diff options
Diffstat (limited to 'apps/px4io/i2c.c')
-rw-r--r-- | apps/px4io/i2c.c | 132 |
1 files changed, 118 insertions, 14 deletions
diff --git a/apps/px4io/i2c.c b/apps/px4io/i2c.c index c3c897811..215326835 100644 --- a/apps/px4io/i2c.c +++ b/apps/px4io/i2c.c @@ -42,6 +42,7 @@ #include <nuttx/arch.h> #include <arch/board/board.h> #include <stm32_i2c.h> +#include <stm32_dma.h> #define DEBUG #include "px4io.h" @@ -63,30 +64,54 @@ #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); +static int i2c_interrupt(int irq, void *context); +static void i2c_dump(void); + +static void i2c_rx_setup(void); +static void i2c_tx_setup(void); +static void i2c_rx_complete(DMA_HANDLE handle, uint8_t status, void *arg); +static void i2c_tx_complete(DMA_HANDLE handle, uint8_t status, void *arg); + +static DMA_HANDLE rx_dma; +static DMA_HANDLE tx_dma; + +uint8_t rx_buf[64]; +unsigned rx_len; +uint8_t tx_buf[64]; +unsigned tx_len; void i2c_init(void) { - // enable the i2c block clock and reset it + debug("i2c init"); + + /* allocate DMA handles and initialise DMA */ + rx_dma = stm32_dmachannel(DMACHAN_I2C1_RX); + i2c_rx_setup(); + tx_dma = stm32_dmachannel(DMACHAN_I2C1_TX); + i2c_tx_setup(); + + /* 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 + /* configure the i2c GPIOs */ stm32_configgpio(GPIO_I2C1_SCL); stm32_configgpio(GPIO_I2C1_SDA); - // soft-reset the block + /* soft-reset the block */ rCR1 |= I2C_CR1_SWRST; rCR1 = 0; - // set the frequency value in CR2 + /* set for DMA operation */ + rCR2 |= I2C_CR2_ITEVFEN | 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 + /* set divisor and risetime for fast mode */ uint16_t result = STM32_PCLK1_FREQUENCY / (400000 * 25); if (result < 1) result = 1; @@ -95,15 +120,14 @@ i2c_init(void) rCCR |= I2C_CCR_DUTY | I2C_CCR_FS | result; rTRISE = (uint16_t)((((STM32_PCLK1_FREQUENCY / 1000000) * 300) / 1000) + 1); - // set our device address + /* set our device address */ rOAR1 = 0x1a << 1; - // enable event interrupts + /* 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 + /* and enable the I2C port */ rCR1 |= I2C_CR1_ACK | I2C_CR1_PE; i2c_dump(); @@ -114,22 +138,46 @@ i2c_interrupt(int irq, FAR void *context) { uint16_t sr1 = rSR1; - // XXX not sure what else we need to do here... + /* 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 1 if (sr1 & I2C_SR1_ADDR) { - /* XXX we have been addressed, set up to receive */ + /* disable event interrupts since the DMA will be handling the transfer */ + rCR2 &= ~I2C_CR2_ITEVFEN; + + /* clear ADDR to ack our selection and get direction */ + uint16_t sr2 = rSR2; + + debug("addr"); + + if (sr2 & I2C_SR2_TRA) { + /* we are the transmitter */ + debug("tx"); - /* clear ADDR */ + stm32_dmastart(tx_dma, i2c_tx_complete, NULL, false); + } else { + /* we are the receiver */ + debug("rx"); + + stm32_dmastart(rx_dma, i2c_rx_complete, NULL, false); + } + + } +#else + if (sr1 & I2C_SR1_ADDR) { + + /* clear ADDR to ack our selection and get direction */ (void)rSR2; debug("addr"); } +#endif if (sr1 & I2C_SR1_RXNE) { @@ -149,6 +197,62 @@ i2c_interrupt(int irq, FAR void *context) } static void +i2c_rx_setup(void) +{ + rx_len = 0; + stm32_dmasetup(rx_dma, (uintptr_t)&rDR, (uintptr_t)&rx_buf[0], sizeof(rx_buf), + DMA_CCR_MINC | + DMA_CCR_PSIZE_8BITS | + DMA_CCR_MSIZE_8BITS | + DMA_CCR_PRIMED); +} + +static void +i2c_rx_complete(DMA_HANDLE handle, uint8_t status, void *arg) +{ + debug("dma rx %u", status); + + rx_len = sizeof(rx_buf) - stm32_dmaresidual(rx_dma); + + debug("len %u", rx_len); + + /* XXX handle reception */ + i2c_rx_setup(); + + /* re-enable event interrupts */ + rCR2 |= I2C_CR2_ITEVFEN; +} + +static void +i2c_tx_setup(void) +{ + tx_len = 0; + stm32_dmasetup(tx_dma, (uintptr_t)&rDR, (uintptr_t)&tx_buf[0], sizeof(tx_buf), + DMA_CCR_DIR | + DMA_CCR_MINC | + DMA_CCR_PSIZE_8BITS | + DMA_CCR_MSIZE_8BITS | + DMA_CCR_PRIMED); +} + +static void +i2c_tx_complete(DMA_HANDLE handle, uint8_t status, void *arg) +{ + debug("dma tx %u", status); + + tx_len = sizeof(tx_buf) - stm32_dmaresidual(tx_dma); + + debug("len %u", tx_len); + + /* XXX handle reception */ + i2c_rx_setup(); + + /* re-enable event interrupts */ + rCR2 |= I2C_CR2_ITEVFEN; +} + + +static void i2c_dump(void) { debug("CR1 0x%08x CR2 0x%08x", rCR1, rCR2); |