ADDR,
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[I2C_EVENT_STARTED_LAST_TXN_READ] = I2C_STATE_R_LAST_TXN_ADDR,
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[I2C_EVENT_STARTED_LAST_TXN_WRITE] = I2C_STATE_W_LAST_TXN_ADDR,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -138,6 +151,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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[I2C_EVENT_ADDR_SENT_LEN_EQ_1] = I2C_STATE_R_MORE_TXN_PRE_ONE,
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[I2C_EVENT_ADDR_SENT_LEN_EQ_2] = I2C_STATE_R_MORE_TXN_PRE_FIRST,
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[I2C_EVENT_ADDR_SENT_LEN_GT_2] = I2C_STATE_R_MORE_TXN_PRE_FIRST,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -145,6 +159,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.entry_fn = go_r_more_txn_pre_one,
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_1] = I2C_STATE_R_MORE_TXN_POST_LAST,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -153,6 +168,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_2] = I2C_STATE_R_MORE_TXN_PRE_LAST,
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[I2C_EVENT_TRANSFER_DONE_LEN_GT_2] = I2C_STATE_R_MORE_TXN_PRE_MIDDLE,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -161,6 +177,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_2] = I2C_STATE_R_MORE_TXN_PRE_LAST,
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[I2C_EVENT_TRANSFER_DONE_LEN_GT_2] = I2C_STATE_R_MORE_TXN_PRE_MIDDLE,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -168,6 +185,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.entry_fn = go_r_more_txn_pre_last,
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_1] = I2C_STATE_R_MORE_TXN_POST_LAST,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -188,6 +206,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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[I2C_EVENT_ADDR_SENT_LEN_EQ_1] = I2C_STATE_R_LAST_TXN_PRE_ONE,
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[I2C_EVENT_ADDR_SENT_LEN_EQ_2] = I2C_STATE_R_LAST_TXN_PRE_FIRST,
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[I2C_EVENT_ADDR_SENT_LEN_GT_2] = I2C_STATE_R_LAST_TXN_PRE_FIRST,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -195,6 +214,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.entry_fn = go_r_last_txn_pre_one,
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_1] = I2C_STATE_R_LAST_TXN_POST_LAST,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -203,6 +223,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_2] = I2C_STATE_R_LAST_TXN_PRE_LAST,
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[I2C_EVENT_TRANSFER_DONE_LEN_GT_2] = I2C_STATE_R_LAST_TXN_PRE_MIDDLE,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -211,6 +232,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_2] = I2C_STATE_R_LAST_TXN_PRE_LAST,
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[I2C_EVENT_TRANSFER_DONE_LEN_GT_2] = I2C_STATE_R_LAST_TXN_PRE_MIDDLE,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -218,6 +240,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.entry_fn = go_r_last_txn_pre_last,
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_1] = I2C_STATE_R_LAST_TXN_POST_LAST,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -239,6 +262,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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[I2C_EVENT_ADDR_SENT_LEN_EQ_1] = I2C_STATE_W_MORE_TXN_LAST,
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[I2C_EVENT_ADDR_SENT_LEN_EQ_2] = I2C_STATE_W_MORE_TXN_MIDDLE,
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[I2C_EVENT_ADDR_SENT_LEN_GT_2] = I2C_STATE_W_MORE_TXN_MIDDLE,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -248,6 +272,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_1] = I2C_STATE_W_MORE_TXN_LAST,
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_2] = I2C_STATE_W_MORE_TXN_MIDDLE,
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[I2C_EVENT_TRANSFER_DONE_LEN_GT_2] = I2C_STATE_W_MORE_TXN_MIDDLE,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -255,6 +280,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.entry_fn = go_w_more_txn_last,
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_0] = I2C_STATE_STARTING,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -268,6 +294,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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[I2C_EVENT_ADDR_SENT_LEN_EQ_1] = I2C_STATE_W_LAST_TXN_LAST,
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[I2C_EVENT_ADDR_SENT_LEN_EQ_2] = I2C_STATE_W_LAST_TXN_MIDDLE,
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[I2C_EVENT_ADDR_SENT_LEN_GT_2] = I2C_STATE_W_LAST_TXN_MIDDLE,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -277,6 +304,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_1] = I2C_STATE_W_LAST_TXN_LAST,
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_2] = I2C_STATE_W_LAST_TXN_MIDDLE,
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[I2C_EVENT_TRANSFER_DONE_LEN_GT_2] = I2C_STATE_W_LAST_TXN_MIDDLE,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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@ -284,6 +312,7 @@ const static struct i2c_adapter_transition i2c_adapter_transitions[I2C_STATE_NUM
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.entry_fn = go_w_last_txn_last,
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.next_state = {
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[I2C_EVENT_TRANSFER_DONE_LEN_EQ_0] = I2C_STATE_STOPPING,
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[I2C_EVENT_BUS_ERROR] = I2C_STATE_BUS_ERROR,
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},
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},
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};
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@ -293,6 +322,14 @@ static void go_fsm_fault (struct pios_i2c_adapter * i2c_adapter)
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PIOS_DEBUG_Assert(0);
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}
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static void go_bus_error (struct pios_i2c_adapter * i2c_adapter)
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{
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/* Note that this transfer has hit a bus error */
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i2c_adapter->bus_error = true;
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i2c_adapter_reset_bus (i2c_adapter);
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}
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static void go_stopping (struct pios_i2c_adapter * i2c_adapter)
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{
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#ifdef USE_FREERTOS
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@ -538,11 +575,14 @@ static void i2c_adapter_process_auto(struct pios_i2c_adapter * i2c_adapter)
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static void i2c_adapter_fsm_init(struct pios_i2c_adapter * i2c_adapter)
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{
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i2c_adapter_reset_bus(i2c_adapter);
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i2c_adapter->curr_state = I2C_STATE_STOPPED;
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}
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static bool i2c_adapter_wait_for_stopped(struct pios_i2c_adapter * i2c_adapter)
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{
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uint32_t guard;
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/*
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* Wait for the bus to return to the stopped state.
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* This was pulled out of the FSM due to occasional
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@ -550,11 +590,72 @@ static bool i2c_adapter_wait_for_stopped(struct pios_i2c_adapter * i2c_adapter)
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* in spinning on this bit in the ISR forever.
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*/
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#define I2C_CR1_STOP_REQUESTED 0x0200
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while (i2c_adapter->cfg->regs->CR1 & I2C_CR1_STOP_REQUESTED) continue;
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for (guard = 1e6; /* FIXME: should use the configured bus timeout */
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guard && (i2c_adapter->cfg->regs->CR1 & I2C_CR1_STOP_REQUESTED);
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guard--) continue;
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if (!guard) {
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/* We timed out waiting for the stop condition */
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return false;
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}
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return true;
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}
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static void i2c_adapter_reset_bus(struct pios_i2c_adapter * i2c_adapter)
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{
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/* Reset the I2C block */
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I2C_DeInit(i2c_adapter->cfg->regs);
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/* Make sure the bus is free by clocking it until any slaves release the bus. */
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GPIO_InitTypeDef scl_gpio_init;
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scl_gpio_init = i2c_adapter->cfg->scl.init;
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scl_gpio_init.GPIO_Mode = GPIO_Mode_Out_OD;
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GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
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GPIO_Init(i2c_adapter->cfg->scl.gpio, &scl_gpio_init);
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GPIO_InitTypeDef sda_gpio_init;
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sda_gpio_init = i2c_adapter->cfg->sda.init;
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sda_gpio_init.GPIO_Mode = GPIO_Mode_Out_OD;
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GPIO_SetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
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GPIO_Init(i2c_adapter->cfg->sda.gpio, &sda_gpio_init);
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for (uint8_t i = 0; i < 9; i++) {
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/* Set clock high and wait for any clock stretching to finish. */
|
||||
GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
|
||||
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET);
|
||||
PIOS_DELAY_WaituS(2);
|
||||
|
||||
/* Set clock low */
|
||||
GPIO_ResetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
|
||||
PIOS_DELAY_WaituS(2);
|
||||
}
|
||||
|
||||
/* Set data and clock high and wait for any clock stretching to finish. */
|
||||
GPIO_SetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
|
||||
GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
|
||||
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET);
|
||||
/* Wait for data to be high */
|
||||
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) != Bit_SET);
|
||||
|
||||
/* Bus signals are guaranteed to be high (ie. free) after this point */
|
||||
/* Initialize the GPIO pins to the peripheral function */
|
||||
GPIO_Init(i2c_adapter->cfg->scl.gpio, &(i2c_adapter->cfg->scl.init));
|
||||
GPIO_Init(i2c_adapter->cfg->sda.gpio, &(i2c_adapter->cfg->sda.init));
|
||||
|
||||
/* Reset the I2C block */
|
||||
I2C_DeInit(i2c_adapter->cfg->regs);
|
||||
|
||||
/* Initialize the I2C block */
|
||||
I2C_Init(i2c_adapter->cfg->regs, &(i2c_adapter->cfg->init));
|
||||
|
||||
#define I2C_BUSY 0x20
|
||||
if (i2c_adapter->cfg->regs->SR2 & I2C_BUSY) {
|
||||
/* Reset the I2C block */
|
||||
I2C_SoftwareResetCmd(i2c_adapter->cfg->regs, ENABLE);
|
||||
I2C_SoftwareResetCmd(i2c_adapter->cfg->regs, DISABLE);
|
||||
}
|
||||
}
|
||||
|
||||
#include <pios_i2c_priv.h>
|
||||
|
||||
static struct pios_i2c_adapter * find_i2c_adapter_by_id (uint8_t adapter)
|
||||
@ -603,51 +704,6 @@ int32_t PIOS_I2C_Init(void)
|
||||
i2c_adapter->sem_busy = xSemaphoreCreateMutex();
|
||||
#endif // USE_FREERTOS
|
||||
|
||||
/* Initialize the state machine */
|
||||
i2c_adapter_fsm_init(i2c_adapter);
|
||||
|
||||
/* Make sure the bus is free by clocking it until any slaves release the bus. */
|
||||
GPIO_InitTypeDef scl_gpio_init;
|
||||
scl_gpio_init = i2c_adapter->cfg->scl.init;
|
||||
scl_gpio_init.GPIO_Mode = GPIO_Mode_Out_OD;
|
||||
GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
|
||||
GPIO_Init(i2c_adapter->cfg->scl.gpio, &scl_gpio_init);
|
||||
|
||||
GPIO_InitTypeDef sda_gpio_init;
|
||||
sda_gpio_init = i2c_adapter->cfg->sda.init;
|
||||
sda_gpio_init.GPIO_Mode = GPIO_Mode_Out_OD;
|
||||
GPIO_SetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
|
||||
GPIO_Init(i2c_adapter->cfg->sda.gpio, &sda_gpio_init);
|
||||
|
||||
i2c_adapter->bus_needed_reset = false;
|
||||
for (uint8_t i = 0; i < 9; i++) {
|
||||
/* Set clock high and wait for any clock stretching to finish. */
|
||||
GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
|
||||
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET);
|
||||
PIOS_DELAY_WaituS(2);
|
||||
|
||||
if (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) != Bit_SET) {
|
||||
/* Note that the bus needed reset so we can tell this was useful */
|
||||
i2c_adapter->bus_needed_reset = true;
|
||||
}
|
||||
|
||||
/* Set clock low */
|
||||
GPIO_ResetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
|
||||
PIOS_DELAY_WaituS(2);
|
||||
}
|
||||
|
||||
/* Set data and clock high and wait for any clock stretching to finish. */
|
||||
GPIO_SetBits(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin);
|
||||
GPIO_SetBits(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin);
|
||||
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->scl.gpio, i2c_adapter->cfg->scl.init.GPIO_Pin) == Bit_RESET);
|
||||
/* Wait for data to be high */
|
||||
while (GPIO_ReadInputDataBit(i2c_adapter->cfg->sda.gpio, i2c_adapter->cfg->sda.init.GPIO_Pin) != Bit_SET);
|
||||
|
||||
/* Bus signals are guaranteed to be high (ie. free) after this point */
|
||||
/* Initialize the GPIO pins to the peripheral function */
|
||||
GPIO_Init(i2c_adapter->cfg->scl.gpio, &(i2c_adapter->cfg->scl.init));
|
||||
GPIO_Init(i2c_adapter->cfg->sda.gpio, &(i2c_adapter->cfg->sda.init));
|
||||
|
||||
/* Enable the associated peripheral clock */
|
||||
switch ((uint32_t)i2c_adapter->cfg->regs) {
|
||||
case (uint32_t)I2C1:
|
||||
@ -660,26 +716,8 @@ int32_t PIOS_I2C_Init(void)
|
||||
break;
|
||||
}
|
||||
|
||||
#if 0 /* FIXME: is this reset necessary? Should it be done in the stopped state? */
|
||||
/* Reset the I2C block */
|
||||
I2C_SoftwareResetCmd(i2c_adapter->cfg->regs, ENABLE);
|
||||
I2C_SoftwareResetCmd(i2c_adapter->cfg->regs, DISABLE);
|
||||
#endif
|
||||
|
||||
/* Reset the I2C block */
|
||||
I2C_DeInit(i2c_adapter->cfg->regs);
|
||||
|
||||
/* Initialize the I2C block */
|
||||
I2C_Init(i2c_adapter->cfg->regs, &(i2c_adapter->cfg->init));
|
||||
|
||||
#if 1 /* FIXME: is this reset necessary? Should it be done in the stopped state? */
|
||||
#define I2C_BUSY 0x20
|
||||
if (i2c_adapter->cfg->regs->SR2 & I2C_BUSY) {
|
||||
/* Reset the I2C block */
|
||||
I2C_SoftwareResetCmd(i2c_adapter->cfg->regs, ENABLE);
|
||||
I2C_SoftwareResetCmd(i2c_adapter->cfg->regs, DISABLE);
|
||||
}
|
||||
#endif
|
||||
/* Initialize the state machine */
|
||||
i2c_adapter_fsm_init(i2c_adapter);
|
||||
|
||||
/* Configure and enable I2C interrupts */
|
||||
NVIC_Init(&(i2c_adapter->cfg->event.init));
|
||||
@ -717,6 +755,7 @@ bool PIOS_I2C_Transfer(uint8_t i2c, const struct pios_i2c_txn txn_list[], uint32
|
||||
xSemaphoreTake(i2c_adapter->sem_ready, portMAX_DELAY);
|
||||
#endif
|
||||
|
||||
i2c_adapter->bus_error = false;
|
||||
i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_START);
|
||||
|
||||
/* Wait for the transfer to complete */
|
||||
@ -730,6 +769,8 @@ bool PIOS_I2C_Transfer(uint8_t i2c, const struct pios_i2c_txn txn_list[], uint32
|
||||
|
||||
if (i2c_adapter_wait_for_stopped(i2c_adapter)) {
|
||||
i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_STOPPED);
|
||||
} else {
|
||||
i2c_adapter_fsm_init(i2c_adapter);
|
||||
}
|
||||
|
||||
#ifdef USE_FREERTOS
|
||||
@ -737,7 +778,7 @@ bool PIOS_I2C_Transfer(uint8_t i2c, const struct pios_i2c_txn txn_list[], uint32
|
||||
xSemaphoreGive(i2c_adapter->sem_busy);
|
||||
#endif /* USE_FREERTOS */
|
||||
|
||||
return TRUE;
|
||||
return (!i2c_adapter->bus_error);
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -853,7 +894,7 @@ void PIOS_I2C_ER_IRQ_Handler(uint8_t i2c)
|
||||
PIOS_DEBUG_Assert(i2c_adapter);
|
||||
|
||||
/* Fail hard on any errors for now */
|
||||
PIOS_DEBUG_Assert(0);
|
||||
i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_BUS_ERROR);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -45,6 +45,8 @@ struct pios_i2c_adapter_cfg {
|
||||
enum i2c_adapter_state {
|
||||
I2C_STATE_FSM_FAULT = 0, /* Must be zero so undefined transitions land here */
|
||||
|
||||
I2C_STATE_BUS_ERROR,
|
||||
|
||||
I2C_STATE_STOPPED,
|
||||
I2C_STATE_STOPPING,
|
||||
I2C_STATE_STARTING,
|
||||
@ -82,7 +84,7 @@ struct pios_i2c_adapter {
|
||||
xSemaphoreHandle sem_ready;
|
||||
#endif
|
||||
|
||||
bool bus_needed_reset;
|
||||
bool bus_error;
|
||||
|
||||
volatile enum i2c_adapter_state curr_state;
|
||||
const struct pios_i2c_txn * first_txn;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user