diff options
-rw-r--r-- | apps/systemcmds/eeprom/24xxxx_mtd.c | 27 | ||||
-rw-r--r-- | apps/systemcmds/eeprom/eeprom.c | 13 | ||||
-rw-r--r-- | nuttx/arch/arm/src/stm32/stm32_i2c.c | 385 | ||||
-rw-r--r-- | nuttx/configs/px4fmu/common/Make.defs | 4 | ||||
-rwxr-xr-x | nuttx/configs/px4fmu/nsh/defconfig | 46 | ||||
-rw-r--r-- | nuttx/configs/px4io/common/Make.defs | 4 |
6 files changed, 268 insertions, 211 deletions
diff --git a/apps/systemcmds/eeprom/24xxxx_mtd.c b/apps/systemcmds/eeprom/24xxxx_mtd.c index 781b01065..e34be44e3 100644 --- a/apps/systemcmds/eeprom/24xxxx_mtd.c +++ b/apps/systemcmds/eeprom/24xxxx_mtd.c @@ -163,6 +163,8 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks, FAR const uint8_t *buf); static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg); +void at24c_test(void); + /************************************************************************************ * Private Data ************************************************************************************/ @@ -219,6 +221,31 @@ static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nbloc } /************************************************************************************ + * Name: at24c_test + ************************************************************************************/ + +void at24c_test(void) +{ + uint8_t buf[CONFIG_AT24XX_MTD_BLOCKSIZE]; + unsigned count = 0; + unsigned errors = 0; + + for (count = 0; count < 10000; count++) { + ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf); + if (result == ERROR) { + if (errors++ > 2) { + vdbg("too many errors\n"); + return; + } + } else if (result != 1) { + vdbg("unexpected %u\n", result); + } + if ((count % 100) == 0) + vdbg("test %u errors %u\n", count, errors); + } +} + +/************************************************************************************ * Name: at24c_bread ************************************************************************************/ diff --git a/apps/systemcmds/eeprom/eeprom.c b/apps/systemcmds/eeprom/eeprom.c index b4257cda9..49da51358 100644 --- a/apps/systemcmds/eeprom/eeprom.c +++ b/apps/systemcmds/eeprom/eeprom.c @@ -73,6 +73,7 @@ static void eeprom_erase(void); static void eeprom_ioctl(unsigned operation); static void eeprom_save(const char *name); static void eeprom_load(const char *name); +static void eeprom_test(void); static bool attached = false; static bool started = false; @@ -93,6 +94,9 @@ int eeprom_main(int argc, char *argv[]) if (!strcmp(argv[1], "erase")) eeprom_erase(); + if (!strcmp(argv[1], "test")) + eeprom_test(); + if (0) { /* these actually require a file on the filesystem... */ if (!strcmp(argv[1], "reformat")) @@ -250,3 +254,12 @@ eeprom_load(const char *name) exit(0); } + +extern void at24c_test(void); + +static void +eeprom_test(void) +{ + at24c_test(); + exit(0); +} diff --git a/nuttx/arch/arm/src/stm32/stm32_i2c.c b/nuttx/arch/arm/src/stm32/stm32_i2c.c index 7f7cff4db..80f157504 100644 --- a/nuttx/arch/arm/src/stm32/stm32_i2c.c +++ b/nuttx/arch/arm/src/stm32/stm32_i2c.c @@ -107,23 +107,17 @@ #if !defined(CONFIG_STM32_I2CTIMEOSEC) && !defined(CONFIG_STM32_I2CTIMEOMS) # define CONFIG_STM32_I2CTIMEOSEC 0 -# define CONFIG_STM32_I2CTIMEOMS 500 /* Default is 500 milliseconds */ +# define CONFIG_STM32_I2CTIMEOMS 500 /* Default is 500 milliseconds */ #elif !defined(CONFIG_STM32_I2CTIMEOSEC) # define CONFIG_STM32_I2CTIMEOSEC 0 /* User provided milliseconds */ #elif !defined(CONFIG_STM32_I2CTIMEOMS) -# define CONFIG_STM32_I2CTIMEOMS 0 /* User provided seconds */ +# define CONFIG_STM32_I2CTIMEOMS 0 /* User provided seconds */ #endif /* Interrupt wait time timeout in system timer ticks */ -#ifndef CONFIG_STM32_I2CTIMEOTICKS -# define CONFIG_STM32_I2CTIMEOTICKS \ - (SEC2TICK(CONFIG_STM32_I2CTIMEOSEC) + MSEC2TICK(CONFIG_STM32_I2CTIMEOMS)) -#endif - -#ifndef CONFIG_STM32_I2C_DYNTIMEO_STARTSTOP -# define CONFIG_STM32_I2C_DYNTIMEO_STARTSTOP TICK2USEC(CONFIG_STM32_I2CTIMEOTICKS) -#endif +#define CONFIG_STM32_I2CTIMEOTICKS \ + (SEC2TICK(CONFIG_STM32_I2CTIMEOSEC) + MSEC2TICK(CONFIG_STM32_I2CTIMEOMS)) /* On the STM32F103ZE, there is an internal conflict between I2C1 and FSMC. In that * case, it is necessary to disable FSMC before each I2C1 access and re-enable FSMC @@ -135,18 +129,6 @@ # define I2C1_FSMC_CONFLICT #endif -/* Macros to convert a I2C pin to a GPIO output */ - -#if defined(CONFIG_STM32_STM32F10XX) -# define I2C_OUTPUT (GPIO_OUTPUT | GPIO_OUTPUT_SET | GPIO_CNF_OUTOD | \ - GPIO_MODE_50MHz) -#elif defined(CONFIG_STM32_STM32F20XX) || defined(CONFIG_STM32_STM32F40XX) -# define I2C_OUTPUT (GPIO_OUTPUT | GPIO_FLOAT | GPIO_OPENDRAIN |\ - GPIO_SPEED_50MHz | GPIO_OUTPUT_SET) -#endif - -#define MKI2C_OUTPUT(p) (((p) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | I2C_OUTPUT) - /* Debug ****************************************************************************/ /* CONFIG_DEBUG_I2C + CONFIG_DEBUG enables general I2C debug output. */ @@ -234,16 +216,18 @@ struct stm32_trace_s struct stm32_i2c_config_s { - uint32_t base; /* I2C base address */ - uint32_t clk_bit; /* Clock enable bit */ - uint32_t reset_bit; /* Reset bit */ - uint32_t scl_pin; /* GPIO configuration for SCL as SCL */ - uint32_t sda_pin; /* GPIO configuration for SDA as SDA */ + uint32_t base; /* I2C base address */ #ifndef CONFIG_I2C_POLLED - int (*isr)(int, void *); /* Interrupt handler */ - uint32_t ev_irq; /* Event IRQ */ - uint32_t er_irq; /* Error IRQ */ + int ( *isr)(int, void *); /* Interrupt handler */ #endif + uint32_t clk_bit; /* Clock enable bit */ + uint32_t reset_bit; /* Reset bit */ + uint32_t scl_pin; /* GPIO configuration for SCL as SCL */ + uint32_t scl_gpio; /* GPIO configuration for SCL as a GPIO */ + uint32_t sda_pin; /* GPIO configuration for SDA as SDA */ + uint32_t sda_gpio; /* GPIO configuration for SDA as a GPIO */ + uint32_t ev_irq; /* Event IRQ */ + uint32_t er_irq; /* Error IRQ */ }; /* I2C Device Private Data */ @@ -251,31 +235,31 @@ struct stm32_i2c_config_s struct stm32_i2c_priv_s { const struct stm32_i2c_config_s *config; /* Port configuration */ - int refs; /* Referernce count */ - sem_t sem_excl; /* Mutual exclusion semaphore */ + int refs; /* Referernce count */ + sem_t sem_excl; /* Mutual exclusion semaphore */ #ifndef CONFIG_I2C_POLLED - sem_t sem_isr; /* Interrupt wait semaphore */ + sem_t sem_isr; /* Interrupt wait semaphore */ #endif - volatile uint8_t intstate; /* Interrupt handshake (see enum stm32_intstate_e) */ + volatile uint8_t intstate; /* Interrupt handshake (see enum stm32_intstate_e) */ - uint8_t msgc; /* Message count */ - struct i2c_msg_s *msgv; /* Message list */ - uint8_t *ptr; /* Current message buffer */ - int dcnt; /* Current message length */ - uint16_t flags; /* Current message flags */ + uint8_t msgc; /* Message count */ + struct i2c_msg_s *msgv; /* Message list */ + uint8_t *ptr; /* Current message buffer */ + int dcnt; /* Current message length */ + uint16_t flags; /* Current message flags */ /* I2C trace support */ #ifdef CONFIG_I2C_TRACE - int tndx; /* Trace array index */ - uint32_t start_time; /* Time when the trace was started */ + int tndx; /* Trace array index */ + uint32_t start_time; /* Time when the trace was started */ /* The actual trace data */ struct stm32_trace_s trace[CONFIG_I2C_NTRACE]; #endif - uint32_t status; /* End of transfer SR2|SR1 status */ + uint32_t status; /* End of transfer SR2|SR1 status */ }; /* I2C Device, Instance */ @@ -302,11 +286,8 @@ static inline void stm32_i2c_modifyreg(FAR struct stm32_i2c_priv_s *priv, uint8_t offset, uint16_t clearbits, uint16_t setbits); static inline void stm32_i2c_sem_wait(FAR struct i2c_dev_s *dev); -#ifdef CONFIG_STM32_I2C_DYNTIMEO -static useconds_t stm32_i2c_tousecs(int msgc, FAR struct i2c_msg_s *msgs); -#endif /* CONFIG_STM32_I2C_DYNTIMEO */ -static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv); -static inline void stm32_i2c_sem_waitstop(FAR struct stm32_i2c_priv_s *priv); +static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv, int timeout_us); +static inline void stm32_i2c_sem_waitstop(FAR struct stm32_i2c_priv_s *priv, int timeout_us); static inline void stm32_i2c_sem_post(FAR struct i2c_dev_s *dev); static inline void stm32_i2c_sem_init(FAR struct i2c_dev_s *dev); static inline void stm32_i2c_sem_destroy(FAR struct i2c_dev_s *dev); @@ -316,7 +297,7 @@ static void stm32_i2c_tracenew(FAR struct stm32_i2c_priv_s *priv, uint32_t statu static void stm32_i2c_traceevent(FAR struct stm32_i2c_priv_s *priv, enum stm32_trace_e event, uint32_t parm); static void stm32_i2c_tracedump(FAR struct stm32_i2c_priv_s *priv); -#endif /* CONFIG_I2C_TRACE */ +#endif static void stm32_i2c_setclock(FAR struct stm32_i2c_priv_s *priv, uint32_t frequency); static inline void stm32_i2c_sendstart(FAR struct stm32_i2c_priv_s *priv); @@ -326,7 +307,7 @@ static inline uint32_t stm32_i2c_getstatus(FAR struct stm32_i2c_priv_s *priv); #ifdef I2C1_FSMC_CONFLICT static inline uint32_t stm32_i2c_disablefsmc(FAR struct stm32_i2c_priv_s *priv); static inline void stm32_i2c_enablefsmc(uint32_t ahbenr); -#endif /* I2C1_FSMC_CONFLICT */ +#endif static int stm32_i2c_isr(struct stm32_i2c_priv_s * priv); #ifndef CONFIG_I2C_POLLED #ifdef CONFIG_STM32_I2C1 @@ -364,18 +345,27 @@ static int stm32_i2c_transfer(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *m ************************************************************************************/ #ifdef CONFIG_STM32_I2C1 +# ifndef GPIO_I2C1_SCL_GPIO +# define GPIO_I2C1_SCL_GPIO 0 +# endif +# ifndef GPIO_I2C1_SDA_GPIO +# define GPIO_I2C1_SDA_GPIO 0 +# endif + static const struct stm32_i2c_config_s stm32_i2c1_config = { .base = STM32_I2C1_BASE, +#ifndef CONFIG_I2C_POLLED + .isr = stm32_i2c1_isr, +#endif .clk_bit = RCC_APB1ENR_I2C1EN, .reset_bit = RCC_APB1RSTR_I2C1RST, .scl_pin = GPIO_I2C1_SCL, + .scl_gpio = GPIO_I2C1_SCL_GPIO, .sda_pin = GPIO_I2C1_SDA, -#ifndef CONFIG_I2C_POLLED - .isr = stm32_i2c1_isr, + .sda_gpio = GPIO_I2C1_SDA_GPIO, .ev_irq = STM32_IRQ_I2C1EV, .er_irq = STM32_IRQ_I2C1ER -#endif }; struct stm32_i2c_priv_s stm32_i2c1_priv = @@ -393,18 +383,27 @@ struct stm32_i2c_priv_s stm32_i2c1_priv = #endif #ifdef CONFIG_STM32_I2C2 +# ifndef GPIO_I2C2_SCL_GPIO +# define GPIO_I2C2_SCL_GPIO 0 +# endif +# ifndef GPIO_I2C2_SDA_GPIO +# define GPIO_I2C2_SDA_GPIO 0 +# endif + static const struct stm32_i2c_config_s stm32_i2c2_config = { .base = STM32_I2C2_BASE, +#ifndef CONFIG_I2C_POLLED + .isr = stm32_i2c2_isr, +#endif .clk_bit = RCC_APB1ENR_I2C2EN, .reset_bit = RCC_APB1RSTR_I2C2RST, .scl_pin = GPIO_I2C2_SCL, + .scl_gpio = GPIO_I2C2_SCL_GPIO, .sda_pin = GPIO_I2C2_SDA, -#ifndef CONFIG_I2C_POLLED - .isr = stm32_i2c2_isr, + .sda_gpio = GPIO_I2C2_SDA_GPIO, .ev_irq = STM32_IRQ_I2C2EV, .er_irq = STM32_IRQ_I2C2ER -#endif }; struct stm32_i2c_priv_s stm32_i2c2_priv = @@ -422,18 +421,27 @@ struct stm32_i2c_priv_s stm32_i2c2_priv = #endif #ifdef CONFIG_STM32_I2C3 +# ifndef GPIO_I2C3_SCL_GPIO +# define GPIO_I2C3_SCL_GPIO 0 +# endif +# ifndef GPIO_I2C3_SDA_GPIO +# define GPIO_I2C3_SDA_GPIO 0 +# endif + static const struct stm32_i2c_config_s stm32_i2c3_config = { .base = STM32_I2C3_BASE, +#ifndef CONFIG_I2C_POLLED + .isr = stm32_i2c3_isr, +#endif .clk_bit = RCC_APB1ENR_I2C3EN, .reset_bit = RCC_APB1RSTR_I2C3RST, .scl_pin = GPIO_I2C3_SCL, + .scl_gpio = GPIO_I2C3_SCL_GPIO, .sda_pin = GPIO_I2C3_SDA, -#ifndef CONFIG_I2C_POLLED - .isr = stm32_i2c3_isr, + .sda_gpio = GPIO_I2C3_SDA_GPIO, .ev_irq = STM32_IRQ_I2C3EV, .er_irq = STM32_IRQ_I2C3ER -#endif }; struct stm32_i2c_priv_s stm32_i2c3_priv = @@ -534,35 +542,6 @@ static inline void stm32_i2c_sem_wait(FAR struct i2c_dev_s *dev) } /************************************************************************************ - * Name: stm32_i2c_tousecs - * - * Description: - * Return a micro-second delay based on the number of bytes left to be processed. - * - ************************************************************************************/ - -#ifdef CONFIG_STM32_I2C_DYNTIMEO -static useconds_t stm32_i2c_tousecs(int msgc, FAR struct i2c_msg_s *msgs) -{ - size_t bytecount = 0; - int i; - - /* Count the number of bytes left to process */ - - for (i = 0; i < msgc; i++) - { - bytecount += msgs[i].length; - } - - /* Then return a number of microseconds based on a user provided scaling - * factor. - */ - - return (useconds_t)(CONFIG_STM32_I2C_DYNTIMEO_USECPERBYTE * bytecount); -} -#endif - -/************************************************************************************ * Name: stm32_i2c_sem_waitdone * * Description: @@ -571,7 +550,7 @@ static useconds_t stm32_i2c_tousecs(int msgc, FAR struct i2c_msg_s *msgs) ************************************************************************************/ #ifndef CONFIG_I2C_POLLED -static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv) +static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv, int timeout_us) { struct timespec abstime; irqstate_t flags; @@ -603,24 +582,31 @@ static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv) #if CONFIG_STM32_I2CTIMEOSEC > 0 abstime.tv_sec += CONFIG_STM32_I2CTIMEOSEC; #endif +#if CONFIG_STM32_I2CTIMEOUS_PER_BYTE > 0 - /* Add a value proportional to the number of bytes in the transfer */ - -#ifdef CONFIG_STM32_I2C_DYNTIMEO - abstime.tv_nsec += 1000 * stm32_i2c_tousecs(priv->msgc, priv->msgv); - if (abstime.tv_nsec > 1000 * 1000 * 1000) + /* Count the number of bytes left to process */ + int i; + int bytecount = 0; + for (i = 0; i < priv->msgc; i++) { - abstime.tv_sec++; - abstime.tv_nsec -= 1000 * 1000 * 1000; + bytecount += priv->msgv[i].length; } -#elif CONFIG_STM32_I2CTIMEOMS > 0 - abstime.tv_nsec += CONFIG_STM32_I2CTIMEOMS * 1000 * 1000; + abstime.tv_nsec += (CONFIG_STM32_I2CTIMEOUS_PER_BYTE * bytecount) * 1000; if (abstime.tv_nsec > 1000 * 1000 * 1000) { abstime.tv_sec++; abstime.tv_nsec -= 1000 * 1000 * 1000; } +#else + #if CONFIG_STM32_I2CTIMEOMS > 0 + abstime.tv_nsec += CONFIG_STM32_I2CTIMEOMS * 1000 * 1000; + if (abstime.tv_nsec > 1000 * 1000 * 1000) + { + abstime.tv_sec++; + abstime.tv_nsec -= 1000 * 1000 * 1000; + } + #endif #endif /* Wait until either the transfer is complete or the timeout expires */ @@ -654,21 +640,12 @@ static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv) return ret; } #else -static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv) +static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv, int timeout_us) { - uint32_t timeout; uint32_t start; uint32_t elapsed; int ret; - /* Get the timeout value */ - -#ifdef CONFIG_STM32_I2C_DYNTIMEO - timeout = USEC2TICK(stm32_i2c_tousecs(priv->msgc, priv->msgv)); -#else - timeout = CONFIG_STM32_I2CTIMEOTICKS; -#endif - /* Signal the interrupt handler that we are waiting. NOTE: Interrupts * are currently disabled but will be temporarily re-enabled below when * sem_timedwait() sleeps. @@ -691,11 +668,10 @@ static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv) } /* Loop until the transfer is complete. */ - - while (priv->intstate != INTSTATE_DONE && elapsed < timeout); + while (priv->intstate != INTSTATE_DONE && elapsed < USEC2TICK(timeout_us)); i2cvdbg("intstate: %d elapsed: %d threshold: %d status: %08x\n", - priv->intstate, elapsed, timeout, priv->status); + priv->intstate, elapsed, USEC2TICK(timeout_us), priv->status); /* Set the interrupt state back to IDLE */ @@ -713,22 +689,13 @@ static inline int stm32_i2c_sem_waitdone(FAR struct stm32_i2c_priv_s *priv) * ************************************************************************************/ -static inline void stm32_i2c_sem_waitstop(FAR struct stm32_i2c_priv_s *priv) +static inline void stm32_i2c_sem_waitstop(FAR struct stm32_i2c_priv_s *priv, int timeout_us) { uint32_t start; uint32_t elapsed; - uint32_t timeout; uint32_t cr1; uint32_t sr1; - /* Select a timeout */ - -#ifdef CONFIG_STM32_I2C_DYNTIMEO - timeout = USEC2TICK(CONFIG_STM32_I2C_DYNTIMEO_STARTSTOP); -#else - timeout = CONFIG_STM32_I2CTIMEOTICKS; -#endif - /* Wait as stop might still be in progress; but stop might also * be set because of a timeout error: "The [STOP] bit is set and * cleared by software, cleared by hardware when a Stop condition is @@ -761,7 +728,7 @@ static inline void stm32_i2c_sem_waitstop(FAR struct stm32_i2c_priv_s *priv) /* Loop until the stop is complete or a timeout occurs. */ - while (elapsed < timeout); + while (elapsed < USEC2TICK(timeout_us)); /* If we get here then a timeout occurred with the STOP condition * still pending. @@ -982,7 +949,7 @@ static void stm32_i2c_setclock(FAR struct stm32_i2c_priv_s *priv, uint32_t frequ { /* Fast mode speed calculation with Tlow/Thigh = 16/9 */ -#ifdef CONFIG_STM32_I2C_DUTY16_9 +#ifdef CONFIG_I2C_DUTY16_9 speed = (uint16_t)(STM32_PCLK1_FREQUENCY / (frequency * 25)); /* Set DUTY and fast speed bits */ @@ -1121,7 +1088,7 @@ static inline uint32_t stm32_i2c_disablefsmc(FAR struct stm32_i2c_priv_s *priv) /* Is this I2C1 */ -#if defined(CONFIG_STM32_I2C2) || defined(CONFIG_STM32_I2C3) +#ifdef CONFIG_STM32_I2C2 if (priv->config->base == STM32_I2C1_BASE) #endif { @@ -1248,14 +1215,10 @@ static int stm32_i2c_isr(struct stm32_i2c_priv_s *priv) { stm32_i2c_traceevent(priv, I2CEVENT_RCVBYTE, priv->dcnt); - /* No interrupts or context switches may occur in the following - * sequence. Otherwise, additional bytes may be sent by the - * device. - */ - #ifdef CONFIG_I2C_POLLED irqstate_t state = irqsave(); #endif + /* Receive a byte */ *priv->ptr++ = stm32_i2c_getreg(priv, STM32_I2C_DR_OFFSET); @@ -1271,6 +1234,7 @@ static int stm32_i2c_isr(struct stm32_i2c_priv_s *priv) #ifdef CONFIG_I2C_POLLED irqrestore(state); #endif + } } @@ -1461,6 +1425,7 @@ static int stm32_i2c_init(FAR struct stm32_i2c_priv_s *priv) /* Enable power and reset the peripheral */ modifyreg32(STM32_RCC_APB1ENR, 0, priv->config->clk_bit); + modifyreg32(STM32_RCC_APB1RSTR, 0, priv->config->reset_bit); modifyreg32(STM32_RCC_APB1RSTR, priv->config->reset_bit, 0); @@ -1480,10 +1445,10 @@ static int stm32_i2c_init(FAR struct stm32_i2c_priv_s *priv) /* Attach ISRs */ #ifndef CONFIG_I2C_POLLED - irq_attach(priv->config->ev_irq, priv->config->isr); - irq_attach(priv->config->er_irq, priv->config->isr); - up_enable_irq(priv->config->ev_irq); - up_enable_irq(priv->config->er_irq); + irq_attach(priv->config->ev_irq, priv->config->isr); + irq_attach(priv->config->er_irq, priv->config->isr); + up_enable_irq(priv->config->ev_irq); + up_enable_irq(priv->config->er_irq); #endif /* Set peripheral frequency, where it must be at least 2 MHz for 100 kHz @@ -1513,23 +1478,17 @@ static int stm32_i2c_deinit(FAR struct stm32_i2c_priv_s *priv) stm32_i2c_putreg(priv, STM32_I2C_CR1_OFFSET, 0); - /* Unconfigure GPIO pins */ - stm32_unconfiggpio(priv->config->scl_pin); stm32_unconfiggpio(priv->config->sda_pin); - /* Disable and detach interrupts */ - #ifndef CONFIG_I2C_POLLED up_disable_irq(priv->config->ev_irq); up_disable_irq(priv->config->er_irq); irq_detach(priv->config->ev_irq); irq_detach(priv->config->er_irq); #endif - - /* Disable clocking */ - modifyreg32(STM32_RCC_APB1ENR, priv->config->clk_bit, 0); + return OK; } @@ -1591,14 +1550,14 @@ static int stm32_i2c_process(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *ms struct stm32_i2c_inst_s *inst = (struct stm32_i2c_inst_s *)dev; FAR struct stm32_i2c_priv_s *priv = inst->priv; uint32_t status = 0; - uint32_t ahbenr; + //uint32_t ahbenr; int errval = 0; ASSERT(count); /* Disable FSMC that shares a pin with I2C1 (LBAR) */ - ahbenr = stm32_i2c_disablefsmc(priv); + (void)stm32_i2c_disablefsmc(priv); /* Wait for any STOP in progress. NOTE: If we have to disable the FSMC * then we cannot do this at the top of the loop, unfortunately. The STOP @@ -1606,7 +1565,11 @@ static int stm32_i2c_process(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *ms */ #ifndef I2C1_FSMC_CONFLICT - stm32_i2c_sem_waitstop(priv); + #if CONFIG_STM32_I2CTIMEOUS_START_STOP > 0 + stm32_i2c_sem_waitstop(priv, CONFIG_STM32_I2CTIMEOUS_START_STOP); + #else + stm32_i2c_sem_waitstop(priv, CONFIG_STM32_I2CTIMEOMS + CONFIG_STM32_I2CTIMEOSEC * 1000000); + #endif #endif /* Clear any pending error interrupts */ @@ -1627,6 +1590,22 @@ static int stm32_i2c_process(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *ms priv->msgv = msgs; priv->msgc = count; + /* Calculate timeout values */ + int timeout_us = 0; + #if CONFIG_STM32_I2CTIMEOUS_PER_BYTE > 0 + /* Count the number of bytes left to process */ + int i; + int bytecount = 10; + for (i = 0; i < count; i++) + { + bytecount += msgs[i].length; + } + timeout_us = CONFIG_STM32_I2CTIMEOUS_PER_BYTE * bytecount; + //i2cvdbg("i2c wait: %d\n", timeout_us); + #else + timeout_us = CONFIG_STM32_I2CTIMEOMS + CONFIG_STM32_I2CTIMEOSEC * 1000000; + #endif + /* Reset I2C trace logic */ stm32_i2c_tracereset(priv); @@ -1646,7 +1625,7 @@ static int stm32_i2c_process(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *ms * the BUSY flag. */ - if (stm32_i2c_sem_waitdone(priv) < 0) + if (stm32_i2c_sem_waitdone(priv, timeout_us) < 0) { status = stm32_i2c_getstatus(priv); errval = ETIMEDOUT; @@ -1661,9 +1640,7 @@ static int stm32_i2c_process(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *ms */ stm32_i2c_clrstart(priv); - - /* Clear busy flag in case of timeout */ - + // XXX also clear busy flag in case of timeout status = priv->status & 0xffff; } else @@ -1993,14 +1970,11 @@ int up_i2cuninitialize(FAR struct i2c_dev_s * dev) * ************************************************************************************/ -#ifdef CONFIG_I2C_RESET int up_i2creset(FAR struct i2c_dev_s * dev) { struct stm32_i2c_priv_s * priv; - unsigned int clock_count; - unsigned int stretch_count; - uint32_t scl_gpio; - uint32_t sda_gpio; + unsigned clock_count; + unsigned stretch_count; int ret = ERROR; irqstate_t state; @@ -2022,69 +1996,82 @@ int up_i2creset(FAR struct i2c_dev_s * dev) stm32_i2c_deinit(priv); - /* Use GPIO configuration to un-wedge the bus */ + /* If possible, use GPIO configuration to un-wedge the bus */ - scl_gpio = MKI2C_OUTPUT(priv->config->scl_pin); - sda_gpio = MKI2C_OUTPUT(priv->config->sda_pin); - - /* Clock the bus until any slaves currently driving it let it go. */ - - clock_count = 0; - while (!stm32_gpioread(sda_gpio)) + if ((priv->config->scl_gpio != 0) && (priv->config->sda_gpio != 0)) { - /* Give up if we have tried too hard */ + stm32_configgpio(priv->config->scl_gpio); + stm32_configgpio(priv->config->sda_gpio); - if (clock_count++ > 1000) - { - goto out; - } - - /* Sniff to make sure that clock stretching has finished. - * - * If the bus never relaxes, the reset has failed. + /* + * Clock the bus until any slaves currently driving it let it go. */ - stretch_count = 0; - while (!stm32_gpioread(scl_gpio)) - { + clock_count = 0; + while (!stm32_gpioread(priv->config->sda_gpio)) + { + /* Give up if we have tried too hard */ - if (stretch_count++ > 1000) + if (clock_count++ > 1000) { goto out; } - up_udelay(10); - } + /* + * Sniff to make sure that clock stretching has finished. + * + * If the bus never relaxes, the reset has failed. + */ + + stretch_count = 0; + while (!stm32_gpioread(priv->config->scl_gpio)) + { - /* Drive SCL low */ + /* Give up if we have tried too hard */ - stm32_gpiowrite(scl_gpio, 0); - up_udelay(10); + if (stretch_count++ > 1000) + { + goto out; + } - /* Drive SCL high again */ + up_udelay(10); - stm32_gpiowrite(scl_gpio, 1); - up_udelay(10); - } + } - /* Generate a start followed by a stop to reset slave - * state machines. - */ + /* Drive SCL low */ + + stm32_gpiowrite(priv->config->scl_gpio, 0); + up_udelay(10); - stm32_gpiowrite(sda_gpio, 0); - up_udelay(10); - stm32_gpiowrite(scl_gpio, 0); - up_udelay(10); - stm32_gpiowrite(scl_gpio, 1); - up_udelay(10); - stm32_gpiowrite(sda_gpio, 1); - up_udelay(10); + /* Drive SCL high again */ - /* Revert the GPIO configuration. */ - - stm32_unconfiggpio(sda_gpio); - stm32_unconfiggpio(scl_gpio); + stm32_gpiowrite(priv->config->scl_gpio, 1); + up_udelay(10); + + } + + /* + * Generate a start followed by a stop to reset slave + * state machines. + */ + + stm32_gpiowrite(priv->config->sda_gpio, 0); + up_udelay(10); + stm32_gpiowrite(priv->config->scl_gpio, 0); + up_udelay(10); + stm32_gpiowrite(priv->config->scl_gpio, 1); + up_udelay(10); + stm32_gpiowrite(priv->config->sda_gpio, 1); + up_udelay(10); + + /* + * Revert the GPIO configuration. + */ + stm32_unconfiggpio(priv->config->sda_gpio); + stm32_unconfiggpio(priv->config->scl_gpio); + + } /* Re-init the port */ @@ -2093,11 +2080,11 @@ int up_i2creset(FAR struct i2c_dev_s * dev) out: - /* Release the port for re-use by other clients */ + /* release the port for re-use by other clients */ stm32_i2c_sem_post(dev); + return ret; } -#endif /* CONFIG_I2C_RESET */ -#endif /* CONFIG_STM32_I2C1 || CONFIG_STM32_I2C2 || CONFIG_STM32_I2C3 */ +#endif /* defined(CONFIG_STM32_I2C1) || defined(CONFIG_STM32_I2C2) || defined(CONFIG_STM32_I2C3) */ diff --git a/nuttx/configs/px4fmu/common/Make.defs b/nuttx/configs/px4fmu/common/Make.defs index 52c00cd5a..756286ccb 100644 --- a/nuttx/configs/px4fmu/common/Make.defs +++ b/nuttx/configs/px4fmu/common/Make.defs @@ -79,7 +79,7 @@ LDSCRIPT = ld.script ifeq ($(WINTOOL),y) # Windows-native toolchains - DIRLINK = $(TOPDIR)/tools/winlink.sh + DIRLINK = $(TOPDIR)/tools/copydir.sh DIRUNLINK = $(TOPDIR)/tools/unlink.sh MKDEP = $(TOPDIR)/tools/mknulldeps.sh ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" @@ -88,7 +88,7 @@ ifeq ($(WINTOOL),y) else ifeq ($(PX4_WINTOOL),y) # Windows-native toolchains (MSYS) - DIRLINK = $(TOPDIR)/tools/winlink.sh + DIRLINK = $(TOPDIR)/tools/copydir.sh DIRUNLINK = $(TOPDIR)/tools/unlink.sh MKDEP = $(TOPDIR)/tools/mknulldeps.sh ARCHINCLUDES = -I. -isystem $(TOPDIR)/include diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index 8a76f0e05..0b27b552e 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -348,14 +348,8 @@ CONFIG_CAN_LOOPBACK=n CONFIG_CAN1_BAUD=700000 CONFIG_CAN2_BAUD=700000 -# -# I2C configuration -# -CONFIG_I2C=y -#CONFIG_I2C_POLLED=y -CONFIG_I2C_TRANSFER=y -CONFIG_I2C_TRACE=n -CONFIG_I2C_RESET=y + +# XXX remove after integration testing # Allow 180 us per byte, a wide margin for the 400 KHz clock we're using # e.g. 9.6 ms for an EEPROM page write, 0.9 ms for a MAG update CONFIG_STM32_I2CTIMEOUS_PER_BYTE=200 @@ -365,6 +359,42 @@ CONFIG_STM32_I2CTIMEOUS_START_STOP=700 CONFIG_I2C_WRITEREAD=y # +# I2C configuration +# +CONFIG_I2C=y +CONFIG_I2C_POLLED=y +CONFIG_I2C_TRANSFER=y +CONFIG_I2C_TRACE=n +CONFIG_I2C_RESET=y + + + +# XXX re-enable after integration testing + +# +# I2C configuration +# +#CONFIG_I2C=y +#CONFIG_I2C_POLLED=y +#CONFIG_I2C_TRANSFER=y +#CONFIG_I2C_TRACE=n +#CONFIG_I2C_RESET=y + +# Dynamic timeout +#CONFIG_STM32_I2C_DYNTIMEO=y +#CONFIG_STM32_I2C_DYNTIMEO_STARTSTOP=500 +#CONFIG_STM32_I2C_DYNTIMEO_USECPERBYTE=200 + +# Fixed per-transaction timeout +#CONFIG_STM32_I2CTIMEOSEC=0 +#CONFIG_STM32_I2CTIMEOMS=10 + + + + + + +# # General build options # # CONFIG_RRLOAD_BINARY - make the rrload binary format used with diff --git a/nuttx/configs/px4io/common/Make.defs b/nuttx/configs/px4io/common/Make.defs index d6d52e3d2..4958f7092 100644 --- a/nuttx/configs/px4io/common/Make.defs +++ b/nuttx/configs/px4io/common/Make.defs @@ -72,7 +72,7 @@ LDSCRIPT = ld.script ifeq ($(WINTOOL),y) # Windows-native toolchains - DIRLINK = $(TOPDIR)/tools/winlink.sh + DIRLINK = $(TOPDIR)/tools/copydir.sh DIRUNLINK = $(TOPDIR)/tools/unlink.sh MKDEP = $(TOPDIR)/tools/mknulldeps.sh ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" @@ -81,7 +81,7 @@ ifeq ($(WINTOOL),y) else ifeq ($(PX4_WINTOOL),y) # Windows-native toolchains (MSYS) - DIRLINK = $(TOPDIR)/tools/winlink.sh + DIRLINK = $(TOPDIR)/tools/copydir.sh DIRUNLINK = $(TOPDIR)/tools/unlink.sh MKDEP = $(TOPDIR)/tools/mknulldeps.sh ARCHINCLUDES = -I. -isystem $(TOPDIR)/include |