static inline void PPRZ_I2C_SEND_START(struct i2c_periph *periph)
{
uint32_t i2c = (uint32_t) periph->reg_addr;
// Reset the buffer pointer to the first byte
periph->idx_buf = 0;
#ifdef I2C_DEBUG_LED
LED_SHOW_ACTIVE_BITS(regs);
LED2_ON();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED2_OFF();
#endif
// Enable Error IRQ, Event IRQ but disable Buffer IRQ
i2c_enable_interrupt(i2c, I2C_CR2_ITERREN);
i2c_enable_interrupt(i2c, I2C_CR2_ITEVTEN);
i2c_disable_interrupt(i2c, I2C_CR2_ITBUFEN);
// Issue a new start
i2c_nack_current(i2c);
i2c_disable_ack(i2c);
i2c_clear_stop(i2c);
i2c_peripheral_enable(i2c);
i2c_send_start(i2c);
periph->status = I2CStartRequested;
}
static inline void PPRZ_I2C_SEND_START(struct i2c_periph *periph)
{
uint32_t i2c = (uint32_t) periph->reg_addr;
// Reset the buffer pointer to the first byte
periph->idx_buf = 0;
#ifdef I2C_DEBUG_LED
LED_SHOW_ACTIVE_BITS(regs);
LED2_ON();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED2_OFF();
#endif
// Enable Error IRQ, Event IRQ but disable Buffer IRQ
I2C_CR2(i2c) |= I2C_CR2_ITERREN;
I2C_CR2(i2c) |= I2C_CR2_ITEVTEN;
I2C_CR2(i2c) &= ~ I2C_CR2_ITBUFEN;
// Issue a new start
I2C_CR1(i2c) = (I2C_CR1_START | I2C_CR1_PE);
periph->status = I2CStartRequested;
}
static inline void PPRZ_I2C_SEND_START(struct i2c_periph *periph)
{
I2C_TypeDef *regs = (I2C_TypeDef *) periph->reg_addr;
periph->idx_buf = 0;
#ifdef I2C_DEBUG_LED
LED_SHOW_ACTIVE_BITS(regs);
LED2_ON();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED2_OFF();
#endif
/*
if (BIT_X_IS_SET_IN_REG( I2C_CR1_BIT_STOP, regs->CR1 ) )
{
regs->CR1 &= ~ I2C_CR1_BIT_STOP;
}
*/
// Enable Error IRQ, Event IRQ but disable Buffer IRQ
regs->CR2 |= I2C_CR2_BIT_ITERREN;
regs->CR2 |= I2C_CR2_BIT_ITEVTEN;
regs->CR2 &= ~ I2C_CR2_BIT_ITBUFEN;
// Issue a new start
regs->CR1 = (I2C_CR1_BIT_START | I2C_CR1_BIT_PE);
periph->status = I2CStartRequested;
#ifdef I2C_DEBUG_LED
LED_SHOW_ACTIVE_BITS(regs);
#endif
}
static inline void i2c_irq(struct i2c_periph *periph)
{
/*
There are 7 possible reasons to get here:
If IT_EV_FEN
-------------------------
We are always interested in all IT_EV_FEV: all are required.
1) SB // Start Condition Success in Master mode
2) ADDR // Address sent received Acknoledge
[3 ADDR10] // -- 10bit address stuff
[4 STOPF] // -- only for slaves: master has no stop interrupt
5) BTF // I2C has stopped working (it is waiting for new data, all buffers are tx_empty/rx_full)
// Beware: using the buffered I2C has some interesting properties:
-in master receive mode: BTF only occurs after the 2nd received byte: after the first byte is received it is
in RD but the I2C can still receive a second byte. Only when the 2nd byte is received while the RxNE is 1
then a BTF occurs (I2C can not continue receiving bytes or they will get lost). During BTF I2C is halted (SCL held low)
-in master transmitmode: when writing a byte to WD, you instantly get a new TxE interrupt while the first is not
transmitted yet. The byte was pushed to the I2C shift register and the buffer is ready for more. You can already
fill new data in the buffer while the first is still being transmitted for max performance transmission.
// Beware: besides data buffering you can/must plan several consecutive actions. You can send 2 bytes to the buffer, ask for a stop and
a new start in one go.
-thanks to / because of this buffering and event sheduling there is not 1 interrupt per start / byte / stop
This also means you must think more in advance and a transaction could be popped from the stack even before it is
actually completely transmitted. But then you would not know the result yet so you have to keep it until the result
is known.
// Beware: the order in which Status is read determines how flags are cleared. You should not just read SR1 & SR2 every time
If IT_EV_FEN AND IT_EV_BUF
--------------------------
Buffer event are not always wanted and are tipically switched on during longer data transfers. Make sure to turn off in time.
6) RxNE
7) TxE
--------------------------------------------------------------------------------------------------
// This driver uses only a subset of the pprz_i2c_states for several reasons:
// -we have less interrupts than the I2CStatus states (for efficiency)
// -STM32 has such a powerfull I2C engine with plenty of status register flags that
only little extra status information needs to be stored.
// Status is re-used (abused) to remember the last COMMAND THAT WAS SENT to the STM I2C hardware.
// TODO: check which are used
enum I2CStatus {
I2CIdle, // No more last command
I2CStartRequested, // Last command was start
I2CRestartRequested, // Last command was restart
I2CStopRequested, // Very important to not send double stop conditions
I2CSendingByte, // Some address/data operation
// Following are not used
I2CReadingByte,
I2CAddrWrSent,
I2CAddrRdSent,
I2CSendingLastByte,
I2CReadingLastByte,
I2CComplete,
I2CFailed
};
---------
The STM waits indefinately (holding SCL low) for user interaction:
a) after a master-start (waiting for address)
b) after an address (waiting for data)
not during data sending when using buffered
c) after the last byte is transmitted (waiting for either stop or restart)
not during data receiving when using buffered
not after the last byte is received
-The STM I2C stalls indefinately when a stop condition was attempted that
did not succeed. The BUSY flag remains on.
-There is no STOP interrupt: use needs another way to finish.
*/
///////////////////////////////////////////////////////////////////////////////////
// Reading the status:
// - Caution: this clears several flags and can start transmissions etc...
// - Certain flags like STOP / (N)ACK need to be guaranteed to be set before
// the transmission of the byte is finished. At higher clock rates that can be
// quite fast: so we allow no other interrupt to be triggered in between
// reading the status and setting all needed flags
// Direct Access to the I2C Registers
// Do not read SR2 as it might start the reading while an (n)ack bit might be needed first
I2C_TypeDef *regs = (I2C_TypeDef *) periph->reg_addr;
#ifdef I2C_DEBUG_LED
LED1_ON();
LED1_OFF();
#endif
///////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////
//
// TRANSACTION HANDLER
enum STMI2CSubTransactionStatus ret = 0;
///////////////////////
// Nothing Left To Do
if (periph->trans_extract_idx == periph->trans_insert_idx)
{
#ifdef I2C_DEBUG_LED
LED2_ON();
LED1_ON();
LED2_OFF();
LED1_OFF();
// no transaction and also an error?
LED_SHOW_ACTIVE_BITS(regs);
#endif
// If we still get an interrupt but there are no more things to do
// (which can happen if an event was sheduled just before a bus error occurs)
// then its easy: just stop: clear all interrupt generating bits
// Count The Errors
i2c_error(periph);
// Clear Running Events
stmi2c_clear_pending_interrupts(regs);
// Mark this as a special error
periph->errors->unexpected_event_cnt++;
periph->status = I2CIdle;
// There are no transactions anymore:
// furtheron we need a transaction pointer: so we are not allowed to continue
return;
}
struct i2c_transaction* trans = periph->trans[periph->trans_extract_idx];
///////////////////////////
// If there was an error:
if (( regs->SR1 & I2C_SR1_BITS_ERR ) != 0x0000)
{
#ifdef I2C_DEBUG_LED
LED1_ON();
LED2_ON();
LED1_OFF();
LED2_OFF();
LED_SHOW_ACTIVE_BITS(regs);
#endif
// Set result in transaction
trans->status = I2CTransFailed;
// Prepare for next
ret = STMI2C_SubTra_Ready;
// Make sure a TxRx does not Restart
trans->type = I2CTransRx;
/*
// There are 2 types of errors: some need a STOP, some better do without: Following will not get an extra stop
if (
// Lost Arbitration
(BIT_X_IS_SET_IN_REG( I2C_SR1_BIT_ERR_ARLO, regs->SR1 ) )
// Buss Error When Master Only
|| ((BIT_X_IS_SET_IN_REG( I2C_SR1_BIT_ERR_BUS, regs->SR1 ) ) && (!BIT_X_IS_SET_IN_REG( I2C_SR2_BIT_MSL, regs->SR2 ) ))
|| (BIT_X_IS_SET_IN_REG( I2C_SR1_BIT_ERR_OVR, regs->SR1 ) )
)
{
ret = STMI2C_SubTra_Error;
}
*/
// Count The Errors
i2c_error(periph);
// Clear Running Events
stmi2c_clear_pending_interrupts(regs);
}
///////////////////////////
// Normal Event:
else
{
if (trans->type == I2CTransRx) // TxRx are converted to Rx after the Tx Part
{
switch (trans->len_r)
{
case 1:
ret = stmi2c_read1(regs,trans);
break;
case 2:
ret = stmi2c_read2(regs,trans);
break;
default:
ret = stmi2c_readmany(regs,periph, trans);
break;
}
}
else // TxRx or Tx
{
ret = stmi2c_send(regs,periph,trans);
}
}
/////////////////////////////////
// Sub-transaction has finished
if (ret != STMI2C_SubTra_Busy)
{
// If a restart is not needed
if (trans->type != I2CTransTxRx)
{
// Ready, no stop condition set yet
if (ret == STMI2C_SubTra_Ready)
{
// Program a stop
PPRZ_I2C_SEND_STOP(regs);
// Silent any BTF that would occur before STOP is executed
regs->DR = 0x00;
}
// In case of unexpected condition: e.g. not slave, no event
if (ret == STMI2C_SubTra_Error)
{
trans->status = I2CTransFailed;
// Error
#ifdef I2C_DEBUG_LED
LED2_ON();
LED1_ON();
LED2_OFF();
LED1_OFF();
#endif
LED_SHOW_ACTIVE_BITS(regs);
// Clear Running Events
stmi2c_clear_pending_interrupts(regs);
}
// Jump to the next transaction
periph->trans_extract_idx++;
if (periph->trans_extract_idx >= I2C_TRANSACTION_QUEUE_LEN)
periph->trans_extract_idx = 0;
// Tell everyone we are ready
periph->status = I2CIdle;
// if we have no more transaction to process, stop here
if (periph->trans_extract_idx == periph->trans_insert_idx)
{
#ifdef I2C_DEBUG_LED
LED2_ON();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED2_OFF();
#endif
}
// if not, start next transaction
else
{
// Restart transaction doing the Rx part now
// --- moved to idle function
PPRZ_I2C_SEND_START(periph);
// ------
}
}
// RxTx -> Restart and do Rx part
else
{
trans->type = I2CTransRx;
periph->status = I2CStartRequested;
regs->CR1 |= I2C_CR1_BIT_START;
// Silent any BTF that would occur before SB
regs->DR = 0x00;
}
}
return;
}
static inline void i2c_irq(struct i2c_periph *periph)
{
/*
There are 7 possible event reasons to get here + all errors
If IT_EV_FEN
-------------------------
We are always interested in all IT_EV_FEV: all are required.
1) SB // Start Condition Success in Master mode
2) ADDR // Address sent received Acknoledge
[ADDR10] // -- 10bit address stuff: not used
[STOPF] // -- only for slaves: master has no stop interrupt: not used
3) BTF // I2C has stopped working (it is waiting for new data, all buffers are tx_empty/rx_full)
// Beware: using the buffered I2C has some interesting properties:
- in master receive mode: BTF only occurs after the 2nd received byte: after the first byte is received it is
in RD but the I2C can still receive a second byte. Only when the 2nd byte is received while the RxNE is 1
then a BTF occurs (I2C can not continue receiving bytes or they will get lost). During BTF I2C is halted (SCL held low)
- in master transmit mode: when writing a byte to WD, you instantly get a new TxE interrupt while the first is not
transmitted yet. The byte was pushed to the I2C shift register and the buffer is ready for more. You can already
fill new data in the buffer while the first is still being transmitted for max performance transmission.
// Beware: besides data buffering you can/must plan several consecutive actions. You can send 2 bytes to the buffer, ask for a stop and
a new start in one go.
- thanks to / because of this buffering and event sheduling there is not 1 interrupt per start / byte / stop
This also means you must think more in advance and a transaction could be popped from the transaction stack even before it's
stop condition is actually generated.
// Beware: the order in which Status (and other register) is read determines how flags are cleared.
You should NOT simply read SR1 & SR2 every time
If IT_EV_FEN AND IT_EV_BUF
--------------------------
Buffer event are not always wanted and are typically switched on during longer data transfers. Make sure to turn off in time.
4) RxNE
5) TxE
--------------------------------------------------------------------------------------------------
The STM waits indefinately (holding SCL low) for user interaction:
a) after a master-start (waiting for address)
b) after an address (waiting for data)
not during data sending when using buffered
c) after the last byte is transmitted (waiting for either stop or restart)
not during data receiving when using buffered
not after the last byte is received
- The STM I2C stalls indefinately when a stop condition was attempted that
did not succeed. The BUSY flag remains on.
- There is no STOP interrupt.
Caution Reading the status:
- Caution: this clears several flags and can start transmissions etc...
- Certain flags like STOP / (N)ACK need to be guaranteed to be set before
the transmission of the byte is finished. At higher clock rates that can be
quite fast: so we allow no other interrupt to be triggered in between
reading the status and setting all needed flags
*/
// Here we go ...
// Apparently we got an I2C interrupt: EVT BUF or ERR
#ifdef I2C_DEBUG_LED
// Notify ISR is triggered
LED1_ON();
LED1_OFF();
#endif
// Save Some Direct Access to the I2C Registers ...
uint32_t i2c = (uint32_t) periph->reg_addr;
/////////////////////////////
// Check if we were ready ...
if (periph->trans_extract_idx == periph->trans_insert_idx)
{
// Nothing Left To Do
#ifdef I2C_DEBUG_LED
LED2_ON();
LED1_ON();
LED2_OFF();
LED1_OFF();
// no transaction and also an error?
LED_SHOW_ACTIVE_BITS(regs);
#endif
// If we still get an interrupt but there are no more things to do
// (which can happen if an event was sheduled just before a bus error occurs)
// (or can happen if both error and event interrupts were called together [the 2nd will then get this error])
// since there is nothing more to do: its easy: just stop: clear all interrupt generating bits
// Count The Errors
i2c_error(periph);
// Clear Running Events
stmi2c_clear_pending_interrupts(i2c);
// Mark this as a special error
periph->errors->last_unexpected_event++;
// Document the current Status
periph->status = I2CIdle;
// There are no transactions anymore: return
// further-on in this routine we need a transaction pointer: so we are not allowed to continue
return;
}
// get the I2C transaction we were working on ...
enum STMI2CSubTransactionStatus ret = 0;
struct i2c_transaction* trans = periph->trans[periph->trans_extract_idx];
///////////////////////////
// If there was an error:
if (( I2C_SR1(i2c) & I2C_SR1_ERR_MASK ) != 0x0000)
{
#ifdef I2C_DEBUG_LED
LED1_ON();
LED2_ON();
LED1_OFF();
LED2_OFF();
LED_SHOW_ACTIVE_BITS(regs);
#endif
// Notify everyone about the error ...
// Set result in transaction
trans->status = I2CTransFailed;
// Document the current Status
periph->status = I2CFailed;
// Make sure a TxRx does not Restart
trans->type = I2CTransRx;
// Count The Errors
i2c_error(periph);
// Clear Running Events
stmi2c_clear_pending_interrupts(i2c);
// Now continue as if everything was normal from now on
ret = STMI2C_SubTra_Ready;
}
///////////////////////////
// Normal Event:
else
{
///////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////////////
//
// SUB-TRANSACTION HANDLER
if (trans->type == I2CTransRx) // TxRx are converted to Rx after the Tx Part
{
switch (trans->len_r)
{
case 1:
ret = stmi2c_read1(i2c,periph,trans);
break;
case 2:
ret = stmi2c_read2(i2c,periph,trans);
break;
default:
ret = stmi2c_readmany(i2c,periph,trans);
break;
}
}
else // TxRx or Tx
{
ret = stmi2c_send(i2c,periph,trans);
}
}
/////////////////////////////////
// Sub-transaction has finished
if (ret != STMI2C_SubTra_Busy)
{
// Ready or SubTraError
// -ready: with or without stop already asked
// In case of unexpected event condition during subtransaction handling:
if (ret == STMI2C_SubTra_Error)
{
// Tell everyone about the subtransaction error:
// this is the previously called SPURRIOUS INTERRUPT
periph->status = I2CFailed;
trans->type = I2CTransRx; // Avoid possible restart
trans->status = I2CTransFailed; // Notify Ready
periph->errors->unexpected_event_cnt++;
// Error
#ifdef I2C_DEBUG_LED
LED2_ON();
LED1_ON();
LED2_OFF();
LED1_OFF();
LED_SHOW_ACTIVE_BITS(regs);
#endif
// Clear Running Events
stmi2c_clear_pending_interrupts(i2c);
}
// RxTx -> Restart and do Rx part
if (trans->type == I2CTransTxRx)
{
trans->type = I2CTransRx;
periph->status = I2CStartRequested;
i2c_send_start(i2c);
// Silent any BTF that would occur before SB
i2c_send_data(i2c, 0x00);
}
// If a restart is not needed: Rx part or Tx-only
else
{
// Ready, no stop condition set yet
if (ret == STMI2C_SubTra_Ready)
{
// Program a stop
PPRZ_I2C_SEND_STOP(i2c);
// Silent any BTF that would occur before STOP is executed
i2c_send_data(i2c, 0x00);
}
// Jump to the next transaction
periph->trans_extract_idx++;
if (periph->trans_extract_idx >= I2C_TRANSACTION_QUEUE_LEN)
periph->trans_extract_idx = 0;
// Tell everyone we are ready
periph->status = I2CIdle;
// if we have no more transaction to process, stop here
if (periph->trans_extract_idx == periph->trans_insert_idx)
{
periph->watchdog = -1; // stop watchdog
#ifdef I2C_DEBUG_LED
LED2_ON();
LED1_ON();
LED1_OFF();
LED1_ON();
LED1_OFF();
LED2_OFF();
#endif
}
// if not, start next transaction
else
{
// Restart transaction doing the Rx part now
// --- moved to idle function
PPRZ_I2C_SEND_START(periph);
// ------
}
}
}
return;
}
