git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@2132 35acf78f-673a-0410-8e92-d51de3d6d3f4

8 files changed, 605 insertions, 0 deletions

diff --git a/os/hal/hal.dox b/os/hal/hal.dox
index 2d8a54dc9..20315087b 100644
--- a/os/hal/hal.dox
+++ b/os/hal/hal.dox
@@ -178,6 +178,49 @@
  */

 

 /**

+ * @defgroup I2C I2C Driver

+ * @brief Generic I2C Driver.

+ * @details This module implements a generic I2C driver. The driver implements

+ *          a state machine internally:

+ * @dot

+  digraph example {

+      rankdir="LR";

+      node [shape=circle, fontname=Helvetica, fontsize=8, fixedsize="true", width="0.8", height="0.8"];

+      edge [fontname=Helvetica, fontsize=8];

+      uninit [label="SPI_UNINIT", style="bold"];

+      stop  [label="SPI_STOP\nLow Power"];

+      ready [label="SPI_READY\nClock Enabled"];

+      active [label="SPI_ACTIVE\nBus Active"];

+      uninit -> stop [label="spiInit()"];

+      stop -> ready [label="spiStart()"];

+      ready -> ready [label="spiStart()"];

+      ready -> ready [label="spiIgnore()"];

+      ready -> stop [label="spiStop()"];

+      stop -> stop [label="spiStop()"];

+      ready -> active [label="spiSelect()"];

+      active -> active [label="spiSelect()"];

+      active -> ready [label="spiUnselect()"];

+      ready -> ready [label="spiUnselect()"];

+      active -> active [label="spiIgnore()\nspiExchange()\nspiSend()\nspiReceive()"];

+  }

+ * @enddot

+ *

+ * The driver is not thread safe for performance reasons, if you need to access

+ * the I2C bus from multiple thread then use the @p i2cAcquireBus() and

+ * @p i2cReleaseBus() APIs in order to gain exclusive access.

+ *

+ * @ingroup IO

+ */

+

+/**

+ * @defgroup I2C_LLD I2C Low Level Driver

+ * @brief @ref I2C low level driver template.

+ * @details This file is a template for an I2C low level driver.

+ *

+ * @ingroup I2C

+ */

+

+/**

  * @defgroup SPI SPI Driver

  * @brief Generic SPI Driver.

  * @details This module implements a generic SPI driver. The driver implements

diff --git a/os/hal/hal.mk b/os/hal/hal.mk
index fc6a1ff40..2a6c6826b 100644
--- a/os/hal/hal.mk
+++ b/os/hal/hal.mk
@@ -3,6 +3,7 @@
 HALSRC = ${CHIBIOS}/os/hal/src/hal.c \

          ${CHIBIOS}/os/hal/src/adc.c \

          ${CHIBIOS}/os/hal/src/can.c \

+         ${CHIBIOS}/os/hal/src/i2c.c \

          ${CHIBIOS}/os/hal/src/mac.c \

          ${CHIBIOS}/os/hal/src/pal.c \

          ${CHIBIOS}/os/hal/src/pwm.c \

diff --git a/os/hal/include/hal.h b/os/hal/include/hal.h
index dc2eb33a0..2039036b1 100644
--- a/os/hal/include/hal.h
+++ b/os/hal/include/hal.h
@@ -36,6 +36,7 @@
 #include "pal.h"

 #include "adc.h"

 #include "can.h"

+#include "i2c.h"

 #include "mac.h"

 #include "pwm.h"

 #include "serial.h"

diff --git a/os/hal/include/i2c.h b/os/hal/include/i2c.h
new file mode 100644
index 000000000..3ee38a52e
--- /dev/null
+++ b/os/hal/include/i2c.h
@@ -0,0 +1,103 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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.

+

+    ChibiOS/RT 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 this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    i2c.h

+ * @brief   I2C Driver macros and structures.

+ *

+ * @addtogroup I2C

+ * @{

+ */

+

+#ifndef _I2C_H_

+#define _I2C_H_

+

+#if CH_HAL_USE_I2C || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   Enables the mutual exclusion APIs on the I2C bus.

+ */

+#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)

+#define I2C_USE_MUTUAL_EXCLUSION    TRUE

+#endif

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   Driver state machine possible states.

+ */

+typedef enum {

+  I2C_UNINIT = 0,                   /**< @brief Not initialized.            */

+  I2C_STOP = 1,                     /**< @brief Stopped.                    */

+  I2C_READY = 2,                    /**< @brief Ready.                      */

+  I2C_MREADY = 3,                   /**< @brief START sent.                 */

+  I2C_MTRANSMIT = 4,                /**< @brief Master transmitting.        */

+  I2C_MRECEIVE = 5,                 /**< @brief Master receiving.           */

+} i2cstate_t;

+

+#include "i2c_lld.h"

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void i2cInit(void);

+  void i2cObjectInit(I2CDriver *i2cp);

+  void i2cStart(I2CDriver *i2cp, const I2CConfig *config);

+  void i2cStop(I2CDriver *i2cp);

+  void i2cMasterStartI(I2CDriver *i2cp, i2ccallback_t callback);

+  void i2cMasterStopI(I2CDriver *i2cp, i2ccallback_t callback);

+  void i2cMasterTransmitI(I2CDriver *i2cp, size_t n, const uint8_t *txbuf,

+                          i2ccallback_t callback);

+  void i2cMasterReceiveI(I2CDriver *i2cp, size_t n, uint8_t *rxbuf,

+                         i2ccallback_t callback);

+#if I2C_USE_MUTUAL_EXCLUSION

+  void i2cAcquireBus(I2CDriver *i2cp);

+  void i2cReleaseBus(I2CDriver *i2cp);

+#endif /* I2C_USE_MUTUAL_EXCLUSION */

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* CH_HAL_USE_I2C */

+

+#endif /* _I2C_H_ */

+

+/** @} */

diff --git a/os/hal/src/hal.c b/os/hal/src/hal.c
index d2b2fc528..156e75ea9 100644
--- a/os/hal/src/hal.c
+++ b/os/hal/src/hal.c
@@ -60,6 +60,9 @@ void halInit(void) {
 #if CH_HAL_USE_CAN

   canInit();

 #endif

+#if CH_HAL_USE_I2C

+  i2cInit();

+#endif

 #if CH_HAL_USE_MAC

   macInit();

 #endif

diff --git a/os/hal/src/i2c.c b/os/hal/src/i2c.c
new file mode 100644
index 000000000..03d882446
--- /dev/null
+++ b/os/hal/src/i2c.c
@@ -0,0 +1,222 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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.

+

+    ChibiOS/RT 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 this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    i2c.c

+ * @brief   I2C Driver code.

+ *

+ * @addtogroup I2C

+ * @{

+ */

+

+#include "ch.h"

+#include "hal.h"

+

+#if CH_HAL_USE_I2C || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   I2C Driver initialization.

+ */

+void i2cInit(void) {

+

+  i2c_lld_init();

+}

+

+/**

+ * @brief   Initializes the standard part of a @p I2CDriver structure.

+ *

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

+ */

+void i2cObjectInit(I2CDriver *i2cp) {

+

+  i2cp->i2c_state    = I2C_STOP;

+  i2cp->i2c_config   = NULL;

+}

+

+/**

+ * @brief   Configures and activates the I2C peripheral.

+ *

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

+ * @param[in] config    pointer to the @p I2CConfig object

+ */

+void i2cStart(I2CDriver *i2cp, const I2CConfig *config) {

+

+  chDbgCheck((i2cp != NULL) && (config != NULL), "i2cStart");

+

+  chSysLock();

+  chDbgAssert((i2cp->i2c_state == I2C_STOP) || (i2cp->i2c_state == I2C_READY),

+              "i2cStart(), #1",

+              "invalid state");

+  i2cp->i2c_config = config;

+  i2c_lld_start(i2cp);

+  i2cp->i2c_state = I2C_READY;

+  chSysUnlock();

+}

+

+/**

+ * @brief   Deactivates the I2C peripheral.

+ *

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

+ */

+void i2cStop(I2CDriver *i2cp) {

+

+  chDbgCheck(i2cp != NULL, "i2cStop");

+

+  chSysLock();

+  chDbgAssert((i2cp->i2c_state == I2C_STOP) || (i2cp->i2c_state == I2C_READY),

+              "i2cStop(), #1",

+              "invalid state");

+  i2c_lld_stop(i2cp);

+  i2cp->i2c_state = I2C_STOP;

+  chSysUnlock();

+}

+

+/**

+ * @brief   Initiates a master bus transaction.
+ *

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

+ * @param[in] callback  operation complete callback

+ */

+void i2cMasterStartI(I2CDriver *i2cp, i2ccallback_t callback) {

+

+  chDbgCheck((i2cp != NULL) && (callback != NULL), "i2cMasterStartI");

+  chDbgAssert((i2cp->i2c_state == I2C_READY) || (i2cp->i2c_state == I2C_MREADY),

+              "i2cMasterStartI(), #1", "invalid state");

+

+  i2cp->id_callback = callback;

+  i2c_lld_master_start(i2cp);

+}

+

+/**

+ * @brief   Terminates a master bus transaction.

+ *

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

+ * @param[in] callback  operation complete callback

+ */

+void i2cMasterStopI(I2CDriver *i2cp, i2ccallback_t callback) {

+

+  chDbgCheck((i2cp != NULL) && (callback != NULL), "i2cMasterStopI");

+  chDbgAssert(i2cp->i2c_state == I2C_MREADY,

+              "i2cMasterStopI(), #1", "invalid state");

+

+  i2cp->id_callback = callback;

+  i2c_lld_master_stop(i2cp);

+}

+

+/**

+ * @brief   Master transmission.

+ *

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

+ * @param[in] n         number of bytes to be transmitted

+ * @param[in] txbuf     transmit data buffer pointer

+ * @param[in] callback  operation complete callback

+ */

+void i2cMasterTransmitI(I2CDriver *i2cp, size_t n, const uint8_t *txbuf,

+                        i2ccallback_t callback) {

+

+  chDbgCheck((i2cp != NULL) && (n > 0) &&

+             (txbuf != NULL) && (callback != NULL), "i2cMasterTransmitI");

+  chDbgAssert(i2cp->i2c_state == I2C_MREADY,

+              "i2cMasterTransmitI(), #1", "invalid state");

+

+  i2cp->id_callback = callback;

+  i2c_lld_master_transmit(i2cp, n, txbuf);

+}

+

+/**

+ * @brief   Master receive.

+ *

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

+ * @param[in] n         number of bytes to be transmitted

+ * @param[in] rxbuf     receive data buffer pointer

+ * @param[in] callback  operation complete callback

+ */

+void i2cMasterReceiveI(I2CDriver *i2cp, size_t n, uint8_t *rxbuf,

+                       i2ccallback_t callback) {

+

+  chDbgCheck((i2cp != NULL) && (n > 0) &&

+             (rxbuf != NULL) && (callback != NULL), "i2cMasterReceiveI");

+  chDbgAssert(i2cp->i2c_state == I2C_MREADY,

+              "i2cMasterReceiveI(), #1", "invalid state");

+

+  i2cp->id_callback = callback;

+  i2c_lld_master_receive(i2cp, n, rxbuf);

+}

+

+#if I2C_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)

+/**

+ * @brief   Gains exclusive access to the I2C bus.

+ * @details This function tries to gain ownership to the I2C bus, if the bus

+ *          is already being used then the invoking thread is queued.

+ * @note    This function is only available when the @p I2C_USE_MUTUAL_EXCLUSION

+ *          option is set to @p TRUE.

+ *

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

+ *

+ */

+void i2cAcquireBus(I2CDriver *i2cp) {

+

+  chDbgCheck(i2cp != NULL, "i2cAcquireBus");

+

+#if CH_USE_MUTEXES

+  chMtxLock(&i2cp->id_mutex);

+#elif CH_USE_SEMAPHORES

+  chSemWait(&i2cp->id_semaphore);

+#endif

+}

+

+/**

+ * @brief   Releases exclusive access to the I2C bus.

+ * @note    This function is only available when the @p I2C_USE_MUTUAL_EXCLUSION

+ *          option is set to @p TRUE.

+ *

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

+ */

+void i2cReleaseBus(I2CDriver *i2cp) {

+

+  chDbgCheck(i2cp != NULL, "i2cReleaseBus");

+

+#if CH_USE_MUTEXES

+  (void)i2cp;

+  chMtxUnlock();

+#elif CH_USE_SEMAPHORES

+  chSemSignal(&i2cp->id_semaphore);

+#endif

+}

+#endif /* I2C_USE_MUTUAL_EXCLUSION */

+

+#endif /* CH_HAL_USE_I2C */

+

+/** @} */

diff --git a/os/hal/templates/i2c_lld.c b/os/hal/templates/i2c_lld.c
new file mode 100644
index 000000000..334088aeb
--- /dev/null
+++ b/os/hal/templates/i2c_lld.c
@@ -0,0 +1,125 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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.

+

+    ChibiOS/RT 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 this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    templates/i2c_lld.c

+ * @brief   I2C Driver subsystem low level driver source template.

+ *

+ * @addtogroup I2C_LLD

+ * @{

+ */

+

+#include "ch.h"

+#include "hal.h"

+

+#if CH_HAL_USE_I2C || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level I2C driver initialization.

+ */

+void i2c_lld_init(void) {

+

+}

+

+/**

+ * @brief   Configures and activates the I2C peripheral.

+ *

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

+ */

+void i2c_lld_start(I2CDriver *i2cp) {

+

+  if (i2cp->i2c_state == I2C_STOP) {

+    /* Clock activation.*/

+  }

+  /* Configuration.*/

+}

+

+/**

+ * @brief   Deactivates the I2C peripheral.

+ *

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

+ */

+void i2c_lld_stop(I2CDriver *i2cp) {

+

+}

+

+/**

+ * @brief   Initiates a master bus transaction.

+ *

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

+ */

+void i2c_lld_master_start(I2CDriver *i2cp) {

+

+}

+

+/**

+ * @brief   Terminates a master bus transaction.

+ *

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

+ */

+void i2c_lld_master_stop(I2CDriver *i2cp) {

+

+}

+

+/**

+ * @brief   Master transmission.

+ *

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

+ * @param[in] n         number of bytes to be transmitted

+ * @param[in] txbuf     transmit data buffer pointer

+ */

+void i2c_lld_master_transmit(I2CDriver *i2cp, size_t n,

+                             const uint8_t *txbuf) {

+

+}

+

+/**

+ * @brief   Master receive.

+ *

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

+ * @param[in] n         number of bytes to be transmitted

+ * @param[in] rxbuf     receive data buffer pointer

+ */

+void i2c_lld_master_receive(I2CDriver *i2cp, size_t n, uint8_t *rxbuf) {

+

+}

+

+#endif /* CH_HAL_USE_I2C */

+

+/** @} */

diff --git a/os/hal/templates/i2c_lld.h b/os/hal/templates/i2c_lld.h
new file mode 100644
index 000000000..250c827e5
--- /dev/null
+++ b/os/hal/templates/i2c_lld.h
@@ -0,0 +1,107 @@
+/*

+    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010 Giovanni Di Sirio.

+

+    This file is part of ChibiOS/RT.

+

+    ChibiOS/RT 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.

+

+    ChibiOS/RT 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 this program.  If not, see <http://www.gnu.org/licenses/>.

+*/

+

+/**

+ * @file    templates/i2c_lld.h

+ * @brief   I2C Driver subsystem low level driver header template.

+ *

+ * @addtogroup I2C_LLD

+ * @{

+ */

+

+#ifndef _I2C_LLD_H_

+#define _I2C_LLD_H_

+

+#if CH_HAL_USE_I2C || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   I2C completion callback type.

+ *

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

+ * @param[in] sts       operation status

+ */

+typedef void (*i2ccallback_t)(I2CDriver *i2cp, i2cstatus_t sts);

+

+/**

+ * @brief   Driver configuration structure.

+ * @note    It could be empty on some architectures.

+ */

+typedef struct {

+  /** @brief I2C bus bit rate.*/

+  uint32_t                  ic_speed;

+  /* End of the mandatory fields.*/

+} I2CConfig;

+

+/**

+ * @brief   Structure representing an I2C driver.

+ */

+typedef struct {

+  /** @brief Driver state.*/

+  i2cstate_t                id_state;

+  /** @brief Current configuration data.*/

+  const I2CConfig           *id_config;

+  /** @brief Current callback.*/

+  i2ccallback_t             id_callback;

+  /* End of the mandatory fields.*/

+} I2CDriver;

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void i2c_lld_init(void);

+  void i2c_lld_start(I2CDriver *i2cp);

+  void i2c_lld_stop(I2CDriver *i2cp);

+  void i2c_lld_master_start(I2CDriver *i2cp);

+  void i2c_lld_master_stop(I2CDriver *i2cp);

+  void i2c_lld_master_transmit(I2CDriver *i2cp, size_t n,

+                               const uint8_t *txbuf);

+  void i2c_lld_master_receive(I2CDriver *i2cp, size_t n, uint8_t *rxbuf);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* CH_HAL_USE_I2C */

+

+#endif /* _I2C_LLD_H_ */

+

+/** @} */