Improvements to Olieman's MODI2C library. Supports calls from IRQ.
Dependents: FreeIMU FreeIMU_external_magnetometer FreeIMU
Fork of MODI2C by
MODI2C_IRQ.cpp@5:fa0cca8e28b6, 2018-03-28 (annotated)
- Committer:
- tyftyftyf
- Date:
- Wed Mar 28 21:48:20 2018 +0000
- Revision:
- 5:fa0cca8e28b6
- Parent:
- 1:eed116eb680a
wip
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Sissors | 0:ff579e7e8efa | 1 | #include "MODI2C.h" |
Sissors | 0:ff579e7e8efa | 2 | |
Sissors | 0:ff579e7e8efa | 3 | //********************************************************** |
Sissors | 0:ff579e7e8efa | 4 | //*********************IRQ FUNCTIONS************************ |
Sissors | 0:ff579e7e8efa | 5 | //********************************************************** |
Sissors | 0:ff579e7e8efa | 6 | |
tyftyftyf | 1:eed116eb680a | 7 | void MODI2C::runUserIRQ(I2CData *Data) { |
Sissors | 0:ff579e7e8efa | 8 | |
tyftyftyf | 1:eed116eb680a | 9 | if (Data->IRQOp==IRQ_I2C_BOTH) //Always call if both |
tyftyftyf | 1:eed116eb680a | 10 | Data->callback.call(Data->pass_to_irq); |
tyftyftyf | 1:eed116eb680a | 11 | if ((Data->IRQOp==IRQ_I2C_READ)&&(Data->address&0x01)) //Call if read and byte was read |
tyftyftyf | 1:eed116eb680a | 12 | Data->callback.call(Data->pass_to_irq); |
tyftyftyf | 1:eed116eb680a | 13 | if ((Data->IRQOp==IRQ_I2C_WRITE)&&(!(Data->address&0x01))) //Call if write and byte was written |
tyftyftyf | 1:eed116eb680a | 14 | Data->callback.call(Data->pass_to_irq); |
tyftyftyf | 1:eed116eb680a | 15 | |
tyftyftyf | 1:eed116eb680a | 16 | if (Data->monitor_addr!=NULL) *(Data->monitor_addr)=0; |
Sissors | 0:ff579e7e8efa | 17 | } |
Sissors | 0:ff579e7e8efa | 18 | |
Sissors | 0:ff579e7e8efa | 19 | void MODI2C::IRQ1Handler( void ) { |
Sissors | 0:ff579e7e8efa | 20 | IRQHandler(&Buffer1, LPC_I2C1); |
Sissors | 0:ff579e7e8efa | 21 | } |
Sissors | 0:ff579e7e8efa | 22 | |
Sissors | 0:ff579e7e8efa | 23 | void MODI2C::IRQ2Handler( void ) { |
Sissors | 0:ff579e7e8efa | 24 | IRQHandler(&Buffer2, LPC_I2C2); |
Sissors | 0:ff579e7e8efa | 25 | } |
Sissors | 0:ff579e7e8efa | 26 | |
Sissors | 0:ff579e7e8efa | 27 | void MODI2C::IRQHandler( I2CBuffer *Buffer, LPC_I2C_TypeDef *I2CMODULE) { |
tyftyftyf | 1:eed116eb680a | 28 | I2CData *Data = (I2CData*)Buffer->curr; |
Sissors | 0:ff579e7e8efa | 29 | |
Sissors | 0:ff579e7e8efa | 30 | //Depending on the status register it determines next action, see datasheet |
Sissors | 0:ff579e7e8efa | 31 | //This is also pretty much copy pasting the datasheet |
Sissors | 0:ff579e7e8efa | 32 | //General options |
Sissors | 0:ff579e7e8efa | 33 | switch (I2CMODULE->I2STAT) { |
Sissors | 0:ff579e7e8efa | 34 | case(0x08): |
Sissors | 0:ff579e7e8efa | 35 | case(0x10): |
Sissors | 0:ff579e7e8efa | 36 | //Send Address |
Sissors | 0:ff579e7e8efa | 37 | I2CMODULE->I2DAT = Data->address; |
Sissors | 0:ff579e7e8efa | 38 | I2CMODULE->I2CONCLR = 1<<I2C_FLAG | 1<<I2C_START; |
Sissors | 0:ff579e7e8efa | 39 | break; |
Sissors | 0:ff579e7e8efa | 40 | |
Sissors | 0:ff579e7e8efa | 41 | //All master TX options |
Sissors | 0:ff579e7e8efa | 42 | |
Sissors | 0:ff579e7e8efa | 43 | //Address + W has been sent, ACK received |
Sissors | 0:ff579e7e8efa | 44 | //Data has been sent, ACK received |
Sissors | 0:ff579e7e8efa | 45 | case(0x18): |
Sissors | 0:ff579e7e8efa | 46 | case(0x28): |
Sissors | 0:ff579e7e8efa | 47 | if (Buffer->count==Data->length) { |
Sissors | 0:ff579e7e8efa | 48 | *Data->status=I2CMODULE->I2STAT; |
Sissors | 0:ff579e7e8efa | 49 | if (!Data->repeated) |
Sissors | 0:ff579e7e8efa | 50 | _stop(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 51 | else { |
Sissors | 0:ff579e7e8efa | 52 | I2CMODULE->I2CONSET = 1<<I2C_START; |
Sissors | 0:ff579e7e8efa | 53 | I2CMODULE->I2CONCLR = 1<<I2C_FLAG; |
Sissors | 0:ff579e7e8efa | 54 | } |
Sissors | 0:ff579e7e8efa | 55 | bufferHandler(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 56 | } else { |
Sissors | 0:ff579e7e8efa | 57 | I2CMODULE->I2DAT = Data->data[Buffer->count]; |
Sissors | 0:ff579e7e8efa | 58 | I2CMODULE->I2CONSET = 1<<I2C_ASSERT_ACK; //I dont see why I have to enable that bit, but datasheet says so |
Sissors | 0:ff579e7e8efa | 59 | I2CMODULE->I2CONCLR = 1<<I2C_FLAG; |
Sissors | 0:ff579e7e8efa | 60 | Buffer->count++; |
Sissors | 0:ff579e7e8efa | 61 | } |
Sissors | 0:ff579e7e8efa | 62 | break; |
Sissors | 0:ff579e7e8efa | 63 | |
Sissors | 0:ff579e7e8efa | 64 | //Address + W has been sent, NACK received |
Sissors | 0:ff579e7e8efa | 65 | //Data has been sent, NACK received |
Sissors | 0:ff579e7e8efa | 66 | case(0x20): |
Sissors | 0:ff579e7e8efa | 67 | case(0x30): |
Sissors | 0:ff579e7e8efa | 68 | *Data->status=I2CMODULE->I2STAT; |
Sissors | 0:ff579e7e8efa | 69 | _stop(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 70 | bufferHandler(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 71 | break; |
Sissors | 0:ff579e7e8efa | 72 | |
Sissors | 0:ff579e7e8efa | 73 | //Arbitration lost (situation looks pretty hopeless to me if you arrive here) |
Sissors | 0:ff579e7e8efa | 74 | case(0x38): |
Sissors | 0:ff579e7e8efa | 75 | _start(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 76 | break; |
Sissors | 0:ff579e7e8efa | 77 | |
Sissors | 0:ff579e7e8efa | 78 | |
Sissors | 0:ff579e7e8efa | 79 | //All master RX options |
Sissors | 0:ff579e7e8efa | 80 | |
Sissors | 0:ff579e7e8efa | 81 | //Address + R has been sent, ACK received |
Sissors | 0:ff579e7e8efa | 82 | case(0x40): |
Sissors | 0:ff579e7e8efa | 83 | //If next byte is last one, NACK, otherwise ACK |
Sissors | 0:ff579e7e8efa | 84 | if (Data->length <= Buffer->count + 1) |
Sissors | 0:ff579e7e8efa | 85 | I2CMODULE->I2CONCLR = 1<<I2C_ASSERT_ACK; |
Sissors | 0:ff579e7e8efa | 86 | else |
Sissors | 0:ff579e7e8efa | 87 | I2CMODULE->I2CONSET = 1<<I2C_ASSERT_ACK; |
Sissors | 0:ff579e7e8efa | 88 | I2CMODULE->I2CONCLR = 1<<I2C_FLAG; |
Sissors | 0:ff579e7e8efa | 89 | break; |
Sissors | 0:ff579e7e8efa | 90 | |
Sissors | 0:ff579e7e8efa | 91 | //Address + R has been sent, NACK received |
Sissors | 0:ff579e7e8efa | 92 | case(0x48): |
Sissors | 0:ff579e7e8efa | 93 | *Data->status=I2CMODULE->I2STAT; |
Sissors | 0:ff579e7e8efa | 94 | _stop(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 95 | bufferHandler(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 96 | break; |
Sissors | 0:ff579e7e8efa | 97 | |
Sissors | 0:ff579e7e8efa | 98 | //Data was received, ACK returned |
Sissors | 0:ff579e7e8efa | 99 | case(0x50): |
Sissors | 0:ff579e7e8efa | 100 | //Read data |
Sissors | 0:ff579e7e8efa | 101 | Data->data[Buffer->count]=I2CMODULE->I2DAT; |
Sissors | 0:ff579e7e8efa | 102 | Buffer->count++; |
Sissors | 0:ff579e7e8efa | 103 | |
Sissors | 0:ff579e7e8efa | 104 | //If next byte is last one, NACK, otherwise ACK |
Sissors | 0:ff579e7e8efa | 105 | if (Data->length == Buffer->count + 1) |
Sissors | 0:ff579e7e8efa | 106 | I2CMODULE->I2CONCLR = 1<<I2C_ASSERT_ACK; |
Sissors | 0:ff579e7e8efa | 107 | else |
Sissors | 0:ff579e7e8efa | 108 | I2CMODULE->I2CONSET = 1<<I2C_ASSERT_ACK; |
Sissors | 0:ff579e7e8efa | 109 | |
Sissors | 0:ff579e7e8efa | 110 | I2CMODULE->I2CONCLR = 1<<I2C_FLAG; |
Sissors | 0:ff579e7e8efa | 111 | break; |
Sissors | 0:ff579e7e8efa | 112 | |
Sissors | 0:ff579e7e8efa | 113 | //Data was received, NACK returned (last byte) |
Sissors | 0:ff579e7e8efa | 114 | case(0x58): |
Sissors | 0:ff579e7e8efa | 115 | //Read data |
Sissors | 0:ff579e7e8efa | 116 | *Data->status=I2CMODULE->I2STAT; |
Sissors | 0:ff579e7e8efa | 117 | Data->data[Buffer->count]=I2CMODULE->I2DAT; |
Sissors | 0:ff579e7e8efa | 118 | if (!Data->repeated) |
Sissors | 0:ff579e7e8efa | 119 | _stop(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 120 | else { |
Sissors | 0:ff579e7e8efa | 121 | I2CMODULE->I2CONSET = 1<<I2C_START; |
Sissors | 0:ff579e7e8efa | 122 | I2CMODULE->I2CONCLR = 1<<I2C_FLAG; |
Sissors | 0:ff579e7e8efa | 123 | } |
Sissors | 0:ff579e7e8efa | 124 | bufferHandler(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 125 | break; |
Sissors | 0:ff579e7e8efa | 126 | |
Sissors | 0:ff579e7e8efa | 127 | default: |
Sissors | 0:ff579e7e8efa | 128 | *Data->status=I2CMODULE->I2STAT; |
Sissors | 0:ff579e7e8efa | 129 | bufferHandler(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 130 | break; |
Sissors | 0:ff579e7e8efa | 131 | } |
Sissors | 0:ff579e7e8efa | 132 | } |
Sissors | 0:ff579e7e8efa | 133 | |
Sissors | 0:ff579e7e8efa | 134 | |
Sissors | 0:ff579e7e8efa | 135 | //********************************************************** |
Sissors | 0:ff579e7e8efa | 136 | //*********************COMMAND BUFFER*********************** |
Sissors | 0:ff579e7e8efa | 137 | //********************************************************** |
Sissors | 0:ff579e7e8efa | 138 | |
Sissors | 0:ff579e7e8efa | 139 | void MODI2C::bufferHandler(LPC_I2C_TypeDef *I2CMODULE) { |
Sissors | 0:ff579e7e8efa | 140 | I2CBuffer *Buffer; |
Sissors | 0:ff579e7e8efa | 141 | if (I2CMODULE == LPC_I2C1) { |
Sissors | 0:ff579e7e8efa | 142 | Buffer = &Buffer1; |
Sissors | 0:ff579e7e8efa | 143 | } else { |
Sissors | 0:ff579e7e8efa | 144 | Buffer = &Buffer2; |
Sissors | 0:ff579e7e8efa | 145 | } |
Sissors | 0:ff579e7e8efa | 146 | |
tyftyftyf | 5:fa0cca8e28b6 | 147 | // Start user interrupt |
tyftyftyf | 1:eed116eb680a | 148 | Buffer->curr->caller->runUserIRQ((I2CData*)Buffer->curr); |
tyftyftyf | 5:fa0cca8e28b6 | 149 | // Free allocated data |
tyftyftyf | 1:eed116eb680a | 150 | Buffer->pool.free((I2CData*)Buffer->curr); |
tyftyftyf | 1:eed116eb680a | 151 | |
tyftyftyf | 5:fa0cca8e28b6 | 152 | // Don't attempt to call startBuffer if another |
tyftyftyf | 5:fa0cca8e28b6 | 153 | // thread is about to call it |
tyftyftyf | 1:eed116eb680a | 154 | if (Buffer->crit_flag) return; |
tyftyftyf | 5:fa0cca8e28b6 | 155 | |
tyftyftyf | 5:fa0cca8e28b6 | 156 | // See if there is any other data to be written |
tyftyftyf | 1:eed116eb680a | 157 | osEvent evt = Buffer->queue.get(0); |
tyftyftyf | 1:eed116eb680a | 158 | if (evt.status == osEventMessage){ |
tyftyftyf | 1:eed116eb680a | 159 | Buffer->curr = (I2CData*)evt.value.p; |
Sissors | 0:ff579e7e8efa | 160 | startBuffer(I2CMODULE); |
tyftyftyf | 1:eed116eb680a | 161 | } |
tyftyftyf | 1:eed116eb680a | 162 | else{ |
tyftyftyf | 5:fa0cca8e28b6 | 163 | // Set curr to NULL to indicate no data being written now |
tyftyftyf | 1:eed116eb680a | 164 | Buffer->curr = NULL; |
Sissors | 0:ff579e7e8efa | 165 | _clearISR(I2CMODULE); |
tyftyftyf | 1:eed116eb680a | 166 | } |
Sissors | 0:ff579e7e8efa | 167 | } |
Sissors | 0:ff579e7e8efa | 168 | |
tyftyftyf | 5:fa0cca8e28b6 | 169 | // Returns true if succeeded, false if buffer is full |
tyftyftyf | 1:eed116eb680a | 170 | bool MODI2C::addBuffer(I2CData *Data, LPC_I2C_TypeDef *I2CMODULE) { |
tyftyftyf | 5:fa0cca8e28b6 | 171 | // check if we are in an interrupt now |
tyftyftyf | 5:fa0cca8e28b6 | 172 | // __get_IPSR returns 0 when in Thread Mode, |
tyftyftyf | 5:fa0cca8e28b6 | 173 | // return value > 15 when in interrupt |
tyftyftyf | 1:eed116eb680a | 174 | int interrupt = __get_IPSR(); |
tyftyftyf | 1:eed116eb680a | 175 | |
Sissors | 0:ff579e7e8efa | 176 | I2CBuffer *Buffer; |
Sissors | 0:ff579e7e8efa | 177 | if (I2CMODULE == LPC_I2C1) { |
Sissors | 0:ff579e7e8efa | 178 | Buffer = &Buffer1; |
Sissors | 0:ff579e7e8efa | 179 | } else { |
Sissors | 0:ff579e7e8efa | 180 | Buffer = &Buffer2; |
Sissors | 0:ff579e7e8efa | 181 | } |
tyftyftyf | 1:eed116eb680a | 182 | |
tyftyftyf | 5:fa0cca8e28b6 | 183 | // Hack to update status |
tyftyftyf | 1:eed116eb680a | 184 | if(Data->status == NULL) { |
tyftyftyf | 1:eed116eb680a | 185 | Data->status = &defaultStatus; |
tyftyftyf | 5:fa0cca8e28b6 | 186 | wait_us(1); // I blame the compiler that this is needed |
tyftyftyf | 1:eed116eb680a | 187 | } |
tyftyftyf | 1:eed116eb680a | 188 | *(Data->status) = 0; |
tyftyftyf | 1:eed116eb680a | 189 | |
tyftyftyf | 5:fa0cca8e28b6 | 190 | // Attempt to enqueue data to be written |
tyftyftyf | 1:eed116eb680a | 191 | if (Buffer->queue.put(Data, 0)!=osOK){ |
tyftyftyf | 5:fa0cca8e28b6 | 192 | if (interrupt != 0) |
tyftyftyf | 5:fa0cca8e28b6 | 193 | return false; // no waiting in ISR, and buffer is full. |
tyftyftyf | 5:fa0cca8e28b6 | 194 | // no choice but to exit, return false for failure |
tyftyftyf | 1:eed116eb680a | 195 | else |
tyftyftyf | 5:fa0cca8e28b6 | 196 | // wait for buffer to be available (should rarely happen!!) |
tyftyftyf | 5:fa0cca8e28b6 | 197 | // an interrupt will free Buffer when other write finishes |
tyftyftyf | 1:eed116eb680a | 198 | while (Buffer->queue.put(Data, 0)!=osOK); |
tyftyftyf | 1:eed116eb680a | 199 | } |
tyftyftyf | 1:eed116eb680a | 200 | |
tyftyftyf | 5:fa0cca8e28b6 | 201 | // Check for critical section in if in interrupt |
tyftyftyf | 5:fa0cca8e28b6 | 202 | if (interrupt != 0){ |
tyftyftyf | 1:eed116eb680a | 203 | if (Buffer->crit_flag_isr) return true; |
tyftyftyf | 5:fa0cca8e28b6 | 204 | } else Buffer->crit_flag_isr = true; |
tyftyftyf | 1:eed116eb680a | 205 | |
tyftyftyf | 5:fa0cca8e28b6 | 206 | // If no active writing |
tyftyftyf | 1:eed116eb680a | 207 | if (Buffer->curr == NULL){ |
tyftyftyf | 5:fa0cca8e28b6 | 208 | // If we are not in an interrupt, we want to prevent |
tyftyftyf | 5:fa0cca8e28b6 | 209 | // bufferHandler interrupt code from messing with Buffer. |
tyftyftyf | 5:fa0cca8e28b6 | 210 | if (interrupt == 0) Buffer->crit_flag = true; |
tyftyftyf | 5:fa0cca8e28b6 | 211 | |
tyftyftyf | 5:fa0cca8e28b6 | 212 | // Get new data to be written |
tyftyftyf | 1:eed116eb680a | 213 | osEvent evt = Buffer->queue.get(0); |
tyftyftyf | 1:eed116eb680a | 214 | if (evt.status == osEventMessage){ |
tyftyftyf | 1:eed116eb680a | 215 | Buffer->curr = (volatile I2CData*)(evt.value.p); |
tyftyftyf | 5:fa0cca8e28b6 | 216 | if (interrupt == 0) Buffer->crit_flag_isr = false; |
tyftyftyf | 5:fa0cca8e28b6 | 217 | if (interrupt == 0) Buffer->crit_flag = false; |
tyftyftyf | 5:fa0cca8e28b6 | 218 | startBuffer(I2CMODULE); // start transfer |
tyftyftyf | 5:fa0cca8e28b6 | 219 | } else { // No data |
tyftyftyf | 5:fa0cca8e28b6 | 220 | // "Leave" critical section |
tyftyftyf | 5:fa0cca8e28b6 | 221 | if (interrupt == 0) Buffer->crit_flag_isr = false; |
tyftyftyf | 5:fa0cca8e28b6 | 222 | if (interrupt == 0) Buffer->crit_flag = false; |
Sissors | 0:ff579e7e8efa | 223 | } |
tyftyftyf | 5:fa0cca8e28b6 | 224 | } else { |
tyftyftyf | 5:fa0cca8e28b6 | 225 | if (interrupt == 0) Buffer->crit_flag_isr = false; |
Sissors | 0:ff579e7e8efa | 226 | } |
tyftyftyf | 1:eed116eb680a | 227 | |
tyftyftyf | 1:eed116eb680a | 228 | |
tyftyftyf | 1:eed116eb680a | 229 | return true; |
Sissors | 0:ff579e7e8efa | 230 | } |
Sissors | 0:ff579e7e8efa | 231 | |
Sissors | 0:ff579e7e8efa | 232 | //Starts new conversion |
Sissors | 0:ff579e7e8efa | 233 | void MODI2C::startBuffer(LPC_I2C_TypeDef *I2CMODULE) { |
Sissors | 0:ff579e7e8efa | 234 | I2CBuffer *Buffer; |
Sissors | 0:ff579e7e8efa | 235 | if (I2CMODULE == LPC_I2C1) { |
Sissors | 0:ff579e7e8efa | 236 | Buffer = &Buffer1; |
Sissors | 0:ff579e7e8efa | 237 | } else { |
Sissors | 0:ff579e7e8efa | 238 | Buffer = &Buffer2; |
Sissors | 0:ff579e7e8efa | 239 | } |
Sissors | 0:ff579e7e8efa | 240 | |
Sissors | 0:ff579e7e8efa | 241 | //Write settings |
tyftyftyf | 1:eed116eb680a | 242 | Buffer->curr->caller->writeSettings(); |
Sissors | 0:ff579e7e8efa | 243 | Buffer->count=0; |
Sissors | 0:ff579e7e8efa | 244 | |
Sissors | 0:ff579e7e8efa | 245 | //Send Start |
Sissors | 0:ff579e7e8efa | 246 | _start(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 247 | |
Sissors | 0:ff579e7e8efa | 248 | //Start ISR (when buffer wasnt empty this wont do anything) |
Sissors | 0:ff579e7e8efa | 249 | _setISR(I2CMODULE); |
Sissors | 0:ff579e7e8efa | 250 | |
Sissors | 0:ff579e7e8efa | 251 | } |