diff options
| author | utzig <utzig@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2014-08-29 19:09:38 +0000 |
|---|---|---|
| committer | utzig <utzig@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2014-08-29 19:09:38 +0000 |
| commit | 7668607e63bde8848abf43040291ff0a3ef5691d (patch) | |
| tree | 65ee06043bfb4fa439c5a91919cbe42d6664d45c | |
| parent | 425bc3d030f266e8dd09ddb5dff8302ed67f4390 (diff) | |
| download | ChibiOS-7668607e63bde8848abf43040291ff0a3ef5691d.tar.gz ChibiOS-7668607e63bde8848abf43040291ff0a3ef5691d.tar.bz2 ChibiOS-7668607e63bde8848abf43040291ff0a3ef5691d.zip | |
[KINETIS] Initial I2C driver for K2x
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7206 35acf78f-673a-0410-8e92-d51de3d6d3f4
| -rw-r--r-- | os/hal/ports/KINETIS/K20x/i2c_lld.c | 374 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/K20x/i2c_lld.h | 208 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/K20x/platform.mk | 1 |
3 files changed, 583 insertions, 0 deletions
diff --git a/os/hal/ports/KINETIS/K20x/i2c_lld.c b/os/hal/ports/KINETIS/K20x/i2c_lld.c new file mode 100644 index 000000000..65110bfe8 --- /dev/null +++ b/os/hal/ports/KINETIS/K20x/i2c_lld.c @@ -0,0 +1,374 @@ +/*
+ ChibiOS/RT - Copyright (C) 2014 Fabio Utzig
+
+ 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 KINETIS/i2c_lld.c
+ * @brief KINETIS I2C subsystem low level driver source.
+ *
+ * @addtogroup I2C
+ * @{
+ */
+
+#include "osal.h"
+#include "hal.h"
+
+#if HAL_USE_I2C || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief I2C0 driver identifier.
+ */
+#if KINETIS_I2C_USE_I2C0 || defined(__DOXYGEN__)
+I2CDriver I2CD1;
+#endif
+
+/**
+ * @brief I2C1 driver identifier.
+ */
+#if KINETIS_I2C_USE_I2C1 || defined(__DOXYGEN__)
+I2CDriver I2CD2;
+#endif
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+void config_frequency(I2CDriver *i2cp) {
+ /* TODO */
+ i2cp->i2c->F = 0x20;
+}
+
+/**
+ * @brief Common IRQ handler.
+ * @note Tries hard to clear all the pending interrupt sources, we don't
+ * want to go through the whole ISR and have another interrupt soon
+ * after.
+ *
+ * @param[in] i2cp pointer to an I2CDriver
+ */
+static void serve_interrupt(I2CDriver *i2cp) {
+
+ I2C_TypeDef *i2c = i2cp->i2c;
+ intstate_t state = i2cp->intstate;
+
+ if (i2c->S & I2Cx_S_ARBL) {
+
+ i2cp->errors |= I2C_ARBITRATION_LOST;
+ i2c->S |= I2Cx_S_ARBL;
+
+ } else if (state == STATE_SEND) {
+
+ if (i2c->S & I2Cx_S_RXAK)
+ i2cp->errors |= I2C_ACK_FAILURE;
+ else if (i2cp->txbuf != NULL && i2cp->txidx < i2cp->txbytes)
+ i2c->D = i2cp->txbuf[i2cp->txidx++];
+ else
+ i2cp->intstate = STATE_STOP;
+
+ } else if (state == STATE_DUMMY) {
+
+ if (i2c->S & I2Cx_S_RXAK)
+ i2cp->errors |= I2C_ACK_FAILURE;
+ else {
+ i2c->C1 &= ~I2Cx_C1_TX;
+
+ if (i2cp->rxbytes > 1)
+ i2c->C1 &= ~I2Cx_C1_TXAK;
+ else
+ i2c->C1 |= I2Cx_C1_TXAK;
+ (void) i2c->D;
+ i2cp->intstate = STATE_RECV;
+ }
+
+ } else if (state == STATE_RECV) {
+
+ if (i2cp->rxbytes > 1) {
+ if (i2cp->rxidx == (i2cp->rxbytes - 2))
+ i2c->C1 |= I2Cx_C1_TXAK;
+ else
+ i2c->C1 &= ~I2Cx_C1_TXAK;
+ }
+
+ if (i2cp->rxidx == i2cp->rxbytes - 1)
+ i2c->C1 &= ~(I2Cx_C1_TX | I2Cx_C1_MST);
+
+ i2cp->rxbuf[i2cp->rxidx++] = i2c->D;
+
+ if (i2cp->rxidx == i2cp->rxbytes)
+ i2cp->intstate = STATE_STOP;
+ }
+
+ /* Reset interrupt flag */
+ i2c->S |= I2Cx_S_IICIF;
+
+ if (i2cp->errors != I2C_NO_ERROR)
+ _i2c_wakeup_error_isr(i2cp);
+
+ if (i2cp->intstate == STATE_STOP)
+ _i2c_wakeup_isr(i2cp);
+}
+
+/*===========================================================================*/
+/* Driver interrupt handlers. */
+/*===========================================================================*/
+
+#if KINETIS_I2C_USE_I2C0 || defined(__DOXYGEN__)
+
+/* FIXME: Vector6C on K2x; Vector60 on KL2x */
+PORT_IRQ_HANDLER(Vector6C) {
+
+ PORT_IRQ_PROLOGUE();
+ serve_interrupt(&I2CD1);
+ PORT_IRQ_EPILOGUE();
+}
+
+#endif
+
+#if KINETIS_I2C_USE_I2C1 || defined(__DOXYGEN__)
+
+/* FIXME: KL2x has I2C1 on Vector64; K2x don't have I2C1! */
+PORT_IRQ_HANDLER(Vector64) {
+
+ PORT_IRQ_PROLOGUE();
+ serve_interrupt(&I2CD2);
+ PORT_IRQ_EPILOGUE();
+}
+
+#endif
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Low level I2C driver initialization.
+ *
+ * @notapi
+ */
+void i2c_lld_init(void) {
+
+#if KINETIS_I2C_USE_I2C0
+ i2cObjectInit(&I2CD1);
+ I2CD1.thread = NULL;
+ I2CD1.i2c = I2C0;
+#endif
+
+#if KINETIS_I2C_USE_I2C1
+ i2cObjectInit(&I2CD2);
+ I2CD2.thread = NULL;
+ I2CD2.i2c = I2C1;
+#endif
+
+}
+
+/**
+ * @brief Configures and activates the I2C peripheral.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ *
+ * @notapi
+ */
+void i2c_lld_start(I2CDriver *i2cp) {
+
+ if (i2cp->state == I2C_STOP) {
+
+ /* TODO:
+ * The PORT must be enabled somewhere. The PIN multiplexer
+ * will map the I2C functionality to some PORT which must
+ * than be enabled. The easier way is enabling all PORTs at
+ * startup, which is currently being done in __early_init.
+ */
+
+#if KINETIS_I2C_USE_I2C0
+ if (&I2CD1 == i2cp) {
+ SIM->SCGC4 |= SIM_SCGC4_I2C0;
+ nvicEnableVector(I2C0_IRQn, KINETIS_I2C_I2C0_PRIORITY);
+ }
+#endif
+
+#if KINETIS_I2C_USE_I2C1
+ if (&I2CD2 == i2cp) {
+ SIM->SCGC4 |= SIM_SCGC4_I2C1;
+ nvicEnableVector(I2C1_IRQn, KINETIS_I2C_I2C1_PRIORITY);
+ }
+#endif
+
+ }
+
+ config_frequency(i2cp);
+ i2cp->i2c->C1 |= I2Cx_C1_IICEN | I2Cx_C1_IICIE;
+ i2cp->intstate = STATE_STOP;
+}
+
+/**
+ * @brief Deactivates the I2C peripheral.
+ *
+ * @param[in] i2cp pointer to the @p I2CDriver object
+ *
+ * @notapi
+ */
+void i2c_lld_stop(I2CDriver *i2cp) {
+
+ if (i2cp->state != I2C_STOP) {
+
+ i2cp->i2c->C1 &= ~(I2Cx_C1_IICEN | I2Cx_C1_IICIE);
+
+#if KINETIS_I2C_USE_I2C0
+ if (&I2CD1 == i2cp) {
+ SIM->SCGC4 &= ~SIM_SCGC4_I2C0;
+ nvicDisableVector(I2C0_IRQn);
+ }
+#endif
+
+#if KINETIS_I2C_USE_I2C1
+ if (&I2CD2 == i2cp) {
+ SIM->SCGC4 &= ~SIM_SCGC4_I2C1;
+ nvicDisableVector(I2C1_IRQn);
+ }
+#endif
+
+ }
+}
+
+static inline msg_t _i2c_txrx_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ const uint8_t *txbuf, size_t txbytes,
+ uint8_t *rxbuf, size_t rxbytes,
+ systime_t timeout) {
+
+ (void)timeout;
+ msg_t msg;
+
+ uint8_t op = (i2cp->intstate == STATE_SEND) ? 0 : 1;
+
+ i2cp->errors = I2C_NO_ERROR;
+ i2cp->addr = addr;
+
+ i2cp->txbuf = txbuf;
+ i2cp->txbytes = txbytes;
+ i2cp->txidx = 0;
+
+ i2cp->rxbuf = rxbuf;
+ i2cp->rxbytes = rxbytes;
+ i2cp->rxidx = 0;
+
+ /* send START */
+ i2cp->i2c->C1 |= I2Cx_C1_MST;
+ i2cp->i2c->C1 |= I2Cx_C1_TX;
+
+ /* FIXME: should not use busy waiting! */
+ while (!(i2cp->i2c->S & I2Cx_S_BUSY));
+
+ i2cp->i2c->D = addr << 1 | op;
+
+ msg = osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE);
+
+ /* FIXME */
+ //if (i2cp->i2c->S & I2Cx_S_RXAK)
+ // i2cp->errors |= I2C_ACK_FAILURE;
+
+ if (msg == MSG_OK && txbuf != NULL && rxbuf != NULL) {
+ i2cp->i2c->C1 |= I2Cx_C1_RSTA;
+ /* FIXME */
+ while (!(i2cp->i2c->S & I2Cx_S_BUSY));
+
+ i2cp->intstate = STATE_DUMMY;
+ i2cp->i2c->D = i2cp->addr << 1 | 1;
+
+ msg = osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE);
+ }
+
+ i2cp->i2c->C1 &= ~(I2Cx_C1_TX | I2Cx_C1_MST);
+ /* FIXME */
+ while (i2cp->i2c->S & I2Cx_S_BUSY);
+
+ return msg;
+}
+
+/**
+ * @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,
+ systime_t timeout) {
+
+ i2cp->intstate = STATE_DUMMY;
+ return _i2c_txrx_timeout(i2cp, addr, NULL, 0, rxbuf, rxbytes, timeout);
+}
+
+/**
+ * @brief Transmits data via the I2C bus as master.
+ *
+ * @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,
+ systime_t timeout) {
+
+ i2cp->intstate = STATE_SEND;
+ return _i2c_txrx_timeout(i2cp, addr, txbuf, txbytes, rxbuf, rxbytes, timeout);
+}
+
+#endif /* HAL_USE_I2C */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/K20x/i2c_lld.h b/os/hal/ports/KINETIS/K20x/i2c_lld.h new file mode 100644 index 000000000..a3ce29620 --- /dev/null +++ b/os/hal/ports/KINETIS/K20x/i2c_lld.h @@ -0,0 +1,208 @@ +/*
+ ChibiOS/RT - Copyright (C) 2014 Fabio Utzig
+
+ 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 KINETIS/i2c_lld.h
+ * @brief KINETIS I2C subsystem low level driver header.
+ *
+ * @addtogroup I2C
+ * @{
+ */
+
+#ifndef _I2C_LLD_H_
+#define _I2C_LLD_H_
+
+#if HAL_USE_I2C || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+#define STATE_STOP 0x00
+#define STATE_SEND 0x01
+#define STATE_RECV 0x02
+#define STATE_DUMMY 0x03
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief I2C0 driver enable switch.
+ * @details If set to @p TRUE the support for I2C0 is included.
+ * @note The default is @p FALSE.
+ */
+#if !defined(KINETIS_I2C_USE_I2C0) || defined(__DOXYGEN__)
+#define KINETIS_I2C_USE_I2C0 FALSE
+#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(KINETIS_I2C_USE_I2C1) || defined(__DOXYGEN__)
+#define KINETIS_I2C_USE_I2C1 FALSE
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver data structures and types. */
+/*===========================================================================*/
+
+/* @brief Type representing I2C address. */
+typedef uint8_t i2caddr_t;
+
+/* @brief Type of I2C Driver condition flags. */
+typedef uint32_t i2cflags_t;
+
+/* @brief Type used to control the ISR state machine. */
+typedef uint8_t intstate_t;
+
+/**
+ * @brief Driver configuration structure.
+ * @note Implementations may extend this structure to contain more,
+ * architecture dependent, fields.
+ */
+
+/**
+ * @brief Driver configuration structure.
+ */
+typedef struct {
+
+ /* @brief Clock to be used for the I2C bus. */
+ uint32_t clock;
+
+} 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__)
+#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
+ /**
+ * @brief Mutex protecting the bus.
+ */
+ mutex_t mutex;
+#elif CH_CFG_USE_SEMAPHORES
+ semaphore_t semaphore;
+#endif
+#endif /* I2C_USE_MUTUAL_EXCLUSION */
+#if defined(I2C_DRIVER_EXT_FIELDS)
+ I2C_DRIVER_EXT_FIELDS
+#endif
+ /* @brief Thread waiting for I/O completion. */
+ thread_reference_t thread;
+ /* @brief Current slave address without R/W bit. */
+ i2caddr_t addr;
+
+ /* End of the mandatory fields.*/
+
+ /* @brief Pointer to the buffer with data to send. */
+ const uint8_t *txbuf;
+ /* @brief Number of bytes of data to send. */
+ size_t txbytes;
+ /* @brief Current index in buffer when sending data. */
+ size_t txidx;
+ /* @brief Pointer to the buffer to put received data. */
+ uint8_t *rxbuf;
+ /* @brief Number of bytes of data to receive. */
+ size_t rxbytes;
+ /* @brief Current index in buffer when receiving data. */
+ size_t rxidx;
+ /* @brief Tracks current ISR state. */
+ intstate_t intstate;
+ /* @brief Low-level register access. */
+ I2C_TypeDef *i2c;
+};
+
+/*===========================================================================*/
+/* 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 KINETIS_I2C_USE_I2C0
+extern I2CDriver I2CD1;
+#endif
+
+#if KINETIS_I2C_USE_I2C1
+extern I2CDriver I2CD2;
+#endif
+
+#endif
+
+#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,
+ systime_t timeout);
+ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
+ uint8_t *rxbuf, size_t rxbytes,
+ systime_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_USE_I2C */
+
+#endif /* _I2C_LLD_H_ */
+
+/** @} */
diff --git a/os/hal/ports/KINETIS/K20x/platform.mk b/os/hal/ports/KINETIS/K20x/platform.mk index 2d5ab5859..afe7c21ad 100644 --- a/os/hal/ports/KINETIS/K20x/platform.mk +++ b/os/hal/ports/KINETIS/K20x/platform.mk @@ -4,6 +4,7 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \ ${CHIBIOS}/os/hal/ports/KINETIS/K20x/pal_lld.c \
${CHIBIOS}/os/hal/ports/KINETIS/K20x/serial_lld.c \
${CHIBIOS}/os/hal/ports/KINETIS/K20x/spi_lld.c \
+ ${CHIBIOS}/os/hal/ports/KINETIS/K20x/i2c_lld.c \
${CHIBIOS}/os/hal/ports/KINETIS/K20x/st_lld.c
# Required include directories
|