diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/hal/lib/fallback')
| -rw-r--r-- | ChibiOS_20.3.2/os/hal/lib/fallback/I2C/hal_i2c_lld.c | 444 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/hal/lib/fallback/I2C/hal_i2c_lld.h | 232 |
2 files changed, 676 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/hal/lib/fallback/I2C/hal_i2c_lld.c b/ChibiOS_20.3.2/os/hal/lib/fallback/I2C/hal_i2c_lld.c new file mode 100644 index 0000000..e4ae9a9 --- /dev/null +++ b/ChibiOS_20.3.2/os/hal/lib/fallback/I2C/hal_i2c_lld.c @@ -0,0 +1,444 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file common/I2C/hal_i2c_lld.c
+ * @brief SW I2C subsystem low level driver source.
+ *
+ * @addtogroup I2C
+ * @{
+ */
+
+#include "hal.h"
+
+#if HAL_USE_I2C || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define CHECK_ERROR(msg) \
+ if ((msg) < (msg_t)0) { \
+ return MSG_TIMEOUT; \
+ }
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/** @brief I2C1 driver identifier.*/
+#if SW_I2C_USE_I2C1 || defined(__DOXYGEN__)
+I2CDriver I2CD1;
+#endif
+
+/** @brief I2C2 driver identifier.*/
+#if SW_I2C_USE_I2C2 || defined(__DOXYGEN__)
+I2CDriver I2CD2;
+#endif
+
+/** @brief I2C3 driver identifier.*/
+#if SW_I2C_USE_I2C3 || defined(__DOXYGEN__)
+I2CDriver I2CD3;
+#endif
+
+/** @brief I2C4 driver identifier.*/
+#if SW_I2C_USE_I2C4 || defined(__DOXYGEN__)
+I2CDriver I2CD4;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+static msg_t i2c_write_stop(I2CDriver *i2cp);
+
+static inline void i2c_delay(I2CDriver *i2cp) {
+
+#if SW_I2C_USE_OSAL_DELAY || defined(__DOXYGEN__)
+ osalThreadSleepS(i2cp->config->ticks);
+#else
+ i2cp->config->delay();
+#endif
+}
+
+static inline msg_t i2c_check_arbitration(I2CDriver *i2cp) {
+
+ if (palReadLine(i2cp->config->sda) == PAL_LOW) {
+ i2cp->errors |= I2C_ARBITRATION_LOST;
+ return MSG_RESET;
+ }
+
+ return MSG_OK;
+}
+
+static inline msg_t i2c_check_timeout(I2CDriver *i2cp) {
+
+ if ((i2cp->start != i2cp->end) &&
+ (!osalTimeIsInRangeX(osalOsGetSystemTimeX(), i2cp->start, i2cp->end))) {
+ i2c_write_stop(i2cp);
+ return MSG_TIMEOUT;
+ }
+
+ return MSG_OK;
+}
+
+static msg_t i2c_wait_clock(I2CDriver *i2cp) {
+
+ while (palReadLine(i2cp->config->scl) == PAL_LOW) {
+ if ((i2cp->start != i2cp->end) &&
+ (!osalTimeIsInRangeX(osalOsGetSystemTimeX(), i2cp->start, i2cp->end))) {
+ return MSG_TIMEOUT;
+ }
+ i2c_delay(i2cp);
+ }
+
+ return MSG_OK;
+}
+
+static inline msg_t i2c_write_start(I2CDriver *i2cp) {
+
+ /* Arbitration check.*/
+ CHECK_ERROR(i2c_check_arbitration(i2cp));
+
+ palClearLine(i2cp->config->sda);
+ i2c_delay(i2cp);
+ palClearLine(i2cp->config->scl);
+
+ return MSG_OK;
+}
+
+static msg_t i2c_write_restart(I2CDriver *i2cp) {
+
+ palSetLine(i2cp->config->sda);
+ i2c_delay(i2cp);
+ palSetLine(i2cp->config->scl);
+
+ /* Clock stretching.*/
+ CHECK_ERROR(i2c_wait_clock(i2cp));
+
+ i2c_delay(i2cp);
+ i2c_write_start(i2cp);
+
+ return MSG_OK;
+}
+
+static msg_t i2c_write_stop(I2CDriver *i2cp) {
+
+ palClearLine(i2cp->config->sda);
+ i2c_delay(i2cp);
+ palSetLine(i2cp->config->scl);
+
+ /* Clock stretching.*/
+ CHECK_ERROR(i2c_wait_clock(i2cp));
+
+ i2c_delay(i2cp);
+ palSetLine(i2cp->config->sda);
+ i2c_delay(i2cp);
+
+ /* Arbitration check.*/
+ CHECK_ERROR(i2c_check_arbitration(i2cp));
+
+ i2c_delay(i2cp);
+
+ return MSG_OK;
+}
+
+static msg_t i2c_write_bit(I2CDriver *i2cp, unsigned bit) {
+
+ palWriteLine(i2cp->config->sda, bit);
+ i2c_delay(i2cp);
+ palSetLine(i2cp->config->scl);
+ i2c_delay(i2cp);
+
+ /* Clock stretching.*/
+ CHECK_ERROR(i2c_wait_clock(i2cp));
+
+ /* Arbitration check.*/
+ if (bit == PAL_HIGH) {
+ CHECK_ERROR(i2c_check_arbitration(i2cp));
+ }
+
+ palClearLine(i2cp->config->scl);
+
+ return MSG_OK;
+}
+
+static msg_t i2c_read_bit(I2CDriver *i2cp) {
+ msg_t bit;
+
+ palSetLine(i2cp->config->sda);
+ i2c_delay(i2cp);
+ palSetLine(i2cp->config->scl);
+
+ /* Clock stretching.*/
+ CHECK_ERROR(i2c_wait_clock(i2cp));
+
+ i2c_delay(i2cp);
+ bit = palReadLine(i2cp->config->sda);
+ palClearLine(i2cp->config->scl);
+
+ return bit;
+}
+
+static msg_t i2c_write_byte(I2CDriver *i2cp, uint8_t byte) {
+ msg_t msg;
+ uint8_t mask;
+
+ CHECK_ERROR(i2c_check_timeout(i2cp));
+
+ for (mask = 0x80U; mask > 0U; mask >>= 1U) {
+ CHECK_ERROR(i2c_write_bit(i2cp, (byte & mask) != 0));
+ }
+
+ msg = i2c_read_bit(i2cp);
+ CHECK_ERROR(msg);
+
+ /* Checking for NACK.*/
+ if (msg == PAL_HIGH) {
+ i2cp->errors |= I2C_ACK_FAILURE;
+ return MSG_RESET;
+ }
+
+ return MSG_OK;
+}
+
+static msg_t i2c_read_byte(I2CDriver *i2cp, unsigned nack) {
+ msg_t byte;
+ unsigned i;
+
+ CHECK_ERROR(i2c_check_timeout(i2cp));
+
+ byte = 0U;
+ for (i = 0; i < 8; i++) {
+ msg_t msg = i2c_read_bit(i2cp);
+ CHECK_ERROR(msg);
+ byte = (byte << 1U) | msg;
+ }
+
+ CHECK_ERROR(i2c_write_bit(i2cp, nack));
+
+ return byte;
+}
+
+static msg_t i2c_write_header(I2CDriver *i2cp, i2caddr_t addr, bool rw) {
+
+ /* Check for 10 bits addressing.*/
+ if (i2cp->config->addr10) {
+ /* It is 10 bits.*/
+ uint8_t b1, b2;
+
+ b1 = 0xF0U | ((addr >> 8U) << 1U);
+ b2 = (uint8_t)(addr & 255U);
+ if (rw) {
+ b1 |= 1U;
+ }
+ CHECK_ERROR(i2c_write_byte(i2cp, b1));
+ CHECK_ERROR(i2c_write_byte(i2cp, b2));
+ }
+ else {
+ /* It is 7 bits.*/
+ if (rw) {
+ /* Read.*/
+ CHECK_ERROR(i2c_write_byte(i2cp, (addr << 1U) | 1U));
+ }
+ else {
+ /* Write.*/
+ CHECK_ERROR(i2c_write_byte(i2cp, (addr << 1U) | 0U));
+ }
+ }
+
+ return MSG_OK;
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level I2C driver initialization.
+ *
+ * @notapi
+ */
+void i2c_lld_init(void) {
+
+#if SW_I2C_USE_I2C1
+ i2cObjectInit(&I2CD1);
+#endif
+#if SW_I2C_USE_I2C2
+ i2cObjectInit(&I2CD2);
+#endif
+#if SW_I2C_USE_I2C3
+ i2cObjectInit(&I2CD3);
+#endif
+#if SW_I2C_USE_I2C4
+ i2cObjectInit(&I2CD4);
+#endif
+}
+
+/**
+ * @brief Configures and activates the I2C peripheral.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ *
+ * @notapi
+ */
+void i2c_lld_start(I2CDriver *i2cp) {
+
+ /* Does nothing.*/
+ (void)i2cp;
+}
+
+/**
+ * @brief Deactivates the I2C peripheral.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ *
+ * @notapi
+ */
+void i2c_lld_stop(I2CDriver *i2cp) {
+
+ /* Does nothing.*/
+ (void)i2cp;
+}
+
+/**
+ * @brief Receives data via the I2C bus as master.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ * @param[in] addr slave device address
+ * @param[out] rxbuf pointer to the receive buffer
+ * @param[in] rxbytes number of bytes to be received
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end. <b>After a
+ * timeout the driver must be stopped and restarted
+ * because the bus is in an uncertain state</b>.
+ *
+ * @notapi
+ */
+msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ uint8_t *rxbuf, size_t rxbytes,
+ sysinterval_t timeout) {
+
+ /* Setting timeout fields.*/
+ i2cp->start = osalOsGetSystemTimeX();
+ i2cp->end = i2cp->start;
+ if (timeout != TIME_INFINITE) {
+ i2cp->end = osalTimeAddX(i2cp->start, timeout);
+ }
+
+ CHECK_ERROR(i2c_write_start(i2cp));
+
+ /* Sending address and mode.*/
+ CHECK_ERROR(i2c_write_header(i2cp, addr, true));
+
+ do {
+ /* Last byte sends a NACK.*/
+ msg_t msg = i2c_read_byte(i2cp, rxbytes > 1U ? 0U : 1U);
+ CHECK_ERROR(msg);
+ *rxbuf++ = (uint8_t)msg;
+ } while (--rxbytes);
+
+ return i2c_write_stop(i2cp);
+}
+
+/**
+ * @brief Transmits data via the I2C bus as master.
+ * @details Number of receiving bytes must be 0 or more than 1 on STM32F1x.
+ * This is hardware restriction.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ * @param[in] addr slave device address
+ * @param[in] txbuf pointer to the transmit buffer
+ * @param[in] txbytes number of bytes to be transmitted
+ * @param[out] rxbuf pointer to the receive buffer
+ * @param[in] rxbytes number of bytes to be received
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end. <b>After a
+ * timeout the driver must be stopped and restarted
+ * because the bus is in an uncertain state</b>.
+ *
+ * @notapi
+ */
+msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ const uint8_t *txbuf, size_t txbytes,
+ uint8_t *rxbuf, size_t rxbytes,
+ sysinterval_t timeout) {
+
+ /* Setting timeout fields.*/
+ i2cp->start = osalOsGetSystemTimeX();
+ i2cp->end = i2cp->start;
+ if (timeout != TIME_INFINITE) {
+ i2cp->end = osalTimeAddX(i2cp->start, timeout);
+ }
+
+ /* Sending start condition.*/
+ CHECK_ERROR(i2c_write_start(i2cp));
+
+ /* Sending address and mode.*/
+ CHECK_ERROR(i2c_write_header(i2cp, addr, false));
+
+ do {
+ CHECK_ERROR(i2c_write_byte(i2cp, *txbuf++));
+ } while (--txbytes);
+
+ /* Is there a read phase? */
+ if (rxbytes > 0U) {
+
+ /* Sending restart condition.*/
+ CHECK_ERROR(i2c_write_restart(i2cp));
+ /* Sending address and mode.*/
+ CHECK_ERROR(i2c_write_header(i2cp, addr, true));
+
+ do {
+ /* Last byte sends a NACK.*/
+ msg_t msg = i2c_read_byte(i2cp, rxbytes > 1U ? 0U : 1U);
+ CHECK_ERROR(msg);
+ *rxbuf++ = (uint8_t)msg;
+ } while (--rxbytes);
+ }
+
+ return i2c_write_stop(i2cp);
+}
+
+#endif /* HAL_USE_I2C */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/hal/lib/fallback/I2C/hal_i2c_lld.h b/ChibiOS_20.3.2/os/hal/lib/fallback/I2C/hal_i2c_lld.h new file mode 100644 index 0000000..38c1552 --- /dev/null +++ b/ChibiOS_20.3.2/os/hal/lib/fallback/I2C/hal_i2c_lld.h @@ -0,0 +1,232 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file common/I2C/hal_i2c_lld.h
+ * @brief SW I2C subsystem low level driver header.
+ *
+ * @addtogroup I2C
+ * @{
+ */
+
+#ifndef HAL_I2C_LLD_H
+#define HAL_I2C_LLD_H
+
+#if HAL_USE_I2C || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief Use OSAL delays.
+ * @details If set to @p TRUE then delays are implemented using the
+ * thread-friendly delay function else a delay function must
+ * be provided externally.
+ */
+#if !defined(SW_I2C_USE_OSAL_DELAY) || defined(__DOXYGEN__)
+#define SW_I2C_USE_OSAL_DELAY TRUE
+#endif
+
+/**
+ * @brief I2C1 driver enable switch.
+ * @details If set to @p TRUE the support for I2C1 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(SW_I2C_USE_I2C1) || defined(__DOXYGEN__)
+#define SW_I2C_USE_I2C1 FALSE
+#endif
+
+/**
+ * @brief I2C2 driver enable switch.
+ * @details If set to @p TRUE the support for I2C2 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(SW_I2C_USE_I2C2) || defined(__DOXYGEN__)
+#define SW_I2C_USE_I2C2 FALSE
+#endif
+
+/**
+ * @brief I2C3 driver enable switch.
+ * @details If set to @p TRUE the support for I2C3 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(SW_I2C_USE_I2C3) || defined(__DOXYGEN__)
+#define SW_I2C_USE_I2C3 FALSE
+#endif
+
+/**
+ * @brief I2C4 driver enable switch.
+ * @details If set to @p TRUE the support for I2C4 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(SW_I2C_USE_I2C4) || defined(__DOXYGEN__)
+#define SW_I2C_USE_I2C4 FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type representing an I2C address.
+ */
+typedef uint16_t i2caddr_t;
+
+/**
+ * @brief Type of I2C driver condition flags.
+ */
+typedef uint8_t i2cflags_t;
+
+/**
+ * @brief Type of a delay function.
+ */
+typedef void (*i2c_delay_t)(void);
+
+/**
+ * @brief Type of I2C driver configuration structure.
+ */
+typedef struct {
+ /**
+ * @brief 10 bits addressing switch.
+ */
+ bool addr10;
+ /**
+ * @brief I2C clock line.
+ */
+ ioline_t scl;
+ /**
+ * @brief I2C data line.
+ */
+ ioline_t sda;
+#if SW_I2C_USE_OSAL_DELAY || defined(__DOXYGEN__)
+ /**
+ * @brief Delay of an half bit time in system ticks.
+ */
+ systime_t ticks;
+#else
+ /**
+ * @brief Pointer to an externally defined delay function.
+ */
+ i2c_delay_t delay;
+#endif
+} I2CConfig;
+
+/**
+ * @brief Type of a structure representing an I2C driver.
+ */
+typedef struct I2CDriver I2CDriver;
+
+/**
+ * @brief Structure representing an I2C driver.
+ */
+struct I2CDriver {
+ /**
+ * @brief Driver state.
+ */
+ i2cstate_t state;
+ /**
+ * @brief Current configuration data.
+ */
+ const I2CConfig *config;
+ /**
+ * @brief Error flags.
+ */
+ i2cflags_t errors;
+#if I2C_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
+ mutex_t mutex;
+#endif /* I2C_USE_MUTUAL_EXCLUSION */
+#if defined(I2C_DRIVER_EXT_FIELDS)
+ I2C_DRIVER_EXT_FIELDS
+#endif
+ /* End of the mandatory fields.*/
+ /**
+ * @brief Time of operation begin.
+ */
+ systime_t start;
+ /**
+ * @brief Time of operation timeout.
+ */
+ systime_t end;
+};
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Get errors from I2C driver.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ *
+ * @notapi
+ */
+#define i2c_lld_get_errors(i2cp) ((i2cp)->errors)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+#if SW_I2C_USE_I2C1
+extern I2CDriver I2CD1;
+#endif
+#if SW_I2C_USE_I2C2
+extern I2CDriver I2CD2;
+#endif
+#if SW_I2C_USE_I2C3
+extern I2CDriver I2CD3;
+#endif
+#if SW_I2C_USE_I2C4
+extern I2CDriver I2CD4;
+#endif
+#endif /* !defined(__DOXYGEN__) */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void i2c_lld_init(void);
+ void i2c_lld_start(I2CDriver *i2cp);
+ void i2c_lld_stop(I2CDriver *i2cp);
+ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ const uint8_t *txbuf, size_t txbytes,
+ uint8_t *rxbuf, size_t rxbytes,
+ sysinterval_t timeout);
+ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ uint8_t *rxbuf, size_t rxbytes,
+ sysinterval_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_I2C */
+
+#endif /* HAL_I2C_LLD_H */
+
+/** @} */
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