MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/hal/i2c_api.h@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1
sahilmgandhi 18:6a4db94011d3 2 /** \addtogroup hal */
sahilmgandhi 18:6a4db94011d3 3 /** @{*/
sahilmgandhi 18:6a4db94011d3 4 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 5 * Copyright (c) 2006-2015 ARM Limited
sahilmgandhi 18:6a4db94011d3 6 *
sahilmgandhi 18:6a4db94011d3 7 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 8 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 9 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 10 *
sahilmgandhi 18:6a4db94011d3 11 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 12 *
sahilmgandhi 18:6a4db94011d3 13 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 14 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 15 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 16 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 17 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 18 */
sahilmgandhi 18:6a4db94011d3 19 #ifndef MBED_I2C_API_H
sahilmgandhi 18:6a4db94011d3 20 #define MBED_I2C_API_H
sahilmgandhi 18:6a4db94011d3 21
sahilmgandhi 18:6a4db94011d3 22 #include "device.h"
sahilmgandhi 18:6a4db94011d3 23 #include "hal/buffer.h"
sahilmgandhi 18:6a4db94011d3 24
sahilmgandhi 18:6a4db94011d3 25 #if DEVICE_I2C_ASYNCH
sahilmgandhi 18:6a4db94011d3 26 #include "hal/dma_api.h"
sahilmgandhi 18:6a4db94011d3 27 #endif
sahilmgandhi 18:6a4db94011d3 28
sahilmgandhi 18:6a4db94011d3 29 #if DEVICE_I2C
sahilmgandhi 18:6a4db94011d3 30
sahilmgandhi 18:6a4db94011d3 31 /**
sahilmgandhi 18:6a4db94011d3 32 * @defgroup hal_I2CEvents I2C Events Macros
sahilmgandhi 18:6a4db94011d3 33 *
sahilmgandhi 18:6a4db94011d3 34 * @{
sahilmgandhi 18:6a4db94011d3 35 */
sahilmgandhi 18:6a4db94011d3 36 #define I2C_EVENT_ERROR (1 << 1)
sahilmgandhi 18:6a4db94011d3 37 #define I2C_EVENT_ERROR_NO_SLAVE (1 << 2)
sahilmgandhi 18:6a4db94011d3 38 #define I2C_EVENT_TRANSFER_COMPLETE (1 << 3)
sahilmgandhi 18:6a4db94011d3 39 #define I2C_EVENT_TRANSFER_EARLY_NACK (1 << 4)
sahilmgandhi 18:6a4db94011d3 40 #define I2C_EVENT_ALL (I2C_EVENT_ERROR | I2C_EVENT_TRANSFER_COMPLETE | I2C_EVENT_ERROR_NO_SLAVE | I2C_EVENT_TRANSFER_EARLY_NACK)
sahilmgandhi 18:6a4db94011d3 41
sahilmgandhi 18:6a4db94011d3 42 /**@}*/
sahilmgandhi 18:6a4db94011d3 43
sahilmgandhi 18:6a4db94011d3 44 #if DEVICE_I2C_ASYNCH
sahilmgandhi 18:6a4db94011d3 45 /** Asynch I2C HAL structure
sahilmgandhi 18:6a4db94011d3 46 */
sahilmgandhi 18:6a4db94011d3 47 typedef struct {
sahilmgandhi 18:6a4db94011d3 48 struct i2c_s i2c; /**< Target specific I2C structure */
sahilmgandhi 18:6a4db94011d3 49 struct buffer_s tx_buff; /**< Tx buffer */
sahilmgandhi 18:6a4db94011d3 50 struct buffer_s rx_buff; /**< Rx buffer */
sahilmgandhi 18:6a4db94011d3 51 } i2c_t;
sahilmgandhi 18:6a4db94011d3 52
sahilmgandhi 18:6a4db94011d3 53 #else
sahilmgandhi 18:6a4db94011d3 54 /** Non-asynch I2C HAL structure
sahilmgandhi 18:6a4db94011d3 55 */
sahilmgandhi 18:6a4db94011d3 56 typedef struct i2c_s i2c_t;
sahilmgandhi 18:6a4db94011d3 57
sahilmgandhi 18:6a4db94011d3 58 #endif
sahilmgandhi 18:6a4db94011d3 59
sahilmgandhi 18:6a4db94011d3 60 enum {
sahilmgandhi 18:6a4db94011d3 61 I2C_ERROR_NO_SLAVE = -1,
sahilmgandhi 18:6a4db94011d3 62 I2C_ERROR_BUS_BUSY = -2
sahilmgandhi 18:6a4db94011d3 63 };
sahilmgandhi 18:6a4db94011d3 64
sahilmgandhi 18:6a4db94011d3 65 #ifdef __cplusplus
sahilmgandhi 18:6a4db94011d3 66 extern "C" {
sahilmgandhi 18:6a4db94011d3 67 #endif
sahilmgandhi 18:6a4db94011d3 68
sahilmgandhi 18:6a4db94011d3 69 /**
sahilmgandhi 18:6a4db94011d3 70 * \defgroup hal_GeneralI2C I2C Configuration Functions
sahilmgandhi 18:6a4db94011d3 71 * @{
sahilmgandhi 18:6a4db94011d3 72 */
sahilmgandhi 18:6a4db94011d3 73
sahilmgandhi 18:6a4db94011d3 74 /** Initialize the I2C peripheral. It sets the default parameters for I2C
sahilmgandhi 18:6a4db94011d3 75 * peripheral, and configures its specifieds pins.
sahilmgandhi 18:6a4db94011d3 76 *
sahilmgandhi 18:6a4db94011d3 77 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 78 * @param sda The sda pin
sahilmgandhi 18:6a4db94011d3 79 * @param scl The scl pin
sahilmgandhi 18:6a4db94011d3 80 */
sahilmgandhi 18:6a4db94011d3 81 void i2c_init(i2c_t *obj, PinName sda, PinName scl);
sahilmgandhi 18:6a4db94011d3 82
sahilmgandhi 18:6a4db94011d3 83 /** Configure the I2C frequency
sahilmgandhi 18:6a4db94011d3 84 *
sahilmgandhi 18:6a4db94011d3 85 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 86 * @param hz Frequency in Hz
sahilmgandhi 18:6a4db94011d3 87 */
sahilmgandhi 18:6a4db94011d3 88 void i2c_frequency(i2c_t *obj, int hz);
sahilmgandhi 18:6a4db94011d3 89
sahilmgandhi 18:6a4db94011d3 90 /** Send START command
sahilmgandhi 18:6a4db94011d3 91 *
sahilmgandhi 18:6a4db94011d3 92 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 93 */
sahilmgandhi 18:6a4db94011d3 94 int i2c_start(i2c_t *obj);
sahilmgandhi 18:6a4db94011d3 95
sahilmgandhi 18:6a4db94011d3 96 /** Send STOP command
sahilmgandhi 18:6a4db94011d3 97 *
sahilmgandhi 18:6a4db94011d3 98 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 99 */
sahilmgandhi 18:6a4db94011d3 100 int i2c_stop(i2c_t *obj);
sahilmgandhi 18:6a4db94011d3 101
sahilmgandhi 18:6a4db94011d3 102 /** Blocking reading data
sahilmgandhi 18:6a4db94011d3 103 *
sahilmgandhi 18:6a4db94011d3 104 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 105 * @param address 7-bit address (last bit is 1)
sahilmgandhi 18:6a4db94011d3 106 * @param data The buffer for receiving
sahilmgandhi 18:6a4db94011d3 107 * @param length Number of bytes to read
sahilmgandhi 18:6a4db94011d3 108 * @param stop Stop to be generated after the transfer is done
sahilmgandhi 18:6a4db94011d3 109 * @return Number of read bytes
sahilmgandhi 18:6a4db94011d3 110 */
sahilmgandhi 18:6a4db94011d3 111 int i2c_read(i2c_t *obj, int address, char *data, int length, int stop);
sahilmgandhi 18:6a4db94011d3 112
sahilmgandhi 18:6a4db94011d3 113 /** Blocking sending data
sahilmgandhi 18:6a4db94011d3 114 *
sahilmgandhi 18:6a4db94011d3 115 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 116 * @param address 7-bit address (last bit is 0)
sahilmgandhi 18:6a4db94011d3 117 * @param data The buffer for sending
sahilmgandhi 18:6a4db94011d3 118 * @param length Number of bytes to write
sahilmgandhi 18:6a4db94011d3 119 * @param stop Stop to be generated after the transfer is done
sahilmgandhi 18:6a4db94011d3 120 * @return
sahilmgandhi 18:6a4db94011d3 121 * zero or non-zero - Number of written bytes
sahilmgandhi 18:6a4db94011d3 122 * negative - I2C_ERROR_XXX status
sahilmgandhi 18:6a4db94011d3 123 */
sahilmgandhi 18:6a4db94011d3 124 int i2c_write(i2c_t *obj, int address, const char *data, int length, int stop);
sahilmgandhi 18:6a4db94011d3 125
sahilmgandhi 18:6a4db94011d3 126 /** Reset I2C peripheral. TODO: The action here. Most of the implementation sends stop()
sahilmgandhi 18:6a4db94011d3 127 *
sahilmgandhi 18:6a4db94011d3 128 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 129 */
sahilmgandhi 18:6a4db94011d3 130 void i2c_reset(i2c_t *obj);
sahilmgandhi 18:6a4db94011d3 131
sahilmgandhi 18:6a4db94011d3 132 /** Read one byte
sahilmgandhi 18:6a4db94011d3 133 *
sahilmgandhi 18:6a4db94011d3 134 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 135 * @param last Acknoledge
sahilmgandhi 18:6a4db94011d3 136 * @return The read byte
sahilmgandhi 18:6a4db94011d3 137 */
sahilmgandhi 18:6a4db94011d3 138 int i2c_byte_read(i2c_t *obj, int last);
sahilmgandhi 18:6a4db94011d3 139
sahilmgandhi 18:6a4db94011d3 140 /** Write one byte
sahilmgandhi 18:6a4db94011d3 141 *
sahilmgandhi 18:6a4db94011d3 142 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 143 * @param data Byte to be written
sahilmgandhi 18:6a4db94011d3 144 * @return 0 if NAK was received, 1 if ACK was received, 2 for timeout.
sahilmgandhi 18:6a4db94011d3 145 */
sahilmgandhi 18:6a4db94011d3 146 int i2c_byte_write(i2c_t *obj, int data);
sahilmgandhi 18:6a4db94011d3 147
sahilmgandhi 18:6a4db94011d3 148 /**@}*/
sahilmgandhi 18:6a4db94011d3 149
sahilmgandhi 18:6a4db94011d3 150 #if DEVICE_I2CSLAVE
sahilmgandhi 18:6a4db94011d3 151
sahilmgandhi 18:6a4db94011d3 152 /**
sahilmgandhi 18:6a4db94011d3 153 * \defgroup SynchI2C Synchronous I2C Hardware Abstraction Layer for slave
sahilmgandhi 18:6a4db94011d3 154 * @{
sahilmgandhi 18:6a4db94011d3 155 */
sahilmgandhi 18:6a4db94011d3 156
sahilmgandhi 18:6a4db94011d3 157 /** Configure I2C as slave or master.
sahilmgandhi 18:6a4db94011d3 158 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 159 * @return non-zero if a value is available
sahilmgandhi 18:6a4db94011d3 160 */
sahilmgandhi 18:6a4db94011d3 161 void i2c_slave_mode(i2c_t *obj, int enable_slave);
sahilmgandhi 18:6a4db94011d3 162
sahilmgandhi 18:6a4db94011d3 163 /** Check to see if the I2C slave has been addressed.
sahilmgandhi 18:6a4db94011d3 164 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 165 * @return The status - 1 - read addresses, 2 - write to all slaves,
sahilmgandhi 18:6a4db94011d3 166 * 3 write addressed, 0 - the slave has not been addressed
sahilmgandhi 18:6a4db94011d3 167 */
sahilmgandhi 18:6a4db94011d3 168 int i2c_slave_receive(i2c_t *obj);
sahilmgandhi 18:6a4db94011d3 169
sahilmgandhi 18:6a4db94011d3 170 /** Configure I2C as slave or master.
sahilmgandhi 18:6a4db94011d3 171 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 172 * @return non-zero if a value is available
sahilmgandhi 18:6a4db94011d3 173 */
sahilmgandhi 18:6a4db94011d3 174 int i2c_slave_read(i2c_t *obj, char *data, int length);
sahilmgandhi 18:6a4db94011d3 175
sahilmgandhi 18:6a4db94011d3 176 /** Configure I2C as slave or master.
sahilmgandhi 18:6a4db94011d3 177 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 178 * @return non-zero if a value is available
sahilmgandhi 18:6a4db94011d3 179 */
sahilmgandhi 18:6a4db94011d3 180 int i2c_slave_write(i2c_t *obj, const char *data, int length);
sahilmgandhi 18:6a4db94011d3 181
sahilmgandhi 18:6a4db94011d3 182 /** Configure I2C address.
sahilmgandhi 18:6a4db94011d3 183 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 184 * @param idx Currently not used
sahilmgandhi 18:6a4db94011d3 185 * @param address The address to be set
sahilmgandhi 18:6a4db94011d3 186 * @param mask Currently not used
sahilmgandhi 18:6a4db94011d3 187 */
sahilmgandhi 18:6a4db94011d3 188 void i2c_slave_address(i2c_t *obj, int idx, uint32_t address, uint32_t mask);
sahilmgandhi 18:6a4db94011d3 189
sahilmgandhi 18:6a4db94011d3 190 #endif
sahilmgandhi 18:6a4db94011d3 191
sahilmgandhi 18:6a4db94011d3 192 /**@}*/
sahilmgandhi 18:6a4db94011d3 193
sahilmgandhi 18:6a4db94011d3 194 #if DEVICE_I2C_ASYNCH
sahilmgandhi 18:6a4db94011d3 195
sahilmgandhi 18:6a4db94011d3 196 /**
sahilmgandhi 18:6a4db94011d3 197 * \defgroup hal_AsynchI2C Asynchronous I2C Hardware Abstraction Layer
sahilmgandhi 18:6a4db94011d3 198 * @{
sahilmgandhi 18:6a4db94011d3 199 */
sahilmgandhi 18:6a4db94011d3 200
sahilmgandhi 18:6a4db94011d3 201 /** Start I2C asynchronous transfer
sahilmgandhi 18:6a4db94011d3 202 *
sahilmgandhi 18:6a4db94011d3 203 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 204 * @param tx The transmit buffer
sahilmgandhi 18:6a4db94011d3 205 * @param tx_length The number of bytes to transmit
sahilmgandhi 18:6a4db94011d3 206 * @param rx The receive buffer
sahilmgandhi 18:6a4db94011d3 207 * @param rx_length The number of bytes to receive
sahilmgandhi 18:6a4db94011d3 208 * @param address The address to be set - 7bit or 9bit
sahilmgandhi 18:6a4db94011d3 209 * @param stop If true, stop will be generated after the transfer is done
sahilmgandhi 18:6a4db94011d3 210 * @param handler The I2C IRQ handler to be set
sahilmgandhi 18:6a4db94011d3 211 * @param hint DMA hint usage
sahilmgandhi 18:6a4db94011d3 212 */
sahilmgandhi 18:6a4db94011d3 213 void i2c_transfer_asynch(i2c_t *obj, const void *tx, size_t tx_length, void *rx, size_t rx_length, uint32_t address, uint32_t stop, uint32_t handler, uint32_t event, DMAUsage hint);
sahilmgandhi 18:6a4db94011d3 214
sahilmgandhi 18:6a4db94011d3 215 /** The asynchronous IRQ handler
sahilmgandhi 18:6a4db94011d3 216 *
sahilmgandhi 18:6a4db94011d3 217 * @param obj The I2C object which holds the transfer information
sahilmgandhi 18:6a4db94011d3 218 * @return Event flags if a transfer termination condition was met, otherwise return 0.
sahilmgandhi 18:6a4db94011d3 219 */
sahilmgandhi 18:6a4db94011d3 220 uint32_t i2c_irq_handler_asynch(i2c_t *obj);
sahilmgandhi 18:6a4db94011d3 221
sahilmgandhi 18:6a4db94011d3 222 /** Attempts to determine if the I2C peripheral is already in use
sahilmgandhi 18:6a4db94011d3 223 *
sahilmgandhi 18:6a4db94011d3 224 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 225 * @return Non-zero if the I2C module is active or zero if it is not
sahilmgandhi 18:6a4db94011d3 226 */
sahilmgandhi 18:6a4db94011d3 227 uint8_t i2c_active(i2c_t *obj);
sahilmgandhi 18:6a4db94011d3 228
sahilmgandhi 18:6a4db94011d3 229 /** Abort asynchronous transfer
sahilmgandhi 18:6a4db94011d3 230 *
sahilmgandhi 18:6a4db94011d3 231 * This function does not perform any check - that should happen in upper layers.
sahilmgandhi 18:6a4db94011d3 232 * @param obj The I2C object
sahilmgandhi 18:6a4db94011d3 233 */
sahilmgandhi 18:6a4db94011d3 234 void i2c_abort_asynch(i2c_t *obj);
sahilmgandhi 18:6a4db94011d3 235
sahilmgandhi 18:6a4db94011d3 236 #endif
sahilmgandhi 18:6a4db94011d3 237
sahilmgandhi 18:6a4db94011d3 238 /**@}*/
sahilmgandhi 18:6a4db94011d3 239
sahilmgandhi 18:6a4db94011d3 240 #ifdef __cplusplus
sahilmgandhi 18:6a4db94011d3 241 }
sahilmgandhi 18:6a4db94011d3 242 #endif
sahilmgandhi 18:6a4db94011d3 243
sahilmgandhi 18:6a4db94011d3 244 #endif
sahilmgandhi 18:6a4db94011d3 245
sahilmgandhi 18:6a4db94011d3 246 #endif
sahilmgandhi 18:6a4db94011d3 247
sahilmgandhi 18:6a4db94011d3 248 /** @}*/