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; }