Checkpoint I2C slave work on IO

8 files changed, 346 insertions, 2 deletions

diff --git a/apps/px4io/i2c.c b/apps/px4io/i2c.c
new file mode 100644
index 000000000..3b92fe3ef
--- /dev/null
+++ b/apps/px4io/i2c.c
@@ -0,0 +1,159 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file i2c.c
+ *
+ * I2C communication for the PX4IO module.
+ */
+
+#include <stdint.h>
+
+#include <nuttx/arch.h>
+#include <arch/board/board.h>
+#include <stm32_i2c.h>
+
+#define DEBUG
+#include "px4io.h"
+
+/*
+ * I2C register definitions.
+ */
+#define I2C_BASE	STM32_I2C1_BASE
+
+#define REG(_reg)	(*(volatile uint32_t *)(I2C_BASE + _reg))
+
+#define rCR1		REG(STM32_I2C_CR1_OFFSET)
+#define rCR2		REG(STM32_I2C_CR2_OFFSET)
+#define rOAR1		REG(STM32_I2C_OAR1_OFFSET)
+#define rOAR2		REG(STM32_I2C_OAR2_OFFSET)
+#define rDR		REG(STM32_I2C_DR_OFFSET)
+#define rSR1		REG(STM32_I2C_SR1_OFFSET)
+#define rSR2		REG(STM32_I2C_SR2_OFFSET)
+#define rCCR		REG(STM32_I2C_CCR_OFFSET)
+#define rTRISE		REG(STM32_I2C_TRISE_OFFSET)
+
+static int	i2c_interrupt(int irq, void *context);
+static void	i2c_dump(void);
+
+void
+i2c_init(void)
+{
+	// enable the i2c block clock and reset it
+	modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C1EN);
+	modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST);
+	modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0);
+
+	// configure the i2c GPIOs
+	stm32_configgpio(GPIO_I2C1_SCL);
+	stm32_configgpio(GPIO_I2C1_SDA);
+
+	// soft-reset the block
+	rCR1 |= I2C_CR1_SWRST;
+	rCR1 = 0;
+
+	// set the frequency value in CR2
+	rCR2 &= ~I2C_CR2_FREQ_MASK;
+	rCR2 |= STM32_PCLK1_FREQUENCY / 1000000;
+
+	// set divisor and risetime for fast mode
+	uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25);
+	if (result < 1)
+		result = 1;
+	result = 3;
+	rCCR &= ~I2C_CCR_CCR_MASK;
+	rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result;
+	rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1);
+
+	// set our device address
+	rOAR1 = 0x1a << 1;
+
+	// enable event interrupts
+	irq_attach(STM32_IRQ_I2C1EV, i2c_interrupt);
+	up_enable_irq(STM32_IRQ_I2C1EV);
+	rCR2 |= I2C_CR2_ITEVFEN;
+
+	// and enable the I2C port
+	rCR1 |= I2C_CR1_ACK | I2C_CR1_PE;
+
+	i2c_dump();
+}
+
+static int
+i2c_interrupt(int irq, FAR void *context)
+{
+	uint16_t sr1 = rSR1;
+
+	// XXX not sure what else we need to do here...
+	if (sr1 & I2C_SR1_ERRORMASK) {
+		debug("errors 0x%04x", sr1 & I2C_SR1_ERRORMASK);
+		i2c_dump();
+		rSR1 = 0;
+	}
+
+	if (sr1 & I2C_SR1_ADDR) {
+
+		/* XXX we have been addressed, set up to receive */
+
+		/* clear ADDR */
+		(void)rSR2;
+
+		debug("addr");
+	}
+
+	if (sr1 & I2C_SR1_RXNE) {
+
+		debug("data 0x%02x", rDR);
+	}
+
+	if (sr1 & I2C_SR1_STOPF) {
+		/* write to CR1 to clear STOPF */
+		rCR1 |= I2C_CR1_PE;
+
+		debug("stop");
+
+		/* XXX handle txn */
+	}
+
+	return 0;
+}
+
+static void
+i2c_dump(void)
+{
+	debug("CR1   0x%08x  CR2   0x%08x", rCR1,  rCR2);
+	debug("OAR1  0x%08x  OAR2  0x%08x", rOAR1, rOAR2);
+	debug("CCR   0x%08x  TRISE 0x%08x", rCCR,  rTRISE);
+	debug("SR1   0x%08x  SR2   0x%08x", rSR1,  rSR2);
+}
+
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c
index bea9d59bc..4e3555b13 100644
--- a/apps/px4io/px4io.c
+++ b/apps/px4io/px4io.c
@@ -100,6 +100,9 @@ int user_start(int argc, char *argv[])
 	struct mallinfo minfo = mallinfo();
 	lib_lowprintf("free %u largest %u\n", minfo.mxordblk, minfo.fordblks);
 
+	/* start the i2c test code */
+	i2c_init();
+
 	/* we're done here, go run the communications loop */
 	comms_main();
 }
\ No newline at end of file
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index e388f65e3..afbaa78dc 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -222,6 +222,7 @@ extern void	safety_init(void);
  * FMU communications
  */
 extern void	comms_main(void) __attribute__((noreturn));
+extern void	i2c_init(void);
 
 /*
  * Sensors/misc inputs
diff --git a/apps/systemcmds/i2c/Makefile b/apps/systemcmds/i2c/Makefile
new file mode 100644
index 000000000..046e74757
--- /dev/null
+++ b/apps/systemcmds/i2c/Makefile
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Build the i2c test tool.
+#
+
+APPNAME		 = i2c
+PRIORITY	 = SCHED_PRIORITY_DEFAULT
+STACKSIZE	 = 4096
+
+include $(APPDIR)/mk/app.mk
diff --git a/apps/systemcmds/i2c/i2c.c b/apps/systemcmds/i2c/i2c.c
new file mode 100644
index 000000000..1124e560d
--- /dev/null
+++ b/apps/systemcmds/i2c/i2c.c
@@ -0,0 +1,139 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file i2c.c
+ *
+ * i2c hacking tool
+ */
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/mount.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+
+#include <nuttx/i2c.h>
+
+#include <arch/board/board.h>
+
+#include "systemlib/systemlib.h"
+#include "systemlib/err.h"
+
+#ifndef PX4_I2C_BUS_ONBOARD
+#  error PX4_I2C_BUS_ONBOARD not defined, no device interface
+#endif
+#ifndef PX4_I2C_OBDEV_PX4IO
+#  error PX4_I2C_OBDEV_PX4IO not defined
+#endif
+
+__EXPORT int i2c_main(int argc, char *argv[]);
+
+static int transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len);
+
+static struct i2c_dev_s *i2c;
+
+int i2c_main(int argc, char *argv[])
+{
+	/* find the right I2C */
+	i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
+
+	if (i2c == NULL)
+		errx(1, "failed to locate I2C bus");
+
+	usleep(100000);
+
+	uint32_t val = 0x12345678;
+	int ret = transfer(PX4_I2C_OBDEV_PX4IO, (uint8_t *)&val, sizeof(val), NULL, 0);
+
+	if (ret)
+		errx(1, "transfer failed");
+	exit(0);
+}
+
+static int
+transfer(uint8_t address, uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len)
+{
+	struct i2c_msg_s msgv[2];
+	unsigned msgs;
+	int ret;
+	unsigned tries = 0;
+
+	do {
+		//	debug("transfer out %p/%u  in %p/%u", send, send_len, recv, recv_len);
+
+		msgs = 0;
+
+		if (send_len > 0) {
+			msgv[msgs].addr = address;
+			msgv[msgs].flags = 0;
+			msgv[msgs].buffer = send;
+			msgv[msgs].length = send_len;
+			msgs++;
+		}
+
+		if (recv_len > 0) {
+			msgv[msgs].addr = address;
+			msgv[msgs].flags = I2C_M_READ;
+			msgv[msgs].buffer = recv;
+			msgv[msgs].length = recv_len;
+			msgs++;
+		}
+
+		if (msgs == 0)
+			return -1;
+
+		/*
+		 * I2C architecture means there is an unavoidable race here
+		 * if there are any devices on the bus with a different frequency
+		 * preference.  Really, this is pointless.
+		 */
+		I2C_SETFREQUENCY(i2c, 320000);
+		ret = I2C_TRANSFER(i2c, &msgv[0], msgs);
+
+		if (ret == OK)
+			break;
+
+		// reset the I2C bus to unwedge on error
+		up_i2creset(i2c);
+	} while (tries++ < 5);
+
+	return ret;
+}
diff --git a/nuttx/configs/px4fmu/include/board.h b/nuttx/configs/px4fmu/include/board.h
index 3f0f26ba1..8ad56a4c6 100755
--- a/nuttx/configs/px4fmu/include/board.h
+++ b/nuttx/configs/px4fmu/include/board.h
@@ -299,7 +299,7 @@
 #define PX4_I2C_OBDEV_EEPROM	NOTDEFINED
 
 #define PX4_I2C_OBDEV_PX4IO_BL	0x18
-#define PX4_I2C_OBDEV_PX4IO	0x19
+#define PX4_I2C_OBDEV_PX4IO	0x1a
 
 /*
  * SPI
diff --git a/nuttx/configs/px4fmu/nsh/appconfig b/nuttx/configs/px4fmu/nsh/appconfig
index fcdf689aa..5a85a8877 100644
--- a/nuttx/configs/px4fmu/nsh/appconfig
+++ b/nuttx/configs/px4fmu/nsh/appconfig
@@ -95,7 +95,7 @@ CONFIGURED_APPS += attitude_estimator_ekf
 
 # Hacking tools
 #CONFIGURED_APPS += system/i2c
-#CONFIGURED_APPS += tools/i2c_dev
+CONFIGURED_APPS += systemcmds/i2c
 
 # Communication and Drivers
 CONFIGURED_APPS += drivers/boards/px4fmu
diff --git a/nuttx/fs/stGrJvFk b/nuttx/fs/stGrJvFk
new file mode 100644
index 000000000..640665f6c
--- /dev/null
+++ b/nuttx/fs/stGrJvFk