/******************** Slave Functions for Individual Module *****************/
RBAPI(unsigned) i2cslave_Listen(int dev) {
unsigned char i2cstat;
switch (I2C_action[dev])
{
case I2CACT_IDLE:
if (i2c_IsMaster(dev) == true) return I2CSLAVE_NOTHING;
I2C_action[dev] = I2CACT_SLAVE;
return I2CSLAVE_START;
case I2CACT_SLAVE:
i2cstat = i2c_ReadStatREG(dev);
if ((i2cstat & I2CSTAT_RXRDY) != 0)
{
I2C_action[dev] = I2CACT_SLAVEREADREQ;
return I2CSLAVE_READREQUEST;
}
if ((i2cstat & I2CSTAT_SLAVESTOPPED) != 0)
{
i2c_ClearSTAT(dev, I2CSTAT_ALL);
I2C_action[dev] = I2CACT_IDLE;
return I2CSLAVE_END;
}
if ((i2cstat & I2CSTAT_SLAVEWREQ) != 0)
{
I2C_action[dev] = I2CACT_SLAVEWRITEREQ;
return I2CSLAVE_WRITEREQUEST;
}
return I2CSLAVE_WAITING;
case I2CACT_SLAVEWRITEREQ:
case I2CACT_SLAVEREADREQ:
err_SetMsg(ERROR_I2CWRONGUSAGE, "must deal with the salve read/write request");
break;
case I2CACT_DISABLE:
err_SetMsg(ERROR_I2CWRONGUSAGE, "must enable the I2C module first");
break;
default:
err_SetMsg(ERROR_I2CWRONGUSAGE, "can't use %s() when I2C master is working", __FUNCTION__);
break;
}
return 0xffff;
}
RBAPI(bool) i2c_Init2(unsigned baseaddr, unsigned devs, int i2c0irq, int i2c1irq) {
int i;
if (I2C_ioSection != -1)
{
err_SetMsg(ERROR_I2C_INUSE, "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] = read_sb_reg(SB_IPFCTRL3_REG) & OLD_I2CGPIO3MASK[i]; //backup GPIO/I2C switch flag
write_sb_reg(SB_IPFCTRL3_REG, read_sb_reg(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_SetMsg(ERROR_I2C_INITFAIL, "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
write_sb_reg(SB_IPFCTRL3_REG, read_sb_reg(SB_IPFCTRL3_REG) | OLD_I2CGPIO3MASK[i]);
}
return true;
}
RBAPI(bool) i2c_Initialize2(unsigned devs, int i2c0irq, int i2c1irq) {
int i;
if (I2C_ioSection != -1)
{
err_SetMsg(ERROR_I2C_INUSE, "I2C lib was already opened");
return false;
}
if ((I2C_ioSection = io_Init()) == -1) return false;
if (i2c_SetDefaultBaseAddress() == 0x0000) i2c_SetBaseAddress(0xfb00);
i2c_SetIRQ(i2c0irq, i2c1irq);
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] = read_sb_reg(SB_IPFCTRL3_REG) & OLD_I2CGPIO3MASK[i]; //backup GPIO/I2C switch flag
write_sb_reg(SB_IPFCTRL3_REG, read_sb_reg(SB_IPFCTRL3_REG) & (~OLD_I2CGPIO3MASK[i]));
//send START & STOP signal to reset I2C devices
OLD_I2CGPIO3DIR[i] = io_inpb(0x9b) & (0x03 << (i*2+4)); //backup GPIO3 DIR
OLD_I2CGPIO3VAL[i] = io_inpb(0x7b) & (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
if (i2c_Reset(i) == false)
{
i2c_Close();
err_SetMsg(ERROR_I2C_INITFAIL, "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
write_sb_reg(SB_IPFCTRL3_REG, read_sb_reg(SB_IPFCTRL3_REG) | OLD_I2CGPIO3MASK[i]);
}
return true;
}
