drv_i2c.c

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/*
   drv_i2c.c :  I^2C support for STM32F103

   Adapted from https://github.com/multiwii/baseflight/blob/master/src/drv_i2c.c

   This file is part of BreezySTM32.

   BreezySTM32 is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   BreezySTM32 is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with BreezySTM32.  If not, see <http://www.gnu.org/licenses/>.
 */

#define I2C_DEVICE (I2CDEV_2)

#include <stdbool.h>
#include <stdio.h>
#include <string.h> // memset

#include "stm32f10x_conf.h"
#include "drv_system.h"         // timers, delays, etc
#include "drv_gpio.h"

#include "drv_i2c.h"

// I2C Interrupt Handlers
static void i2c_er_handler(void);
static void i2c_ev_handler(void);
static void i2cUnstick(void);

// I2C Circular Buffer Variables
static bool i2c_buffer_lock = false;
static i2cJob_t i2c_buffer[I2C_BUFFER_SIZE + 10];
static volatile uint8_t i2c_buffer_head;
static volatile uint8_t i2c_buffer_tail;
static volatile uint8_t i2c_buffer_count;
static void i2c_init_buffer(void);
static void i2c_job_handler(void);

typedef struct i2cDevice_t {
  I2C_TypeDef *dev;
  GPIO_TypeDef *gpio;
  uint16_t scl;
  uint16_t sda;
  uint8_t ev_irq;
  uint8_t er_irq;
  uint32_t peripheral;
} i2cDevice_t;

static const i2cDevice_t i2cHardwareMap[] = {
  { I2C1, GPIOB, Pin_6, Pin_7, I2C1_EV_IRQn, I2C1_ER_IRQn, RCC_APB1Periph_I2C1 },
  { I2C2, GPIOB, Pin_10, Pin_11, I2C2_EV_IRQn, I2C2_ER_IRQn, RCC_APB1Periph_I2C2 },
};

// Copy of peripheral address for IRQ routines
static I2C_TypeDef *I2Cx = NULL;
// Copy of device index for reinit, etc purposes
static I2CDevice I2Cx_index;


void I2C1_ER_IRQHandler(void)
{
  i2c_er_handler();
}

void I2C1_EV_IRQHandler(void)
{
  i2c_ev_handler();
}

void I2C2_ER_IRQHandler(void)
{
  i2c_er_handler();
}

void I2C2_EV_IRQHandler(void)
{
  i2c_ev_handler();
}

#define I2C_DEFAULT_TIMEOUT 30000
static volatile uint16_t i2cErrorCount = 0;

static volatile bool error = false;
static volatile bool busy;

static volatile uint8_t addr;
static volatile uint8_t reg;
static volatile uint8_t bytes;
static volatile uint8_t writing;
static volatile uint8_t reading;
static volatile uint8_t *write_p;
static volatile uint8_t *read_p;
static volatile uint8_t *status;
static void (*complete_CB)(uint8_t);

static bool i2cHandleHardwareFailure(void)
{
  i2cErrorCount++;
  // reinit peripheral + clock out garbage
  i2cInit(I2Cx_index);
  return false;
}

bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
{
  uint32_t timeout = I2C_DEFAULT_TIMEOUT;

  addr = addr_ << 1;
  reg = reg_;
  writing = 1;
  reading = 0;
  write_p = data;
  read_p = data;
  bytes = len_;
  busy = 1;
  error = false;

  if (!I2Cx)
    return false;

  if (!(I2Cx->CR2 & I2C_IT_EVT)) {                                    // if we are restarting the driver
    if (!(I2Cx->CR1 & 0x0100)) {                                    // ensure sending a start
      while (I2Cx->CR1 & 0x0200 && --timeout > 0) {
        ;    // wait for any stop to finish sending
      }
      if (timeout == 0)
        return i2cHandleHardwareFailure();
      I2C_GenerateSTART(I2Cx, ENABLE);                            // send the start for the new job
    }
    I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE);            // allow the interrupts to fire off again
  }

  timeout = I2C_DEFAULT_TIMEOUT;
  while (busy && --timeout > 0) {
    ;
  }
  if (timeout == 0)
    return i2cHandleHardwareFailure();

  return !error;
}

bool i2cWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
{
  return i2cWriteBuffer(addr_, reg_, 1, &data);
}

bool i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t *buf)
{
  uint32_t timeout = I2C_DEFAULT_TIMEOUT;

  addr = addr_ << 1;
  reg = reg_;
  writing = 0;
  reading = 1;
  read_p = buf;
  write_p = buf;
  bytes = len;
  busy = 1;
  error = false;

  if (!I2Cx)
    return false;

  if (!(I2Cx->CR2 & I2C_IT_EVT)) {                                    // if we are restarting the driver
    if (!(I2Cx->CR1 & 0x0100)) {                                    // ensure sending a start
      while (I2Cx->CR1 & 0x0200 && --timeout > 0) {
        ;    // wait for any stop to finish sending
      }
      if (timeout == 0)
        return i2cHandleHardwareFailure();
      I2C_GenerateSTART(I2Cx, ENABLE);                            // send the start for the new job
    }
    I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE);            // allow the interrupts to fire off again
  }

  timeout = I2C_DEFAULT_TIMEOUT;
  while (busy && --timeout > 0) {
    ;
  }
  if (timeout == 0)
    return i2cHandleHardwareFailure();

  return !error;
}

bool i2cReadAsync(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t *buf, volatile uint8_t* status_, void (*CB)(uint8_t))
{
  uint32_t timeout = I2C_DEFAULT_TIMEOUT;

  addr = addr_ << 1;
  reg = reg_;
  writing = 0;
  reading = 1;
  read_p = buf;
  write_p = buf;
  bytes = len;
  busy = 1;
  error = false;
  status = status_;
  complete_CB = CB;

  if(!I2Cx)
    return false;

  if (!(I2Cx->CR2 & I2C_IT_EVT)) {                                    // if we are restarting the driver
    if (!(I2Cx->CR1 & 0x0100)) {                                    // ensure sending a start
      while (I2Cx->CR1 & 0x0200 && --timeout > 0) {               // This is blocking, but happens only
        ;    // wait for any stop to finish sending             // if we are stomping on the port (try to avoid)
      }
      if (timeout == 0)
        return i2cHandleHardwareFailure();
      I2C_GenerateSTART(I2Cx, ENABLE);                            // send the start for the new job
    }
    I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE);            // allow the interrupts to fire off again
  }
  return true;
}

bool i2cWriteAsync(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *buf_, volatile uint8_t* status_, void (*CB)(uint8_t))
{
  uint32_t timeout = I2C_DEFAULT_TIMEOUT;

  addr = addr_ << 1;
  reg = reg_;
  writing = 1;
  reading = 0;
  write_p = buf_;
  read_p = buf_;
  bytes = len_;
  busy = 1;
  error = false;
  status = status_;
  complete_CB = CB;

  if (!I2Cx)
    return false;

  if (!(I2Cx->CR2 & I2C_IT_EVT)) {                                    // if we are restarting the driver
    if (!(I2Cx->CR1 & 0x0100)) {                                    // ensure sending a start
      while (I2Cx->CR1 & 0x0200 && --timeout > 0) {
        ;    // wait for any stop to finish sending
      }
      if (timeout == 0)
        return i2cHandleHardwareFailure();
      I2C_GenerateSTART(I2Cx, ENABLE);                            // send the start for the new job
    }
    I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE);            // allow the interrupts to fire off again
  }
  return true;
}

static void i2c_er_handler(void)
{
  // Read the I2C1 status register
  volatile uint32_t SR1Register = I2Cx->SR1;

  if (SR1Register & 0x0F00)                                           // an error
  {
    i2cErrorCount++;
    error = true;
  }

  // If AF, BERR or ARLO, abandon the current job and commence new if there are jobs
  if (SR1Register & 0x0700) {
    (void)I2Cx->SR2;                                                // read second status register to clear ADDR if it is set (note that BTF will not be set after a NACK)
    I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE);                        // disable the RXNE/TXE interrupt - prevent the ISR tailchaining onto the ER (hopefully)
    if (!(SR1Register & 0x0200) && !(I2Cx->CR1 & 0x0200)) {         // if we dont have an ARLO error, ensure sending of a stop
      if (I2Cx->CR1 & 0x0100) {                                   // We are currently trying to send a start, this is very bad as start, stop will hang the peripheral
        uint32_t timeout = I2C_DEFAULT_TIMEOUT;
        while (I2Cx->CR1 & 0x0100 && --timeout > 0) {
          ;    // wait for any start to finish sending
        }
        I2C_GenerateSTOP(I2Cx, ENABLE);                         // send stop to finalise bus transaction
        timeout = I2C_DEFAULT_TIMEOUT;
        while (I2Cx->CR1 & 0x0200 && --timeout > 0) {
          ;    // wait for stop to finish sending
        }
        i2cInit(I2Cx_index);                                    // reset and configure the hardware
      } else {
        I2C_GenerateSTOP(I2Cx, ENABLE);                         // stop to free up the bus
        I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE);   // Disable EVT and ERR interrupts while bus inactive
      }
    }
  }
  I2Cx->SR1 &= ~0x0F00;                                               // reset all the error bits to clear the interrupt
  if (status)
    (*status) = I2C_JOB_ERROR;                                      // Update job status
  if (complete_CB != NULL)
      complete_CB(I2C_JOB_ERROR);
  busy = 0;
  i2c_job_handler();
}

void i2c_ev_handler(void)
{
  static uint8_t subaddress_sent, final_stop;                         // flag to indicate if subaddess sent, flag to indicate final bus condition
  static int8_t index;                                                // index is signed -1 == send the subaddress
  uint8_t SReg_1 = I2Cx->SR1;                                         // read the status register here

  if (SReg_1 & 0x0001) {                                              // we just sent a start - EV5 in ref manual
    I2Cx->CR1 &= ~0x0800;                                           // reset the POS bit so ACK/NACK applied to the current byte
    I2C_AcknowledgeConfig(I2Cx, ENABLE);                            // make sure ACK is on
    index = 0;                                                      // reset the index
    if (reading && (subaddress_sent || 0xFF == reg)) {              // we have sent the subaddr
      subaddress_sent = 1;                                        // make sure this is set in case of no subaddress, so following code runs correctly
      if (bytes == 2)
        I2Cx->CR1 |= 0x0800;                                    // set the POS bit so NACK applied to the final byte in the two byte read
      I2C_Send7bitAddress(I2Cx, addr, I2C_Direction_Receiver);    // send the address and set hardware mode
    } else {                                                        // direction is Tx, or we havent sent the sub and rep start
      I2C_Send7bitAddress(I2Cx, addr, I2C_Direction_Transmitter); // send the address and set hardware mode
      if (reg != 0xFF)                                            // 0xFF as subaddress means it will be ignored, in Tx or Rx mode
        index = -1;                                             // send a subaddress
    }

  } else if (SReg_1 & 0x0002) {                                       // we just sent the address - EV6 in ref manual
    // Read SR1,2 to clear ADDR
    __DMB();                                                        // memory fence to control hardware
    if (bytes == 1 && reading && subaddress_sent) {                 // we are receiving 1 byte - EV6_3
      I2C_AcknowledgeConfig(I2Cx, DISABLE);                       // turn off ACK
      __DMB();
      (void)I2Cx->SR2;                                            // clear ADDR after ACK is turned off
      I2C_GenerateSTOP(I2Cx, ENABLE);                             // program the stop
      final_stop = 1;
      I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE);                     // allow us to have an EV7
    } else {                                                        // EV6 and EV6_1
      (void)I2Cx->SR2;                                            // clear the ADDR here
      __DMB();
      if (bytes == 2 && reading && subaddress_sent) {             // rx 2 bytes - EV6_1
        I2C_AcknowledgeConfig(I2Cx, DISABLE);                   // turn off ACK
        I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE);                // disable TXE to allow the buffer to fill
      } else if (bytes == 3 && reading && subaddress_sent)        // rx 3 bytes
        I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE);                // make sure RXNE disabled so we get a BTF in two bytes time
      else                                                        // receiving greater than three bytes, sending subaddress, or transmitting
        I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE);
    }

  } else if (SReg_1 & 0x004) {                                        // Byte transfer finished - EV7_2, EV7_3 or EV8_2
    final_stop = 1;
    if (reading && subaddress_sent) {                               // EV7_2, EV7_3
      if (bytes > 2) {                                            // EV7_2
        I2C_AcknowledgeConfig(I2Cx, DISABLE);                   // turn off ACK
        read_p[index++] = (uint8_t)I2Cx->DR;                    // read data N-2
        I2C_GenerateSTOP(I2Cx, ENABLE);                         // program the Stop
        final_stop = 1;                                         // required to fix hardware
        read_p[index++] = (uint8_t)I2Cx->DR;                    // read data N - 1
        I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE);                 // enable TXE to allow the final EV7
      } else {                                                    // EV7_3
        if (final_stop){
          I2C_GenerateSTOP(I2Cx, ENABLE);                     // program the Stop
        }
        else
          I2C_GenerateSTART(I2Cx, ENABLE);                    // program a rep start
        read_p[index++] = (uint8_t)I2Cx->DR;                    // read data N - 1
        read_p[index++] = (uint8_t)I2Cx->DR;                    // read data N
        index++;                                                // to show job completed
      }
    } else {                                                        // EV8_2, which may be due to a subaddress sent or a write completion
      if (subaddress_sent || (writing)) {
        if (final_stop)
          I2C_GenerateSTOP(I2Cx, ENABLE);                     // program the Stop
        else
          I2C_GenerateSTART(I2Cx, ENABLE);                    // program a rep start
        index++;                                                // to show that the job is complete
      } else {                                                    // We need to send a subaddress
        I2C_GenerateSTART(I2Cx, ENABLE);                        // program the repeated Start
        subaddress_sent = 1;                                    // this is set back to zero upon completion of the current task
      }
    }
    // we must wait for the start to clear, otherwise we get constant BTF
    uint32_t timeout = I2C_DEFAULT_TIMEOUT;
    while (I2Cx->CR1 & 0x0100 && --timeout > 0) {
      ;
    }

  } else if (SReg_1 & 0x0040) {                                       // Byte received - EV7
    read_p[index++] = (uint8_t)I2Cx->DR;
    if (bytes == (index + 3))
      I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE);                    // disable TXE to allow the buffer to flush so we can get an EV7_2
    if (bytes == index)                                             // We have completed a final EV7
      index++;                                                    // to show job is complete
  } else if (SReg_1 & 0x0080) {                                       // Byte transmitted EV8 / EV8_1
    if (index != -1) {                                              // we dont have a subaddress to send
      I2Cx->DR = write_p[index++];
      if (bytes == index)                                         // we have sent all the data
        I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE);                // disable TXE to allow the buffer to flush
    } else {
      index++;
      I2Cx->DR = reg;                                             // send the subaddress
      if (reading || !bytes)                                      // if receiving or sending 0 bytes, flush now
        I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE);                // disable TXE to allow the buffer to flush
    }
  }

  if (index == bytes + 1) {                                           // we have completed the current job
    subaddress_sent = 0;                                            // reset this here
    if (final_stop) {                                               // If there is a final stop and no more jobs, bus is inactive, disable interrupts to prevent BTF
      I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE);       // Disable EVT and ERR interrupts while bus inactive
    }
    if (status){
      (*status) = I2C_JOB_COMPLETE;                               // Update status
    }
    if (complete_CB != NULL){
      complete_CB(I2C_JOB_COMPLETE);                                              // Call the custom callback (we are finished)
    }
    busy = 0;
    i2c_job_handler();                                              // Start the next job (if there is one on the queue)
  }
}

void i2cInit(I2CDevice index)
{
  NVIC_InitTypeDef nvic;
  I2C_InitTypeDef i2c;

  if (index > I2CDEV_MAX)
    index = I2CDEV_MAX;

  // Turn on peripheral clock, save device and index
  I2Cx = i2cHardwareMap[index].dev;
  I2Cx_index = index;
  RCC_APB1PeriphClockCmd(i2cHardwareMap[index].peripheral, ENABLE);

  // clock out stuff to make sure slaves arent stuck
  // This will also configure GPIO as AF_OD at the end
  i2cUnstick();

  // Init I2C peripheral
  I2C_DeInit(I2Cx);
  I2C_StructInit(&i2c);

  I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE);               // Enable EVT and ERR interrupts - they are enabled by the first request
  i2c.I2C_Mode = I2C_Mode_I2C;
  i2c.I2C_DutyCycle = I2C_DutyCycle_2;
  i2c.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
  i2c.I2C_ClockSpeed = 400000;
  I2C_Cmd(I2Cx, ENABLE);
  I2C_Init(I2Cx, &i2c);

  // I2C ER Interrupt
  nvic.NVIC_IRQChannel = i2cHardwareMap[index].er_irq;
  // Set the priority to just below the systick interrupt
  nvic.NVIC_IRQChannelPreemptionPriority = 2;
  nvic.NVIC_IRQChannelSubPriority = 1;
  nvic.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&nvic);

  // I2C EV Interrupt
  nvic.NVIC_IRQChannel = i2cHardwareMap[index].ev_irq;
  // Set the priority to just below the systick interrupt
  nvic.NVIC_IRQChannelPreemptionPriority = 1;
  NVIC_Init(&nvic);

  // Initialize buffer
  i2c_init_buffer();
}

uint16_t i2cGetErrorCounter(void)
{
  return i2cErrorCount;
}

static void i2cUnstick(void)
{
  GPIO_TypeDef *gpio;
  gpio_config_t cfg;
  uint16_t scl, sda;
  int i;

  // disable any I2C interrupts
  I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE);


  // prepare pins
  gpio = i2cHardwareMap[I2Cx_index].gpio;
  scl = i2cHardwareMap[I2Cx_index].scl;
  sda = i2cHardwareMap[I2Cx_index].sda;

  digitalHi(gpio, scl | sda);

  cfg.pin = scl | sda;
  cfg.speed = Speed_2MHz;
  cfg.mode = Mode_Out_OD;
  gpioInit(gpio, &cfg);

  for (i = 0; i < 8; i++) {
    // Wait for any clock stretching to finish
    while (!digitalIn(gpio, scl))
      delayMicroseconds(10);

    // Pull low
    digitalLo(gpio, scl); // Set bus low
    delayMicroseconds(10);
    // Release high again
    digitalHi(gpio, scl); // Set bus high
    delayMicroseconds(10);
  }

  // Generate a start then stop condition
  // SCL  PB10
  // SDA  PB11
  digitalLo(gpio, sda); // Set bus data low
  delayMicroseconds(10);
  digitalLo(gpio, scl); // Set bus scl low
  delayMicroseconds(10);
  digitalHi(gpio, scl); // Set bus scl high
  delayMicroseconds(10);
  digitalHi(gpio, sda); // Set bus sda high

  // Init pins
  cfg.pin = scl | sda;
  cfg.speed = Speed_2MHz;
  cfg.mode = Mode_AF_OD;
  gpioInit(gpio, &cfg);

  // clear the buffer
}

void i2c_job_handler()
{
  if(i2c_buffer_count == 0)
  {
    // the queue is empty, stop performing i2c until
    // a new job is enqueued
    return;
  }

  if(busy)
  {
    // wait for the current job to finish.  This function
    // will get called again when the job is done
    return;
  }

  // Perform the job on the front of the queue
  i2cJob_t* job = i2c_buffer + i2c_buffer_tail;

  // First, change status to BUSY
  if (job->status)
    (*job->status) = I2C_JOB_BUSY;

  // perform the appropriate job
  if(job->type == READ)
  {
    i2cReadAsync(job->addr,
                 job->reg,
                 job->length,
                 job->data,
                 job->status,
                 job->CB);
  }
  else
  {
    i2cWriteAsync(job->addr,
                  job->reg,
                  job->length,
                  job->data,
                  job->status,
                  job->CB);
  }

  // Increment the tail
  i2c_buffer_tail = (i2c_buffer_tail + 1) % I2C_BUFFER_SIZE;

  // Decrement the number of jobs on the buffer
  i2c_buffer_count--;
  return;
}

void i2c_queue_job(i2cJobType_t type, uint8_t addr_, uint8_t reg_, uint8_t *data, uint8_t length, volatile uint8_t* status_, void(*CB)(uint8_t))
{
  // If this job were going to overflow the buffer, ignore it.
  if (i2c_buffer_count >= I2C_BUFFER_SIZE)
  {
    if(status_)
      *status_ = I2C_JOB_ERROR;
    return;
  }

  // Get a pointer to the head
  volatile i2cJob_t* job = i2c_buffer + i2c_buffer_head;
  // Increment the buffer head for next call
  i2c_buffer_head = (i2c_buffer_head + 1) % I2C_BUFFER_SIZE;
  // Increment the buffer size
  i2c_buffer_count++;

  // save the data about the job
  job->type = type;
  job->data = data;
  job->addr = addr_;
  job->reg = reg_;
  job->length = length;
  job->next_job = NULL;
  job->status = status_;
  job->CB = CB;

  // change job status
  if (job->status)
    (*job->status) = I2C_JOB_QUEUED;

  if(i2c_buffer_count == 1)
  {
    // if the buffer queue was empty, restart i2c job handling
    i2c_job_handler();
  }
  i2c_buffer_lock = false;

  return;
}

void i2c_init_buffer()
{
  // write zeros to the buffer, and set all the indexes to zero
  memset(i2c_buffer, 0, I2C_BUFFER_SIZE*sizeof(i2cJob_t));
  i2c_buffer_count = 0;
  i2c_buffer_head = 0;
  i2c_buffer_tail = 0;
}