LIS331DL and STM32 I2C patch from Uros

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@3467 42af7a65-404d-4744-a932-0658087f49c3

4 files changed, 88 insertions, 40 deletions

diff --git a/nuttx/arch/arm/src/stm32/stm32_i2c.c b/nuttx/arch/arm/src/stm32/stm32_i2c.c
index de9ca60c8..dbbc11d5f 100644
--- a/nuttx/arch/arm/src/stm32/stm32_i2c.c
+++ b/nuttx/arch/arm/src/stm32/stm32_i2c.c
@@ -89,6 +89,7 @@
  * Private Types
  ************************************************************************************/
 
+#define I2C_FLAGS   0x8000  /* RxNE and TxE enabled */
 
 /** I2C Device Private Data
  */
@@ -263,6 +264,7 @@ static inline uint32_t stm32_i2c_getstatus(FAR struct stm32_i2c_priv_s *priv)
 /************************************************************************************
  * Interrupt Service Routines
  ************************************************************************************/
+
 //DEBUG TO BE CLEANED
 //#define NON_ISR
 
@@ -273,9 +275,8 @@ static int stm32_i2c_isr(struct stm32_i2c_priv_s * priv)
 #ifdef NON_ISR
     static uint32_t isr_count = 0;
     static uint32_t old_status = 0xFFFF;
-
     isr_count++;
-    
+
     if (old_status != status) {
         printf("status = %8x, count=%d\n", status, isr_count); fflush(stdout);
         old_status = status;
@@ -298,10 +299,12 @@ static int stm32_i2c_isr(struct stm32_i2c_priv_s * priv)
             0 :
             ((priv->msgv->addr << 1) | (priv->flags & I2C_M_READ))
         );
+                
+        /* Set ACK for receive mode */
         
-        /* Enable RxNE and TxE buffers */
-        
-        stm32_i2c_modifyreg(priv, STM32_I2C_CR2_OFFSET, 0, I2C_CR2_ITBUFEN);
+        if (priv->dcnt > 1 && (priv->flags & I2C_M_READ) ) {            
+            stm32_i2c_modifyreg(priv, STM32_I2C_CR1_OFFSET, 0, I2C_CR1_ACK);
+        }
         
         /* Increment to next pointer and decrement message count */
         
@@ -313,28 +316,27 @@ static int stm32_i2c_isr(struct stm32_i2c_priv_s * priv)
     
     else if (status & I2C_SR1_ADD10) {
         /* \todo Finish 10-bit mode addressing */
+        
     }
     
         /* Was address sent, continue with ether sending or reading data */
     
     else if ( !(priv->flags & I2C_M_READ) && 
                (status & (I2C_SR1_ADDR | I2C_SR1_TXE)) ) {
-
+               
         if (--priv->dcnt >= 0) {   /* Send a byte */
 #ifdef NON_ISR
             printf("Send byte: %2x\n", *priv->ptr);
 #endif
-            stm32_i2c_putreg(priv, STM32_I2C_DR_OFFSET, *priv->ptr++);
+            stm32_i2c_putreg(priv, STM32_I2C_DR_OFFSET, *priv->ptr++); 
         }
     }
     
     else if ( (priv->flags & I2C_M_READ) && (status & I2C_SR1_ADDR) ) {
 
-        /* Acknowledge bytes if there is more than one to be received */
+        /* Enable RxNE and TxE buffers in order to receive one or multiple bytes */
         
-        if (priv->dcnt > 1) {            
-            stm32_i2c_modifyreg(priv, STM32_I2C_CR1_OFFSET, 0, I2C_CR1_ACK);
-        }
+        stm32_i2c_modifyreg(priv, STM32_I2C_CR2_OFFSET, 0, I2C_CR2_ITBUFEN);
     }
 
         /* More bytes to read */
@@ -356,8 +358,20 @@ static int stm32_i2c_isr(struct stm32_i2c_priv_s * priv)
                 stm32_i2c_modifyreg(priv, STM32_I2C_CR1_OFFSET, I2C_CR1_ACK, 0);  
             }
         }
+            
     }
     
+    /* Do we have more bytes to send, enable/disable buffer interrupts
+     * (these ISRs could be replaced by DMAs)
+     */
+     
+    if (priv->dcnt>0) {
+        stm32_i2c_modifyreg(priv, STM32_I2C_CR2_OFFSET, 0, I2C_CR2_ITBUFEN);
+    }
+    else if (priv->dcnt==0 ) {
+        stm32_i2c_modifyreg(priv, STM32_I2C_CR2_OFFSET, I2C_CR2_ITBUFEN, 0);  
+    }
+
     
     /* Was last byte received or sent? 
      */
@@ -383,6 +397,7 @@ static int stm32_i2c_isr(struct stm32_i2c_priv_s * priv)
                 priv->flags = priv->msgv->flags;
                 priv->msgv++;
                 priv->msgc--;
+                stm32_i2c_modifyreg(priv, STM32_I2C_CR2_OFFSET, 0, I2C_CR2_ITBUFEN);    // Restart this ISR!
             }
             else {
                 stm32_i2c_sendstart(priv);
@@ -392,7 +407,6 @@ static int stm32_i2c_isr(struct stm32_i2c_priv_s * priv)
 #ifdef NON_ISR
             printf("stop2: status = %8x\n", status);
 #endif
-            stm32_i2c_modifyreg(priv, STM32_I2C_CR2_OFFSET, I2C_CR2_ITBUFEN, 0);
             stm32_i2c_sendstop(priv);
             sem_post( &priv->sem_isr );
             priv->msgv = NULL;              /* mark that we have stopped with this transaction */
@@ -596,6 +610,9 @@ int stm32_i2c_process(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *msgs, int
      * found in the local status variable.
      */
     
+//  inst->priv->status = 0;
+//  printf("isr_count = %d\n", isr_count); fflush(stdout);
+    
     stm32_i2c_sendstart(inst->priv);
         
 #ifdef NON_ISR   
@@ -607,13 +624,20 @@ int stm32_i2c_process(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *msgs, int
     } 
     while( sem_trywait( &((struct stm32_i2c_inst_s *)dev)->priv->sem_isr ) != 0 );
 #else
+#if 1
     /* Wait for an ISR, if there was a timeout, fetch latest status to get the BUSY flag */
 
     if (stm32_i2c_sem_waitisr(dev) == ERROR) {
         status = stm32_i2c_getstatus(inst->priv);
     }
     else status = inst->priv->status & 0xFFFF;  /* clear SR2 (BUSY flag) as we've done successfully */
-#endif        
+#else
+    do {
+        printf("%x, %d\n", inst->priv->status, isr_count );
+    } 
+    while( sem_trywait( &inst->priv->sem_isr ) != 0 );
+#endif
+#endif
 
     if (status & I2C_SR1_BERR) {        /* Bus Error */
         status_errno = EIO;
@@ -637,6 +661,8 @@ int stm32_i2c_process(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *msgs, int
         status_errno = EBUSY;
     }
     
+//  printf("end_count = %d, dcnt=%d\n", isr_count, inst->priv->dcnt); fflush(stdout);
+    
     stm32_i2c_sem_post(dev);
     
     errno = status_errno;
diff --git a/nuttx/configs/vsn/src/sif.c b/nuttx/configs/vsn/src/sif.c
index a10072ac5..6f75c4a9e 100644
--- a/nuttx/configs/vsn/src/sif.c
+++ b/nuttx/configs/vsn/src/sif.c
@@ -512,15 +512,16 @@ int sif_main(int argc, char *argv[])
                 
                 /* Sample some values */
                 
-                for (i=0; i<20; i++) {
-                    if ( (a = st_lis331dl_getreadings(lis)) ) 
+                for (i=0; i<200000; i++) {
+                    if ( (a = st_lis331dl_getreadings(lis)) ) {
                         printf("%d %d %d\n", a->x, a->y, a->z);
-                    else {
+                    }
+                    else if (errno != 11) {
                         printf("Readings errno %d\n", errno);
                         break;
                     }
                     fflush(stdout);
-                    usleep(100000);
+                    usleep(10000);
                 }
                 
                 st_lis331dl_deinit(lis);
diff --git a/nuttx/drivers/i2c/st_lis331dl.c b/nuttx/drivers/i2c/st_lis331dl.c
index cb1d7f47d..ca2646484 100644
--- a/nuttx/drivers/i2c/st_lis331dl.c
+++ b/nuttx/drivers/i2c/st_lis331dl.c
@@ -107,7 +107,7 @@ int st_lis331dl_access(struct st_lis331dl_dev_s * dev, uint8_t subaddr, uint8_t
         return ERROR;
     }
 
-    subaddr |= 0x80;
+    if (length > 1) subaddr |= 0x80;
     
     /* Create message and send */
     
@@ -135,9 +135,7 @@ int st_lis331dl_access(struct st_lis331dl_dev_s * dev, uint8_t subaddr, uint8_t
 
 int st_lis331dl_readregs(struct st_lis331dl_dev_s * dev)
 {
-    if (st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, 3) == ERROR) return ERROR;    
-    
-    printf("CR1=%2x, CR2=%2x, CR3=%2x\n", dev->cr1, dev->cr2, dev->cr3 );
+    if (st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, 3) != 3) return ERROR;
     return OK;
 }
 
@@ -173,7 +171,7 @@ struct st_lis331dl_dev_s * st_lis331dl_init(struct i2c_dev_s * i2c, uint16_t add
         
             /* Copy LIS331DL registers to our private structure and power-up device */
             
-            if ( st_lis331dl_readregs(dev)==OK && st_lis331dl_powerup(dev)==OK) {
+            if (st_lis331dl_readregs(dev)==OK && st_lis331dl_powerup(dev)==OK) {
       
                 /* Normal exit point */
                 errno = 0;
@@ -201,7 +199,7 @@ int st_lis331dl_deinit(struct st_lis331dl_dev_s * dev)
 {
     ASSERT(dev);
     
-//  st_lis331dl_powerdown(dev);
+    st_lis331dl_powerdown(dev);
     free(dev);
     
     return OK;
@@ -212,17 +210,22 @@ int st_lis331dl_powerup(struct st_lis331dl_dev_s * dev)
 {
     dev->cr1 = ST_LIS331DL_CR1_PD |
         ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
+    dev->cr2 = 0;
+    dev->cr3 = 0;
         
-    st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1);    
-    return OK;
+    if (st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -3) == 3) return OK;
+    return ERROR;
 }
 
 
 int st_lis331dl_powerdown(struct st_lis331dl_dev_s * dev)
 {
     dev->cr1 = ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
+    dev->cr2 = 0;
+    dev->cr3 = 0;
         
-    return st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1);
+    if (st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -3) == 3) return OK;
+    return ERROR;
 }
 
 
@@ -232,16 +235,16 @@ int st_lis331dl_setconversion(struct st_lis331dl_dev_s * dev, bool full, bool fa
         (full ? ST_LIS331DL_CR1_FS : 0) | (fast ? ST_LIS331DL_CR1_DR : 0) |
         ST_LIS331DL_CR1_ZEN | ST_LIS331DL_CR1_YEN | ST_LIS331DL_CR1_XEN;
         
-    st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1);    
-    return OK;
+    if (st_lis331dl_access(dev, ST_LIS331DL_CTRL_REG1, &dev->cr1, -1) == 1) return OK;
+    return ERROR;
 }
 
 
-float st_lis331dl_getprecision(struct st_lis331dl_dev_s * dev)
+int st_lis331dl_getprecision(struct st_lis331dl_dev_s * dev)
 {
     if (dev->cr1 & ST_LIS331DL_CR1_FS)
-        return 9.0/127.0;   /* ~9g full scale */
-    return 2.0/127.0;       /* ~2g full scale */
+        return 9200/127;   /* typ. 9.2g full scale */
+    return 2300/127;       /* typ. 2.3g full scale */
 }
 
 
@@ -255,14 +258,22 @@ int st_lis331dl_getsamplerate(struct st_lis331dl_dev_s * dev)
 
 const struct st_lis331dl_vector_s * st_lis331dl_getreadings(struct st_lis331dl_dev_s * dev)
 {
-    uint8_t retval[5];
+    uint8_t retval[7];
 
     ASSERT(dev);
     
-    if (st_lis331dl_access(dev, ST_LIS331DL_OUT_X, retval, 5) == 5) {    
-        dev->a.x = retval[0];
-        dev->a.y = retval[2];
-        dev->a.z = retval[4];
+    if (st_lis331dl_access(dev, ST_LIS331DL_STATUS_REG, retval, 7) == 7) {
+    
+        /* If result is not yet ready, return NULL */
+        
+        if ( !(retval[0] & ST_LIS331DL_SR_ZYXDA) ) {
+            errno = EAGAIN;
+            return NULL;
+        }
+            
+        dev->a.x = retval[2];
+        dev->a.y = retval[4];
+        dev->a.z = retval[6];
         return &dev->a;
     }
     
diff --git a/nuttx/include/nuttx/i2c/st_lis331dl.h b/nuttx/include/nuttx/i2c/st_lis331dl.h
index f3f137391..31092ae79 100644
--- a/nuttx/include/nuttx/i2c/st_lis331dl.h
+++ b/nuttx/include/nuttx/i2c/st_lis331dl.h
@@ -81,7 +81,15 @@ extern "C" {
 
 #define ST_LIS331DL_HP_FILTER_RESET 0x23
 
-#define ST_LIS331DL_STATUS_REG      0x27
+#define ST_LIS331DL_STATUS_REG      0x27    /* Status Register */
+#define ST_LIS331DL_SR_ZYXOR        0x80    /* OR'ed X,Y and Z data over-run  */
+#define ST_LIS331DL_SR_ZOR          0x40    /* individual data over-run ... */
+#define ST_LIS331DL_SR_YOR          0x20
+#define ST_LIS331DL_SR_XOR          0x10
+#define ST_LIS331DL_SR_ZYXDA        0x08    /* OR'ed X,Y and Z data available */
+#define ST_LIS331DL_SR_ZDA          0x04    /* individual data available ... */
+#define ST_LIS331DL_SR_YDA          0x02
+#define ST_LIS331DL_SR_XDA          0x01
 
 #define ST_LIS331DL_OUT_X           0x29
 #define ST_LIS331DL_OUT_Y           0x2B
@@ -141,9 +149,9 @@ EXTERN int st_lis331dl_setconversion(struct st_lis331dl_dev_s * dev, bool full,
 
 /** Get precision
  * 
- * \return Precision of 1 LSB in terms of unit [g]
+ * \return Precision of 1 LSB in terms of unit [mg]
  **/
-EXTERN float st_lis331dl_getprecision(struct st_lis331dl_dev_s * dev);
+EXTERN int st_lis331dl_getprecision(struct st_lis331dl_dev_s * dev);
 
 /** Get sample rate 
  * 
@@ -154,7 +162,9 @@ EXTERN int st_lis331dl_getsamplerate(struct st_lis331dl_dev_s * dev);
 /** Get readings, updates internal data structure
  * 
  * \param dev Device to LIS331DL device structure
- * \return Ptr to vector acceleration [x,y,z] on success, or NULL on error with errno set
+ * \return Ptr to vector acceleration [x,y,z] on success, or NULL on error with errno set.
+ *   If data is not yet ready to be read from the LIS331 then errno is set to EAGAIN otherwise
+ *   errno is set by I2C_TRANSFER().
  */
 EXTERN const struct st_lis331dl_vector_s * st_lis331dl_getreadings(struct st_lis331dl_dev_s * dev);