[AVR] I2C driver updated for chibios3/nil + fixes

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7235 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 20 insertions, 46 deletions

diff --git a/os/hal/ports/AVR/i2c_lld.c b/os/hal/ports/AVR/i2c_lld.c
index b82531686..bb793c382 100644
--- a/os/hal/ports/AVR/i2c_lld.c
+++ b/os/hal/ports/AVR/i2c_lld.c
@@ -47,25 +47,6 @@ I2CDriver I2CD1;
 /* Driver local functions.                                                   */

 /*===========================================================================*/

 

-/**

- * @brief   Wakes up the waiting thread.

- *

- * @param[in] i2cp      pointer to the @p I2CDriver object

- * @param[in] msg       wakeup message

- *

- * @notapi

- */

-#define wakeup_isr(i2cp, msg) {                                             \

-  osalSysLockFromISR();                                                     \

-  if ((i2cp)->thread != NULL) {                                             \

-    thread_t *tp = (i2cp)->thread;                                          \

-    (i2cp)->thread = NULL;                                                  \

-    tp->p_u.rdymsg = (msg);                                                 \

-    chSchReadyI(tp);                                                        \

-  }                                                                         \

-  osalSysUnlockFromISR();                                                   \

-}

-

 /*===========================================================================*/

 /* Driver interrupt handlers.                                                */

 /*===========================================================================*/

@@ -100,7 +81,7 @@ OSAL_IRQ_HANDLER(TWI_vect) {
         TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE));

       } else {

         TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN));

-        wakeup_isr(i2cp, MSG_OK);

+        _i2c_wakeup_isr(i2cp);

       }

     }

     break;

@@ -122,27 +103,27 @@ OSAL_IRQ_HANDLER(TWI_vect) {
   case TWI_MASTER_RX_DATA_NACK:

     i2cp->rxbuf[i2cp->rxidx] = TWDR;

     TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN));

-    wakeup_isr(i2cp, MSG_OK);

+    _i2c_wakeup_isr(i2cp);

   case TWI_MASTER_TX_ADDR_NACK:

   case TWI_MASTER_TX_DATA_NACK:

   case TWI_MASTER_RX_ADDR_NACK:

-    i2cp->errors |= I2CD_ACK_FAILURE;

+    i2cp->errors |= I2C_ACK_FAILURE;

     break;

   case TWI_ARBITRATION_LOST:

-    i2cp->errors |= I2CD_ARBITRATION_LOST;

+    i2cp->errors |= I2C_ARBITRATION_LOST;

     break;

   case TWI_BUS_ERROR:

-    i2cp->errors |= I2CD_BUS_ERROR;

+    i2cp->errors |= I2C_BUS_ERROR;

     break;

   default:

     /* FIXME: only gets here if there are other MASTERs in the bus */

     TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN));

-    wakeup_isr(i2cp, MSG_RESET);

+    _i2c_wakeup_error_isr(i2cp);

   }

 

-  if (i2cp->errors != I2CD_NO_ERROR) {

+  if (i2cp->errors != I2C_NO_ERROR) {

     TWCR = ((1 << TWSTO) | (1 << TWINT) | (1 << TWEN));

-    wakeup_isr(i2cp, MSG_RESET);

+    _i2c_wakeup_error_isr(i2cp);

   }

 

   OSAL_IRQ_EPILOGUE();

@@ -160,6 +141,7 @@ OSAL_IRQ_HANDLER(TWI_vect) {
  */

 void i2c_lld_init(void) {

   i2cObjectInit(&I2CD1);

+  I2CD1.thread = NULL;

 }

 

 /**

@@ -170,14 +152,18 @@ void i2c_lld_init(void) {
  * @notapi

  */

 void i2c_lld_start(I2CDriver *i2cp) {

+  uint32_t clock_speed = 100000;

 

   /* TODO: Test TWI without external pull-ups (use internal) */

 

   /* Configure prescaler to 1 */

   TWSR &= 0xF8;

 

+  if (i2cp->config != NULL)

+    clock_speed = i2cp->config->clock_speed;

+

   /* Configure baudrate */

-  TWBR = ((F_CPU / i2cp->config->clock_speed) - 16) / 2;

+  TWBR = ((F_CPU / clock_speed) - 16) / 2;

 }

 

 /**

@@ -219,6 +205,7 @@ void i2c_lld_stop(I2CDriver *i2cp) {
 msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,

                                      uint8_t *rxbuf, size_t rxbytes,

                                      systime_t timeout) {

+  i2cp->errors = I2C_NO_ERROR;

   i2cp->addr = addr;

   i2cp->txbuf = NULL;

   i2cp->txbytes = 0;

@@ -230,12 +217,7 @@ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
   /* Send START */

   TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE));

 

-  osalSysLock();

-  i2cp->thread = chThdGetSelfX();

-  chSchGoSleepS(THD_STATE_SUSPENDED);

-  chSysUnlock();

-

-  return chThdGetSelfX()->p_u.rdymsg;

+  return osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE);

 }

 

 /**

@@ -265,6 +247,7 @@ 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,

                                       systime_t timeout) {

+  i2cp->errors = I2C_NO_ERROR;

   i2cp->addr = addr;

   i2cp->txbuf = txbuf;

   i2cp->txbytes = txbytes;

@@ -275,12 +258,7 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
 

   TWCR = ((1 << TWSTA) | (1 << TWINT) | (1 << TWEN) | (1 << TWIE));

 

-  chSysLock();

-  i2cp->thread = chThdGetSelfX();

-  chSchGoSleepS(THD_STATE_SUSPENDED);

-  chSysUnlock();

-

-  return chThdGetSelfX()->p_u.rdymsg;

+  return osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE);

 }

 

 #endif /* HAL_USE_I2C */

diff --git a/os/hal/ports/AVR/i2c_lld.h b/os/hal/ports/AVR/i2c_lld.h
index 6b2539d6d..c607481eb 100644
--- a/os/hal/ports/AVR/i2c_lld.h
+++ b/os/hal/ports/AVR/i2c_lld.h
@@ -125,14 +125,10 @@ struct I2CDriver {
    */

   i2cflags_t                errors;

 #if I2C_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)

-#if CH_USE_MUTEXES || defined(__DOXYGEN__)

   /**

    * @brief   Mutex protecting the bus.

    */

-  Mutex                     mutex;

-#elif CH_USE_SEMAPHORES

-  Semaphore                 semaphore;

-#endif

+  mutex_t                   mutex;

 #endif /* I2C_USE_MUTUAL_EXCLUSION */

 #if defined(I2C_DRIVER_EXT_FIELDS)

   I2C_DRIVER_EXT_FIELDS

@@ -141,7 +137,7 @@ struct I2CDriver {
   /**

    * @brief   Thread waiting for I/O completion.

    */

-  Thread                    *thread;

+  thread_reference_t        thread;

   /**

    * @brief   Address of slave device.

    */