diff options
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/hal_i2c_lld.c | 31 | ||||
| -rw-r--r-- | os/hal/ports/KINETIS/LLD/hal_i2c_lld.h | 7 |
2 files changed, 32 insertions, 6 deletions
diff --git a/os/hal/ports/KINETIS/LLD/hal_i2c_lld.c b/os/hal/ports/KINETIS/LLD/hal_i2c_lld.c index 0831eac..6085941 100644 --- a/os/hal/ports/KINETIS/LLD/hal_i2c_lld.c +++ b/os/hal/ports/KINETIS/LLD/hal_i2c_lld.c @@ -363,8 +363,8 @@ static inline msg_t _i2c_txrx_timeout(I2CDriver *i2cp, i2caddr_t addr, uint8_t *rxbuf, size_t rxbytes,
systime_t timeout) {
- (void)timeout;
msg_t msg;
+ systime_t start, end;
uint8_t op = (i2cp->intstate == STATE_SEND) ? 0 : 1;
@@ -394,10 +394,29 @@ static inline msg_t _i2c_txrx_timeout(I2CDriver *i2cp, i2caddr_t addr, /* send repeated start */
i2cp->i2c->C1 |= I2Cx_C1_RSTA | I2Cx_C1_TX;
} else {
+ /* unlock during the wait, so that tasks with
+ * higher priority can get attention */
+ osalSysUnlock();
+
/* wait until the bus is released */
- /* TODO: implement timeout here */
- /* FIXME: should not use busy waiting! */
- while (i2cp->i2c->S & I2Cx_S_BUSY);
+ /* Calculating the time window for the timeout on the busy bus condition.*/
+ start = osalOsGetSystemTimeX();
+ end = start + OSAL_MS2ST(KINETIS_I2C_BUSY_TIMEOUT);
+
+ while(true) {
+ osalSysLock();
+ /* If the bus is not busy then the operation can continue, note, the
+ loop is exited in the locked state.*/
+ if(!(i2cp->i2c->S & I2Cx_S_BUSY))
+ 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();
+ }
+
/* send START */
i2cp->i2c->C1 |= I2Cx_C1_MST|I2Cx_C1_TX;
}
@@ -406,7 +425,7 @@ static inline msg_t _i2c_txrx_timeout(I2CDriver *i2cp, i2caddr_t addr, i2cp->i2c->D = addr << 1 | op;
/* wait for the ISR to signal that the transmission (or receive if no transmission) phase is complete */
- msg = osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE);
+ msg = osalThreadSuspendTimeoutS(&i2cp->thread, timeout);
/* FIXME */
//if (i2cp->i2c->S & I2Cx_S_RXAK)
@@ -423,7 +442,7 @@ static inline msg_t _i2c_txrx_timeout(I2CDriver *i2cp, i2caddr_t addr, i2cp->intstate = STATE_RECV;
i2cp->i2c->D = i2cp->addr << 1 | 1;
- msg = osalThreadSuspendTimeoutS(&i2cp->thread, TIME_INFINITE);
+ msg = osalThreadSuspendTimeoutS(&i2cp->thread, timeout);
}
/* release bus - RX mode, send STOP */
diff --git a/os/hal/ports/KINETIS/LLD/hal_i2c_lld.h b/os/hal/ports/KINETIS/LLD/hal_i2c_lld.h index a7214c5..2b25df2 100644 --- a/os/hal/ports/KINETIS/LLD/hal_i2c_lld.h +++ b/os/hal/ports/KINETIS/LLD/hal_i2c_lld.h @@ -77,6 +77,13 @@ #define KINETIS_I2C_I2C1_PRIORITY 12
#endif
+/**
+ * @brief Timeout for external clearing BUSY bus (in ms).
+ */
+#if !defined(KINETIS_I2C_BUSY_TIMEOUT) || defined(__DOXYGEN__)
+#define KINETIS_I2C_BUSY_TIMEOUT 50
+#endif
+
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
|