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PICO: Initial implementation of i2c (#14434)

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* PICO: Initial implementation of i2c

- also adding first part of DMA

* Correcting incorrect commits.
This commit is contained in:
Jay Blackman 2025-06-07 15:00:38 +10:00 • committed by GitHub
parent 7b0bc3de7d
commit 3e2949f659
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GPG key ID: B5690EEEBB952194
7 changed files with 356 additions and 21 deletions
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210
src/platform/PICO/bus_i2c_pico.c Normal file
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@ -0,0 +1,210 @@
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software 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.
*
* Betaflight 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
#if defined(USE_I2C) && !defined(SOFT_I2C)
#include "hardware/i2c.h"
#include "hardware/dma.h"
#include "hardware/irq.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_i2c_impl.h"
#include "drivers/io.h"
#include "drivers/io_impl.h"
#define I2C_TX_BUFFER_LENGTH 32
static volatile uint16_t i2cErrorCount = 0;
i2cDevice_t i2cDevice[I2CDEV_COUNT];
const i2cHardware_t i2cHardware[I2CDEV_COUNT] = {
#ifdef USE_I2C_DEVICE_0
{
.device = I2CDEV_0,
.reg = I2C0,
.sclPins = {
{ DEFIO_TAG_E(PA1) },
{ DEFIO_TAG_E(PA5) },
{ DEFIO_TAG_E(PA9) },
{ DEFIO_TAG_E(PA13) },
},
.sdaPins = {
{ DEFIO_TAG_E(PA0) },
{ DEFIO_TAG_E(PA4) },
{ DEFIO_TAG_E(PA8) },
{ DEFIO_TAG_E(PA12) },
},
},
#endif
#ifdef USE_I2C_DEVICE_1
{
.device = I2CDEV_1,
.reg = I2C1,
.sclPins = {
{ DEFIO_TAG_E(PA3) },
{ DEFIO_TAG_E(PA7) },
{ DEFIO_TAG_E(PA11) },
{ DEFIO_TAG_E(PA15) },
},
.sdaPins = {
{ DEFIO_TAG_E(PA2) },
{ DEFIO_TAG_E(PA6) },
{ DEFIO_TAG_E(PA10) },
{ DEFIO_TAG_E(PA14) },
}
},
#endif
};
static bool i2cHandleHardwareFailure(I2CDevice device)
{
UNUSED(device);
i2cErrorCount++;
return false;
}
uint16_t i2cGetErrorCounter(void)
{
return i2cErrorCount;
}
bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t data)
{
return i2cWriteBuffer(device, addr_, reg_, 1, &data);
}
bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *data)
{
// TODO: Implement non-blocking write using DMA or similar mechanism
if (device == I2CINVALID || device >= I2CDEV_COUNT) {
return false;
}
i2c_inst_t *port = I2C_INST(&i2cHardware[device].reg);
if (!port) {
return false;
}
if (len_ > I2C_TX_BUFFER_LENGTH - 1) {
return false; // Buffer too long
}
uint8_t buf[I2C_TX_BUFFER_LENGTH] = { reg_, 0 };
memcpy(&buf[1], data, len_);
int status = i2c_write_timeout_us(port, addr_ << 1, buf, len_ + 1, true, I2C_TIMEOUT_US);
if (status < 0) {
return i2cHandleHardwareFailure(device);
}
return true;
}
bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
{
if (device == I2CINVALID || device >= I2CDEV_COUNT) {
return false;
}
i2c_inst_t *port = I2C_INST(&i2cHardware[device].reg);
if (!port) {
return false;
}
int status = i2c_write_timeout_us(port, addr_ << 1, &reg_, 1, true, I2C_TIMEOUT_US);
if (status < 0) {
return i2cHandleHardwareFailure(device);
}
status = i2c_read_timeout_us(port, addr_ << 1, buf, len, true, I2C_TIMEOUT_US);
if (status < 0) {
return i2cHandleHardwareFailure(device);
}
return true;
}
bool i2cReadBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
{
// TODO: Implement genuine non-blocking read using DMA or similar mechanism
return i2cRead(device, addr_, reg_, len, buf);
}
bool i2cBusy(I2CDevice device, bool *error)
{
if (device == I2CINVALID || device >= I2CDEV_COUNT) {
return false;
}
i2c_inst_t *port = I2C_INST(&i2cHardware[device].reg);
if (!port) {
return false;
}
if (error) {
*error = 0;
}
// Read the IC_STATUS register
uint32_t status_reg = port->hw->status;
// The bit for MST_ACTIVITY is (1 << 5).
return (status_reg & (1 << 5)) != 0;
}
void i2cInit(I2CDevice device)
{
if (device == I2CINVALID) {
return;
}
i2cDevice_t *pDev = &i2cDevice[device];
const i2cHardware_t *hardware = pDev->hardware;
const IO_t scl = pDev->scl;
const IO_t sda = pDev->sda;
if (!hardware || IOGetOwner(scl) || IOGetOwner(sda)) {
return;
}
i2c_init(I2C_INST(hardware->reg), pDev->clockSpeed);
// Set up GPIO pins for I2C
gpio_set_function(IO_Pin(sda), GPIO_FUNC_I2C);
gpio_set_function(IO_Pin(scl), GPIO_FUNC_I2C);
// Enable internal pull-up resistors
gpio_pull_up(IO_Pin(sda));
gpio_pull_up(IO_Pin(scl));
}
#endif

101
src/platform/PICO/dma_pico.c
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@ -24,13 +24,106 @@
#include <string.h>
#include "platform.h"
#include "drivers/dma.h"
#include "dma_pico.h"
dmaChannelDescriptor_t dmaDescriptors[DMA_HANDLER_END-1] = {
#ifdef USE_DMA
#include "drivers/dma.h"
#include "platform/dma.h"
#include "pico/multicore.h"
#include "hardware/dma.h"
#include "hardware/irq.h"
volatile bool dma_irq0_handler_registered = false;
volatile bool dma_irq1_handler_registered = false;
dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = {
DEFINE_DMA_CHANNEL(DMA_CH0_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH1_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH2_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH3_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH4_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH5_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH6_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH7_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH8_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH9_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH10_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH11_HANDLER),
#ifdef RP2350
DEFINE_DMA_CHANNEL(DMA_CH12_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH13_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH14_HANDLER),
DEFINE_DMA_CHANNEL(DMA_CH15_HANDLER),
#endif
};
#define DMA_CHANNEL_TO_INDEX(channel) ((channel) + 1)
void dma_irq_handler(bool isIrq1)
{
uint32_t status = isIrq1 ? dma_hw->ints1 : dma_hw->ints0; // Read the status register once
// Iterate through all possible DMA channels that have triggered an interrupt
for (uint8_t channel = 0; channel < DMA_LAST_HANDLER; channel++) {
if (status & (1u << channel)) {
uint8_t index = DMA_CHANNEL_TO_INDEX(channel);
// Call the handler if it is set
if (dmaDescriptors[index].irqHandlerCallback) {
dmaDescriptors[index].irqHandlerCallback(&dmaDescriptors[index]);
}
// Acknowledge the interrupt for this channel
if (isIrq1) {
dma_channel_acknowledge_irq1(channel);
} else {
dma_channel_acknowledge_irq0(channel);
}
}
}
}
void dma_irq0_handler(void)
{
dma_irq_handler(false);
}
void dma_irq1_handler(void)
{
dma_irq_handler(true);
}
void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam)
{
UNUSED(priority);
/*
Assign the interrupt handler for the DMA channel based on the core
this is to minimise contention on the DMA IRQs.
Each core has its own DMA IRQ:
- CORE 0 uses DMA_IRQ_0
- CORE 1 uses DMA_IRQ_1
*/
uint8_t core = get_core_num();
if (core) {
// Core 1 uses DMA IRQ1
if (!dma_irq1_handler_registered) {
irq_set_exclusive_handler(DMA_IRQ_1, dma_irq1_handler);
irq_set_enabled(DMA_IRQ_1, true);
dma_irq1_handler_registered = true;
}
} else {
// Core 0 uses DMA IRQ0
if (!dma_irq0_handler_registered) {
irq_set_exclusive_handler(DMA_IRQ_0, dma_irq0_handler);
irq_set_enabled(DMA_IRQ_0, true);
dma_irq0_handler_registered = true;
}
}
dmaDescriptors[identifier].irqHandlerCallback = callback;
dmaDescriptors[identifier].userParam = userParam;
}
#endif

32
src/platform/PICO/include/platform/dma.h
View file

@ -19,13 +19,14 @@
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#pragma once
#include "platform.h"
#include "platform.h"
typedef enum {
DMA_NONE = 0,
DMA_CH1_HANDLER = 1,
DMA_CH0_HANDLER = 1,
DMA_CH1_HANDLER,
DMA_CH2_HANDLER,
DMA_CH3_HANDLER,
DMA_CH4_HANDLER,
@ -36,14 +37,31 @@ typedef enum {
DMA_CH9_HANDLER,
DMA_CH10_HANDLER,
DMA_CH11_HANDLER,
DMA_CH12_HANDLER,
#ifdef RP2350
DMA_CH12_HANDLER,
DMA_CH13_HANDLER,
DMA_CH14_HANDLER,
DMA_CH15_HANDLER,
DMA_CH16_HANDLER,
DMA_LAST_HANDLER = DMA_CH16_HANDLER
DMA_LAST_HANDLER = DMA_CH15_HANDLER
#else
DMA_LAST_HANDLER = DMA_CH12_HANDLER
DMA_LAST_HANDLER = DMA_CH11_HANDLER
#endif
} dmaIdentifier_e;
#define DMA_DEVICE_NO(x) (0)
#define DMA_DEVICE_INDEX(x) ((x)-1)
#define DMA_OUTPUT_INDEX 0
#define DMA_OUTPUT_STRING "DMA%d Channel %d:"
#define DMA_INPUT_STRING "DMA%d_CH%d"
#define DEFINE_DMA_CHANNEL(c) { \
.dma = NULL, \
.ref = NULL, \
.channel = c-1, \
.irqHandlerCallback = NULL, \
.flagsShift = 0, \
.irqN = 0, \
.userParam = 0, \
.owner.owner = 0, \
.owner.resourceIndex = 0 \
}

12
src/platform/PICO/include/platform/platform.h
View file

@ -38,9 +38,8 @@
typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
#define I2C_TypeDef I2C0_Type
#define I2C_INST(i2c) ((i2c_inst_t *)(i2c))
#define I2C_INST(i2c) ((i2c_inst_t *)(i2c))
//#define I2C_HandleTypeDef
#define GPIO_TypeDef io_bank0_hw_t
//#define GPIO_InitTypeDef
#define TIM_TypeDef void*
@ -67,7 +66,7 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
// which are defined in pico-sdk as SPI0_Type*.
// SPI_INST converts to the correct type for use in pico-sdk functions.
#define SPI_TypeDef SPI0_Type
#define SPI_INST(spi) ((spi_inst_t *)(spi))
#define SPI_INST(spi) ((spi_inst_t *)(spi))
#endif
@ -80,12 +79,13 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
#ifdef TEST_SLOW_SCHEDULE
// (testing) allow time for more / all tasks
#define TASK_GYROPID_DESIRED_PERIOD 30000 // 1000 // 50000 // 125 // 125us = 8kHz
// 1000 // 50000 // 125 // 125us = 8kHz
#define TASK_GYROPID_DESIRED_PERIOD 30000
#else
#define TASK_GYROPID_DESIRED_PERIOD 125 // 125us = 8kHz
// 125us = 8kHz
#define TASK_GYROPID_DESIRED_PERIOD 125
#endif
#define SCHEDULER_DELAY_LIMIT 10
#define IO_CONFIG(mode, speed, pupd) ((mode) | ((speed) << 2) | ((pupd) << 5))

4
src/platform/PICO/mk/PICO.mk
View file

@ -376,10 +376,13 @@ MCU_COMMON_SRC = \
drivers/inverter.c \
drivers/bus_spi.c \
drivers/bus_spi_config.c \
drivers/bus_i2c_config.c \
drivers/bus_i2c_utils.c \
drivers/serial_pinconfig.c \
drivers/serial_uart_pinconfig.c \
drivers/usb_io.c \
drivers/dshot.c \
PICO/dma_pico.c \
PICO/dshot_pico.c \
PICO/pwm_pico.c \
PICO/stdio_pico_stub.c \
@ -387,6 +390,7 @@ MCU_COMMON_SRC = \
PICO/system.c \
PICO/io_pico.c \
PICO/bus_spi_pico.c \
PICO/bus_i2c_pico.c \
PICO/serial_uart_pico.c \
PICO/exti_pico.c \
PICO/config_flash.c \

7
src/platform/PICO/target/RP2350A/target.h
View file

@ -56,6 +56,10 @@
#define USE_SPI_DEVICE_0
#define USE_SPI_DEVICE_1
#define USE_I2C
#define USE_I2C_DEVICE_0
#define USE_I2C_DEVICE_1
// one of these ...
// #define USE_SPI_DMA_ENABLE_EARLY
#define USE_SPI_DMA_ENABLE_LATE
@ -71,7 +75,6 @@
#undef USE_SDCARD
#undef USE_TIMER
#undef USE_I2C
#undef USE_RCC
#undef USE_CLI
#undef USE_RX_PWM
@ -256,3 +259,5 @@ SPARE3 PA47
#define UARTHARDWARE_MAX_PINS 8
#define UART_TRAIT_AF_PORT 1
#define I2CDEV_COUNT 2

11
src/platform/PICO/target/RP2350B/target.h
View file

@ -53,6 +53,10 @@
#define USE_SPI_DEVICE_0
#define USE_SPI_DEVICE_1
#define USE_I2C
#define USE_I2C_DEVICE_0
#define USE_I2C_DEVICE_1
// one of these ...
// #define USE_SPI_DMA_ENABLE_EARLY
#define USE_SPI_DMA_ENABLE_LATE
@ -68,7 +72,6 @@
#undef USE_SDCARD
#undef USE_TIMER
#undef USE_I2C
#undef USE_RCC
#undef USE_RX_PWM
@ -105,7 +108,7 @@
#undef USE_MSP_UART
#undef USE_MSP_DISPLAYPORT
#undef USE_DMA
//#undef USE_DMA
#undef USE_DMA_SPEC
#undef USE_DSHOT_TELEMETRY
@ -210,7 +213,7 @@
#undef USE_ACCGYRO_BMI160
#undef USE_ACCGYRO_BMI270
#endif
//#define USE_FLASH
//#define USE_FLASH_W25Q128FV
//#define USE_MAX7456
@ -283,3 +286,5 @@ SPARE3 PA47
#define UARTHARDWARE_MAX_PINS 12
#define UART_TRAIT_AF_PORT 1
#define I2CDEV_COUNT 2