Mouse code for the MacroRat
mbed-dev/targets/TARGET_ARM_SSG/TARGET_BEETLE/i2c_api.c@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
sahilmgandhi | 18:6a4db94011d3 | 1 | /* mbed Microcontroller Library |
sahilmgandhi | 18:6a4db94011d3 | 2 | * Copyright (c) 2015 ARM Limited |
sahilmgandhi | 18:6a4db94011d3 | 3 | * |
sahilmgandhi | 18:6a4db94011d3 | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
sahilmgandhi | 18:6a4db94011d3 | 5 | * you may not use this file except in compliance with the License. |
sahilmgandhi | 18:6a4db94011d3 | 6 | * You may obtain a copy of the License at |
sahilmgandhi | 18:6a4db94011d3 | 7 | * |
sahilmgandhi | 18:6a4db94011d3 | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
sahilmgandhi | 18:6a4db94011d3 | 9 | * |
sahilmgandhi | 18:6a4db94011d3 | 10 | * Unless required by applicable law or agreed to in writing, software |
sahilmgandhi | 18:6a4db94011d3 | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
sahilmgandhi | 18:6a4db94011d3 | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
sahilmgandhi | 18:6a4db94011d3 | 13 | * See the License for the specific language governing permissions and |
sahilmgandhi | 18:6a4db94011d3 | 14 | * limitations under the License. |
sahilmgandhi | 18:6a4db94011d3 | 15 | */ |
sahilmgandhi | 18:6a4db94011d3 | 16 | #include "i2c_api.h" |
sahilmgandhi | 18:6a4db94011d3 | 17 | #include "i2c_def.h" |
sahilmgandhi | 18:6a4db94011d3 | 18 | #include "cmsis.h" |
sahilmgandhi | 18:6a4db94011d3 | 19 | #include "pinmap.h" |
sahilmgandhi | 18:6a4db94011d3 | 20 | #include "mbed_error.h" |
sahilmgandhi | 18:6a4db94011d3 | 21 | #include "mbed_wait_api.h" |
sahilmgandhi | 18:6a4db94011d3 | 22 | /* States of a possibly combined I2C transfer */ |
sahilmgandhi | 18:6a4db94011d3 | 23 | typedef enum i2c_transfer_state_t { |
sahilmgandhi | 18:6a4db94011d3 | 24 | I2C_TRANSFER_SINGLE, /* Non combined transfer */ |
sahilmgandhi | 18:6a4db94011d3 | 25 | I2C_TRANSFER_COMBINED_FIRST_MESSAGE, /* |
sahilmgandhi | 18:6a4db94011d3 | 26 | * First message of a |
sahilmgandhi | 18:6a4db94011d3 | 27 | * combined transfer |
sahilmgandhi | 18:6a4db94011d3 | 28 | */ |
sahilmgandhi | 18:6a4db94011d3 | 29 | I2C_TRANSFER_COMBINED_INTERMEDIATE_MESSAGE, /* |
sahilmgandhi | 18:6a4db94011d3 | 30 | * Message in the middle |
sahilmgandhi | 18:6a4db94011d3 | 31 | * of a combined |
sahilmgandhi | 18:6a4db94011d3 | 32 | * transfer |
sahilmgandhi | 18:6a4db94011d3 | 33 | */ |
sahilmgandhi | 18:6a4db94011d3 | 34 | I2C_TRANSFER_COMBINED_LAST_MESSAGE, /* |
sahilmgandhi | 18:6a4db94011d3 | 35 | * Last message of a combined |
sahilmgandhi | 18:6a4db94011d3 | 36 | * transfer |
sahilmgandhi | 18:6a4db94011d3 | 37 | */ |
sahilmgandhi | 18:6a4db94011d3 | 38 | } i2c_transfer_state_t; |
sahilmgandhi | 18:6a4db94011d3 | 39 | |
sahilmgandhi | 18:6a4db94011d3 | 40 | /* |
sahilmgandhi | 18:6a4db94011d3 | 41 | * Driver private data structure that should not be shared by multiple |
sahilmgandhi | 18:6a4db94011d3 | 42 | * instances of the driver |
sahilmgandhi | 18:6a4db94011d3 | 43 | * (same driver for multiple instances of the IP) |
sahilmgandhi | 18:6a4db94011d3 | 44 | */ |
sahilmgandhi | 18:6a4db94011d3 | 45 | typedef struct private_i2c_t { |
sahilmgandhi | 18:6a4db94011d3 | 46 | /* State of a possibly combined ongoing i2c transfer */ |
sahilmgandhi | 18:6a4db94011d3 | 47 | i2c_transfer_state_t transfer_state; |
sahilmgandhi | 18:6a4db94011d3 | 48 | }private_i2c_t; |
sahilmgandhi | 18:6a4db94011d3 | 49 | |
sahilmgandhi | 18:6a4db94011d3 | 50 | |
sahilmgandhi | 18:6a4db94011d3 | 51 | /* |
sahilmgandhi | 18:6a4db94011d3 | 52 | * Retrieve the private data of the instance related to a given IP |
sahilmgandhi | 18:6a4db94011d3 | 53 | */ |
sahilmgandhi | 18:6a4db94011d3 | 54 | static private_i2c_t* get_i2c_private(i2c_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 55 | static private_i2c_t data0, data1; |
sahilmgandhi | 18:6a4db94011d3 | 56 | /* |
sahilmgandhi | 18:6a4db94011d3 | 57 | * Select which instance to give using the base |
sahilmgandhi | 18:6a4db94011d3 | 58 | * address of registers |
sahilmgandhi | 18:6a4db94011d3 | 59 | */ |
sahilmgandhi | 18:6a4db94011d3 | 60 | switch((intptr_t)obj->i2c) { |
sahilmgandhi | 18:6a4db94011d3 | 61 | case I2C0_BASE: |
sahilmgandhi | 18:6a4db94011d3 | 62 | return &data0; |
sahilmgandhi | 18:6a4db94011d3 | 63 | case I2C1_BASE: |
sahilmgandhi | 18:6a4db94011d3 | 64 | return &data1; |
sahilmgandhi | 18:6a4db94011d3 | 65 | default: |
sahilmgandhi | 18:6a4db94011d3 | 66 | error("i2c driver private data structure not found for this registers base address"); |
sahilmgandhi | 18:6a4db94011d3 | 67 | return (void*)0; |
sahilmgandhi | 18:6a4db94011d3 | 68 | } |
sahilmgandhi | 18:6a4db94011d3 | 69 | } |
sahilmgandhi | 18:6a4db94011d3 | 70 | |
sahilmgandhi | 18:6a4db94011d3 | 71 | /* |
sahilmgandhi | 18:6a4db94011d3 | 72 | * Infer the current state of a possibly combined transfer |
sahilmgandhi | 18:6a4db94011d3 | 73 | * (repeated restart) from the current state and the "stop" parameter |
sahilmgandhi | 18:6a4db94011d3 | 74 | * of read and write functions |
sahilmgandhi | 18:6a4db94011d3 | 75 | * MUST be called ONCE AND ONLY ONCE at the beginning of i2c transfer |
sahilmgandhi | 18:6a4db94011d3 | 76 | * functions (read and write) |
sahilmgandhi | 18:6a4db94011d3 | 77 | */ |
sahilmgandhi | 18:6a4db94011d3 | 78 | static i2c_transfer_state_t update_transfer_state(i2c_t *obj, int stop) { |
sahilmgandhi | 18:6a4db94011d3 | 79 | private_i2c_t* private_data = get_i2c_private(obj); |
sahilmgandhi | 18:6a4db94011d3 | 80 | i2c_transfer_state_t *state = &private_data->transfer_state; |
sahilmgandhi | 18:6a4db94011d3 | 81 | |
sahilmgandhi | 18:6a4db94011d3 | 82 | /* |
sahilmgandhi | 18:6a4db94011d3 | 83 | * Choose the current and next state depending on the current state |
sahilmgandhi | 18:6a4db94011d3 | 84 | * This basically implements rising and falling edge detection on |
sahilmgandhi | 18:6a4db94011d3 | 85 | * "stop" variable |
sahilmgandhi | 18:6a4db94011d3 | 86 | */ |
sahilmgandhi | 18:6a4db94011d3 | 87 | switch(*state) { |
sahilmgandhi | 18:6a4db94011d3 | 88 | /* This is the default state for non restarted repeat transfer */ |
sahilmgandhi | 18:6a4db94011d3 | 89 | default: |
sahilmgandhi | 18:6a4db94011d3 | 90 | case I2C_TRANSFER_SINGLE: /* Not a combined transfer */ |
sahilmgandhi | 18:6a4db94011d3 | 91 | if (stop) { |
sahilmgandhi | 18:6a4db94011d3 | 92 | *state = I2C_TRANSFER_SINGLE; |
sahilmgandhi | 18:6a4db94011d3 | 93 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 94 | *state = I2C_TRANSFER_COMBINED_FIRST_MESSAGE; |
sahilmgandhi | 18:6a4db94011d3 | 95 | } |
sahilmgandhi | 18:6a4db94011d3 | 96 | break; |
sahilmgandhi | 18:6a4db94011d3 | 97 | |
sahilmgandhi | 18:6a4db94011d3 | 98 | /* First message of a combined transfer */ |
sahilmgandhi | 18:6a4db94011d3 | 99 | case I2C_TRANSFER_COMBINED_FIRST_MESSAGE: |
sahilmgandhi | 18:6a4db94011d3 | 100 | /* Message in the middle of a combined transfer */ |
sahilmgandhi | 18:6a4db94011d3 | 101 | case I2C_TRANSFER_COMBINED_INTERMEDIATE_MESSAGE: |
sahilmgandhi | 18:6a4db94011d3 | 102 | if (stop) { |
sahilmgandhi | 18:6a4db94011d3 | 103 | *state = I2C_TRANSFER_COMBINED_LAST_MESSAGE; |
sahilmgandhi | 18:6a4db94011d3 | 104 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 105 | *state = I2C_TRANSFER_COMBINED_INTERMEDIATE_MESSAGE; |
sahilmgandhi | 18:6a4db94011d3 | 106 | } |
sahilmgandhi | 18:6a4db94011d3 | 107 | break; |
sahilmgandhi | 18:6a4db94011d3 | 108 | |
sahilmgandhi | 18:6a4db94011d3 | 109 | /* Last message of a combined transfer */ |
sahilmgandhi | 18:6a4db94011d3 | 110 | case I2C_TRANSFER_COMBINED_LAST_MESSAGE: |
sahilmgandhi | 18:6a4db94011d3 | 111 | if (stop) { |
sahilmgandhi | 18:6a4db94011d3 | 112 | *state = I2C_TRANSFER_SINGLE; |
sahilmgandhi | 18:6a4db94011d3 | 113 | } else { |
sahilmgandhi | 18:6a4db94011d3 | 114 | *state = I2C_TRANSFER_COMBINED_FIRST_MESSAGE; |
sahilmgandhi | 18:6a4db94011d3 | 115 | } |
sahilmgandhi | 18:6a4db94011d3 | 116 | break; |
sahilmgandhi | 18:6a4db94011d3 | 117 | } |
sahilmgandhi | 18:6a4db94011d3 | 118 | |
sahilmgandhi | 18:6a4db94011d3 | 119 | return *state; |
sahilmgandhi | 18:6a4db94011d3 | 120 | } |
sahilmgandhi | 18:6a4db94011d3 | 121 | |
sahilmgandhi | 18:6a4db94011d3 | 122 | |
sahilmgandhi | 18:6a4db94011d3 | 123 | static const PinMap PinMap_I2C_SDA[] = { |
sahilmgandhi | 18:6a4db94011d3 | 124 | {SHIELD_SDA, I2C_0, 0}, |
sahilmgandhi | 18:6a4db94011d3 | 125 | {SENSOR_SDA, I2C_1, 0}, |
sahilmgandhi | 18:6a4db94011d3 | 126 | {NC, NC , 0} |
sahilmgandhi | 18:6a4db94011d3 | 127 | }; |
sahilmgandhi | 18:6a4db94011d3 | 128 | |
sahilmgandhi | 18:6a4db94011d3 | 129 | static const PinMap PinMap_I2C_SCL[] = { |
sahilmgandhi | 18:6a4db94011d3 | 130 | {SHIELD_SCL, I2C_0, 0}, |
sahilmgandhi | 18:6a4db94011d3 | 131 | {SENSOR_SCL, I2C_1, 0}, |
sahilmgandhi | 18:6a4db94011d3 | 132 | {NC, NC, 0} |
sahilmgandhi | 18:6a4db94011d3 | 133 | }; |
sahilmgandhi | 18:6a4db94011d3 | 134 | |
sahilmgandhi | 18:6a4db94011d3 | 135 | static void clear_isr(i2c_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 136 | /* |
sahilmgandhi | 18:6a4db94011d3 | 137 | * Writing to the IRQ status register clears set bits. Therefore, to |
sahilmgandhi | 18:6a4db94011d3 | 138 | * clear indiscriminately, just read the register and write it back. |
sahilmgandhi | 18:6a4db94011d3 | 139 | */ |
sahilmgandhi | 18:6a4db94011d3 | 140 | uint32_t reg = obj->i2c->IRQ_STATUS; |
sahilmgandhi | 18:6a4db94011d3 | 141 | obj->i2c->IRQ_STATUS = reg; |
sahilmgandhi | 18:6a4db94011d3 | 142 | } |
sahilmgandhi | 18:6a4db94011d3 | 143 | |
sahilmgandhi | 18:6a4db94011d3 | 144 | void i2c_init(i2c_t *obj, PinName sda, PinName scl) { |
sahilmgandhi | 18:6a4db94011d3 | 145 | /* Determine the I2C to use */ |
sahilmgandhi | 18:6a4db94011d3 | 146 | I2CName i2c_sda = (I2CName)pinmap_peripheral(sda, PinMap_I2C_SDA); |
sahilmgandhi | 18:6a4db94011d3 | 147 | I2CName i2c_scl = (I2CName)pinmap_peripheral(scl, PinMap_I2C_SCL); |
sahilmgandhi | 18:6a4db94011d3 | 148 | obj->i2c = (I2C_TypeDef *)pinmap_merge(i2c_sda, i2c_scl); |
sahilmgandhi | 18:6a4db94011d3 | 149 | |
sahilmgandhi | 18:6a4db94011d3 | 150 | if ((int)obj->i2c == NC) { |
sahilmgandhi | 18:6a4db94011d3 | 151 | error("I2C pin mapping failed"); |
sahilmgandhi | 18:6a4db94011d3 | 152 | } |
sahilmgandhi | 18:6a4db94011d3 | 153 | |
sahilmgandhi | 18:6a4db94011d3 | 154 | pinmap_pinout(sda, PinMap_I2C_SDA); |
sahilmgandhi | 18:6a4db94011d3 | 155 | pinmap_pinout(scl, PinMap_I2C_SCL); |
sahilmgandhi | 18:6a4db94011d3 | 156 | |
sahilmgandhi | 18:6a4db94011d3 | 157 | /* |
sahilmgandhi | 18:6a4db94011d3 | 158 | * Default configuration: |
sahilmgandhi | 18:6a4db94011d3 | 159 | * - MS : Master mode |
sahilmgandhi | 18:6a4db94011d3 | 160 | * - NEA : Normal (7-bit) addressing |
sahilmgandhi | 18:6a4db94011d3 | 161 | * - ACKEN : Send ACKs when reading from slave |
sahilmgandhi | 18:6a4db94011d3 | 162 | * - CLR_FIFO : Not a configuration bit => clears the FIFO |
sahilmgandhi | 18:6a4db94011d3 | 163 | */ |
sahilmgandhi | 18:6a4db94011d3 | 164 | uint32_t reg = I2C_CTRL_MS | \ |
sahilmgandhi | 18:6a4db94011d3 | 165 | I2C_CTRL_NEA | \ |
sahilmgandhi | 18:6a4db94011d3 | 166 | I2C_CTRL_ACKEN | \ |
sahilmgandhi | 18:6a4db94011d3 | 167 | I2C_CTRL_CLR_FIFO; |
sahilmgandhi | 18:6a4db94011d3 | 168 | |
sahilmgandhi | 18:6a4db94011d3 | 169 | obj->i2c->CONTROL = reg; |
sahilmgandhi | 18:6a4db94011d3 | 170 | |
sahilmgandhi | 18:6a4db94011d3 | 171 | get_i2c_private(obj)->transfer_state = I2C_TRANSFER_SINGLE; |
sahilmgandhi | 18:6a4db94011d3 | 172 | |
sahilmgandhi | 18:6a4db94011d3 | 173 | i2c_frequency(obj, 100000); /* Default to 100kHz SCL frequency */ |
sahilmgandhi | 18:6a4db94011d3 | 174 | } |
sahilmgandhi | 18:6a4db94011d3 | 175 | |
sahilmgandhi | 18:6a4db94011d3 | 176 | int i2c_start(i2c_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 177 | return 0; |
sahilmgandhi | 18:6a4db94011d3 | 178 | } |
sahilmgandhi | 18:6a4db94011d3 | 179 | |
sahilmgandhi | 18:6a4db94011d3 | 180 | int i2c_stop(i2c_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 181 | /* Clear the hardware FIFO */ |
sahilmgandhi | 18:6a4db94011d3 | 182 | obj->i2c->CONTROL |= I2C_CTRL_CLR_FIFO; |
sahilmgandhi | 18:6a4db94011d3 | 183 | /* Clear the HOLD bit used for performing combined transfers */ |
sahilmgandhi | 18:6a4db94011d3 | 184 | obj->i2c->CONTROL &= ~I2C_CTRL_HOLD; |
sahilmgandhi | 18:6a4db94011d3 | 185 | /* Reset the transfer size (read and write) */ |
sahilmgandhi | 18:6a4db94011d3 | 186 | obj->i2c->TRANSFER_SIZE = 0; |
sahilmgandhi | 18:6a4db94011d3 | 187 | /* Clear interrupts */ |
sahilmgandhi | 18:6a4db94011d3 | 188 | clear_isr(obj); |
sahilmgandhi | 18:6a4db94011d3 | 189 | return 0; |
sahilmgandhi | 18:6a4db94011d3 | 190 | } |
sahilmgandhi | 18:6a4db94011d3 | 191 | |
sahilmgandhi | 18:6a4db94011d3 | 192 | void i2c_frequency(i2c_t *obj, int hz) { |
sahilmgandhi | 18:6a4db94011d3 | 193 | /* |
sahilmgandhi | 18:6a4db94011d3 | 194 | * Divider is split in two halfs : A and B |
sahilmgandhi | 18:6a4db94011d3 | 195 | * A is 2 bits wide and B is 6 bits wide |
sahilmgandhi | 18:6a4db94011d3 | 196 | * The Fscl frequency (SCL clock) is calculated with the following |
sahilmgandhi | 18:6a4db94011d3 | 197 | * equation: |
sahilmgandhi | 18:6a4db94011d3 | 198 | * Fscl=SystemCoreClock/(22*(A+1)*(B+1)) |
sahilmgandhi | 18:6a4db94011d3 | 199 | * Here, we only calculate the B divisor which already enables a |
sahilmgandhi | 18:6a4db94011d3 | 200 | * wide enough range of values |
sahilmgandhi | 18:6a4db94011d3 | 201 | */ |
sahilmgandhi | 18:6a4db94011d3 | 202 | uint32_t divisor_a = 0; /* Could be changed if a wider range of hz |
sahilmgandhi | 18:6a4db94011d3 | 203 | is needed */ |
sahilmgandhi | 18:6a4db94011d3 | 204 | uint32_t divisor_b = (SystemCoreClock / (22.0 * hz)) - 1; |
sahilmgandhi | 18:6a4db94011d3 | 205 | |
sahilmgandhi | 18:6a4db94011d3 | 206 | /* Clamp the divisors to their maximal value */ |
sahilmgandhi | 18:6a4db94011d3 | 207 | divisor_a = divisor_a > I2C_CTRL_DIVISOR_A_BIT_MASK ? |
sahilmgandhi | 18:6a4db94011d3 | 208 | I2C_CTRL_DIVISOR_A_BIT_MASK : divisor_a; |
sahilmgandhi | 18:6a4db94011d3 | 209 | divisor_b = divisor_b > I2C_CTRL_DIVISOR_B_BIT_MASK ? |
sahilmgandhi | 18:6a4db94011d3 | 210 | I2C_CTRL_DIVISOR_B_BIT_MASK : divisor_b; |
sahilmgandhi | 18:6a4db94011d3 | 211 | |
sahilmgandhi | 18:6a4db94011d3 | 212 | uint8_t divisor_combinded = (divisor_a & I2C_CTRL_DIVISOR_A_BIT_MASK) |
sahilmgandhi | 18:6a4db94011d3 | 213 | | (divisor_b & I2C_CTRL_DIVISOR_B_BIT_MASK); |
sahilmgandhi | 18:6a4db94011d3 | 214 | |
sahilmgandhi | 18:6a4db94011d3 | 215 | obj->i2c->CONTROL = (obj->i2c->CONTROL & ~I2C_CTRL_DIVISORS) |
sahilmgandhi | 18:6a4db94011d3 | 216 | | (divisor_combinded << I2C_CTRL_DIVISOR_OFFSET); |
sahilmgandhi | 18:6a4db94011d3 | 217 | } |
sahilmgandhi | 18:6a4db94011d3 | 218 | |
sahilmgandhi | 18:6a4db94011d3 | 219 | int i2c_read(i2c_t *obj, int address, char *data, int length, int stop) { |
sahilmgandhi | 18:6a4db94011d3 | 220 | int bytes_read = 0; |
sahilmgandhi | 18:6a4db94011d3 | 221 | int length_backup = length; |
sahilmgandhi | 18:6a4db94011d3 | 222 | char *data_backup = data; |
sahilmgandhi | 18:6a4db94011d3 | 223 | obj->last_xfer_address = address; |
sahilmgandhi | 18:6a4db94011d3 | 224 | i2c_transfer_state_t transfer_state = update_transfer_state(obj, stop); |
sahilmgandhi | 18:6a4db94011d3 | 225 | |
sahilmgandhi | 18:6a4db94011d3 | 226 | /* Try to write until it finally succeed or times out */ |
sahilmgandhi | 18:6a4db94011d3 | 227 | int main_timeout = 10; |
sahilmgandhi | 18:6a4db94011d3 | 228 | int retry = 0; |
sahilmgandhi | 18:6a4db94011d3 | 229 | do { |
sahilmgandhi | 18:6a4db94011d3 | 230 | main_timeout--; |
sahilmgandhi | 18:6a4db94011d3 | 231 | |
sahilmgandhi | 18:6a4db94011d3 | 232 | retry = 0; |
sahilmgandhi | 18:6a4db94011d3 | 233 | bytes_read = 0; |
sahilmgandhi | 18:6a4db94011d3 | 234 | length = length_backup; |
sahilmgandhi | 18:6a4db94011d3 | 235 | data = data_backup; |
sahilmgandhi | 18:6a4db94011d3 | 236 | |
sahilmgandhi | 18:6a4db94011d3 | 237 | uint32_t reg = obj->i2c->CONTROL & 0xff7f; |
sahilmgandhi | 18:6a4db94011d3 | 238 | reg |= I2C_CTRL_RW | \ |
sahilmgandhi | 18:6a4db94011d3 | 239 | I2C_CTRL_CLR_FIFO; |
sahilmgandhi | 18:6a4db94011d3 | 240 | /* |
sahilmgandhi | 18:6a4db94011d3 | 241 | * Only touch the HOLD bit at the beginning of |
sahilmgandhi | 18:6a4db94011d3 | 242 | * (possibly combined) transactions |
sahilmgandhi | 18:6a4db94011d3 | 243 | */ |
sahilmgandhi | 18:6a4db94011d3 | 244 | if(transfer_state == I2C_TRANSFER_COMBINED_FIRST_MESSAGE |
sahilmgandhi | 18:6a4db94011d3 | 245 | || transfer_state == I2C_TRANSFER_SINGLE) { |
sahilmgandhi | 18:6a4db94011d3 | 246 | |
sahilmgandhi | 18:6a4db94011d3 | 247 | reg |= I2C_CTRL_HOLD; |
sahilmgandhi | 18:6a4db94011d3 | 248 | } |
sahilmgandhi | 18:6a4db94011d3 | 249 | obj->i2c->CONTROL = reg; |
sahilmgandhi | 18:6a4db94011d3 | 250 | |
sahilmgandhi | 18:6a4db94011d3 | 251 | /* Set the expected number of bytes to be received */ |
sahilmgandhi | 18:6a4db94011d3 | 252 | if (length > I2C_TRANSFER_SIZE) { |
sahilmgandhi | 18:6a4db94011d3 | 253 | error("I2C transfer size too big for the FIFO"); |
sahilmgandhi | 18:6a4db94011d3 | 254 | } |
sahilmgandhi | 18:6a4db94011d3 | 255 | obj->i2c->TRANSFER_SIZE = length & I2C_TRANSFER_SIZE; |
sahilmgandhi | 18:6a4db94011d3 | 256 | |
sahilmgandhi | 18:6a4db94011d3 | 257 | clear_isr(obj); |
sahilmgandhi | 18:6a4db94011d3 | 258 | |
sahilmgandhi | 18:6a4db94011d3 | 259 | /* |
sahilmgandhi | 18:6a4db94011d3 | 260 | * Start the transaction by writing address. |
sahilmgandhi | 18:6a4db94011d3 | 261 | * Discard the lower bit as it is automatically set |
sahilmgandhi | 18:6a4db94011d3 | 262 | * by the controller based on I2C_CTRL_RW bit in CONTROL |
sahilmgandhi | 18:6a4db94011d3 | 263 | * register |
sahilmgandhi | 18:6a4db94011d3 | 264 | */ |
sahilmgandhi | 18:6a4db94011d3 | 265 | obj->i2c->ADDRESS = (address & 0xFF) >> 1; |
sahilmgandhi | 18:6a4db94011d3 | 266 | |
sahilmgandhi | 18:6a4db94011d3 | 267 | if(transfer_state == I2C_TRANSFER_COMBINED_LAST_MESSAGE |
sahilmgandhi | 18:6a4db94011d3 | 268 | || transfer_state == I2C_TRANSFER_SINGLE) { |
sahilmgandhi | 18:6a4db94011d3 | 269 | |
sahilmgandhi | 18:6a4db94011d3 | 270 | /* Clear the hold bit before reading the DATA register */ |
sahilmgandhi | 18:6a4db94011d3 | 271 | obj->i2c->CONTROL &= ~I2C_CTRL_HOLD; |
sahilmgandhi | 18:6a4db94011d3 | 272 | } |
sahilmgandhi | 18:6a4db94011d3 | 273 | |
sahilmgandhi | 18:6a4db94011d3 | 274 | /* Wait for completion of the address transfer */ |
sahilmgandhi | 18:6a4db94011d3 | 275 | int completion_timeout = 1000; |
sahilmgandhi | 18:6a4db94011d3 | 276 | while (completion_timeout) { |
sahilmgandhi | 18:6a4db94011d3 | 277 | completion_timeout--; |
sahilmgandhi | 18:6a4db94011d3 | 278 | |
sahilmgandhi | 18:6a4db94011d3 | 279 | uint32_t irq_status = obj->i2c->IRQ_STATUS; |
sahilmgandhi | 18:6a4db94011d3 | 280 | if (irq_status & I2C_IRQ_NACK |
sahilmgandhi | 18:6a4db94011d3 | 281 | || irq_status & I2C_IRQ_ARB_LOST) { |
sahilmgandhi | 18:6a4db94011d3 | 282 | |
sahilmgandhi | 18:6a4db94011d3 | 283 | retry = 1; |
sahilmgandhi | 18:6a4db94011d3 | 284 | break; |
sahilmgandhi | 18:6a4db94011d3 | 285 | } |
sahilmgandhi | 18:6a4db94011d3 | 286 | |
sahilmgandhi | 18:6a4db94011d3 | 287 | if(irq_status & I2C_IRQ_COMP) { |
sahilmgandhi | 18:6a4db94011d3 | 288 | break; |
sahilmgandhi | 18:6a4db94011d3 | 289 | } |
sahilmgandhi | 18:6a4db94011d3 | 290 | } |
sahilmgandhi | 18:6a4db94011d3 | 291 | |
sahilmgandhi | 18:6a4db94011d3 | 292 | /* If retry, jump to the beginning and try again */ |
sahilmgandhi | 18:6a4db94011d3 | 293 | if (retry || !completion_timeout) { |
sahilmgandhi | 18:6a4db94011d3 | 294 | retry = 1; |
sahilmgandhi | 18:6a4db94011d3 | 295 | continue; |
sahilmgandhi | 18:6a4db94011d3 | 296 | } |
sahilmgandhi | 18:6a4db94011d3 | 297 | |
sahilmgandhi | 18:6a4db94011d3 | 298 | clear_isr(obj); |
sahilmgandhi | 18:6a4db94011d3 | 299 | |
sahilmgandhi | 18:6a4db94011d3 | 300 | /* Read the data from the DATA register */ |
sahilmgandhi | 18:6a4db94011d3 | 301 | completion_timeout = 1000; |
sahilmgandhi | 18:6a4db94011d3 | 302 | while (length && completion_timeout) { |
sahilmgandhi | 18:6a4db94011d3 | 303 | completion_timeout--; |
sahilmgandhi | 18:6a4db94011d3 | 304 | |
sahilmgandhi | 18:6a4db94011d3 | 305 | uint32_t irq_status = obj->i2c->IRQ_STATUS; |
sahilmgandhi | 18:6a4db94011d3 | 306 | uint32_t status = obj->i2c->STATUS; |
sahilmgandhi | 18:6a4db94011d3 | 307 | |
sahilmgandhi | 18:6a4db94011d3 | 308 | if(irq_status & I2C_IRQ_NACK || |
sahilmgandhi | 18:6a4db94011d3 | 309 | irq_status & I2C_IRQ_ARB_LOST) { |
sahilmgandhi | 18:6a4db94011d3 | 310 | |
sahilmgandhi | 18:6a4db94011d3 | 311 | retry = 1; |
sahilmgandhi | 18:6a4db94011d3 | 312 | break; |
sahilmgandhi | 18:6a4db94011d3 | 313 | } |
sahilmgandhi | 18:6a4db94011d3 | 314 | |
sahilmgandhi | 18:6a4db94011d3 | 315 | /* |
sahilmgandhi | 18:6a4db94011d3 | 316 | * Just wait for RXDV because COMP is only risen at the end |
sahilmgandhi | 18:6a4db94011d3 | 317 | * of the transfer |
sahilmgandhi | 18:6a4db94011d3 | 318 | */ |
sahilmgandhi | 18:6a4db94011d3 | 319 | if (status & I2C_STATUS_RXDV) { |
sahilmgandhi | 18:6a4db94011d3 | 320 | *data++ = obj->i2c->DATA & 0xFF; |
sahilmgandhi | 18:6a4db94011d3 | 321 | length--; |
sahilmgandhi | 18:6a4db94011d3 | 322 | bytes_read++; |
sahilmgandhi | 18:6a4db94011d3 | 323 | } |
sahilmgandhi | 18:6a4db94011d3 | 324 | |
sahilmgandhi | 18:6a4db94011d3 | 325 | if (irq_status & I2C_IRQ_RX_UNF) { |
sahilmgandhi | 18:6a4db94011d3 | 326 | error("Reading more bytes than the I2C transfer size"); |
sahilmgandhi | 18:6a4db94011d3 | 327 | retry = 1; |
sahilmgandhi | 18:6a4db94011d3 | 328 | break; |
sahilmgandhi | 18:6a4db94011d3 | 329 | } |
sahilmgandhi | 18:6a4db94011d3 | 330 | } |
sahilmgandhi | 18:6a4db94011d3 | 331 | |
sahilmgandhi | 18:6a4db94011d3 | 332 | /* If retry, jump to the beginning and try again */ |
sahilmgandhi | 18:6a4db94011d3 | 333 | if (retry || !completion_timeout) { |
sahilmgandhi | 18:6a4db94011d3 | 334 | retry = 1; |
sahilmgandhi | 18:6a4db94011d3 | 335 | continue; |
sahilmgandhi | 18:6a4db94011d3 | 336 | } |
sahilmgandhi | 18:6a4db94011d3 | 337 | } while(retry && main_timeout); |
sahilmgandhi | 18:6a4db94011d3 | 338 | |
sahilmgandhi | 18:6a4db94011d3 | 339 | if (!main_timeout) { |
sahilmgandhi | 18:6a4db94011d3 | 340 | bytes_read = 0; |
sahilmgandhi | 18:6a4db94011d3 | 341 | data = data_backup; |
sahilmgandhi | 18:6a4db94011d3 | 342 | } |
sahilmgandhi | 18:6a4db94011d3 | 343 | |
sahilmgandhi | 18:6a4db94011d3 | 344 | obj->i2c->CONTROL |= I2C_CTRL_CLR_FIFO; |
sahilmgandhi | 18:6a4db94011d3 | 345 | clear_isr(obj); |
sahilmgandhi | 18:6a4db94011d3 | 346 | return bytes_read; |
sahilmgandhi | 18:6a4db94011d3 | 347 | } |
sahilmgandhi | 18:6a4db94011d3 | 348 | |
sahilmgandhi | 18:6a4db94011d3 | 349 | int i2c_write(i2c_t *obj, int address, const char *data, int length, |
sahilmgandhi | 18:6a4db94011d3 | 350 | int stop) { |
sahilmgandhi | 18:6a4db94011d3 | 351 | |
sahilmgandhi | 18:6a4db94011d3 | 352 | int bytes_written = 0; |
sahilmgandhi | 18:6a4db94011d3 | 353 | int length_backup = length; |
sahilmgandhi | 18:6a4db94011d3 | 354 | const char *data_backup = data; |
sahilmgandhi | 18:6a4db94011d3 | 355 | obj->last_xfer_address = address; |
sahilmgandhi | 18:6a4db94011d3 | 356 | i2c_transfer_state_t transfer_state = update_transfer_state(obj, stop); |
sahilmgandhi | 18:6a4db94011d3 | 357 | |
sahilmgandhi | 18:6a4db94011d3 | 358 | /* Try to write until it finally succeed or times out */ |
sahilmgandhi | 18:6a4db94011d3 | 359 | int main_timeout = 10; |
sahilmgandhi | 18:6a4db94011d3 | 360 | int retry = 0; |
sahilmgandhi | 18:6a4db94011d3 | 361 | do { |
sahilmgandhi | 18:6a4db94011d3 | 362 | main_timeout--; |
sahilmgandhi | 18:6a4db94011d3 | 363 | |
sahilmgandhi | 18:6a4db94011d3 | 364 | retry = 0; |
sahilmgandhi | 18:6a4db94011d3 | 365 | bytes_written = 0; |
sahilmgandhi | 18:6a4db94011d3 | 366 | length = length_backup; |
sahilmgandhi | 18:6a4db94011d3 | 367 | data = data_backup; |
sahilmgandhi | 18:6a4db94011d3 | 368 | |
sahilmgandhi | 18:6a4db94011d3 | 369 | /* Read the defined bits in the control register */ |
sahilmgandhi | 18:6a4db94011d3 | 370 | uint32_t reg = obj->i2c->CONTROL & 0xff7f; |
sahilmgandhi | 18:6a4db94011d3 | 371 | reg |= I2C_CTRL_CLR_FIFO; |
sahilmgandhi | 18:6a4db94011d3 | 372 | reg &= ~I2C_CTRL_RW; |
sahilmgandhi | 18:6a4db94011d3 | 373 | |
sahilmgandhi | 18:6a4db94011d3 | 374 | /* |
sahilmgandhi | 18:6a4db94011d3 | 375 | * Only touch the HOLD bit at the beginning of |
sahilmgandhi | 18:6a4db94011d3 | 376 | * (possibly combined) transactions |
sahilmgandhi | 18:6a4db94011d3 | 377 | */ |
sahilmgandhi | 18:6a4db94011d3 | 378 | if(transfer_state == I2C_TRANSFER_COMBINED_FIRST_MESSAGE |
sahilmgandhi | 18:6a4db94011d3 | 379 | || transfer_state == I2C_TRANSFER_SINGLE) { |
sahilmgandhi | 18:6a4db94011d3 | 380 | |
sahilmgandhi | 18:6a4db94011d3 | 381 | reg |= I2C_CTRL_HOLD; |
sahilmgandhi | 18:6a4db94011d3 | 382 | } |
sahilmgandhi | 18:6a4db94011d3 | 383 | obj->i2c->CONTROL = reg; |
sahilmgandhi | 18:6a4db94011d3 | 384 | |
sahilmgandhi | 18:6a4db94011d3 | 385 | clear_isr(obj); |
sahilmgandhi | 18:6a4db94011d3 | 386 | |
sahilmgandhi | 18:6a4db94011d3 | 387 | /* Set the expected number of bytes to be transmitted */ |
sahilmgandhi | 18:6a4db94011d3 | 388 | if (length > I2C_TRANSFER_SIZE) { |
sahilmgandhi | 18:6a4db94011d3 | 389 | error("I2C transfer size too big for the FIFO"); |
sahilmgandhi | 18:6a4db94011d3 | 390 | } |
sahilmgandhi | 18:6a4db94011d3 | 391 | |
sahilmgandhi | 18:6a4db94011d3 | 392 | /* Set the expected number of bytes to be transmitted */ |
sahilmgandhi | 18:6a4db94011d3 | 393 | obj->i2c->TRANSFER_SIZE = length & I2C_TRANSFER_SIZE; |
sahilmgandhi | 18:6a4db94011d3 | 394 | |
sahilmgandhi | 18:6a4db94011d3 | 395 | /* |
sahilmgandhi | 18:6a4db94011d3 | 396 | * Write the address, triggering the start of the transfer |
sahilmgandhi | 18:6a4db94011d3 | 397 | * Discard the lower bit as it is automatically set |
sahilmgandhi | 18:6a4db94011d3 | 398 | * by the controller based on I2C_CTRL_RW bit in CONTROL |
sahilmgandhi | 18:6a4db94011d3 | 399 | * register |
sahilmgandhi | 18:6a4db94011d3 | 400 | */ |
sahilmgandhi | 18:6a4db94011d3 | 401 | obj->i2c->ADDRESS = (address & 0xFF) >> 1; |
sahilmgandhi | 18:6a4db94011d3 | 402 | |
sahilmgandhi | 18:6a4db94011d3 | 403 | /* Send the data bytes */ |
sahilmgandhi | 18:6a4db94011d3 | 404 | int write_timeout = 1000 + length; |
sahilmgandhi | 18:6a4db94011d3 | 405 | while (length && write_timeout) { |
sahilmgandhi | 18:6a4db94011d3 | 406 | write_timeout--; |
sahilmgandhi | 18:6a4db94011d3 | 407 | uint32_t irq_status = obj->i2c->IRQ_STATUS; |
sahilmgandhi | 18:6a4db94011d3 | 408 | /* If overflow, undo last step */ |
sahilmgandhi | 18:6a4db94011d3 | 409 | if (irq_status & I2C_IRQ_TX_OVF) { |
sahilmgandhi | 18:6a4db94011d3 | 410 | *data--; |
sahilmgandhi | 18:6a4db94011d3 | 411 | length++; |
sahilmgandhi | 18:6a4db94011d3 | 412 | bytes_written--; |
sahilmgandhi | 18:6a4db94011d3 | 413 | /* Clear the bit by writing 1 to it */ |
sahilmgandhi | 18:6a4db94011d3 | 414 | obj->i2c->IRQ_STATUS |= I2C_IRQ_TX_OVF; |
sahilmgandhi | 18:6a4db94011d3 | 415 | } |
sahilmgandhi | 18:6a4db94011d3 | 416 | |
sahilmgandhi | 18:6a4db94011d3 | 417 | if (irq_status & I2C_IRQ_NACK |
sahilmgandhi | 18:6a4db94011d3 | 418 | || irq_status & I2C_IRQ_ARB_LOST) { |
sahilmgandhi | 18:6a4db94011d3 | 419 | |
sahilmgandhi | 18:6a4db94011d3 | 420 | retry = 1; |
sahilmgandhi | 18:6a4db94011d3 | 421 | break; |
sahilmgandhi | 18:6a4db94011d3 | 422 | } |
sahilmgandhi | 18:6a4db94011d3 | 423 | |
sahilmgandhi | 18:6a4db94011d3 | 424 | obj->i2c->DATA = *data++; |
sahilmgandhi | 18:6a4db94011d3 | 425 | length--; |
sahilmgandhi | 18:6a4db94011d3 | 426 | bytes_written++; |
sahilmgandhi | 18:6a4db94011d3 | 427 | } |
sahilmgandhi | 18:6a4db94011d3 | 428 | |
sahilmgandhi | 18:6a4db94011d3 | 429 | /* If retry, jump to the beginning and try again */ |
sahilmgandhi | 18:6a4db94011d3 | 430 | if (retry || !write_timeout) { |
sahilmgandhi | 18:6a4db94011d3 | 431 | retry = 1; |
sahilmgandhi | 18:6a4db94011d3 | 432 | continue; |
sahilmgandhi | 18:6a4db94011d3 | 433 | } |
sahilmgandhi | 18:6a4db94011d3 | 434 | |
sahilmgandhi | 18:6a4db94011d3 | 435 | if(transfer_state == I2C_TRANSFER_COMBINED_LAST_MESSAGE |
sahilmgandhi | 18:6a4db94011d3 | 436 | || transfer_state == I2C_TRANSFER_SINGLE) { |
sahilmgandhi | 18:6a4db94011d3 | 437 | /* |
sahilmgandhi | 18:6a4db94011d3 | 438 | * Clear the hold bit to signify the end |
sahilmgandhi | 18:6a4db94011d3 | 439 | * of the write sequence |
sahilmgandhi | 18:6a4db94011d3 | 440 | */ |
sahilmgandhi | 18:6a4db94011d3 | 441 | obj->i2c->CONTROL &= ~I2C_CTRL_HOLD; |
sahilmgandhi | 18:6a4db94011d3 | 442 | } |
sahilmgandhi | 18:6a4db94011d3 | 443 | |
sahilmgandhi | 18:6a4db94011d3 | 444 | |
sahilmgandhi | 18:6a4db94011d3 | 445 | /* Wait for transfer completion */ |
sahilmgandhi | 18:6a4db94011d3 | 446 | int completion_timeout = 1000; |
sahilmgandhi | 18:6a4db94011d3 | 447 | while (completion_timeout) { |
sahilmgandhi | 18:6a4db94011d3 | 448 | completion_timeout--; |
sahilmgandhi | 18:6a4db94011d3 | 449 | |
sahilmgandhi | 18:6a4db94011d3 | 450 | uint32_t irq_status = obj->i2c->IRQ_STATUS; |
sahilmgandhi | 18:6a4db94011d3 | 451 | if(irq_status & I2C_IRQ_NACK |
sahilmgandhi | 18:6a4db94011d3 | 452 | || irq_status & I2C_IRQ_ARB_LOST) { |
sahilmgandhi | 18:6a4db94011d3 | 453 | retry = 1; |
sahilmgandhi | 18:6a4db94011d3 | 454 | break; |
sahilmgandhi | 18:6a4db94011d3 | 455 | } |
sahilmgandhi | 18:6a4db94011d3 | 456 | if(irq_status & I2C_IRQ_COMP) { |
sahilmgandhi | 18:6a4db94011d3 | 457 | break; |
sahilmgandhi | 18:6a4db94011d3 | 458 | } |
sahilmgandhi | 18:6a4db94011d3 | 459 | } |
sahilmgandhi | 18:6a4db94011d3 | 460 | |
sahilmgandhi | 18:6a4db94011d3 | 461 | /* If retry, jump to the beginning and try again */ |
sahilmgandhi | 18:6a4db94011d3 | 462 | if (retry || !completion_timeout) { |
sahilmgandhi | 18:6a4db94011d3 | 463 | continue; |
sahilmgandhi | 18:6a4db94011d3 | 464 | } |
sahilmgandhi | 18:6a4db94011d3 | 465 | |
sahilmgandhi | 18:6a4db94011d3 | 466 | obj->i2c->CONTROL |= I2C_CTRL_CLR_FIFO; |
sahilmgandhi | 18:6a4db94011d3 | 467 | clear_isr(obj); |
sahilmgandhi | 18:6a4db94011d3 | 468 | } while(retry && main_timeout); |
sahilmgandhi | 18:6a4db94011d3 | 469 | |
sahilmgandhi | 18:6a4db94011d3 | 470 | return bytes_written; |
sahilmgandhi | 18:6a4db94011d3 | 471 | } |
sahilmgandhi | 18:6a4db94011d3 | 472 | |
sahilmgandhi | 18:6a4db94011d3 | 473 | void i2c_reset(i2c_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 474 | i2c_stop(obj); |
sahilmgandhi | 18:6a4db94011d3 | 475 | } |
sahilmgandhi | 18:6a4db94011d3 | 476 | |
sahilmgandhi | 18:6a4db94011d3 | 477 | int i2c_byte_read(i2c_t *obj, int last) { |
sahilmgandhi | 18:6a4db94011d3 | 478 | char i2c_ret = 0; |
sahilmgandhi | 18:6a4db94011d3 | 479 | i2c_read(obj, obj->last_xfer_address, &i2c_ret, 1, last); |
sahilmgandhi | 18:6a4db94011d3 | 480 | return i2c_ret; |
sahilmgandhi | 18:6a4db94011d3 | 481 | } |
sahilmgandhi | 18:6a4db94011d3 | 482 | |
sahilmgandhi | 18:6a4db94011d3 | 483 | int i2c_byte_write(i2c_t *obj, int data) { |
sahilmgandhi | 18:6a4db94011d3 | 484 | /* Store the number of written bytes */ |
sahilmgandhi | 18:6a4db94011d3 | 485 | uint32_t wb = i2c_write(obj, obj->last_xfer_address, (char*)&data, 1, 0); |
sahilmgandhi | 18:6a4db94011d3 | 486 | if (wb == 1) |
sahilmgandhi | 18:6a4db94011d3 | 487 | return 1; |
sahilmgandhi | 18:6a4db94011d3 | 488 | else |
sahilmgandhi | 18:6a4db94011d3 | 489 | return 0; |
sahilmgandhi | 18:6a4db94011d3 | 490 | } |
sahilmgandhi | 18:6a4db94011d3 | 491 | |
sahilmgandhi | 18:6a4db94011d3 | 492 | void i2c_slave_mode(i2c_t *obj, int enable_slave) { |
sahilmgandhi | 18:6a4db94011d3 | 493 | } |
sahilmgandhi | 18:6a4db94011d3 | 494 | |
sahilmgandhi | 18:6a4db94011d3 | 495 | int i2c_slave_receive(i2c_t *obj) { |
sahilmgandhi | 18:6a4db94011d3 | 496 | return 0; |
sahilmgandhi | 18:6a4db94011d3 | 497 | } |
sahilmgandhi | 18:6a4db94011d3 | 498 | |
sahilmgandhi | 18:6a4db94011d3 | 499 | int i2c_slave_read(i2c_t *obj, char *data, int length) { |
sahilmgandhi | 18:6a4db94011d3 | 500 | return 0; |
sahilmgandhi | 18:6a4db94011d3 | 501 | } |
sahilmgandhi | 18:6a4db94011d3 | 502 | |
sahilmgandhi | 18:6a4db94011d3 | 503 | int i2c_slave_write(i2c_t *obj, const char *data, int length) { |
sahilmgandhi | 18:6a4db94011d3 | 504 | return 0; |
sahilmgandhi | 18:6a4db94011d3 | 505 | } |
sahilmgandhi | 18:6a4db94011d3 | 506 | |
sahilmgandhi | 18:6a4db94011d3 | 507 | void i2c_slave_address(i2c_t *obj, int idx, uint32_t address, uint32_t mask) { |
sahilmgandhi | 18:6a4db94011d3 | 508 | } |