diff --git a/src/drivers/bus_i2c_stm32f10x.c b/src/drivers/bus_i2c_stm32f10x.c index 7e583bae80..298cfcd6db 100755 --- a/src/drivers/bus_i2c_stm32f10x.c +++ b/src/drivers/bus_i2c_stm32f10x.c @@ -55,35 +55,12 @@ static volatile uint8_t reading; static volatile uint8_t* write_p; static volatile uint8_t* read_p; -static void i2c_er_handler(void) +static bool i2cHandleHardwareFailure(void) { - volatile uint32_t SR1Register; - // Read the I2C1 status register - SR1Register = I2Cx->SR1; - if (SR1Register & 0x0F00) { - error = true; - // I2C1error.error = ((SR1Register & 0x0F00) >> 8); // save error - // I2C1error.job = job; // the task - } - - // If AF, BERR or ARLO, abandon the current job and commence new if there are jobs - if (SR1Register & 0x0700) { - (void) I2Cx->SR2; // read second status register to clear ADDR if it is set (note that BTF will not be set after a NACK) - I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // disable the RXNE/TXE interrupt - prevent the ISR tailchaining onto the ER (hopefully) - if (!(SR1Register & 0x0200) && !(I2Cx->CR1 & 0x0200)) { // if we dont have an ARLO error, ensure sending of a stop - if (I2Cx->CR1 & 0x0100) { // We are currently trying to send a start, this is very bad as start,stop will hang the peripheral - while (I2Cx->CR1 & 0x0100); // wait for any start to finish sending - I2C_GenerateSTOP(I2Cx, ENABLE); // send stop to finalise bus transaction - while (I2Cx->CR1 & 0x0200); // wait for stop to finish sending - i2cInit(I2Cx); // reset and configure the hardware - } else { - I2C_GenerateSTOP(I2Cx, ENABLE); // stop to free up the bus - I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE); // Disable EVT and ERR interrupts while bus inactive - } - } - } - I2Cx->SR1 &= ~0x0F00; // reset all the error bits to clear the interrupt - busy = 0; + i2cErrorCount++; + // reinit peripheral + clock out garbage + i2cInit(I2Cx); + return false; } bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data) @@ -100,21 +77,20 @@ bool i2cWriteBuffer(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data) busy = 1; error = false; - if (!(I2Cx->CR2 & I2C_IT_EVT)) { // if we are restarting the driver - if (!(I2Cx->CR1 & 0x0100)) { // ensure sending a start - while (I2Cx->CR1 & 0x0200); // wait for any stop to finish sending - I2C_GenerateSTART(I2Cx, ENABLE); // send the start for the new job + if (!(I2Cx->CR2 & I2C_IT_EVT)) { // if we are restarting the driver + if (!(I2Cx->CR1 & 0x0100)) { // ensure sending a start + while (I2Cx->CR1 & 0x0200 && --timeout > 0) { ; } // wait for any stop to finish sending + if (timeout == 0) + return i2cHandleHardwareFailure(); + I2C_GenerateSTART(I2Cx, ENABLE); // send the start for the new job } - I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE); // allow the interrupts to fire off again + I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE); // allow the interrupts to fire off again } - while (busy && --timeout > 0); - if (timeout == 0) { - i2cErrorCount++; - // reinit peripheral + clock out garbage - i2cInit(I2Cx); - return false; - } + timeout = I2C_DEFAULT_TIMEOUT; + while (busy && --timeout > 0) { ; } + if (timeout == 0) + return i2cHandleHardwareFailure(); return !error; } @@ -138,135 +114,156 @@ bool i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf) busy = 1; error = false; - if (!(I2Cx->CR2 & I2C_IT_EVT)) { // if we are restarting the driver - if (!(I2Cx->CR1 & 0x0100)) { // ensure sending a start - while (I2Cx->CR1 & 0x0200); // wait for any stop to finish sending - I2C_GenerateSTART(I2Cx, ENABLE); // send the start for the new job + if (!(I2Cx->CR2 & I2C_IT_EVT)) { // if we are restarting the driver + if (!(I2Cx->CR1 & 0x0100)) { // ensure sending a start + while (I2Cx->CR1 & 0x0200 && --timeout > 0) { ; } // wait for any stop to finish sending + if (timeout == 0) + return i2cHandleHardwareFailure(); + I2C_GenerateSTART(I2Cx, ENABLE); // send the start for the new job } - I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE); // allow the interrupts to fire off again + I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE); // allow the interrupts to fire off again } - while (busy && --timeout > 0); - if (timeout == 0) { - i2cErrorCount++; - // reinit peripheral + clock out garbage - i2cInit(I2Cx); - return false; - } + timeout = I2C_DEFAULT_TIMEOUT; + while (busy && --timeout > 0) { ; } + if (timeout == 0) + return i2cHandleHardwareFailure(); return !error; } +static void i2c_er_handler(void) +{ + // Read the I2C1 status register + volatile uint32_t SR1Register = I2Cx->SR1; + + if (SR1Register & 0x0F00) // an error + error = true; + + // If AF, BERR or ARLO, abandon the current job and commence new if there are jobs + if (SR1Register & 0x0700) { + (void)I2Cx->SR2; // read second status register to clear ADDR if it is set (note that BTF will not be set after a NACK) + I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // disable the RXNE/TXE interrupt - prevent the ISR tailchaining onto the ER (hopefully) + if (!(SR1Register & 0x0200) && !(I2Cx->CR1 & 0x0200)) { // if we dont have an ARLO error, ensure sending of a stop + if (I2Cx->CR1 & 0x0100) { // We are currently trying to send a start, this is very bad as start, stop will hang the peripheral + while (I2Cx->CR1 & 0x0100) { ; } // wait for any start to finish sending + I2C_GenerateSTOP(I2Cx, ENABLE); // send stop to finalise bus transaction + while (I2Cx->CR1 & 0x0200) { ; } // wait for stop to finish sending + i2cInit(I2Cx); // reset and configure the hardware + } else { + I2C_GenerateSTOP(I2Cx, ENABLE); // stop to free up the bus + I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE); // Disable EVT and ERR interrupts while bus inactive + } + } + } + I2Cx->SR1 &= ~0x0F00; // reset all the error bits to clear the interrupt + busy = 0; +} + void i2c_ev_handler(void) { - static uint8_t subaddress_sent, final_stop; // flag to indicate if subaddess sent, flag to indicate final bus condition - static int8_t index; // index is signed -1==send the subaddress - uint8_t SReg_1 = I2Cx->SR1; // read the status register here + static uint8_t subaddress_sent, final_stop; // flag to indicate if subaddess sent, flag to indicate final bus condition + static int8_t index; // index is signed -1 == send the subaddress + uint8_t SReg_1 = I2Cx->SR1; // read the status register here - if (SReg_1 & 0x0001) { // we just sent a start - EV5 in ref manual - I2Cx->CR1 &= ~0x0800; // reset the POS bit so ACK/NACK applied to the current byte - I2C_AcknowledgeConfig(I2Cx, ENABLE); // make sure ACK is on - index = 0; // reset the index - if (reading && (subaddress_sent || 0xFF == reg)) { // we have sent the subaddr - subaddress_sent = 1; // make sure this is set in case of no subaddress, so following code runs correctly + if (SReg_1 & 0x0001) { // we just sent a start - EV5 in ref manual + I2Cx->CR1 &= ~0x0800; // reset the POS bit so ACK/NACK applied to the current byte + I2C_AcknowledgeConfig(I2Cx, ENABLE); // make sure ACK is on + index = 0; // reset the index + if (reading && (subaddress_sent || 0xFF == reg)) { // we have sent the subaddr + subaddress_sent = 1; // make sure this is set in case of no subaddress, so following code runs correctly if (bytes == 2) - I2Cx->CR1 |= 0x0800; // set the POS bit so NACK applied to the final byte in the two byte read - I2C_Send7bitAddress(I2Cx, addr, I2C_Direction_Receiver); // send the address and set hardware mode - } else { // direction is Tx, or we havent sent the sub and rep start + I2Cx->CR1 |= 0x0800; // set the POS bit so NACK applied to the final byte in the two byte read + I2C_Send7bitAddress(I2Cx, addr, I2C_Direction_Receiver); // send the address and set hardware mode + } else { // direction is Tx, or we havent sent the sub and rep start I2C_Send7bitAddress(I2Cx, addr, I2C_Direction_Transmitter); // send the address and set hardware mode - if (reg != 0xFF) // 0xFF as subaddress means it will be ignored, in Tx or Rx mode - index = -1; // send a subaddress + if (reg != 0xFF) // 0xFF as subaddress means it will be ignored, in Tx or Rx mode + index = -1; // send a subaddress } - } else if (SReg_1 & 0x0002) { // we just sent the address - EV6 in ref manual + } else if (SReg_1 & 0x0002) { // we just sent the address - EV6 in ref manual // Read SR1,2 to clear ADDR - __DMB(); // memory fence to control hardware - if (bytes == 1 && reading && subaddress_sent) { // we are receiving 1 byte - EV6_3 - I2C_AcknowledgeConfig(I2Cx, DISABLE); // turn off ACK + __DMB(); // memory fence to control hardware + if (bytes == 1 && reading && subaddress_sent) { // we are receiving 1 byte - EV6_3 + I2C_AcknowledgeConfig(I2Cx, DISABLE); // turn off ACK __DMB(); - (void) I2Cx->SR2; // clear ADDR after ACK is turned off - I2C_GenerateSTOP(I2Cx, ENABLE); // program the stop + (void)I2Cx->SR2; // clear ADDR after ACK is turned off + I2C_GenerateSTOP(I2Cx, ENABLE); // program the stop final_stop = 1; - I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE); // allow us to have an EV7 - } else { // EV6 and EV6_1 - (void) I2Cx->SR2; // clear the ADDR here + I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE); // allow us to have an EV7 + } else { // EV6 and EV6_1 + (void)I2Cx->SR2; // clear the ADDR here __DMB(); - if (bytes == 2 && reading && subaddress_sent) { // rx 2 bytes - EV6_1 - I2C_AcknowledgeConfig(I2Cx, DISABLE); // turn off ACK - I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // disable TXE to allow the buffer to fill - } else if (bytes == 3 && reading && subaddress_sent) // rx 3 bytes - I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // make sure RXNE disabled so we get a BTF in two bytes time - else - //receiving greater than three bytes, sending subaddress, or transmitting + if (bytes == 2 && reading && subaddress_sent) { // rx 2 bytes - EV6_1 + I2C_AcknowledgeConfig(I2Cx, DISABLE); // turn off ACK + I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // disable TXE to allow the buffer to fill + } else if (bytes == 3 && reading && subaddress_sent) // rx 3 bytes + I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // make sure RXNE disabled so we get a BTF in two bytes time + else // receiving greater than three bytes, sending subaddress, or transmitting I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE); } - } else if (SReg_1 & 0x004) { // Byte transfer finished - EV7_2, EV7_3 or EV8_2 + } else if (SReg_1 & 0x004) { // Byte transfer finished - EV7_2, EV7_3 or EV8_2 final_stop = 1; if (reading && subaddress_sent) { // EV7_2, EV7_3 if (bytes > 2) { // EV7_2 I2C_AcknowledgeConfig(I2Cx, DISABLE); // turn off ACK read_p[index++] = (uint8_t)I2Cx->DR; // read data N-2 I2C_GenerateSTOP(I2Cx, ENABLE); // program the Stop - final_stop = 1; // reuired to fix hardware - read_p[index++] = (uint8_t)I2Cx->DR; // read data N-1 + final_stop = 1; // required to fix hardware + read_p[index++] = (uint8_t)I2Cx->DR; // read data N - 1 I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE); // enable TXE to allow the final EV7 } else { // EV7_3 if (final_stop) - I2C_GenerateSTOP(I2Cx, ENABLE); // program the Stop + I2C_GenerateSTOP(I2Cx, ENABLE); // program the Stop else I2C_GenerateSTART(I2Cx, ENABLE); // program a rep start - read_p[index++] = (uint8_t)I2Cx->DR; // read data N-1 + read_p[index++] = (uint8_t)I2Cx->DR; // read data N - 1 read_p[index++] = (uint8_t)I2Cx->DR; // read data N - read_p[index++] = I2C_ReceiveData(I2Cx); // read data N-1 - read_p[index++] = I2C_ReceiveData(I2Cx); // read data N - index++; // to show job completed + index++; // to show job completed } - } else { // EV8_2, which may be due to a subaddress sent or a write completion + } else { // EV8_2, which may be due to a subaddress sent or a write completion if (subaddress_sent || (writing)) { if (final_stop) - I2C_GenerateSTOP(I2Cx, ENABLE); // program the Stop + I2C_GenerateSTOP(I2Cx, ENABLE); // program the Stop else - I2C_GenerateSTART(I2Cx, ENABLE); // program a rep start - index++; // to show that the job is complete - } else { // We need to send a subaddress - I2C_GenerateSTART(I2Cx, ENABLE); // program the repeated Start - subaddress_sent = 1; // this is set back to zero upon completion of the current task + I2C_GenerateSTART(I2Cx, ENABLE); // program a rep start + index++; // to show that the job is complete + } else { // We need to send a subaddress + I2C_GenerateSTART(I2Cx, ENABLE); // program the repeated Start + subaddress_sent = 1; // this is set back to zero upon completion of the current task } } - //we must wait for the start to clear, otherwise we get constant BTF - while (I2Cx->CR1 & 0x0100); - } else if (SReg_1 & 0x0040) { //Byte received - EV7 + // we must wait for the start to clear, otherwise we get constant BTF + while (I2Cx->CR1 & 0x0100) { ; } + } else if (SReg_1 & 0x0040) { // Byte received - EV7 read_p[index++] = (uint8_t)I2Cx->DR; if (bytes == (index + 3)) - I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // disable TXE to allow the buffer to flush so we can get an EV7_2 - if (bytes == index) //We have completed a final EV7 - index++; //to show job is complete - } else if (SReg_1 & 0x0080) { //Byte transmitted -EV8/EV8_1 - if (index != -1) { //we dont have a subaddress to send + I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // disable TXE to allow the buffer to flush so we can get an EV7_2 + if (bytes == index) // We have completed a final EV7 + index++; // to show job is complete + } else if (SReg_1 & 0x0080) { // Byte transmitted EV8 / EV8_1 + if (index != -1) { // we dont have a subaddress to send I2Cx->DR = write_p[index++]; - if (bytes == index) //we have sent all the data - I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); //disable TXE to allow the buffer to flush + if (bytes == index) // we have sent all the data + I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // disable TXE to allow the buffer to flush } else { index++; - I2Cx->DR = reg; // send the subaddress - if (reading || !bytes) //if receiving or sending 0 bytes, flush now - I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); //disable TXE to allow the buffer to flush + I2Cx->DR = reg; // send the subaddress + if (reading || !bytes) // if receiving or sending 0 bytes, flush now + I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // disable TXE to allow the buffer to flush } } - if (index == bytes + 1) { //we have completed the current job - //Completion Tasks go here - //End of completion tasks - subaddress_sent = 0; //reset this here - // I2Cx->CR1 &= ~0x0800; //reset the POS bit so NACK applied to the current byte - if (final_stop) //If there is a final stop and no more jobs, bus is inactive, disable interrupts to prevent BTF - I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE); //Disable EVT and ERR interrupts while bus inactive + if (index == bytes + 1) { // we have completed the current job + subaddress_sent = 0; // reset this here + if (final_stop) // If there is a final stop and no more jobs, bus is inactive, disable interrupts to prevent BTF + I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE); // Disable EVT and ERR interrupts while bus inactive busy = 0; } } void i2cInit(I2C_TypeDef *I2C) { - NVIC_InitTypeDef NVIC_InitStructure; - I2C_InitTypeDef I2C_InitStructure; + NVIC_InitTypeDef nvic; + I2C_InitTypeDef i2c; gpio_config_t gpio; // Init pins @@ -282,29 +279,27 @@ void i2cInit(I2C_TypeDef *I2C) // Init I2C I2C_DeInit(I2Cx); - I2C_StructInit(&I2C_InitStructure); + I2C_StructInit(&i2c); - I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE); //Enable EVT and ERR interrupts - they are enabled by the first request - I2C_InitStructure.I2C_Mode = I2C_Mode_I2C; - I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2; - I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; - I2C_InitStructure.I2C_ClockSpeed = 400000; + I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, DISABLE); // Enable EVT and ERR interrupts - they are enabled by the first request + i2c.I2C_Mode = I2C_Mode_I2C; + i2c.I2C_DutyCycle = I2C_DutyCycle_2; + i2c.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; + i2c.I2C_ClockSpeed = 400000; I2C_Cmd(I2Cx, ENABLE); - I2C_Init(I2Cx, &I2C_InitStructure); - - NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); + I2C_Init(I2Cx, &i2c); // I2C ER Interrupt - NVIC_InitStructure.NVIC_IRQChannel = I2C2_ER_IRQn; - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; - NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; - NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; - NVIC_Init(&NVIC_InitStructure); + nvic.NVIC_IRQChannel = I2C2_ER_IRQn; + nvic.NVIC_IRQChannelPreemptionPriority = 0; + nvic.NVIC_IRQChannelSubPriority = 0; + nvic.NVIC_IRQChannelCmd = ENABLE; + NVIC_Init(&nvic); // I2C EV Interrupt - NVIC_InitStructure.NVIC_IRQChannel = I2C2_EV_IRQn; - NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; - NVIC_Init(&NVIC_InitStructure); + nvic.NVIC_IRQChannel = I2C2_EV_IRQn; + nvic.NVIC_IRQChannelPreemptionPriority = 0; + NVIC_Init(&nvic); } uint16_t i2cGetErrorCounter(void) diff --git a/src/drivers/system_common.c b/src/drivers/system_common.c index 73f5d9ace1..e5542ed6bc 100755 --- a/src/drivers/system_common.c +++ b/src/drivers/system_common.c @@ -102,6 +102,9 @@ void systemInit(bool overclock) SetSysClock(overclock); #endif + // Configure NVIC preempt/priority groups + NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); + // Turn on clocks for stuff we use #ifdef STM32F10X_MD RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE);