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| author | Andrew Tridgell <tridge@samba.org> | 2013-01-27 11:06:13 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-14 23:06:52 +0100 |
| commit | 6eb69b07a8fd44fff1bfcf77bf4622f4dd044eef (patch) | |
| tree | dae8be8b3b90dd58bc5f9d3f62981519a72709b7 /apps/px4io/i2c.c | |
| parent | bfecfbf5eef422e0ee069a17ff2482b352e29386 (diff) | |
| download | px4-firmware-6eb69b07a8fd44fff1bfcf77bf4622f4dd044eef.tar.gz px4-firmware-6eb69b07a8fd44fff1bfcf77bf4622f4dd044eef.tar.bz2 px4-firmware-6eb69b07a8fd44fff1bfcf77bf4622f4dd044eef.zip | |
Merged debug level commits from Tridge
Diffstat (limited to 'apps/px4io/i2c.c')
| -rw-r--r-- | apps/px4io/i2c.c | 41 |
1 files changed, 34 insertions, 7 deletions
diff --git a/apps/px4io/i2c.c b/apps/px4io/i2c.c index 235f8affa..4485daa5b 100644 --- a/apps/px4io/i2c.c +++ b/apps/px4io/i2c.c @@ -65,10 +65,6 @@ #define rTRISE REG(STM32_I2C_TRISE_OFFSET) static int i2c_interrupt(int irq, void *context); -#ifdef DEBUG -static void i2c_dump(void); -#endif - static void i2c_rx_setup(void); static void i2c_tx_setup(void); static void i2c_rx_complete(void); @@ -152,6 +148,39 @@ i2c_init(void) #endif } + +/* + reset the I2C bus + used to recover from lockups + */ +void i2c_reset(void) +{ + rCR1 |= I2C_CR1_SWRST; + rCR1 = 0; + + /* set for DMA operation */ + rCR2 |= I2C_CR2_ITEVFEN |I2C_CR2_ITERREN | I2C_CR2_DMAEN; + + /* 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; + + /* and enable the I2C port */ + rCR1 |= I2C_CR1_ACK | I2C_CR1_PE; +} + static int i2c_interrupt(int irq, FAR void *context) { @@ -301,8 +330,7 @@ i2c_tx_complete(void) i2c_tx_setup(); } -#ifdef DEBUG -static void +void i2c_dump(void) { debug("CR1 0x%08x CR2 0x%08x", rCR1, rCR2); @@ -310,4 +338,3 @@ i2c_dump(void) debug("CCR 0x%08x TRISE 0x%08x", rCCR, rTRISE); debug("SR1 0x%08x SR2 0x%08x", rSR1, rSR2); } -#endif
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