AMiRo-OS

From 736d3be25b7389b6130e0c372328aa56e2532250 Mon Sep 17 00:00:00 2001

From: =?UTF-8?q?Thomas=20Sch=C3=B6pping?= <tschoepp@cit-ec.uni-bielefeld.de>

Date: Mon, 12 Jun 2017 17:28:49 +0200

Subject: [PATCH] Introduced I2C without DMA (I2Cv1 only).

---

 os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.c | 181 ++++++++++++++++++++++++++++-

 os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.h |  30 +++++

 2 files changed, 210 insertions(+), 1 deletion(-)

diff --git a/os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.c b/os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.c

index 20b8cf8..b2cfb59 100644

--- a/os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.c

+++ b/os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.c

@@ -34,6 +34,7 @@

 /* Driver local definitions.                                                 */

 /*===========================================================================*/

+#if STM32_I2C_USE_DMA

 #define I2C1_RX_DMA_CHANNEL                                                 \

   STM32_DMA_GETCHANNEL(STM32_I2C_I2C1_RX_DMA_STREAM,                        \

                        STM32_I2C1_RX_DMA_CHN)

@@ -57,6 +58,7 @@

 #define I2C3_TX_DMA_CHANNEL                                                 \

   STM32_DMA_GETCHANNEL(STM32_I2C_I2C3_TX_DMA_STREAM,                        \

                        STM32_I2C3_TX_DMA_CHN)

+#endif /* STM32_I2C_USE_DMA */

 /*===========================================================================*/

 /* Driver constants.                                                         */

@@ -72,6 +74,20 @@

 #define I2C_EV6_MASTER_REC_MODE_SELECTED                                    \

   ((uint32_t)(((I2C_SR2_MSL | I2C_SR2_BUSY)<< 16) | I2C_SR1_ADDR))

+#define I2C_EV7_MASTER_REC_BYTE_RECEIVED                                    \

+  ((uint32_t)(((I2C_SR2_MSL | I2C_SR2_BUSY)<< 16) | I2C_SR1_RXNE))

+

+#define I2C_EV7_MASTER_REC_BYTE_RECEIVED_STOP                               \

+  ((uint32_t)(                                      I2C_SR1_RXNE))

+

+#define I2C_EV7_2_EV7_3_MASTER_REC_BYTE_QUEUED                              \

+  ((uint32_t)(((I2C_SR2_MSL | I2C_SR2_BUSY)<< 16) |                         \

+              I2C_SR1_BTF | I2C_SR1_RXNE))

+

+#define I2C_EV8_MASTER_BYTE_TRANSMITTING                                    \

+  ((uint32_t)(((I2C_SR2_MSL | I2C_SR2_BUSY | I2C_SR2_TRA)<< 16) |           \

+              I2C_SR1_TXE))

+

 #define I2C_EV8_2_MASTER_BYTE_TRANSMITTED                                   \

   ((uint32_t)(((I2C_SR2_MSL | I2C_SR2_BUSY | I2C_SR2_TRA) << 16) |          \

               I2C_SR1_BTF | I2C_SR1_TXE))

@@ -128,9 +144,11 @@ static void i2c_lld_abort_operation(I2CDriver *i2cp) {

   dp->CR2 = 0;

   dp->SR1 = 0;

+#if STM32_I2C_USE_DMA

   /* Stops the associated DMA streams.*/

   dmaStreamDisable(i2cp->dmatx);

   dmaStreamDisable(i2cp->dmarx);

+#endif /* STM32_I2C_USE_DMA */

 }

 /**

@@ -247,12 +265,13 @@ static void i2c_lld_serve_event_interrupt(I2CDriver *i2cp) {

   uint32_t regSR2 = dp->SR2;

   uint32_t event = dp->SR1;

+#if STM32_I2C_USE_DMA

   /* Interrupts are disabled just before dmaStreamEnable() because there

      is no need of interrupts until next transaction begin. All the work is

      done by the DMA.*/

   switch (I2C_EV_MASK & (event | (regSR2 << 16))) {

   case I2C_EV5_MASTER_MODE_SELECT:

-    if ((i2cp->addr >> 8) > 0) { 

+    if ((i2cp->addr >> 8) > 0) {

       /* 10-bit address: 1 1 1 1 0 X X R/W */

       dp->DR = 0xF0 | (0x6 & (i2cp->addr >> 8)) | (0x1 & i2cp->addr);

     } else {

@@ -292,8 +311,125 @@ static void i2c_lld_serve_event_interrupt(I2CDriver *i2cp) {

   /* Clear ADDR flag. */

   if (event & (I2C_SR1_ADDR | I2C_SR1_ADD10))

     (void)dp->SR2;

+#else

+  switch (I2C_EV_MASK & (event | (regSR2 << 16))) {

+  case I2C_EV5_MASTER_MODE_SELECT:

+    dp->CR2 |= I2C_CR2_ITBUFEN;

+    dp->DR = i2cp->addr;

+    break;

+  case I2C_EV6_MASTER_TRA_MODE_SELECTED:

+    (void)dp->SR2; // clear ADDR flag

+    /* EV8_1 */

+    dp->DR = *(i2cp->txbuf);

+

+    ++i2cp->txbuf;

+    --i2cp->txbytes;

+

+    /* if N == 1, skip the I2C_EV8_MASTER_BYTE_TRANSMITTING event

+     * but enter I2C_EV8_2_MASTER_BYTE_TRANSMITTED next */

+    if (i2cp->txbytes == 0) {

+      dp->CR2 &= ~I2C_CR2_ITBUFEN;

+    }

+    break;

+  case I2C_EV6_MASTER_REC_MODE_SELECTED:

+    switch (i2cp->rxbytes) {

+    case 1:

+      dp->CR1 &= ~I2C_CR1_ACK;

+      (void)dp->SR2; // clear ADDR flag

+      dp->CR1 |= I2C_CR1_STOP;

+      break;

+    case 2:

+      (void)dp->SR2; // clear ADDR flag

+      /* EV6_1 */

+      dp->CR1 |= I2C_CR1_POS;

+      dp->CR1 &= ~I2C_CR1_ACK;

+      dp->CR2 &= ~I2C_CR2_ITBUFEN;

+      break;

+    case 3: /* N == 3 is a very special case, since EV7 is completely skipped */

+      (void)dp->SR2; // clear ADDR flag

+      /* Disable the I2C_EV7_MASTER_REC_BYTE_RECEIVED event

+       * but enter I2C_EV7_MASTER_REC_BYTE_RECEIVED_STOP next */

+      dp->CR2 &= ~I2C_CR2_ITBUFEN;

+      break;

+    default: /* N > 2 */

+      (void)dp->SR2; // clear ADDR flag

+      break;

+    }

+    break;

+  case I2C_EV7_MASTER_REC_BYTE_RECEIVED:

+    if (i2cp->rxbytes > 3) {

+      *(i2cp->rxbuf) = dp->DR;

+      ++i2cp->rxbuf;

+      --i2cp->rxbytes;

+    }

+    if (i2cp->rxbytes == 3) {

+      /* Disable this event for DataN-2, but force into event

+       * I2C_EV7_2_EV7_3_MASTER_REC_BYTE_RECEIVED_QUEUED by not reading dp->DR. */

+      dp->CR2 &= ~I2C_CR2_ITBUFEN;

+    }

+    break;

+  case I2C_EV7_MASTER_REC_BYTE_RECEIVED_STOP:

+    osalDbgAssert(i2cp->rxbytes == 1, "more than 1 byte to be received");

+    *(i2cp->rxbuf) = dp->DR;

+    --i2cp->rxbytes;

+    dp->CR2 &= ~(I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN);

+    _i2c_wakeup_isr(i2cp);

+    break;

+  case I2C_EV7_2_EV7_3_MASTER_REC_BYTE_QUEUED:

+    if (i2cp->rxbytes == 3) {

+      /* EV7_2 (N > 2) */

+      dp->CR1 &= ~I2C_CR1_ACK;

+      *(i2cp->rxbuf) = dp->DR;

+      ++i2cp->rxbuf;

+      dp->CR1 |= I2C_CR1_STOP;

+      *(i2cp->rxbuf) = dp->DR;

+      ++i2cp->rxbuf;

+      i2cp->rxbytes -= 2;

+      /* enable I2C_EV7_MASTER_REC_BYTE_RECEIVED_STOP event */

+      dp->CR2 |= I2C_CR2_ITBUFEN;

+    } else {

+      /* EV7_3 (N == 2) */

+      dp->CR1 |= I2C_CR1_STOP;

+      *(i2cp->rxbuf) = dp->DR;

+      ++i2cp->rxbuf;

+      *(i2cp->rxbuf) = dp->DR;

+      i2cp->rxbytes -= 2;

+

+      dp->CR1 &= ~I2C_CR1_POS;

+      dp->CR2 &= ~(I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN);

+

+      _i2c_wakeup_isr(i2cp);

+    }

+    break;

+  case I2C_EV8_MASTER_BYTE_TRANSMITTING:

+    dp->DR = *(i2cp->txbuf);

+    ++i2cp->txbuf;

+    --i2cp->txbytes;

+

+    /* if this was the last byte, ensure that this event is not entered again */

+    if (i2cp->txbytes == 0) {

+      dp->CR2 &= ~I2C_CR2_ITBUFEN;

+    }

+    break;

+  case I2C_EV8_2_MASTER_BYTE_TRANSMITTED:

+    if (i2cp->rxbytes > 0) {

+      /* start "read after write" operation (LSB of address = 1 => read) */

+      i2cp->addr |= 0x01;

+      dp->CR1 |= I2C_CR1_START | I2C_CR1_ACK;

+    } else {

+      dp->CR1 |= I2C_CR1_STOP;

+      dp->CR2 &= ~(I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN);

+      _i2c_wakeup_isr(i2cp);

+    }

+    break;

+  default:

+    osalDbgAssert(i2cp->rxbytes != 1, "more than 1 byte to be received");

+    break;

+  }

+#endif /* STM32_I2C_USE_DMA */

 }

+#if STM32_I2C_USE_DMA

 /**

  * @brief   DMA RX end IRQ handler.

  *

@@ -347,6 +483,7 @@ static void i2c_lld_serve_tx_end_irq(I2CDriver *i2cp, uint32_t flags) {

      of R/W transaction itself.*/

   dp->CR2 |= I2C_CR2_ITEVTEN;

 }

+#endif /* STM32_I2C_USE_DMA */

 /**

  * @brief   I2C error handler.

@@ -358,9 +495,11 @@ static void i2c_lld_serve_tx_end_irq(I2CDriver *i2cp, uint32_t flags) {

  */

 static void i2c_lld_serve_error_interrupt(I2CDriver *i2cp, uint16_t sr) {

+#if STM32_I2C_USE_DMA

   /* Clears interrupt flags just to be safe.*/

   dmaStreamDisable(i2cp->dmatx);

   dmaStreamDisable(i2cp->dmarx);

+#endif /* STM32_I2C_USE_DMA */

   i2cp->errors = I2C_NO_ERROR;

@@ -506,24 +645,30 @@ void i2c_lld_init(void) {

   i2cObjectInit(&I2CD1);

   I2CD1.thread = NULL;

   I2CD1.i2c    = I2C1;

+#if STM32_I2C_USE_DMA

   I2CD1.dmarx  = STM32_DMA_STREAM(STM32_I2C_I2C1_RX_DMA_STREAM);

   I2CD1.dmatx  = STM32_DMA_STREAM(STM32_I2C_I2C1_TX_DMA_STREAM);

+#endif /* STM32_I2C_USE_DMA */

 #endif /* STM32_I2C_USE_I2C1 */

 #if STM32_I2C_USE_I2C2

   i2cObjectInit(&I2CD2);

   I2CD2.thread = NULL;

   I2CD2.i2c    = I2C2;

+#if STM32_I2C_USE_DMA

   I2CD2.dmarx  = STM32_DMA_STREAM(STM32_I2C_I2C2_RX_DMA_STREAM);

   I2CD2.dmatx  = STM32_DMA_STREAM(STM32_I2C_I2C2_TX_DMA_STREAM);

+#endif /* STM32_I2C_USE_DMA */

 #endif /* STM32_I2C_USE_I2C2 */

 #if STM32_I2C_USE_I2C3

   i2cObjectInit(&I2CD3);

   I2CD3.thread = NULL;

   I2CD3.i2c    = I2C3;

+#if STM32_I2C_USE_DMA

   I2CD3.dmarx  = STM32_DMA_STREAM(STM32_I2C_I2C3_RX_DMA_STREAM);

   I2CD3.dmatx  = STM32_DMA_STREAM(STM32_I2C_I2C3_TX_DMA_STREAM);

+#endif /* STM32_I2C_USE_DMA */

 #endif /* STM32_I2C_USE_I2C3 */

 }

@@ -540,6 +685,7 @@ void i2c_lld_start(I2CDriver *i2cp) {

   /* If in stopped state then enables the I2C and DMA clocks.*/

   if (i2cp->state == I2C_STOP) {

+#if STM32_I2C_USE_DMA

     i2cp->txdmamode = STM32_DMA_CR_PSIZE_BYTE | STM32_DMA_CR_MSIZE_BYTE |

                       STM32_DMA_CR_MINC       | STM32_DMA_CR_DMEIE |

                       STM32_DMA_CR_TEIE       | STM32_DMA_CR_TCIE |

@@ -548,9 +694,11 @@ void i2c_lld_start(I2CDriver *i2cp) {

                       STM32_DMA_CR_MINC       | STM32_DMA_CR_DMEIE |

                       STM32_DMA_CR_TEIE       | STM32_DMA_CR_TCIE |

                       STM32_DMA_CR_DIR_P2M;

+#endif /* STM32_I2C_USE_DMA */

 #if STM32_I2C_USE_I2C1

     if (&I2CD1 == i2cp) {

+#if STM32_I2C_USE_DMA

       bool b;

       rccResetI2C1();

@@ -564,19 +712,23 @@ void i2c_lld_start(I2CDriver *i2cp) {

                             (stm32_dmaisr_t)i2c_lld_serve_tx_end_irq,

                             (void *)i2cp);

       osalDbgAssert(!b, "stream already allocated");

+#endif /* STM32_I2C_USE_DMA */

       rccEnableI2C1(FALSE);

       nvicEnableVector(I2C1_EV_IRQn, STM32_I2C_I2C1_IRQ_PRIORITY);

       nvicEnableVector(I2C1_ER_IRQn, STM32_I2C_I2C1_IRQ_PRIORITY);

+#if STM32_I2C_USE_DMA

       i2cp->rxdmamode |= STM32_DMA_CR_CHSEL(I2C1_RX_DMA_CHANNEL) |

                        STM32_DMA_CR_PL(STM32_I2C_I2C1_DMA_PRIORITY);

       i2cp->txdmamode |= STM32_DMA_CR_CHSEL(I2C1_TX_DMA_CHANNEL) |

                        STM32_DMA_CR_PL(STM32_I2C_I2C1_DMA_PRIORITY);

+#endif /* STM32_I2C_USE_DMA */

     }

 #endif /* STM32_I2C_USE_I2C1 */

 #if STM32_I2C_USE_I2C2

     if (&I2CD2 == i2cp) {

+#if STM32_I2C_USE_DMA

       bool b;

       rccResetI2C2();

@@ -590,19 +742,23 @@ void i2c_lld_start(I2CDriver *i2cp) {

                             (stm32_dmaisr_t)i2c_lld_serve_tx_end_irq,

                             (void *)i2cp);

       osalDbgAssert(!b, "stream already allocated");

+#endif /* STM32_I2C_USE_DMA */

       rccEnableI2C2(FALSE);

       nvicEnableVector(I2C2_EV_IRQn, STM32_I2C_I2C2_IRQ_PRIORITY);

       nvicEnableVector(I2C2_ER_IRQn, STM32_I2C_I2C2_IRQ_PRIORITY);

+#if STM32_I2C_USE_DMA

       i2cp->rxdmamode |= STM32_DMA_CR_CHSEL(I2C2_RX_DMA_CHANNEL) |

                        STM32_DMA_CR_PL(STM32_I2C_I2C2_DMA_PRIORITY);

       i2cp->txdmamode |= STM32_DMA_CR_CHSEL(I2C2_TX_DMA_CHANNEL) |

                        STM32_DMA_CR_PL(STM32_I2C_I2C2_DMA_PRIORITY);

+#endif /* STM32_I2C_USE_DMA */

     }

 #endif /* STM32_I2C_USE_I2C2 */

 #if STM32_I2C_USE_I2C3

     if (&I2CD3 == i2cp) {

+#if STM32_I2C_USE_DMA

       bool b;

       rccResetI2C3();

@@ -616,26 +772,35 @@ void i2c_lld_start(I2CDriver *i2cp) {

                             (stm32_dmaisr_t)i2c_lld_serve_tx_end_irq,

                             (void *)i2cp);

       osalDbgAssert(!b, "stream already allocated");

+#endif /* STM32_I2C_USE_DMA */

       rccEnableI2C3(FALSE);

       nvicEnableVector(I2C3_EV_IRQn, STM32_I2C_I2C3_IRQ_PRIORITY);

       nvicEnableVector(I2C3_ER_IRQn, STM32_I2C_I2C3_IRQ_PRIORITY);

+#if STM32_I2C_USE_DMA

       i2cp->rxdmamode |= STM32_DMA_CR_CHSEL(I2C3_RX_DMA_CHANNEL) |

                        STM32_DMA_CR_PL(STM32_I2C_I2C3_DMA_PRIORITY);

       i2cp->txdmamode |= STM32_DMA_CR_CHSEL(I2C3_TX_DMA_CHANNEL) |

                        STM32_DMA_CR_PL(STM32_I2C_I2C3_DMA_PRIORITY);

+#endif /* STM32_I2C_USE_DMA */

     }

 #endif /* STM32_I2C_USE_I2C3 */

   }

+#if STM32_I2C_USE_DMA

   /* I2C registers pointed by the DMA.*/

   dmaStreamSetPeripheral(i2cp->dmarx, &dp->DR);

   dmaStreamSetPeripheral(i2cp->dmatx, &dp->DR);

+#endif /* STM32_I2C_USE_DMA */

   /* Reset i2c peripheral.*/

   dp->CR1 = I2C_CR1_SWRST;

   dp->CR1 = 0;

+#if STM32_I2C_USE_DMA

   dp->CR2 = I2C_CR2_ITERREN | I2C_CR2_DMAEN;

+#else

+  dp->CR2 = I2C_CR2_ITERREN;

+#endif /* STM32_I2C_USE_DMA */

   /* Setup I2C parameters.*/

   i2c_lld_set_clock(i2cp);

@@ -659,8 +824,10 @@ void i2c_lld_stop(I2CDriver *i2cp) {

     /* I2C disable.*/

     i2c_lld_abort_operation(i2cp);

+#if STM32_I2C_USE_DMA

     dmaStreamRelease(i2cp->dmatx);

     dmaStreamRelease(i2cp->dmarx);

+#endif /* STM32_I2C_USE_DMA */

 #if STM32_I2C_USE_I2C1

     if (&I2CD1 == i2cp) {

@@ -730,10 +897,15 @@ msg_t i2c_lld_master_receive_timeout(I2CDriver *i2cp, i2caddr_t addr,

   /* Releases the lock from high level driver.*/

   osalSysUnlock();

+#if STM32_I2C_USE_DMA

   /* RX DMA setup.*/

   dmaStreamSetMode(i2cp->dmarx, i2cp->rxdmamode);

   dmaStreamSetMemory0(i2cp->dmarx, rxbuf);

   dmaStreamSetTransactionSize(i2cp->dmarx, rxbytes);

+#else

+  i2cp->rxbuf = rxbuf;

+  i2cp->rxbytes = rxbytes;

+#endif /* STM32_I2C_USE_DMA */

   /* Calculating the time window for the timeout on the busy bus condition.*/

   start = osalOsGetSystemTimeX();

@@ -810,6 +982,7 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,

   /* Releases the lock from high level driver.*/

   osalSysUnlock();

+#if STM32_I2C_USE_DMA

   /* TX DMA setup.*/

   dmaStreamSetMode(i2cp->dmatx, i2cp->txdmamode);

   dmaStreamSetMemory0(i2cp->dmatx, txbuf);

@@ -819,6 +992,12 @@ msg_t i2c_lld_master_transmit_timeout(I2CDriver *i2cp, i2caddr_t addr,

   dmaStreamSetMode(i2cp->dmarx, i2cp->rxdmamode);

   dmaStreamSetMemory0(i2cp->dmarx, rxbuf);

   dmaStreamSetTransactionSize(i2cp->dmarx, rxbytes);

+#else

+  i2cp->txbuf = txbuf;

+  i2cp->txbytes = txbytes;

+  i2cp->rxbuf = rxbuf;

+  i2cp->rxbytes = rxbytes;

+#endif /* STM32_I2C_USE_DMA */

   /* Calculating the time window for the timeout on the busy bus condition.*/

   start = osalOsGetSystemTimeX();

diff --git a/os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.h b/os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.h

index a812ceb..127c708 100644

--- a/os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.h

+++ b/os/hal/ports/STM32/LLD/I2Cv1/hal_i2c_lld.h

@@ -76,6 +76,15 @@

 #endif

 /**

+ * @brief   I2C data transfer use dma switch.

+ * @details If set to @p TRUE the support for I2C DMA is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(STM32_I2C_USE_DMA) || defined(__DOXYGEN__)

+#define STM32_I2C_USE_DMA                   TRUE

+#endif

+

+/**

  * @brief   I2C timeout on busy condition in milliseconds.

  */

 #if !defined(STM32_I2C_BUSY_TIMEOUT) || defined(__DOXYGEN__)

@@ -249,6 +258,7 @@

 #error "Invalid IRQ priority assigned to I2C3"

 #endif

+#if STM32_I2C_USE_DMA

 #if STM32_I2C_USE_I2C1 &&                                                   \

     !STM32_DMA_IS_VALID_PRIORITY(STM32_I2C_I2C1_DMA_PRIORITY)

 #error "Invalid DMA priority assigned to I2C1"

@@ -319,6 +329,7 @@

 #if !defined(STM32_DMA_REQUIRED)

 #define STM32_DMA_REQUIRED

 #endif

+#endif /* STM32_I2C_USE_DMA */

 /* Check clock range. */

 #if defined(STM32F4XX)

@@ -436,6 +447,7 @@ struct I2CDriver {

    * @brief     Current slave address without R/W bit.

    */

   i2caddr_t                 addr;

+#if STM32_I2C_USE_DMA

   /**

    * @brief RX DMA mode bit mask.

    */

@@ -452,6 +464,24 @@ struct I2CDriver {

    * @brief     Transmit DMA channel.

    */

   const stm32_dma_stream_t  *dmatx;

+#else

+  /**

+   * @brief     Receive buffer.

+   */

+  uint8_t                   *rxbuf;

+  /**

+   * @brief     Receive buffer size.

+   */

+  size_t                    rxbytes;

+  /**

+   * @brief     Transmit buffer.

+   */

+  const uint8_t             *txbuf;

+  /**

+   * @brief     Transmit buffer size.

+   */

+  size_t                    txbytes;

+#endif /* STM32_I2C_USE_DMA */

   /**

    * @brief     Pointer to the I2Cx registers block.

    */

-- 

2.7.4