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Code Issues Wiki Activity

Code formatting and style fixes.

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This commit is contained in:
Dominic Clifton 2014-05-13 16:00:17 +01:00
parent 4d572800ee
commit 89d2c3152f
17 changed files with 282 additions and 315 deletions
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4
src/common/maths.h
View file

@ -1,4 +1,3 @@
#pragma once
#ifndef sq
@ -9,8 +8,7 @@
#define M_PI 3.14159265358979323846f
#endif /* M_PI */
#define RADX10 (M_PI / 1800.0f) // 0.001745329252f
#define RAD (M_PI / 180.0f)
#define RADX10 (M_PI / 1800.0f) // 0.001745329252f #define RAD (M_PI / 180.0f)
#define DEG2RAD(degrees) (degrees * RAD)

1
src/drivers/accgyro_l3g4200d.c
View file

@ -12,7 +12,6 @@
#include "accgyro_common.h"
#include "accgyro_l3g4200d.h"
// L3G4200D, Standard address 0x68
#define L3G4200D_ADDRESS 0x68
#define L3G4200D_ID 0xD3

37
src/drivers/accgyro_l3gd20.c
View file

@ -11,7 +11,7 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
*/
#include <stdbool.h>
#include <stdint.h>
@ -39,8 +39,6 @@ extern int16_t debug[4];
#define OUT_TEMP_ADDR 0x26
#define OUT_X_L_ADDR 0x28
#define MODE_ACTIVE ((uint8_t)0x08)
#define OUTPUT_DATARATE_1 ((uint8_t)0x00)
@ -65,8 +63,6 @@ extern int16_t debug[4];
#define BOOT ((uint8_t)0x80)
static volatile uint16_t spi1ErrorCount = 0;
static volatile uint16_t spi2ErrorCount = 0;
static volatile uint16_t spi3ErrorCount = 0;
@ -84,18 +80,14 @@ static volatile uint16_t spi3ErrorCount = 0;
uint32_t spiTimeoutUserCallback(SPI_TypeDef *SPIx)
{
if (SPIx == SPI1)
{
if (SPIx == SPI1) {
spi1ErrorCount++;
return spi1ErrorCount;
}
else if (SPIx == SPI2)
{
} else if (SPIx == SPI2) {
spi2ErrorCount++;
return spi2ErrorCount;
}
else
{ spi3ErrorCount++;
} else {
spi3ErrorCount++;
return spi3ErrorCount;
}
}
@ -152,22 +144,27 @@ static void l3gd20SpiInit(SPI_TypeDef *SPIx)
SPI_Cmd(SPI1, ENABLE);
}
static uint8_t spiTransfer(SPI_TypeDef *SPIx, uint8_t data)
{
uint16_t spiTimeout;
spiTimeout = 0x1000;
while (SPI_I2S_GetFlagStatus(SPIx, SPI_I2S_FLAG_TXE) == RESET)
if ((spiTimeout--) == 0) return spiTimeoutUserCallback(SPIx);
while (SPI_I2S_GetFlagStatus(SPIx, SPI_I2S_FLAG_TXE) == RESET) {
if ((spiTimeout--) == 0) {
return spiTimeoutUserCallback(SPIx);
}
}
SPI_SendData8(SPIx, data);
spiTimeout = 0x1000;
while (SPI_I2S_GetFlagStatus(SPIx, SPI_I2S_FLAG_RXNE) == RESET)
if ((spiTimeout--) == 0) return spiTimeoutUserCallback(SPIx);
while (SPI_I2S_GetFlagStatus(SPIx, SPI_I2S_FLAG_RXNE) == RESET) {
if ((spiTimeout--) == 0) {
return spiTimeoutUserCallback(SPIx);
}
}
return((uint8_t)SPI_ReceiveData8(SPIx));
return ((uint8_t) SPI_ReceiveData8(SPIx));
}
void l3gd20GyroInit(void)
@ -210,7 +207,7 @@ static void l3gd20GyroRead(int16_t *gyroData)
uint8_t buf[6];
GPIO_ResetBits(L3GD20_CS_GPIO, L3GD20_CS_PIN);
spiTransfer(L3GD20_SPI, OUT_X_L_ADDR | READ_CMD |MULTIPLEBYTE_CMD);
spiTransfer(L3GD20_SPI, OUT_X_L_ADDR | READ_CMD | MULTIPLEBYTE_CMD);
uint8_t index;
for (index = 0; index < sizeof(buf); index++) {

2
src/drivers/accgyro_l3gd20.h
View file

@ -11,7 +11,7 @@
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
*/
#pragma once

3
src/drivers/accgyro_lsm303dlhc.c
View file

@ -58,7 +58,6 @@ extern int16_t debug[4];
#define CONTINUOUS_CONVERSION 0x00
uint8_t accelCalibrating = false;
float accelOneG = 9.8065;
@ -124,5 +123,3 @@ bool lsm303dlhcAccDetect(acc_t *acc)
return true;
}

31
src/drivers/accgyro_mpu6050.c
View file

@ -19,25 +19,12 @@
#define DMP_MEM_START_ADDR 0x6E
#define DMP_MEM_R_W 0x6F
#define MPU_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU_RA_XA_OFFS_L_TC 0x07
#define MPU_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU_RA_YA_OFFS_L_TC 0x09
#define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU_RA_ZA_OFFS_L_TC 0x0B
#define MPU_RA_PRODUCT_ID 0x0C // Product ID Register
#define MPU_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU_RA_XG_OFFS_USRL 0x14
#define MPU_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU_RA_YG_OFFS_USRL 0x16
#define MPU_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU_RA_ZG_OFFS_USRL 0x18
#define MPU_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD #define MPU_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD #define MPU_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD #define MPU_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN #define MPU_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN #define MPU_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN #define MPU_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS #define MPU_RA_XA_OFFS_L_TC 0x07
#define MPU_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS #define MPU_RA_YA_OFFS_L_TC 0x09
#define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS #define MPU_RA_ZA_OFFS_L_TC 0x0B
#define MPU_RA_PRODUCT_ID 0x0C // Product ID Register #define MPU_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR #define MPU_RA_XG_OFFS_USRL 0x14
#define MPU_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR #define MPU_RA_YG_OFFS_USRL 0x16
#define MPU_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR #define MPU_RA_ZG_OFFS_USRL 0x18
#define MPU_RA_SMPLRT_DIV 0x19
#define MPU_RA_CONFIG 0x1A
#define MPU_RA_GYRO_CONFIG 0x1B
@ -109,7 +96,6 @@
#define MPU_RA_WHO_AM_I 0x75
#define MPU6050_SMPLRT_DIV 0 // 8000Hz
#define MPU6050_LPF_256HZ 0
#define MPU6050_LPF_188HZ 1
#define MPU6050_LPF_98HZ 2
@ -241,7 +227,7 @@ bool mpu6050GyroDetect(gyro_t *gyro, uint16_t lpf)
static void mpu6050AccInit(void)
{
switch(mpuAccelTrim) {
switch (mpuAccelTrim) {
case MPU_6050_HALF_RESOLUTION:
acc_1G = 256 * 8;
break;
@ -278,7 +264,8 @@ static void mpu6050GyroInit(void)
delay(5);
i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x00); //SMPLRT_DIV -- SMPLRT_DIV = 0 Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1 -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
i2cWrite(MPU6050_ADDRESS, MPU_RA_INT_PIN_CFG,
0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, mpuLowPassFilter); //CONFIG -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz GYRO bandwidth = 256Hz)
i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, 0x18); //GYRO_CONFIG -- FS_SEL = 3: Full scale set to 2000 deg/sec

2
src/drivers/adc_common.c
View file

@ -17,7 +17,7 @@ extern int16_t debug[4];
uint16_t adcGetChannel(uint8_t channel)
{
#if 0
switch(adcChannelCount) {
switch (adcChannelCount) {
case 3:
debug[2] = adcValues[adcConfig[2].dmaIndex];
/* no break */

6
src/drivers/adc_fy90q.c
View file

@ -5,16 +5,14 @@
#include "platform.h"
#include "sensors_common.h" // FIXME dependency into the main code
#include "accgyro_common.h"
#include "sensors_common.h" // FIXME dependency into the main code #include "accgyro_common.h"
#include "system_common.h"
#include "adc_fy90q.h"
//#include "boardalignment.h"
volatile uint16_t adcData[ADC_CHANNELS] = { 0, };
volatile uint16_t adcData[ADC_CHANNELS] = {0,};
void adcCalibrateADC(ADC_TypeDef *ADCx, int n)
{

20
src/drivers/barometer_bmp085.c
View file

@ -56,9 +56,7 @@ typedef struct {
#define E_SENSOR_NOT_DETECTED (char) 0
#define BMP085_PROM_START__ADDR 0xaa
#define BMP085_PROM_DATA__LEN 22
#define BMP085_T_MEASURE 0x2E // temperature measurent
#define BMP085_P_MEASURE 0x34 // pressure measurement
#define BMP085_CTRL_MEAS_REG 0xF4
#define BMP085_T_MEASURE 0x2E // temperature measurent #define BMP085_P_MEASURE 0x34 // pressure measurement #define BMP085_CTRL_MEAS_REG 0xF4
#define BMP085_ADC_OUT_MSB_REG 0xF6
#define BMP085_ADC_OUT_LSB_REG 0xF7
#define BMP085_CHIP_ID__POS 0
@ -79,10 +77,7 @@ typedef struct {
#define BMP085_GET_BITSLICE(regvar, bitname) (regvar & bitname##__MSK) >> bitname##__POS
#define BMP085_SET_BITSLICE(regvar, bitname, val) (regvar & ~bitname##__MSK) | ((val<<bitname##__POS)&bitname##__MSK)
#define SMD500_PARAM_MG 3038 //calibration parameter
#define SMD500_PARAM_MH -7357 //calibration parameter
#define SMD500_PARAM_MI 3791 //calibration parameter
#define SMD500_PARAM_MG 3038 //calibration parameter #define SMD500_PARAM_MH -7357 //calibration parameter #define SMD500_PARAM_MI 3791 //calibration parameter
static bmp085_t bmp085 = { { 0, } };
static bool bmp085InitDone = false;
static uint16_t bmp085_ut; // static result of temperature measurement
@ -170,8 +165,8 @@ static int32_t bmp085_get_temperature(uint32_t ut)
int32_t temperature;
int32_t x1, x2;
x1 = (((int32_t)ut - (int32_t)bmp085.cal_param.ac6) * (int32_t)bmp085.cal_param.ac5) >> 15;
x2 = ((int32_t)bmp085.cal_param.mc << 11) / (x1 + bmp085.cal_param.md);
x1 = (((int32_t) ut - (int32_t) bmp085.cal_param.ac6) * (int32_t) bmp085.cal_param.ac5) >> 15;
x2 = ((int32_t) bmp085.cal_param.mc << 11) / (x1 + bmp085.cal_param.md);
bmp085.param_b5 = x1 + x2;
temperature = ((bmp085.param_b5 * 10 + 8) >> 4); // temperature in 0.01°C (make same as MS5611)
@ -194,7 +189,7 @@ static int32_t bmp085_get_pressure(uint32_t up)
x3 = x1 + x2;
b3 = (((((int32_t)bmp085.cal_param.ac1) * 4 + x3) << bmp085.oversampling_setting) + 2) >> 2;
b3 = (((((int32_t) bmp085.cal_param.ac1) * 4 + x3) << bmp085.oversampling_setting) + 2) >> 2;
// *****calculate B4************
x1 = (bmp085.cal_param.ac3 * b6) >> 13;
@ -248,7 +243,7 @@ static void bmp085_start_up(void)
/** read out up for pressure conversion
depending on the oversampling ratio setting up can be 16 to 19 bit
\return up parameter that represents the uncompensated pressure value
*/
*/
static void bmp085_get_up(void)
{
uint8_t data[3];
@ -258,7 +253,8 @@ static void bmp085_get_up(void)
convOverrun++;
i2cRead(BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 3, data);
bmp085_up = (((uint32_t)data[0] << 16) | ((uint32_t)data[1] << 8) | (uint32_t)data[2]) >> (8 - bmp085.oversampling_setting);
bmp085_up = (((uint32_t) data[0] << 16) | ((uint32_t) data[1] << 8) | (uint32_t) data[2])
>> (8 - bmp085.oversampling_setting);
}
static void bmp085_calculate(int32_t *pressure, int32_t *temperature)

29
src/drivers/bus_i2c_soft.c
View file

@ -11,7 +11,6 @@
// SCL PB10
// SDA PB11
#ifdef SOFT_I2C
#define SCL_H GPIOB->BSRR = Pin_10 /* GPIO_SetBits(GPIOB , GPIO_Pin_10) */
@ -26,8 +25,9 @@
static void I2C_delay(void)
{
volatile int i = 7;
while (i)
while (i) {
i--;
}
}
static bool I2C_Start(void)
@ -35,12 +35,14 @@ static bool I2C_Start(void)
SDA_H;
SCL_H;
I2C_delay();
if (!SDA_read)
if (!SDA_read) {
return false;
}
SDA_L;
I2C_delay();
if (SDA_read)
if (SDA_read) {
return false;
}
SDA_L;
I2C_delay();
return true;
@ -104,10 +106,11 @@ static void I2C_SendByte(uint8_t byte)
while (i--) {
SCL_L;
I2C_delay();
if (byte & 0x80)
if (byte & 0x80) {
SDA_H;
else
} else {
SDA_L;
}
byte <<= 1;
I2C_delay();
SCL_H;
@ -149,8 +152,9 @@ void i2cInit(I2C_TypeDef * I2C)
bool i2cWriteBuffer(uint8_t addr, uint8_t reg, uint8_t len, uint8_t * data)
{
int i;
if (!I2C_Start())
if (!I2C_Start()) {
return false;
}
I2C_SendByte(addr << 1 | I2C_Direction_Transmitter);
if (!I2C_WaitAck()) {
I2C_Stop();
@ -171,8 +175,9 @@ bool i2cWriteBuffer(uint8_t addr, uint8_t reg, uint8_t len, uint8_t * data)
bool i2cWrite(uint8_t addr, uint8_t reg, uint8_t data)
{
if (!I2C_Start())
if (!I2C_Start()) {
return false;
}
I2C_SendByte(addr << 1 | I2C_Direction_Transmitter);
if (!I2C_WaitAck()) {
I2C_Stop();
@ -188,8 +193,9 @@ bool i2cWrite(uint8_t addr, uint8_t reg, uint8_t data)
bool i2cRead(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
{
if (!I2C_Start())
if (!I2C_Start()) {
return false;
}
I2C_SendByte(addr << 1 | I2C_Direction_Transmitter);
if (!I2C_WaitAck()) {
I2C_Stop();
@ -202,10 +208,11 @@ bool i2cRead(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf)
I2C_WaitAck();
while (len) {
*buf = I2C_ReceiveByte();
if (len == 1)
if (len == 1) {
I2C_NoAck();
else
} else {
I2C_Ack();
}
buf++;
len--;
}

123
src/drivers/bus_i2c_stm32f10x.c
View file

@ -60,14 +60,15 @@ static void i2c_er_handler(void)
volatile uint32_t SR1Register;
// Read the I2C1 status register
SR1Register = I2Cx->SR1;
if (SR1Register & 0x0F00) { //an error
if (SR1Register & 0x0F00) {
error = true;
// I2C1error.error = ((SR1Register & 0x0F00) >> 8); //save error
// I2C1error.job = job; //the task
// 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)
(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
@ -99,12 +100,12 @@ 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->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
while (I2Cx->CR1 & 0x0200); // wait for any stop to finish sending
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);
@ -137,12 +138,12 @@ 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->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
while (I2Cx->CR1 & 0x0200); // wait for any stop to finish sending
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);
@ -158,82 +159,83 @@ bool i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
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
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
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
}
} 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();
(void)I2Cx->SR2; // clear ADDR after ACK is turned off
(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
(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++] = I2C_ReceiveData(I2Cx); //read data N-2
I2C_GenerateSTOP(I2Cx, ENABLE); //program the Stop
final_stop = 1; //reuired to fix hardware
read_p[index++] = I2C_ReceiveData(I2Cx); //read data N-1
I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE); //enable TXE to allow the final EV7
} else { //EV7_3
if (reading && subaddress_sent) { // EV7_2, EV7_3
if (bytes > 2) { // EV7_2
I2C_AcknowledgeConfig(I2Cx, DISABLE); // turn off ACK
read_p[index++] = I2C_ReceiveData(I2Cx); // read data N-2
I2C_GenerateSTOP(I2Cx, ENABLE); // program the Stop
final_stop = 1; // required to fix hardware
read_p[index++] = I2C_ReceiveData(I2Cx); // 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++] = I2C_ReceiveData(I2Cx); //read data N-1
read_p[index++] = I2C_ReceiveData(I2Cx); //read data N
index++; //to show job completed
I2C_GenerateSTART(I2Cx, ENABLE); // program a rep start
read_p[index++] = I2C_ReceiveData(I2Cx); // read data N-1
read_p[index++] = I2C_ReceiveData(I2Cx); // read data N
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) { ; }
while (I2Cx->CR1 & 0x0100);
} else if (SReg_1 & 0x0040) { //Byte received - EV7
read_p[index++] = I2C_ReceiveData(I2Cx);
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
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
@ -301,7 +303,6 @@ void i2cInit(I2C_TypeDef *I2C)
NVIC_InitStructure.NVIC_IRQChannel = I2C2_EV_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_Init(&NVIC_InitStructure);
}
uint16_t i2cGetErrorCounter(void)

93
src/drivers/bus_i2c_stm32f30x.c
View file

@ -15,7 +15,6 @@
#define I2C_SHORT_TIMEOUT ((uint32_t)0x1000)
#define I2C_LONG_TIMEOUT ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
#define I2C1_SCL_GPIO GPIOB
#define I2C1_SCL_PIN GPIO_Pin_6
#define I2C1_SCL_PIN_SOURCE GPIO_PinSource6
@ -45,12 +44,9 @@ static volatile uint16_t i2c2ErrorCount = 0;
uint32_t i2cTimeoutUserCallback(I2C_TypeDef *I2Cx)
{
if (I2Cx == I2C1)
{
if (I2Cx == I2C1) {
i2c1ErrorCount++;
}
else
{
} else {
i2c2ErrorCount++;
}
return false;
@ -61,10 +57,7 @@ void i2cInitPort(I2C_TypeDef *I2Cx)
GPIO_InitTypeDef GPIO_InitStructure;
I2C_InitTypeDef I2C_InitStructure;
///////////////////////////////////
if (I2Cx == I2C1)
{
if (I2Cx == I2C1) {
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
RCC_AHBPeriphClockCmd(I2C1_SCL_CLK_SOURCE | I2C1_SDA_CLK_SOURCE, ENABLE);
@ -107,13 +100,10 @@ void i2cInitPort(I2C_TypeDef *I2Cx)
I2C_Cmd(I2C1, ENABLE);
}
///////////////////////////////////
if (I2Cx == I2C2)
{
if (I2Cx == I2C2) {
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
RCC_AHBPeriphClockCmd(I2C2_SCL_CLK_SOURCE |I2C2_SDA_CLK_SOURCE, ENABLE);
RCC_AHBPeriphClockCmd(I2C2_SCL_CLK_SOURCE | I2C2_SDA_CLK_SOURCE, ENABLE);
RCC_I2CCLKConfig(RCC_I2C2CLK_SYSCLK);
//i2cUnstick(I2Cx); // Clock out stuff to make sure slaves arent stuck
@ -160,7 +150,6 @@ void i2cInit(I2C_TypeDef *I2C)
uint16_t i2cGetErrorCounter(void)
{
// FIXME implement
return i2c1ErrorCount;
}
@ -170,43 +159,44 @@ bool i2cWrite(uint8_t addr_, uint8_t reg, uint8_t data)
/* Test on BUSY Flag */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET)
{
if((i2cTimeout--) == 0)
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET)
{
if((i2cTimeout--) == 0)
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
/* Send Register address */
I2C_SendData(I2Cx, (uint8_t) reg);
/* Wait until TCR flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET)
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET)
{
if((i2cTimeout--) == 0)
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
/* Wait until TXIS flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET)
{
if((i2cTimeout--) == 0) return
i2cTimeoutUserCallback(I2Cx);
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
/* Write data to TXDR */
@ -214,9 +204,10 @@ bool i2cWrite(uint8_t addr_, uint8_t reg, uint8_t data)
/* Wait until STOPF flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET)
{
if((i2cTimeout--) == 0) return i2cTimeoutUserCallback(I2Cx);
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
/* Clear STOPF flag */
@ -230,50 +221,50 @@ bool i2cRead(uint8_t addr_, uint8_t reg, uint8_t len, uint8_t* buf)
I2C_TypeDef* I2Cx = I2C1;
/* Test on BUSY Flag */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET)
{
if((i2cTimeout--) == 0)
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET)
{
if((i2cTimeout--) == 0)
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
if(len > 1)
if (len > 1) {
reg |= 0x80;
}
/* Send Register address */
I2C_SendData(I2Cx, (uint8_t)reg);
I2C_SendData(I2Cx, (uint8_t) reg);
/* Wait until TC flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET)
{
if((i2cTimeout--) == 0)
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, len, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
/* Wait until all data are received */
while (len)
{
while (len) {
/* Wait until RXNE flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET)
{
if((i2cTimeout--) == 0)
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
/* Read data from RXDR */
*buf = I2C_ReceiveData(I2Cx);
@ -286,10 +277,10 @@ bool i2cRead(uint8_t addr_, uint8_t reg, uint8_t len, uint8_t* buf)
/* Wait until STOPF flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while(I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET)
{
if((i2cTimeout--) == 0) return
i2cTimeoutUserCallback(I2Cx);
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
if ((i2cTimeout--) == 0) {
return i2cTimeoutUserCallback(I2Cx);
}
}
/* Clear STOPF flag */

2
src/drivers/pwm_rx.c
View file

@ -1,4 +1,3 @@
#include <stdbool.h>
#include <stdint.h>
@ -36,7 +35,6 @@ static pwmInputPort_t pwmInputPorts[MAX_PWM_INPUT_PORTS];
static uint16_t captures[MAX_PWM_INPUT_PORTS];
static void ppmCallback(uint8_t port, captureCompare_t capture)
{
int32_t diff;

1
src/drivers/serial_common.c
View file

@ -1,4 +1,3 @@
#include <stdbool.h>
#include <stdint.h>

1
src/drivers/serial_common.h
View file

@ -1,6 +1,5 @@
#pragma once
typedef enum {
SERIAL_NOT_INVERTED = 0,
SERIAL_INVERTED