git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6215 35acf78f-673a-0410-8e92-d51de3d6d3f4

5 files changed, 173 insertions, 238 deletions

diff --git a/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1/board.c b/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1/board.c
index 193217320..cf4fd460e 100644
--- a/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1/board.c
+++ b/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1/board.c
@@ -14,7 +14,6 @@
     limitations under the License.

 */

 

-#include "ch.h"

 #include "hal.h"

 

 /**

diff --git a/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1/board.mk b/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1/board.mk
index 8f50edf14..fe33d03fd 100644
--- a/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1/board.mk
+++ b/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1/board.mk
@@ -1,5 +1,5 @@
 # List of all the board related files.

-BOARDSRC = $(CHIBIOS)/boards/NONSTANDARD_STM32F4_BARTHESS1/board.c

+BOARDSRC = $(CHIBIOS)/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1/board.c

 

 # Required include directories

-BOARDINC = $(CHIBIOS)/boards/NONSTANDARD_STM32F4_BARTHESS1

+BOARDINC = $(CHIBIOS)/os/hal/boards/NONSTANDARD_STM32F4_BARTHESS1

diff --git a/os/hal/platforms/STM32/I2Cv1/i2c_lld.c b/os/hal/platforms/STM32/I2Cv1/i2c_lld.c
index ba5d0a140..35c607330 100644
--- a/os/hal/platforms/STM32/I2Cv1/i2c_lld.c
+++ b/os/hal/platforms/STM32/I2Cv1/i2c_lld.c
@@ -26,7 +26,6 @@
  * @{

  */

 

-#include "ch.h"

 #include "hal.h"

 

 #if HAL_USE_I2C || defined(__DOXYGEN__)

@@ -111,25 +110,6 @@ I2CDriver I2CD3;
 /*===========================================================================*/

 

 /**

- * @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) {                                             \

-  chSysLockFromIsr();                                                       \

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

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

-    (i2cp)->thread = NULL;                                                  \

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

-    chSchReadyI(tp);                                                        \

-  }                                                                         \

-  chSysUnlockFromIsr();                                                     \

-}

-

-/**

  * @brief   Aborts an I2C transaction.

  *

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

@@ -151,27 +131,6 @@ static void i2c_lld_abort_operation(I2CDriver *i2cp) {
 }

 

 /**

- * @brief   Handling of stalled I2C transactions.

- *

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

- *

- * @notapi

- */

-static void i2c_lld_safety_timeout(void *p) {

-  I2CDriver *i2cp = (I2CDriver *)p;

-

-  chSysLockFromIsr();

-  if (i2cp->thread) {

-    Thread *tp = i2cp->thread;

-    i2c_lld_abort_operation(i2cp);

-    i2cp->thread = NULL;

-    tp->p_u.rdymsg = RDY_TIMEOUT;

-    chSchReadyI(tp);

-  }

-  chSysUnlockFromIsr();

-}

-

-/**

  * @brief   Set clock speed.

  *

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

@@ -184,8 +143,9 @@ static void i2c_lld_set_clock(I2CDriver *i2cp) {
   int32_t clock_speed = i2cp->config->clock_speed;

   i2cdutycycle_t duty = i2cp->config->duty_cycle;

 

-  chDbgCheck((i2cp != NULL) && (clock_speed > 0) && (clock_speed <= 4000000),

-             "i2c_lld_set_clock");

+  osalDbgCheck((i2cp != NULL) &&

+               (clock_speed > 0) &&

+               (clock_speed <= 4000000));

 

   /* CR2 Configuration.*/

   dp->CR2 &= (uint16_t)~I2C_CR2_FREQ;

@@ -197,19 +157,15 @@ static void i2c_lld_set_clock(I2CDriver *i2cp) {
 

   if (clock_speed <= 100000) {

     /* Configure clock_div in standard mode.*/

-    chDbgAssert(duty == STD_DUTY_CYCLE,

-                "i2c_lld_set_clock(), #1",

-                "Invalid standard mode duty cycle");

+    osalDbgAssert(duty == STD_DUTY_CYCLE, "invalid standard mode duty cycle");

 

     /* Standard mode clock_div calculate: Tlow/Thigh = 1/1.*/

-    chDbgAssert((STM32_PCLK1 % (clock_speed * 2)) == 0,

-                "i2c_lld_set_clock(), #2",

-                "PCLK1 must be divided without remainder");

+    osalDbgAssert((STM32_PCLK1 % (clock_speed * 2)) == 0,

+                  "PCLK1 must be divisible without remainder");

     clock_div = (uint16_t)(STM32_PCLK1 / (clock_speed * 2));

 

-    chDbgAssert(clock_div >= 0x04,

-                "i2c_lld_set_clock(), #3",

-                "Clock divider less then 0x04 not allowed");

+    osalDbgAssert(clock_div >= 0x04,

+                  "clock divider less then 0x04 not allowed");

     regCCR |= (clock_div & I2C_CCR_CCR);

 

     /* Sets the Maximum Rise Time for standard mode.*/

@@ -217,37 +173,33 @@ static void i2c_lld_set_clock(I2CDriver *i2cp) {
   }

   else if (clock_speed <= 400000) {

     /* Configure clock_div in fast mode.*/

-    chDbgAssert((duty == FAST_DUTY_CYCLE_2) || (duty == FAST_DUTY_CYCLE_16_9),

-                "i2c_lld_set_clock(), #4",

-                "Invalid fast mode duty cycle");

+    osalDbgAssert((duty == FAST_DUTY_CYCLE_2) ||

+                  (duty == FAST_DUTY_CYCLE_16_9),

+                  "invalid fast mode duty cycle");

 

     if (duty == FAST_DUTY_CYCLE_2) {

       /* Fast mode clock_div calculate: Tlow/Thigh = 2/1.*/

-      chDbgAssert((STM32_PCLK1 % (clock_speed * 3)) == 0,

-                  "i2c_lld_set_clock(), #5",

-                  "PCLK1 must be divided without remainder");

+      osalDbgAssert((STM32_PCLK1 % (clock_speed * 3)) == 0,

+                    "PCLK1 must be divided without remainder");

       clock_div = (uint16_t)(STM32_PCLK1 / (clock_speed * 3));

     }

     else if (duty == FAST_DUTY_CYCLE_16_9) {

       /* Fast mode clock_div calculate: Tlow/Thigh = 16/9.*/

-      chDbgAssert((STM32_PCLK1 % (clock_speed * 25)) == 0,

-                  "i2c_lld_set_clock(), #6",

-                  "PCLK1 must be divided without remainder");

+      osalDbgAssert((STM32_PCLK1 % (clock_speed * 25)) == 0,

+                    "PCLK1 must be divided without remainder");

       clock_div = (uint16_t)(STM32_PCLK1 / (clock_speed * 25));

       regCCR |= I2C_CCR_DUTY;

     }

 

-    chDbgAssert(clock_div >= 0x01,

-                    "i2c_lld_set_clock(), #7",

-                    "Clock divider less then 0x04 not allowed");

+    osalDbgAssert(clock_div >= 0x01,

+                  "clock divider less then 0x04 not allowed");

     regCCR |= (I2C_CCR_FS | (clock_div & I2C_CCR_CCR));

 

     /* Sets the Maximum Rise Time for fast mode.*/

     dp->TRISE = (I2C_CLK_FREQ * 300 / 1000) + 1;

   }

 

-  chDbgAssert((clock_div <= I2C_CCR_CCR),

-              "i2c_lld_set_clock(), #8", "the selected clock is too low");

+  osalDbgAssert((clock_div <= I2C_CCR_CCR), "the selected clock is too low");

 

   dp->CCR = regCCR;

 }

@@ -320,7 +272,7 @@ static void i2c_lld_serve_event_interrupt(I2CDriver *i2cp) {
     }

     dp->CR2 &= ~I2C_CR2_ITEVTEN;

     dp->CR1 |= I2C_CR1_STOP;

-    wakeup_isr(i2cp, RDY_OK);

+    _i2c_wakeup_isr(i2cp);

     break;

   default:

     break;

@@ -355,7 +307,7 @@ static void i2c_lld_serve_rx_end_irq(I2CDriver *i2cp, uint32_t flags) {
   dp->CR2 &= ~I2C_CR2_LAST;

   dp->CR1 &= ~I2C_CR1_ACK;

   dp->CR1 |= I2C_CR1_STOP;

-  wakeup_isr(i2cp, RDY_OK);

+  _i2c_wakeup_isr(i2cp);

 }

 

 /**

@@ -398,35 +350,35 @@ static void i2c_lld_serve_error_interrupt(I2CDriver *i2cp, uint16_t sr) {
   dmaStreamDisable(i2cp->dmatx);

   dmaStreamDisable(i2cp->dmarx);

 

-  i2cp->errors = I2CD_NO_ERROR;

+  i2cp->errors = I2C_NO_ERROR;

 

   if (sr & I2C_SR1_BERR)                            /* Bus error.           */

-    i2cp->errors |= I2CD_BUS_ERROR;

+    i2cp->errors |= I2C_BUS_ERROR;

 

   if (sr & I2C_SR1_ARLO)                            /* Arbitration lost.    */

-    i2cp->errors |= I2CD_ARBITRATION_LOST;

+    i2cp->errors |= I2C_ARBITRATION_LOST;

 

   if (sr & I2C_SR1_AF) {                            /* Acknowledge fail.    */

     i2cp->i2c->CR2 &= ~I2C_CR2_ITEVTEN;

     i2cp->i2c->CR1 |= I2C_CR1_STOP;                 /* Setting stop bit.    */

-    i2cp->errors |= I2CD_ACK_FAILURE;

+    i2cp->errors |= I2C_ACK_FAILURE;

   }

 

   if (sr & I2C_SR1_OVR)                             /* Overrun.             */

-    i2cp->errors |= I2CD_OVERRUN;

+    i2cp->errors |= I2C_OVERRUN;

 

   if (sr & I2C_SR1_TIMEOUT)                         /* SMBus Timeout.       */

-    i2cp->errors |= I2CD_TIMEOUT;

+    i2cp->errors |= I2C_TIMEOUT;

 

   if (sr & I2C_SR1_PECERR)                          /* PEC error.           */

-    i2cp->errors |= I2CD_PEC_ERROR;

+    i2cp->errors |= I2C_PEC_ERROR;

 

   if (sr & I2C_SR1_SMBALERT)                        /* SMBus alert.         */

-    i2cp->errors |= I2CD_SMB_ALERT;

+    i2cp->errors |= I2C_SMB_ALERT;

 

   /* If some error has been identified then sends wakes the waiting thread.*/

-  if (i2cp->errors != I2CD_NO_ERROR)

-    wakeup_isr(i2cp, RDY_RESET);

+  if (i2cp->errors != I2C_NO_ERROR)

+    _i2c_wakeup_error_isr(i2cp);

 }

 

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

@@ -439,27 +391,27 @@ static void i2c_lld_serve_error_interrupt(I2CDriver *i2cp, uint16_t sr) {
  *

  * @notapi

  */

-CH_IRQ_HANDLER(I2C1_EV_IRQHandler) {

+OSAL_IRQ_HANDLER(I2C1_EV_IRQHandler) {

 

-  CH_IRQ_PROLOGUE();

+  OSAL_IRQ_PROLOGUE();

 

   i2c_lld_serve_event_interrupt(&I2CD1);

 

-  CH_IRQ_EPILOGUE();

+  OSAL_IRQ_EPILOGUE();

 }

 

 /**

  * @brief   I2C1 error interrupt handler.

  */

-CH_IRQ_HANDLER(I2C1_ER_IRQHandler) {

+OSAL_IRQ_HANDLER(I2C1_ER_IRQHandler) {

   uint16_t sr = I2CD1.i2c->SR1;

 

-  CH_IRQ_PROLOGUE();

+  OSAL_IRQ_PROLOGUE();

 

   I2CD1.i2c->SR1 = ~(sr & I2C_ERROR_MASK);

   i2c_lld_serve_error_interrupt(&I2CD1, sr);

 

-  CH_IRQ_EPILOGUE();

+  OSAL_IRQ_EPILOGUE();

 }

 #endif /* STM32_I2C_USE_I2C1 */

 

@@ -469,13 +421,13 @@ CH_IRQ_HANDLER(I2C1_ER_IRQHandler) {
  *

  * @notapi

  */

-CH_IRQ_HANDLER(I2C2_EV_IRQHandler) {

+OSAL_IRQ_HANDLER(I2C2_EV_IRQHandler) {

 

-  CH_IRQ_PROLOGUE();

+  OSAL_IRQ_PROLOGUE();

 

   i2c_lld_serve_event_interrupt(&I2CD2);

 

-  CH_IRQ_EPILOGUE();

+  OSAL_IRQ_EPILOGUE();

 }

 

 /**

@@ -483,15 +435,15 @@ CH_IRQ_HANDLER(I2C2_EV_IRQHandler) {
  *

  * @notapi

  */

-CH_IRQ_HANDLER(I2C2_ER_IRQHandler) {

+OSAL_IRQ_HANDLER(I2C2_ER_IRQHandler) {

   uint16_t sr = I2CD2.i2c->SR1;

 

-  CH_IRQ_PROLOGUE();

+  OSAL_IRQ_PROLOGUE();

 

   I2CD2.i2c->SR1 = ~(sr & I2C_ERROR_MASK);

   i2c_lld_serve_error_interrupt(&I2CD2, sr);

 

-  CH_IRQ_EPILOGUE();

+  OSAL_IRQ_EPILOGUE();

 }

 #endif /* STM32_I2C_USE_I2C2 */

 

@@ -501,13 +453,13 @@ CH_IRQ_HANDLER(I2C2_ER_IRQHandler) {
  *

  * @notapi

  */

-CH_IRQ_HANDLER(I2C3_EV_IRQHandler) {

+OSAL_IRQ_HANDLER(I2C3_EV_IRQHandler) {

 

-  CH_IRQ_PROLOGUE();

+  OSAL_IRQ_PROLOGUE();

 

   i2c_lld_serve_event_interrupt(&I2CD3);

 

-  CH_IRQ_EPILOGUE();

+  OSAL_IRQ_EPILOGUE();

 }

 

 /**

@@ -515,15 +467,15 @@ CH_IRQ_HANDLER(I2C3_EV_IRQHandler) {
  *

  * @notapi

  */

-CH_IRQ_HANDLER(I2C3_ER_IRQHandler) {

+OSAL_IRQ_HANDLER(I2C3_ER_IRQHandler) {

   uint16_t sr = I2CD3.i2c->SR1;

 

-  CH_IRQ_PROLOGUE();

+  OSAL_IRQ_PROLOGUE();

 

   I2CD3.i2c->SR1 = ~(sr & I2C_ERROR_MASK);

   i2c_lld_serve_error_interrupt(&I2CD3, sr);

 

-  CH_IRQ_EPILOGUE();

+  OSAL_IRQ_EPILOGUE();

 }

 #endif /* STM32_I2C_USE_I2C3 */

 

@@ -587,24 +539,22 @@ void i2c_lld_start(I2CDriver *i2cp) {
 

 #if STM32_I2C_USE_I2C1

     if (&I2CD1 == i2cp) {

-      bool_t b;

+      bool b;

 

       rccResetI2C1();

       b = dmaStreamAllocate(i2cp->dmarx,

                             STM32_I2C_I2C1_IRQ_PRIORITY,

                             (stm32_dmaisr_t)i2c_lld_serve_rx_end_irq,

                             (void *)i2cp);

-      chDbgAssert(!b, "i2c_lld_start(), #1", "stream already allocated");

+      osalDbgAssert(!b, "stream already allocated");

       b = dmaStreamAllocate(i2cp->dmatx,

                             STM32_I2C_I2C1_IRQ_PRIORITY,

                             (stm32_dmaisr_t)i2c_lld_serve_tx_end_irq,

                             (void *)i2cp);

-      chDbgAssert(!b, "i2c_lld_start(), #2", "stream already allocated");

+      osalDbgAssert(!b, "stream already allocated");

       rccEnableI2C1(FALSE);

-      nvicEnableVector(I2C1_EV_IRQn,

-          CORTEX_PRIORITY_MASK(STM32_I2C_I2C1_IRQ_PRIORITY));

-      nvicEnableVector(I2C1_ER_IRQn,

-          CORTEX_PRIORITY_MASK(STM32_I2C_I2C1_IRQ_PRIORITY));

+      nvicEnableVector(I2C1_EV_IRQn, STM32_I2C_I2C1_IRQ_PRIORITY);

+      nvicEnableVector(I2C1_ER_IRQn, STM32_I2C_I2C1_IRQ_PRIORITY);

 

       i2cp->rxdmamode |= STM32_DMA_CR_CHSEL(I2C1_RX_DMA_CHANNEL) |

                        STM32_DMA_CR_PL(STM32_I2C_I2C1_DMA_PRIORITY);

@@ -615,24 +565,22 @@ void i2c_lld_start(I2CDriver *i2cp) {
 

 #if STM32_I2C_USE_I2C2

     if (&I2CD2 == i2cp) {

-      bool_t b;

+      bool b;

 

       rccResetI2C2();

       b = dmaStreamAllocate(i2cp->dmarx,

                             STM32_I2C_I2C2_IRQ_PRIORITY,

                             (stm32_dmaisr_t)i2c_lld_serve_rx_end_irq,

                             (void *)i2cp);

-      chDbgAssert(!b, "i2c_lld_start(), #3", "stream already allocated");

+      osalDbgAssert(!b, "stream already allocated");

       b = dmaStreamAllocate(i2cp->dmatx,

                             STM32_I2C_I2C2_IRQ_PRIORITY,

                             (stm32_dmaisr_t)i2c_lld_serve_tx_end_irq,

                             (void *)i2cp);

-      chDbgAssert(!b, "i2c_lld_start(), #4", "stream already allocated");

+      osalDbgAssert(!b, "stream already allocated");

       rccEnableI2C2(FALSE);

-      nvicEnableVector(I2C2_EV_IRQn,

-          CORTEX_PRIORITY_MASK(STM32_I2C_I2C2_IRQ_PRIORITY));

-      nvicEnableVector(I2C2_ER_IRQn,

-          CORTEX_PRIORITY_MASK(STM32_I2C_I2C2_IRQ_PRIORITY));

+      nvicEnableVector(I2C2_EV_IRQn, STM32_I2C_I2C2_IRQ_PRIORITY);

+      nvicEnableVector(I2C2_ER_IRQn, STM32_I2C_I2C2_IRQ_PRIORITY);

 

       i2cp->rxdmamode |= STM32_DMA_CR_CHSEL(I2C2_RX_DMA_CHANNEL) |

                        STM32_DMA_CR_PL(STM32_I2C_I2C2_DMA_PRIORITY);

@@ -643,24 +591,22 @@ void i2c_lld_start(I2CDriver *i2cp) {
 

 #if STM32_I2C_USE_I2C3

     if (&I2CD3 == i2cp) {

-      bool_t b;

+      bool b;

 

       rccResetI2C3();

       b = dmaStreamAllocate(i2cp->dmarx,

                             STM32_I2C_I2C3_IRQ_PRIORITY,

                             (stm32_dmaisr_t)i2c_lld_serve_rx_end_irq,

                             (void *)i2cp);

-      chDbgAssert(!b, "i2c_lld_start(), #5", "stream already allocated");

+      osalDbgAssert(!b, "stream already allocated");

       b = dmaStreamAllocate(i2cp->dmatx,

                             STM32_I2C_I2C3_IRQ_PRIORITY,

                             (stm32_dmaisr_t)i2c_lld_serve_tx_end_irq,

                             (void *)i2cp);

-      chDbgAssert(!b, "i2c_lld_start(), #6", "stream already allocated");

+      osalDbgAssert(!b, "stream already allocated");

       rccEnableI2C3(FALSE);

-      nvicEnableVector(I2C3_EV_IRQn,

-          CORTEX_PRIORITY_MASK(STM32_I2C_I2C3_IRQ_PRIORITY));

-      nvicEnableVector(I2C3_ER_IRQn,

-          CORTEX_PRIORITY_MASK(STM32_I2C_I2C3_IRQ_PRIORITY));

+      nvicEnableVector(I2C3_EV_IRQn, STM32_I2C_I2C3_IRQ_PRIORITY);

+      nvicEnableVector(I2C3_ER_IRQn, STM32_I2C_I2C3_IRQ_PRIORITY);

 

       i2cp->rxdmamode |= STM32_DMA_CR_CHSEL(I2C3_RX_DMA_CHANNEL) |

                        STM32_DMA_CR_PL(STM32_I2C_I2C3_DMA_PRIORITY);

@@ -744,10 +690,10 @@ void i2c_lld_stop(I2CDriver *i2cp) {
  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return              The operation status.

- * @retval RDY_OK       if the function succeeded.

- * @retval RDY_RESET    if one or more I2C errors occurred, the errors can

+ * @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 RDY_TIMEOUT  if a timeout occurred before operation end. <b>After a

+ * @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>.

  *

@@ -757,56 +703,57 @@ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
                                      uint8_t *rxbuf, size_t rxbytes,

                                      systime_t timeout) {

   I2C_TypeDef *dp = i2cp->i2c;

-  VirtualTimer vt;

+  systime_t start, end;

 

 #if defined(STM32F1XX_I2C)

-  chDbgCheck((rxbytes > 1), "i2c_lld_master_receive_timeout");

+  osalDbgCheck((rxbytes > 1), "i2c_lld_master_receive_timeout");

 #endif

 

-  /* Global timeout for the whole operation.*/

-  if (timeout != TIME_INFINITE)

-    chVTSetI(&vt, timeout, i2c_lld_safety_timeout, (void *)i2cp);

-

-  /* Releases the lock from high level driver.*/

-  chSysUnlock();

+  /* Resetting error flags for this transfer.*/

+  i2cp->errors = I2C_NO_ERROR;

 

   /* Initializes driver fields, LSB = 1 -> receive.*/

   i2cp->addr = (addr << 1) | 0x01;

-  i2cp->errors = 0;

+

+  /* Releases the lock from high level driver.*/

+  osalSysUnlock();

 

   /* RX DMA setup.*/

   dmaStreamSetMode(i2cp->dmarx, i2cp->rxdmamode);

   dmaStreamSetMemory0(i2cp->dmarx, rxbuf);

   dmaStreamSetTransactionSize(i2cp->dmarx, rxbytes);

 

-  /* Waits until BUSY flag is reset and the STOP from the previous operation

-     is completed, alternatively for a timeout condition.*/

-  while ((dp->SR2 & I2C_SR2_BUSY) || (dp->CR1 & I2C_CR1_STOP)) {

-    chSysLock();

-    if ((timeout != TIME_INFINITE) && !chVTIsArmedI(&vt))

-      return RDY_TIMEOUT;

-    chSysUnlock();

+  /* Calculating the time window for the timeout on the busy bus condition.*/

+  start = osalOsGetSystemTimeX();

+  end = start + OSAL_MS2ST(STM32_I2C_BUSY_TIMEOUT);

+

+  /* Waits until BUSY flag is reset or, alternatively, for a timeout

+     condition.*/

+  while (true) {

+    osalSysLock();

+

+    /* If the bus is not busy then the operation can continue, note, the

+       loop is exited in the locked state.*/

+    if (!(dp->SR2 & I2C_SR2_BUSY) && !(dp->CR1 & I2C_CR1_STOP))

+      break;

+

+    /* If the system time went outside the allowed window then a timeout

+       condition is returned.*/

+    if (!osalOsIsTimeWithinX(osalOsGetSystemTimeX(), start, end))

+      return MSG_TIMEOUT;

+

+    osalSysUnlock();

   }

 

   /* This lock will be released in high level driver.*/

-  chSysLock();

-

-  /* Atomic check on the timer in order to make sure that a timeout didn't

-     happen outside the critical zone.*/

-  if ((timeout != TIME_INFINITE) && !chVTIsArmedI(&vt))

-    return RDY_TIMEOUT;

+  osalSysLock();

 

   /* Starts the operation.*/

   dp->CR2 |= I2C_CR2_ITEVTEN;

   dp->CR1 |= I2C_CR1_START | I2C_CR1_ACK;

 

   /* Waits for the operation completion or a timeout.*/

-  i2cp->thread = chThdSelf();

-  chSchGoSleepS(THD_STATE_SUSPENDED);

-  if ((timeout != TIME_INFINITE) && chVTIsArmedI(&vt))

-    chVTResetI(&vt);

-

-  return chThdSelf()->p_u.rdymsg;

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

 }

 

 /**

@@ -825,10 +772,10 @@ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
  *                      - @a TIME_INFINITE no timeout.

  *                      .

  * @return              The operation status.

- * @retval RDY_OK       if the function succeeded.

- * @retval RDY_RESET    if one or more I2C errors occurred, the errors can

+ * @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 RDY_TIMEOUT  if a timeout occurred before operation end. <b>After a

+ * @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>.

  *

@@ -839,23 +786,20 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
                                       uint8_t *rxbuf, size_t rxbytes,

                                       systime_t timeout) {

   I2C_TypeDef *dp = i2cp->i2c;

-  VirtualTimer vt;

+  systime_t start, end;

 

 #if defined(STM32F1XX_I2C)

-  chDbgCheck(((rxbytes == 0) || ((rxbytes > 1) && (rxbuf != NULL))),

-             "i2c_lld_master_transmit_timeout");

+  osalDbgCheck(((rxbytes == 0) || ((rxbytes > 1) && (rxbuf != NULL))));

 #endif

 

-  /* Global timeout for the whole operation.*/

-  if (timeout != TIME_INFINITE)

-    chVTSetI(&vt, timeout, i2c_lld_safety_timeout, (void *)i2cp);

+  /* Resetting error flags for this transfer.*/

+  i2cp->errors = I2C_NO_ERROR;

 

-  /* Releases the lock from high level driver.*/

-  chSysUnlock();

+  /* Initializes driver fields, LSB = 1 -> receive.*/

+  i2cp->addr = (addr << 1) | 0x01;

 

-  /* Initializes driver fields, LSB = 0 -> write.*/

-  i2cp->addr = addr << 1;

-  i2cp->errors = 0;

+  /* Releases the lock from high level driver.*/

+  osalSysUnlock();

 

   /* TX DMA setup.*/

   dmaStreamSetMode(i2cp->dmatx, i2cp->txdmamode);

@@ -867,34 +811,37 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
   dmaStreamSetMemory0(i2cp->dmarx, rxbuf);

   dmaStreamSetTransactionSize(i2cp->dmarx, rxbytes);

 

-  /* Waits until BUSY flag is reset and the STOP from the previous operation

-     is completed, alternatively for a timeout condition.*/

-  while ((dp->SR2 & I2C_SR2_BUSY) || (dp->CR1 & I2C_CR1_STOP)) {

-    chSysLock();

-    if ((timeout != TIME_INFINITE) && !chVTIsArmedI(&vt))

-      return RDY_TIMEOUT;

-    chSysUnlock();

+  /* Calculating the time window for the timeout on the busy bus condition.*/

+  start = osalOsGetSystemTimeX();

+  end = start + OSAL_MS2ST(STM32_I2C_BUSY_TIMEOUT);

+

+  /* Waits until BUSY flag is reset or, alternatively, for a timeout

+     condition.*/

+  while (true) {

+    osalSysLock();

+

+    /* If the bus is not busy then the operation can continue, note, the

+       loop is exited in the locked state.*/

+    if (!(dp->SR2 & I2C_SR2_BUSY) && !(dp->CR1 & I2C_CR1_STOP))

+      break;

+

+    /* If the system time went outside the allowed window then a timeout

+       condition is returned.*/

+    if (!osalOsIsTimeWithinX(osalOsGetSystemTimeX(), start, end))

+      return MSG_TIMEOUT;

+

+    osalSysUnlock();

   }

 

   /* This lock will be released in high level driver.*/

-  chSysLock();

-

-  /* Atomic check on the timer in order to make sure that a timeout didn't

-     happen outside the critical zone.*/

-  if ((timeout != TIME_INFINITE) && !chVTIsArmedI(&vt))

-    return RDY_TIMEOUT;

+  osalSysLock();

 

   /* Starts the operation.*/

   dp->CR2 |= I2C_CR2_ITEVTEN;

   dp->CR1 |= I2C_CR1_START;

 

   /* Waits for the operation completion or a timeout.*/

-  i2cp->thread = chThdSelf();

-  chSchGoSleepS(THD_STATE_SUSPENDED);

-  if ((timeout != TIME_INFINITE) && chVTIsArmedI(&vt))

-    chVTResetI(&vt);

-

-  return chThdSelf()->p_u.rdymsg;

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

 }

 

 #endif /* HAL_USE_I2C */

diff --git a/os/hal/platforms/STM32/I2Cv1/i2c_lld.h b/os/hal/platforms/STM32/I2Cv1/i2c_lld.h
index dcadb3278..a92e48e26 100644
--- a/os/hal/platforms/STM32/I2Cv1/i2c_lld.h
+++ b/os/hal/platforms/STM32/I2Cv1/i2c_lld.h
@@ -54,7 +54,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(STM32_I2C_USE_I2C1) || defined(__DOXYGEN__)

-#define STM32_I2C_USE_I2C1              FALSE

+#define STM32_I2C_USE_I2C1                  FALSE

 #endif

 

 /**

@@ -63,7 +63,7 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(STM32_I2C_USE_I2C2) || defined(__DOXYGEN__)

-#define STM32_I2C_USE_I2C2              FALSE

+#define STM32_I2C_USE_I2C2                  FALSE

 #endif

 

 /**

@@ -72,28 +72,35 @@
  * @note    The default is @p FALSE.

  */

 #if !defined(STM32_I2C_USE_I2C3) || defined(__DOXYGEN__)

-#define STM32_I2C_USE_I2C3              FALSE

+#define STM32_I2C_USE_I2C3                  FALSE

+#endif

+

+/**

+ * @brief   I2C timeout on busy condition in milliseconds.

+ */

+#if !defined(STM32_I2C_BUSY_TIMEOUT) || defined(__DOXYGEN__)

+#define STM32_I2C_BUSY_TIMEOUT              50

 #endif

 

 /**

  * @brief   I2C1 interrupt priority level setting.

  */

 #if !defined(STM32_I2C_I2C1_IRQ_PRIORITY) || defined(__DOXYGEN__)

-#define STM32_I2C_I2C1_IRQ_PRIORITY     10

+#define STM32_I2C_I2C1_IRQ_PRIORITY         10

 #endif

 

 /**

  * @brief   I2C2 interrupt priority level setting.

  */

 #if !defined(STM32_I2C_I2C2_IRQ_PRIORITY) || defined(__DOXYGEN__)

-#define STM32_I2C_I2C2_IRQ_PRIORITY     10

+#define STM32_I2C_I2C2_IRQ_PRIORITY         10

 #endif

 

 /**

  * @brief   I2C3 interrupt priority level setting.

  */

 #if !defined(STM32_I2C_I2C3_IRQ_PRIORITY) || defined(__DOXYGEN__)

-#define STM32_I2C_I2C3_IRQ_PRIORITY     10

+#define STM32_I2C_I2C3_IRQ_PRIORITY         10

 #endif

 

 /**

@@ -132,7 +139,7 @@
  *          error can only happen because programming errors.

  */

 #if !defined(STM32_I2C_DMA_ERROR_HOOK) || defined(__DOXYGEN__)

-#define STM32_I2C_DMA_ERROR_HOOK(i2cp)  chSysHalt()

+#define STM32_I2C_DMA_ERROR_HOOK(i2cp)      chSysHalt("DMA failure")

 #endif

 

 #if STM32_ADVANCED_DMA || defined(__DOXYGEN__)

@@ -142,7 +149,7 @@
  * @note    This option is only available on platforms with enhanced DMA.

  */

 #if !defined(STM32_I2C_I2C1_RX_DMA_STREAM) || defined(__DOXYGEN__)

-#define STM32_I2C_I2C1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 0)

+#define STM32_I2C_I2C1_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 0)

 #endif

 

 /**

@@ -150,7 +157,7 @@
  * @note    This option is only available on platforms with enhanced DMA.

  */

 #if !defined(STM32_I2C_I2C1_TX_DMA_STREAM) || defined(__DOXYGEN__)

-#define STM32_I2C_I2C1_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 6)

+#define STM32_I2C_I2C1_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 6)

 #endif

 

 /**

@@ -158,7 +165,7 @@
  * @note    This option is only available on platforms with enhanced DMA.

  */

 #if !defined(STM32_I2C_I2C2_RX_DMA_STREAM) || defined(__DOXYGEN__)

-#define STM32_I2C_I2C2_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)

+#define STM32_I2C_I2C2_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 2)

 #endif

 

 /**

@@ -166,7 +173,7 @@
  * @note    This option is only available on platforms with enhanced DMA.

  */

 #if !defined(STM32_I2C_I2C2_TX_DMA_STREAM) || defined(__DOXYGEN__)

-#define STM32_I2C_I2C2_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 7)

+#define STM32_I2C_I2C2_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 7)

 #endif

 

 /**

@@ -174,7 +181,7 @@
  * @note    This option is only available on platforms with enhanced DMA.

  */

 #if !defined(STM32_I2C_I2C3_RX_DMA_STREAM) || defined(__DOXYGEN__)

-#define STM32_I2C_I2C3_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 2)

+#define STM32_I2C_I2C3_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 2)

 #endif

 

 /**

@@ -182,17 +189,17 @@
  * @note    This option is only available on platforms with enhanced DMA.

  */

 #if !defined(STM32_I2C_I2C3_TX_DMA_STREAM) || defined(__DOXYGEN__)

-#define STM32_I2C_I2C3_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 4)

+#define STM32_I2C_I2C3_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 4)

 #endif

 

 #else /* !STM32_ADVANCED_DMA */

 

 /* Fixed streams for platforms using the old DMA peripheral, the values are

    valid for both STM32F1xx and STM32L1xx.*/

-#define STM32_I2C_I2C1_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 7)

-#define STM32_I2C_I2C1_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 6)

-#define STM32_I2C_I2C2_RX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 5)

-#define STM32_I2C_I2C2_TX_DMA_STREAM     STM32_DMA_STREAM_ID(1, 4)

+#define STM32_I2C_I2C1_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 7)

+#define STM32_I2C_I2C1_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 6)

+#define STM32_I2C_I2C2_RX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 5)

+#define STM32_I2C_I2C2_TX_DMA_STREAM        STM32_DMA_STREAM_ID(1, 4)

 

 #endif /* !STM32_ADVANCED_DMA*/

 

@@ -365,14 +372,10 @@ 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

@@ -381,7 +384,7 @@ struct I2CDriver {
   /**

    * @brief   Thread waiting for I/O completion.

    */

-  Thread                    *thread;

+  thread_reference_t        thread;

   /**

    * @brief     Current slave address without R/W bit.

    */

diff --git a/os/hal/platforms/STM32/I2Cv2/i2c_lld.c b/os/hal/platforms/STM32/I2Cv2/i2c_lld.c
index eb5b67d47..249a6f54b 100644
--- a/os/hal/platforms/STM32/I2Cv2/i2c_lld.c
+++ b/os/hal/platforms/STM32/I2Cv2/i2c_lld.c
@@ -13,10 +13,6 @@
     See the License for the specific language governing permissions and

     limitations under the License.

 */

-/*

-   Concepts and parts of this file have been contributed by Uladzimir Pylinsky

-   aka barthess.

- */

 

 /**

  * @file    STM32/I2Cv2/i2c_lld.c

@@ -574,14 +570,17 @@ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
   uint32_t addr_cr2 = addr & I2C_CR2_SADD;

   systime_t start, end;

 

-  osalDbgCheck((rxbytes > 0));

-

   /* Resetting error flags for this transfer.*/

   i2cp->errors = I2C_NO_ERROR;

 

   /* Releases the lock from high level driver.*/

   osalSysUnlock();

 

+  /* RX DMA setup.*/

+  dmaStreamSetMode(i2cp->dmarx, i2cp->rxdmamode);

+  dmaStreamSetMemory0(i2cp->dmarx, rxbuf);

+  dmaStreamSetTransactionSize(i2cp->dmarx, rxbytes);

+

   /* Calculating the time window for the timeout on the busy bus condition.*/

   start = osalOsGetSystemTimeX();

   end = start + OSAL_MS2ST(STM32_I2C_BUSY_TIMEOUT);

@@ -593,7 +592,7 @@ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
 

     /* If the bus is not busy then the operation can continue, note, the

        loop is exited in the locked state.*/

-    if (dp->ISR & I2C_ISR_BUSY)

+    if ((dp->ISR & I2C_ISR_BUSY) == 0)

       break;

 

     /* If the system time went outside the allowed window then a timeout

@@ -612,14 +611,6 @@ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,
   dp->CR2 &= ~(I2C_CR2_SADD | I2C_CR2_NBYTES);

   dp->CR2 |= (rxbytes << 16) | addr_cr2;

 

-  /* Initializes driver fields */

-  i2cp->errors = 0;

-

-  /* RX DMA setup.*/

-  dmaStreamSetMode(i2cp->dmarx, i2cp->rxdmamode);

-  dmaStreamSetMemory0(i2cp->dmarx, rxbuf);

-  dmaStreamSetTransactionSize(i2cp->dmarx, rxbytes);

-

   /* Enable RX DMA */

   dmaStreamEnable(i2cp->dmarx);

 

@@ -664,14 +655,22 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
   uint32_t addr_cr2 = addr & I2C_CR2_SADD;

   systime_t start, end;

 

-  osalDbgCheck(((rxbytes == 0) || ((rxbytes > 0) && (rxbuf != NULL))));

-

   /* Resetting error flags for this transfer.*/

   i2cp->errors = I2C_NO_ERROR;

 

   /* Releases the lock from high level driver.*/

   osalSysUnlock();

 

+  /* TX DMA setup.*/

+  dmaStreamSetMode(i2cp->dmatx, i2cp->txdmamode);

+  dmaStreamSetMemory0(i2cp->dmatx, txbuf);

+  dmaStreamSetTransactionSize(i2cp->dmatx, txbytes);

+

+  /* RX DMA setup.*/

+  dmaStreamSetMode(i2cp->dmarx, i2cp->rxdmamode);

+  dmaStreamSetMemory0(i2cp->dmarx, rxbuf);

+  dmaStreamSetTransactionSize(i2cp->dmarx, rxbytes);

+

   /* Calculating the time window for the timeout on the busy bus condition.*/

   start = osalOsGetSystemTimeX();

   end = start + OSAL_MS2ST(STM32_I2C_BUSY_TIMEOUT);

@@ -683,7 +682,7 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
 

     /* If the bus is not busy then the operation can continue, note, the

        loop is exited in the locked state.*/

-    if (dp->ISR & I2C_ISR_BUSY)

+    if ((dp->ISR & I2C_ISR_BUSY) == 0)

       break;

 

     /* If the system time went outside the allowed window then a timeout

@@ -702,19 +701,6 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,
   dp->CR2 &= ~(I2C_CR2_SADD | I2C_CR2_NBYTES);

   dp->CR2 |= (txbytes << 16) | addr_cr2;

 

-  /* Initializes driver fields */

-  i2cp->errors = 0;

-

-  /* TX DMA setup.*/

-  dmaStreamSetMode(i2cp->dmatx, i2cp->txdmamode);

-  dmaStreamSetMemory0(i2cp->dmatx, txbuf);

-  dmaStreamSetTransactionSize(i2cp->dmatx, txbytes);

-

-  /* RX DMA setup.*/

-  dmaStreamSetMode(i2cp->dmarx, i2cp->rxdmamode);

-  dmaStreamSetMemory0(i2cp->dmarx, rxbuf);

-  dmaStreamSetTransactionSize(i2cp->dmarx, rxbytes);

-

   /* Enable TX DMA */

   dmaStreamEnable(i2cp->dmatx);