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; }