DMPAPI(bool) i2c_InitSW2(unsigned devs, int i2c0mode, unsigned long i2c0clkdelay, int i2c1mode, unsigned long i2c1clkdelay) {
int i;
if (I2C_ioSection != -1)
{
err_print("I2C lib was already opened");
return false;
}
if ((I2C_ioSection = io_Init()) == -1) return false;
#ifdef ROBOIO
switch (roboio_GetRBVer())
{
case RB_100b1:
case RB_100b2:
case RB_100b3:
case RB_100:
case RB_100RD:
case RB_110:
case RB_050:
devs = devs & I2C_USEMODULE0;
break;
default:
devs = 0;
break;
}
#endif
I2C_swMode[0] = i2c0mode; I2CSW_delay[0] = i2c0clkdelay;
I2C_swMode[1] = i2c1mode; I2CSW_delay[1] = i2c1clkdelay;
I2C_action[0] = I2C_action[1] = I2CACT_DISABLE;
for (i=0; i<2; i++)
{
if ((i == 0) && ((devs & I2C_USEMODULE0) == 0)) continue;
if ((i == 1) && ((devs & I2C_USEMODULE1) == 0)) continue;
I2C_action[i] = I2CACT_IDLE;
// switch GPIO/I2C pins into GPIO pins
OLD_I2CGPIO3FLAG[i] = sb_Read(SB_IPFCTRL3_REG) & OLD_I2CGPIO3MASK[i]; // backup GPIO/I2C switch flag
sb_Write(SB_IPFCTRL3_REG, sb_Read(SB_IPFCTRL3_REG) & (~OLD_I2CGPIO3MASK[i]));
OLD_I2CGPIO3DIR[i] = io_inpb(GPIO3_DIR) & (0x03 << (i*2+4)); // backup GPIO3 DIR
OLD_I2CGPIO3VAL[i] = io_inpb(GPIO3_DATA) & (0x03 << (i*2+4)); // backup GPIO3 VAL
// set GPIO pins as INPUT state (equiv. to OUT 1 of I2C lines)
io_outpb(GPIO3_DIR, io_inpb(GPIO3_DIR) & ~(0x03 << (i*2+4)));
}
return true;
}
bool init() {
int i;
if(io_Init() == false) return false;
//set corssbar Base Address
sb_Write16(0x64,0x0A01);
//printf("SB C0~C3 REG: 0x%08X\n", sb_Read(0xc0));
sb_Write(0xc0, sb_Read(0xc0) | 0x8000C000L);
//printf("SB C0~C3 REG: 0x%08X\n", sb_Read(0xc0));
//set GPIO Base Address
sb_Write16(0x62,0xf101);
// GPIO enable
io_outpdw(0xf100,0x00ff);
//set GPIO P0~9 dircetion & data Address
//io_outpdw(0xf100,0x03ff);
for(i=0;i<8;i++) {
io_outpdw(0xf100 + (i+1)*4,((0xf202 + i*4)<<16) + 0xf200 + i*4);
//io_outpb((sb_Read16(0x64)&0xfffe)+i,0x00);
}
//setADC Base Address
sb_Write(0xbc, sb_Read(0xbc) & (~(1L<<28))); // active adc
sb1_Write16(0xde, sb1_Read16(0xde) | 0x02); // not Available for 8051A Access ADC
sb1_Write(0xe0, 0x0010fe00L); // baseaddr = 0xfe00, disable irq
//CDC
USBDEV = CreateUSBDevice();
if(USBDEV == NULL)
{
printf("init error\n");
return false;
}
usb_SetUSBPins(USBDEV, 7, 0, 7, 1);
if(usb_Init(USBDEV) == false)
{
printf("init2 error\n");
return false;
}
//io_Close();
return true;
}
bool init()
{
if(io_Init() == false) return false;
// set ADC Base Address
sb_Write(0xBC, sb_Read(0xBC) & (~(1L<<28))); // active adc
sb1_Write16(0xDE, sb1_Read16(0xDE) | 0x02); // not Available for 8051A Access ADC
sb1_Write(0xE0, 0x00500000UL | ADC_BASEADDR); // baseaddr = 0xfe00, disable irq
return true;
}
bool cm_init(void)
{
if (io_Init() == false)
return false;
sb_Write(0xc0, sb_Read(0xc0) & 0x7fffffffL | ((unsigned long)1UL << 31));
io_Close();
//com_SetUSBPins(2, 0, 2, 1);
if ((Serial = com_Init(COM4)) == NULL)
return false;
com_SetTimeOut(Serial, 0);
com_SetBPS(Serial, COM_UARTBAUD_1000000BPS);
com_SetFormat(Serial, BYTESIZE8 + STOPBIT1 + NOPARITY);
com_SetFlowControl(Serial, NO_CONTROL);
com_EnableFIFO(Serial, FIFO_032);
return true;
}
DMPAPI(void) i2c_Close(void) {
int i;
if (I2C_ioSection == -1) return;
for (i=0; i<2; i++) //restore GPIO3/I2C switch setting
{
if (I2C_action[i] == I2CACT_DISABLE) continue;
io_outpb(GPIO3_DIR, (io_inpb(GPIO3_DIR) & (~(0x03 << (i*2+4)))) | OLD_I2CGPIO3DIR[i]); //restore GPIO3 DIR
io_outpb(GPIO3_DATA, (io_inpb(GPIO3_DATA) & (~(0x03 << (i*2+4)))) | OLD_I2CGPIO3VAL[i]); //restore GPIO3 VAL
sb_Write(SB_IPFCTRL3_REG, (sb_Read(SB_IPFCTRL3_REG) & (~OLD_I2CGPIO3MASK[i])) | OLD_I2CGPIO3FLAG[i]); //restore GPIO/I2C switch flag
I2C_action[i] = I2CACT_DISABLE;
}
//io_Close(I2C_ioSection);
io_Close();
I2C_ioSection = -1;
}
DMPAPI(bool) i2c_Init2(unsigned baseaddr, unsigned devs, int i2c0irq, int i2c1irq) {
int i;
if (I2C_ioSection != -1)
{
err_print("I2C lib was already opened");
return false;
}
if ((I2C_ioSection = io_Init()) == -1) return false;
//NOTE: base address should be selected carefully to avoid conflicts with other devices!
if (baseaddr != 0xffff)
i2c_SetBaseAddress(baseaddr);
else
{
if (i2c_SetDefaultBaseAddress() == 0x0000) i2c_SetBaseAddress(0xfb00);
}
#ifdef ROBOIO
switch (roboio_GetRBVer())
{
case RB_100b1:
case RB_100b2:
case RB_100b3:
case RB_100:
case RB_100RD:
case RB_110:
case RB_050:
devs = devs & I2C_USEMODULE0;
i2c1irq = I2CIRQ_DISABLE;
break;
default:
devs = 0;
i2c0irq = i2c1irq = I2CIRQ_DISABLE;
break;
}
#endif
i2c_SetIRQ(i2c0irq, i2c1irq);
I2C_swMode[0] = I2C_swMode[1] = I2CSW_DISABLE;
I2C_action[0] = I2C_action[1] = I2CACT_DISABLE;
for (i=0; i<2; i++)
{
if ((i == 0) && ((devs & I2C_USEMODULE0) == 0)) continue;
if ((i == 1) && ((devs & I2C_USEMODULE1) == 0)) continue;
I2C_action[i] = I2CACT_IDLE;
//switch GPIO/I2C pins into GPIO pins
OLD_I2CGPIO3FLAG[i] = sb_Read(SB_IPFCTRL3_REG) & OLD_I2CGPIO3MASK[i]; //backup GPIO/I2C switch flag
sb_Write(SB_IPFCTRL3_REG, sb_Read(SB_IPFCTRL3_REG) & (~OLD_I2CGPIO3MASK[i]));
//send START & STOP signal to reset I2C devices
OLD_I2CGPIO3DIR[i] = io_inpb(GPIO3_DIR) & (0x03 << (i*2+4)); //backup GPIO3 DIR
OLD_I2CGPIO3VAL[i] = io_inpb(GPIO3_DATA) & (0x03 << (i*2+4)); //backup GPIO3 VAL
//set_pins(i, 1, 1); delay_ms(1); //SCL = 1, SDA = 1; START
//set_pins(i, 1, 0); delay_ms(1); //SCL = 1, SDA = 0
//set_pins(i, 0, 0); delay_ms(1); //SCL = 0, SDA = 0
//Note: if we send the above START, some I2C sensors, such as ADI ADXL345, may fail to respond
//set_pins(i, 0, 0); delay_ms(1); //SCL = 0, SDA = 0; STOP
//Note: if we perform the line above, some I2C sensors, such as MEMSIC MXC6202, may fail to respond
//set_pins(i, 1, 0); delay_ms(1); //SCL = 1, SDA = 0
//set_pins(i, 1, 1); delay_ms(1); //SCL = 1, SDA = 1
//Note: the above lines work for all sensors we tested, but we disable them to avoid unexpected sensor behaviors
if (i2c_Reset(i) == false) // assume the status of GPIO/I2C pins are GPIO "IN" or "OUT 1"
{
i2c_Close();
err_print("can't reset the I2C modules");
return false;
}
i2c_DisableINT(i, I2CINT_ALL);
i2c_ClearSTAT(i, I2CSTAT_ALL);
//Remarks: for DX ver.2, we must disable the noise filter to ensure that 3.3Mbps works in high-speed mode
i2c_DisableNoiseFilter(i);
//i2c_EnableNoiseFilter(i);
i2c_DisableStandardHSM(i); //SCL open-drain in high-speed mode
//i2c_EnableStandardHSM(i);
i2c_SetSpeed(i, I2CMODE_AUTO, 100000L); //default 100Kbps
i2cslave_SetAddr(i, 0x7f); //set slave address 0x7F by default (change this if it collide with external I2C devices)
i2cslave_EnableACK(i);
//switch GPIO pins into I2C SCL,SDA pins
//Remarks: Vortex86DX's H/W I2C has an issue here; if you call i2c_Reset() in case GPIO/SCL pin = GPIO out 0,
// then, whenever you switch GPIO/SCL pin to SCL pin, the SCL pin always first send the 10 reset dummy clocks
sb_Write(SB_IPFCTRL3_REG, sb_Read(SB_IPFCTRL3_REG) | OLD_I2CGPIO3MASK[i]);
}
return true;
}
DMPAPI(void) i2c_SetIRQ(int i2c0irq, int i2c1irq) {
sb_Write(SB_I2CCTRL_REG, (sb_Read(SB_I2CCTRL_REG) & 0xff00ffffL)
+ ((unsigned long)(i2c0irq & 0x000f) << 16)
+ ((unsigned long)(i2c1irq & 0x000f) << 20));
}
DMPAPI(unsigned) i2c_SetDefaultBaseAddress(void) {
BaseAddress[0] = (unsigned)(sb_Read(SB_I2CCTRL_REG) & 0xfff0L);
BaseAddress[1] = BaseAddress[0]+8;
return BaseAddress[0];
}
DMPAPI(void) i2c_SetBaseAddress(unsigned baseaddr) {
sb_Write(SB_I2CCTRL_REG, //set base address with enabling I/O address decoding
((sb_Read(SB_I2CCTRL_REG) & 0xffff0000L) | 0x80000000L) + (unsigned long)(baseaddr & 0xfff0));
BaseAddress[0] = baseaddr;
BaseAddress[1] = baseaddr+8;
}
bool init() {
int i, crossbarBase, gpioBase;
if(io_Init() == false) return false;
timer_NowTime(); // initialize timer
CLOCKS_PER_MICROSEC = vx86_CpuCLK();
VORTEX86EX_CLOCKS_PER_MS = CLOCKS_PER_MICROSEC*1000UL;
// Set IRQ4 as level-trigger
io_outpb(0x4D0, io_inpb(0x4D0) | 0x10);
//set corssbar Base Address
crossbarBase = sb_Read16(SB_CROSSBASE) & 0xfffe;
if(crossbarBase == 0 || crossbarBase == 0xfffe)
sb_Write16(SB_CROSSBASE, CROSSBARBASE | 0x01);
// Force set HIGH speed ISA on SB
sb_Write(SB_FCREG, sb_Read(SB_FCREG) | 0x8000C000L);
//set SB GPIO Base Address
gpioBase = sb_Read16(SB_GPIOBASE) & 0xfffe;
if(gpioBase == 0 || gpioBase == 0xfffe)
{
sb_Write16(SB_GPIOBASE, GPIOCTRLBASE | 0x01);
gpioBase = GPIOCTRLBASE;
}
// Enable GPIO 0 ~ 7
io_outpdw(gpioBase, 0x00ff);
// set GPIO Port 0~7 dircetion & data Address
for(i=0;i<8;i++)
io_outpdw(gpioBase + (i+1)*4,((GPIODIRBASE + i*4)<<16) + GPIODATABASE + i*4);
// set ADC Base Address
sb_Write(0xbc, sb_Read(0xbc) & (~(1L<<28))); // active adc
sb1_Write16(0xde, sb1_Read16(0xde) | 0x02); // not Available for 8051A Access ADC
sb1_Write(0xe0, 0x0050fe00L); // baseaddr = 0xfe00, disable irq
// set MCM Base Address
set_MMIO();
mc_setbaseaddr();
for(i=0; i<4; i++)
mc_SetMode(i, MCMODE_PWM_SIFB);
if(Global_irq_Init == false)
{
// set MCM IRQ
if(irq_Init() == false)
{
printf("MCM IRQ init fail\n"); return false;
}
if(irq_Setting(GetMCIRQ(), IRQ_LEVEL_TRIGGER + IRQ_DISABLE_INTR) == false)
{
printf("MCM IRQ Setting fail\n"); return false;
}
Set_MCIRQ(GetMCIRQ());
Global_irq_Init = true;
}
//CDC
USBDEV = CreateUSBDevice();
if(USBDEV == NULL)
{
printf("init error\n");
return false;
}
usb_SetUSBPins(USBDEV, 7, 0, 7, 1);
usb_SetTimeOut(USBDEV, 0L, 500L); // USB RX timerout is 0ms and TX timeout is 500ms
if(usb_Init(USBDEV) == false)
{
printf("init2 error\n");
return false;
}
//io_Close();
return true;
}