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Code Issues Wiki Activity

Pico rp2350updates for I2C (#14440)

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mjs1441 2025-06-10 17:19:11 +01:00 • committed by GitHub
parent 7722e728f3
commit 422fd7e3e8
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GPG key ID: B5690EEEBB952194
11 changed files with 105 additions and 51 deletions
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4
src/main/cli/settings.c
View file

@ -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) },

3
src/main/fc/init.c
View file

@ -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

9
src/main/pg/bus_i2c.c
View file

@ -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

5
src/main/target/common_defaults_post.h
View file

@ -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

4
src/platform/APM32/mk/APM32F4.mk
View file

@ -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 \

4
src/platform/AT32/mk/AT32F4.mk
View file

@ -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 \

115
src/platform/PICO/bus_i2c_pico.c
View file

@ -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"
@ -46,41 +48,57 @@ 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) },
},
.reg = i2c0,
},
#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) },
}
.reg = i2c1,
},
#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).
return (status_reg & (1 << 5)) != 0;
// The bit for (combined master/slave) ACTIVITY is (1 << 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(IO_Pin(scl), GPIO_FUNC_I2C);
gpio_set_function(sdaPin, GPIO_FUNC_I2C);
gpio_set_function(sclPin, GPIO_FUNC_I2C);
// Enable internal pull-up resistors
gpio_pull_up(IO_Pin(sda));
gpio_pull_up(IO_Pin(scl));
gpio_pull_up(sdaPin);
gpio_pull_up(sclPin);
}
#endif
#endif // #if defined(USE_I2C) && !defined(SOFT_I2C)

5
src/platform/PICO/include/platform/platform.h
View file

@ -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_INST(i2c) ((i2c_inst_t *)(i2c))
#define I2C_TypeDef i2c_inst_t
#define I2C_INST(i2c) (i2c)
#define GPIO_TypeDef io_bank0_hw_t
//#define GPIO_InitTypeDef

1
src/platform/PICO/mk/PICO.mk
View file

@ -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 \

4
src/platform/STM32/mk/STM32_COMMON.mk
View file

@ -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

0
src/main/drivers/bus_i2c_config.c → src/platform/common/stm32/bus_i2c_config.c
View file