diff options
Diffstat (limited to 'apps/px4io')
-rw-r--r-- | apps/px4io/i2c.c | 45 |
1 files changed, 24 insertions, 21 deletions
diff --git a/apps/px4io/i2c.c b/apps/px4io/i2c.c index bbbbb6e46..c16d5700c 100644 --- a/apps/px4io/i2c.c +++ b/apps/px4io/i2c.c @@ -84,6 +84,7 @@ static const uint8_t junk_buf[] = { 0xff, 0xff, 0xff, 0xff }; static const uint8_t *tx_buf = junk_buf; static unsigned tx_len = sizeof(junk_buf); +unsigned tx_count; static uint8_t selected_page; static uint8_t selected_offset; @@ -156,24 +157,6 @@ i2c_interrupt(int irq, FAR void *context) { uint16_t sr1 = rSR1; - if (sr1 & I2C_SR1_ADDR) { - - /* clear ADDR to ack our selection and get direction */ - (void)rSR1; /* as recommended, re-read SR1 */ - uint16_t sr2 = rSR2; - - if (sr2 & I2C_SR2_TRA) { - /* we are the transmitter */ - - direction = DIR_TX; - - } else { - /* we are the receiver */ - - direction = DIR_RX; - } - } - if (sr1 & (I2C_SR1_STOPF | I2C_SR1_AF)) { if (sr1 & I2C_SR1_STOPF) { @@ -197,6 +180,24 @@ i2c_interrupt(int irq, FAR void *context) direction = DIR_NONE; } + if (sr1 & I2C_SR1_ADDR) { + + /* clear ADDR to ack our selection and get direction */ + (void)rSR1; /* as recommended, re-read SR1 */ + uint16_t sr2 = rSR2; + + if (sr2 & I2C_SR2_TRA) { + /* we are the transmitter */ + + direction = DIR_TX; + + } else { + /* we are the receiver */ + + direction = DIR_RX; + } + } + /* clear any errors that might need it (this handles AF as well */ if (sr1 & I2C_SR1_ERRORMASK) rSR1 = 0; @@ -246,7 +247,7 @@ i2c_rx_complete(void) int ret = registers_get(selected_page, selected_offset, ®s, ®_count); if (ret == 0) { tx_buf = (uint8_t *)regs; - tx_len = reg_count *2; + tx_len = reg_count * 2; } else { tx_buf = junk_buf; tx_len = sizeof(junk_buf); @@ -289,10 +290,12 @@ i2c_tx_setup(void) static void i2c_tx_complete(void) { + tx_count = tx_len - stm32_dmaresidual(tx_dma); stm32_dmastop(tx_dma); - tx_buf = junk_buf; - tx_len = sizeof(junk_buf); + /* for debug purposes, save the length of the last transmit as seen by the DMA */ + + /* leave tx_buf/tx_len alone, so that a retry will see the same data */ /* prepare for the next transaction */ i2c_tx_setup(); |