Pico rp2350updates for I2C (#14440)

src/main/cli/settings.c

@@ -1843,6 +1843,10 @@ const clivalue_t valueTable[] = {
     { "gyro_2_align_yaw", VAR_INT16  | HARDWARE_VALUE, .config.minmax = { -3600, 3600 }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_ELEMENT_OFFSET(gyroDeviceConfig_t, 1, customAlignment.yaw) },
 #endif
 #ifdef I2C_FULL_RECONFIGURABILITY
+#ifdef USE_I2C_DEVICE_0
+    { "i2c0_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 0, pullUp) },
+    { "i2c0_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 0, clockSpeed) },
+#endif
 #ifdef USE_I2C_DEVICE_1
     { "i2c1_pullup",    VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 0, pullUp) },
     { "i2c1_clockspeed_khz", VAR_UINT16 | HARDWARE_VALUE, .config.minmax = { I2C_CLOCKSPEED_MIN_KHZ, I2C_CLOCKSPEED_MAX_KHZ }, PG_I2C_CONFIG, PG_ARRAY_ELEMENT_OFFSET(i2cConfig_t, 0, clockSpeed) },

src/main/fc/init.c

@@ -629,6 +629,9 @@ void init(void)
     // Note: Unlike UARTs which are configured when client is present,
     // I2C buses are initialized unconditionally if they are configured.
 
+#ifdef USE_I2C_DEVICE_0
+    i2cInit(I2CDEV_0);
+#endif
 #ifdef USE_I2C_DEVICE_1
     i2cInit(I2CDEV_1);
 #endif

src/main/pg/bus_i2c.c

@@ -41,6 +41,12 @@
 
 PG_REGISTER_ARRAY_WITH_RESET_FN(i2cConfig_t, I2CDEV_COUNT, i2cConfig, PG_I2C_CONFIG, 1);
 
+#ifndef I2C0_SCL_PIN
+#define I2C0_SCL_PIN NONE
+#endif
+#ifndef I2C0_SDA_PIN
+#define I2C0_SDA_PIN NONE
+#endif
 #ifndef I2C1_SCL_PIN
 #define I2C1_SCL_PIN NONE
 #endif
@@ -74,6 +80,9 @@ typedef struct i2cDefaultConfig_s {
 } i2cDefaultConfig_t;
 
 static const i2cDefaultConfig_t i2cDefaultConfig[] = {
+#ifdef USE_I2C_DEVICE_0
+    { I2CDEV_0, IO_TAG(I2C0_SCL_PIN), IO_TAG(I2C0_SDA_PIN), I2C0_PULLUP, I2C0_CLOCKSPEED },
+#endif
 #ifdef USE_I2C_DEVICE_1
     { I2CDEV_1, IO_TAG(I2C1_SCL_PIN), IO_TAG(I2C1_SDA_PIN), I2C1_PULLUP, I2C1_CLOCKSPEED },
 #endif

src/main/target/common_defaults_post.h

@@ -24,6 +24,9 @@
 #define DEBUG_MODE DEBUG_NONE
 #endif
 
+#ifndef I2C0_CLOCKSPEED
+#define I2C0_CLOCKSPEED 800
+#endif
 #ifndef I2C1_CLOCKSPEED
 #define I2C1_CLOCKSPEED 800
 #endif
@@ -40,11 +43,13 @@
 // Default values for internal pullup
 
 #if defined(USE_I2C_PULLUP)
+#define I2C0_PULLUP true
 #define I2C1_PULLUP true
 #define I2C2_PULLUP true
 #define I2C3_PULLUP true
 #define I2C4_PULLUP true
 #else
+#define I2C0_PULLUP false
 #define I2C1_PULLUP false
 #define I2C2_PULLUP false
 #define I2C3_PULLUP false

src/platform/APM32/mk/APM32F4.mk

@@ -179,8 +179,8 @@ MCU_COMMON_SRC = \
         APM32/dma_apm32f4xx.c \
         APM32/serial_uart_apm32f4xx.c \
         drivers/adc.c \
-        drivers/bus_i2c_config.c \
         drivers/bus_spi_config.c \
+        common/stm32/bus_i2c_config.c \
         common/stm32/bus_spi_hw.c \
         common/stm32/bus_spi_pinconfig.c \
         common/stm32/serial_uart_hw.c \
@@ -217,8 +217,8 @@ SPEED_OPTIMISED_SRC += \
 SIZE_OPTIMISED_SRC += \
         APM32/usb/vcp/serial_usb_vcp.c \
         drivers/inverter.c \
-        drivers/bus_i2c_config.c \
         drivers/bus_spi_config.c \
+        common/stm32/bus_i2c_config.c \
         common/stm32/bus_spi_pinconfig.c \
         drivers/serial_escserial.c \
         drivers/serial_pinconfig.c \

src/platform/AT32/mk/AT32F4.mk

@@ -121,8 +121,8 @@ MCU_COMMON_SRC = \
             drivers/bus_i2c_timing.c \
             drivers/usb_msc_common.c \
             drivers/adc.c \
-            drivers/bus_i2c_config.c \
             drivers/bus_spi_config.c \
+            common/stm32/bus_i2c_config.c \
             common/stm32/bus_spi_pinconfig.c \
             common/stm32/bus_spi_hw.c \
             common/stm32/serial_uart_hw.c \
@@ -144,8 +144,8 @@ SPEED_OPTIMISED_SRC += \
 SIZE_OPTIMISED_SRC += \
             drivers/bus_i2c_timing.c \
             drivers/inverter.c \
-            drivers/bus_i2c_config.c \
             drivers/bus_spi_config.c \
+            common/stm32/bus_i2c_config.c \
             common/stm32/bus_spi_pinconfig.c \
             drivers/serial_escserial.c \
             drivers/serial_pinconfig.c \

src/platform/PICO/bus_i2c_pico.c

@@ -27,6 +27,8 @@
 
 #if defined(USE_I2C) && !defined(SOFT_I2C)
 
+#include "pg/bus_i2c.h"
+
 #include "hardware/i2c.h"
 #include "hardware/dma.h"
 #include "hardware/irq.h"
@@ -44,43 +46,59 @@ i2cDevice_t i2cDevice[I2CDEV_COUNT];
 
 const i2cHardware_t i2cHardware[I2CDEV_COUNT] = {
 #ifdef USE_I2C_DEVICE_0
-    {
+{
         .device = I2CDEV_0,
-        .reg = I2C0,
+        .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,
+        .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
 };
 
+void i2cHardwareConfigure(const i2cConfig_t *i2cConfig)
+{
+    for (int index = 0 ; index < I2CDEV_COUNT ; index++) {
+        const i2cHardware_t *hardware = &i2cHardware[index];
+
+        if (!hardware->reg) {
+            continue;
+        }
+
+        I2CDevice device = hardware->device;
+        i2cDevice_t *pDev = &i2cDevice[device];
+
+        memset(pDev, 0, sizeof(*pDev));
+        IO_t confSclIO = IOGetByTag(i2cConfig[device].ioTagScl);
+        IO_t confSdaIO = IOGetByTag(i2cConfig[device].ioTagSda);
+        int confSclPin = IO_GPIOPinIdx(confSclIO);
+        int confSdaPin = IO_GPIOPinIdx(confSdaIO);
+
+#ifdef RP2350B
+        uint16_t numPins = 48;
+#else
+        uint16_t numPins = 30;
+#endif
+
+        // I2C0 on pins 0,1 mod 4, I2C1 on pins 2,3 mod 4
+        // SDA on pins 0 mod 2, SCL on pins 1 mod 2
+        int pinOffset = device == I2CDEV_0 ? 0 : 2;
+        if (confSdaPin >= 0 && confSclPin >= 0 &&
+            confSdaPin < numPins && confSclPin < numPins &&
+            (confSdaPin % 4) == pinOffset && (confSclPin % 4) == (pinOffset + 1)) {
+            pDev->scl = confSclIO;
+            pDev->sda = confSdaIO;
+            pDev->hardware = hardware;
+            pDev->reg = hardware->reg;
+            pDev->pullUp = i2cConfig[device].pullUp;
+            pDev->clockSpeed = i2cConfig[device].clockSpeed;
+        }
+    }
+}
+
 static bool i2cHandleHardwareFailure(I2CDevice device)
 {
     UNUSED(device);
@@ -105,7 +123,7 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
         return false;
     }
 
-    i2c_inst_t *port = I2C_INST(&i2cHardware[device].reg);
+    i2c_inst_t *port = I2C_INST(i2cHardware[device].reg);
 
     if (!port) {
         return false;
@@ -117,7 +135,8 @@ bool i2cWriteBuffer(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len_,
 
     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);
+    bool nostop = false;
+    int status = i2c_write_timeout_us(port, addr_, buf, len_ + 1, nostop, I2C_TIMEOUT_US);
 
     if (status < 0) {
         return i2cHandleHardwareFailure(device);
@@ -132,18 +151,20 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t
         return false;
     }
 
-    i2c_inst_t *port = I2C_INST(&i2cHardware[device].reg);
+    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);
+    bool nostop = true;
+    int status = i2c_write_timeout_us(port, addr_, &reg_, 1, nostop, I2C_TIMEOUT_US);
     if (status < 0) {
         return i2cHandleHardwareFailure(device);
     }
 
-    status = i2c_read_timeout_us(port, addr_ << 1, buf, len, true, I2C_TIMEOUT_US);
+    nostop = false;
+    status = i2c_read_timeout_us(port, addr_, buf, len, nostop, I2C_TIMEOUT_US);
     if (status < 0) {
         return i2cHandleHardwareFailure(device);
     }
@@ -154,6 +175,7 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t
 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
+    // ( I2C0_IRQ, I2C1_IRQ ...)
     return i2cRead(device, addr_, reg_, len, buf);
 }
 
@@ -163,7 +185,7 @@ bool i2cBusy(I2CDevice device, bool *error)
         return false;
     }
 
-    i2c_inst_t *port = I2C_INST(&i2cHardware[device].reg);
+    i2c_inst_t *port = I2C_INST(i2cHardware[device].reg);
 
     if (!port) {
         return false;
@@ -173,11 +195,14 @@ bool i2cBusy(I2CDevice device, bool *error)
         *error = 0;
     }
 
+    // TODO check: If we are using DMA (for a sequence of transfers?), then we will need to
+    // protect against that being in progress
+
     // Read the IC_STATUS register
     uint32_t status_reg = port->hw->status;
 
-    // The bit for MST_ACTIVITY is (1 << 5).
+    // The bit for (combined master/slave) ACTIVITY is (1 << 0).
-    return (status_reg & (1 << 5)) != 0;
+    return (status_reg & (1 << 0)) != 0;
 }
 
 void i2cInit(I2CDevice device)
@@ -189,22 +214,30 @@ void i2cInit(I2CDevice device)
     i2cDevice_t *pDev = &i2cDevice[device];
 
     const i2cHardware_t *hardware = pDev->hardware;
+
     const IO_t scl = pDev->scl;
     const IO_t sda = pDev->sda;
+    const uint8_t sclPin = IO_Pin(scl);
+    const uint8_t sdaPin = IO_Pin(sda);
 
-    if (!hardware || IOGetOwner(scl) || IOGetOwner(sda)) {
+    if (!hardware || !scl || !sda) {
         return;
     }
 
-    i2c_init(I2C_INST(hardware->reg), pDev->clockSpeed);
+    // Set owners
+    IOInit(scl, OWNER_I2C_SCL, RESOURCE_INDEX(device));
+    IOInit(sda, OWNER_I2C_SDA, RESOURCE_INDEX(device));
+
+    // Initialise device
+    i2c_init(I2C_INST(hardware->reg), 1000 * pDev->clockSpeed);
 
     // Set up GPIO pins for I2C
-    gpio_set_function(IO_Pin(sda), GPIO_FUNC_I2C);
+    gpio_set_function(sdaPin, GPIO_FUNC_I2C);
-    gpio_set_function(IO_Pin(scl), GPIO_FUNC_I2C);
+    gpio_set_function(sclPin, GPIO_FUNC_I2C);
 
     // Enable internal pull-up resistors
-    gpio_pull_up(IO_Pin(sda));
+    gpio_pull_up(sdaPin);
-    gpio_pull_up(IO_Pin(scl));
+    gpio_pull_up(sclPin);
 }
 
-#endif
+#endif // #if defined(USE_I2C) && !defined(SOFT_I2C)

src/platform/PICO/include/platform/platform.h

@@ -25,6 +25,7 @@
 
 #include "pico.h"
 #include "pico/stdlib.h"
+#include "hardware/i2c.h"
 #include "hardware/spi.h"
 #include "hardware/dma.h"
 #include "hardware/flash.h"
@@ -37,8 +38,8 @@
 
 typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 
-#define I2C_TypeDef          I2C0_Type
+#define I2C_TypeDef          i2c_inst_t
-#define I2C_INST(i2c)        ((i2c_inst_t *)(i2c))
+#define I2C_INST(i2c)        (i2c)
 
 #define GPIO_TypeDef         io_bank0_hw_t
 //#define GPIO_InitTypeDef

src/platform/PICO/mk/PICO.mk

@@ -376,7 +376,6 @@ 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 \

src/platform/STM32/mk/STM32_COMMON.mk

@@ -5,8 +5,8 @@ MCU_COMMON_SRC += \
             common/stm32/system.c \
             common/stm32/config_flash.c \
             common/stm32/bus_spi_pinconfig.c \
-            drivers/bus_i2c_config.c \
             drivers/bus_spi_config.c \
+            common/stm32/bus_i2c_config.c \
             common/stm32/bus_spi_hw.c \
             common/stm32/io_impl.c \
             common/stm32/serial_uart_hw.c \
@@ -16,8 +16,8 @@ MCU_COMMON_SRC += \
             common/stm32/dshot_bitbang_shared.c
 
 SIZE_OPTIMISED_SRC += \
-            drivers/bus_i2c_config.c \
             drivers/bus_spi_config.c \
+            common/stm32/bus_i2c_config.c \
             common/stm32/config_flash.c \
             common/stm32/bus_spi_pinconfig.c