mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-23 16:25:26 +03:00
9da66d5005
This speeds up IMU speed significantly. F1 Targets like NAZE Looptime of ~900 is possible F3 Targets like SPRACINGF3 looptime of 370 is posible
346 lines
11 KiB
C
346 lines
11 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <platform.h>
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#include "build_config.h"
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#include "gpio.h"
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#include "system.h"
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#include "bus_i2c.h"
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#ifndef SOFT_I2C
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#define I2C_SHORT_TIMEOUT ((uint32_t)0x1000)
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#define I2C_LONG_TIMEOUT ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
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#define I2C1_SCL_GPIO GPIOB
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#define I2C1_SCL_GPIO_AF GPIO_AF_4
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#define I2C1_SCL_PIN GPIO_Pin_6
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#define I2C1_SCL_PIN_SOURCE GPIO_PinSource6
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#define I2C1_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOB
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#define I2C1_SDA_GPIO GPIOB
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#define I2C1_SDA_GPIO_AF GPIO_AF_4
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#define I2C1_SDA_PIN GPIO_Pin_7
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#define I2C1_SDA_PIN_SOURCE GPIO_PinSource7
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#define I2C1_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOB
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#if !defined(I2C2_SCL_GPIO)
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#define I2C2_SCL_GPIO GPIOF
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#define I2C2_SCL_GPIO_AF GPIO_AF_4
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#define I2C2_SCL_PIN GPIO_Pin_6
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#define I2C2_SCL_PIN_SOURCE GPIO_PinSource6
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#define I2C2_SCL_CLK_SOURCE RCC_AHBPeriph_GPIOF
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#define I2C2_SDA_GPIO GPIOA
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#define I2C2_SDA_GPIO_AF GPIO_AF_4
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#define I2C2_SDA_PIN GPIO_Pin_10
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#define I2C2_SDA_PIN_SOURCE GPIO_PinSource10
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#define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
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#endif
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static uint32_t i2cTimeout;
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static volatile uint16_t i2c1ErrorCount = 0;
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static volatile uint16_t i2c2ErrorCount = 0;
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static I2C_TypeDef *I2Cx = NULL;
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///////////////////////////////////////////////////////////////////////////////
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// I2C TimeoutUserCallback
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///////////////////////////////////////////////////////////////////////////////
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static bool i2cOverClock;
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void i2cSetOverclock(uint8_t OverClock) {
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i2cOverClock = (OverClock) ? true : false;
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}
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uint32_t i2cTimeoutUserCallback(I2C_TypeDef *I2Cx)
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{
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if (I2Cx == I2C1) {
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i2c1ErrorCount++;
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} else {
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i2c2ErrorCount++;
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}
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return false;
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}
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void i2cInitPort(I2C_TypeDef *I2Cx)
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{
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GPIO_InitTypeDef GPIO_InitStructure;
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I2C_InitTypeDef I2C_InitStructure;
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if (I2Cx == I2C1) {
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RCC_AHBPeriphClockCmd(I2C1_SCL_CLK_SOURCE | I2C1_SDA_CLK_SOURCE, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
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RCC_I2CCLKConfig(RCC_I2C1CLK_SYSCLK);
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//i2cUnstick(I2Cx); // Clock out stuff to make sure slaves arent stuck
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GPIO_PinAFConfig(I2C1_SCL_GPIO, I2C1_SCL_PIN_SOURCE, I2C1_SCL_GPIO_AF);
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GPIO_PinAFConfig(I2C1_SDA_GPIO, I2C1_SDA_PIN_SOURCE, I2C1_SDA_GPIO_AF);
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GPIO_StructInit(&GPIO_InitStructure);
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I2C_StructInit(&I2C_InitStructure);
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// Init pins
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_InitStructure.GPIO_Pin = I2C1_SCL_PIN;
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GPIO_Init(I2C1_SCL_GPIO, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = I2C1_SDA_PIN;
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GPIO_Init(I2C1_SDA_GPIO, &GPIO_InitStructure);
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I2C_StructInit(&I2C_InitStructure);
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I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
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I2C_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
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I2C_InitStructure.I2C_DigitalFilter = 0x00;
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I2C_InitStructure.I2C_OwnAddress1 = 0x00;
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I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
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I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
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if (i2cOverClock) {
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I2C_InitStructure.I2C_Timing = 0x00500E30; // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
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} else {
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I2C_InitStructure.I2C_Timing = 0x00E0257A; // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10
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}
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//I2C_InitStructure.I2C_Timing = 0x8000050B;
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I2C_Init(I2C1, &I2C_InitStructure);
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I2C_Cmd(I2C1, ENABLE);
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}
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if (I2Cx == I2C2) {
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RCC_AHBPeriphClockCmd(I2C2_SCL_CLK_SOURCE | I2C2_SDA_CLK_SOURCE, ENABLE);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
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RCC_I2CCLKConfig(RCC_I2C2CLK_SYSCLK);
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//i2cUnstick(I2Cx); // Clock out stuff to make sure slaves arent stuck
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GPIO_PinAFConfig(I2C2_SCL_GPIO, I2C2_SCL_PIN_SOURCE, I2C2_SCL_GPIO_AF);
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GPIO_PinAFConfig(I2C2_SDA_GPIO, I2C2_SDA_PIN_SOURCE, I2C2_SDA_GPIO_AF);
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GPIO_StructInit(&GPIO_InitStructure);
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I2C_StructInit(&I2C_InitStructure);
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// Init pins
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_InitStructure.GPIO_Pin = I2C2_SCL_PIN;
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GPIO_Init(I2C2_SCL_GPIO, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = I2C2_SDA_PIN;
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GPIO_Init(I2C2_SDA_GPIO, &GPIO_InitStructure);
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I2C_StructInit(&I2C_InitStructure);
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I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
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I2C_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable;
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I2C_InitStructure.I2C_DigitalFilter = 0x00;
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I2C_InitStructure.I2C_OwnAddress1 = 0x00;
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I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
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I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
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// FIXME timing is board specific
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//I2C_InitStructure.I2C_Timing = 0x00310309; // //400kHz I2C @ 8MHz input -> PRESC=0x0, SCLDEL=0x3, SDADEL=0x1, SCLH=0x03, SCLL=0x09 - value from TauLabs/Sparky
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// ^ when using this setting and after a few seconds of a scope probe being attached to the I2C bus it was observed that the bus enters
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// a busy state and does not recover.
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if (i2cOverClock) {
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I2C_InitStructure.I2C_Timing = 0x00500E30; // 1000 Khz, 72Mhz Clock, Analog Filter Delay ON, Setup 40, Hold 4.
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} else {
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I2C_InitStructure.I2C_Timing = 0x00E0257A; // 400 Khz, 72Mhz Clock, Analog Filter Delay ON, Rise 100, Fall 10
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}
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//I2C_InitStructure.I2C_Timing = 0x8000050B;
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I2C_Init(I2C2, &I2C_InitStructure);
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I2C_Cmd(I2C2, ENABLE);
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}
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}
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void i2cInit(I2CDevice index)
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{
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if (index == I2CDEV_1) {
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I2Cx = I2C1;
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} else {
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I2Cx = I2C2;
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}
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i2cInitPort(I2Cx);
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}
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uint16_t i2cGetErrorCounter(void)
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{
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if (I2Cx == I2C1) {
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return i2c1ErrorCount;
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}
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return i2c2ErrorCount;
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}
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bool i2cWrite(uint8_t addr_, uint8_t reg, uint8_t data)
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{
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addr_ <<= 1;
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/* Test on BUSY Flag */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Configure slave address, nbytes, reload, end mode and start or stop generation */
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I2C_TransferHandling(I2Cx, addr_, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
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/* Wait until TXIS flag is set */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Send Register address */
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I2C_SendData(I2Cx, (uint8_t) reg);
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/* Wait until TCR flag is set */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET)
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{
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Configure slave address, nbytes, reload, end mode and start or stop generation */
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I2C_TransferHandling(I2Cx, addr_, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
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/* Wait until TXIS flag is set */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Write data to TXDR */
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I2C_SendData(I2Cx, data);
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/* Wait until STOPF flag is set */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Clear STOPF flag */
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I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
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return true;
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}
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bool i2cRead(uint8_t addr_, uint8_t reg, uint8_t len, uint8_t* buf)
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{
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addr_ <<= 1;
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/* Test on BUSY Flag */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_BUSY) != RESET) {
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Configure slave address, nbytes, reload, end mode and start or stop generation */
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I2C_TransferHandling(I2Cx, addr_, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
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/* Wait until TXIS flag is set */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Send Register address */
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I2C_SendData(I2Cx, (uint8_t) reg);
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/* Wait until TC flag is set */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET) {
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Configure slave address, nbytes, reload, end mode and start or stop generation */
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I2C_TransferHandling(I2Cx, addr_, len, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
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/* Wait until all data are received */
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while (len) {
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/* Wait until RXNE flag is set */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_RXNE) == RESET) {
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Read data from RXDR */
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*buf = I2C_ReceiveData(I2Cx);
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/* Point to the next location where the byte read will be saved */
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buf++;
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/* Decrement the read bytes counter */
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len--;
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}
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/* Wait until STOPF flag is set */
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i2cTimeout = I2C_LONG_TIMEOUT;
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while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
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if ((i2cTimeout--) == 0) {
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return i2cTimeoutUserCallback(I2Cx);
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}
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}
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/* Clear STOPF flag */
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I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
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/* If all operations OK */
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return true;
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}
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#endif
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