Пример #1
0
RBAPI(void) com_DisableFIFO32(int com) {
    if ((com < 0) || (com > 3)) return;

    if (com == COM_PORT1)
        write_sb_regb(COM_ctrlREG[com], read_sb_regb(COM_ctrlREG[com]) & ~((unsigned char)1<<4));
    else  // COM2 ~ COM4
        write_sb_reg(COM_ctrlREG[com], read_sb_reg(COM_ctrlREG[com]) & ~(1L<<21));
}
Пример #2
0
RBAPI(void) com_DisableTurboMode(int com) {
    if ((com < 0) || (com > 3) || (io_CpuID() != CPU_VORTEX86DX_3)) return;

    if (com == COM_PORT1)
        write_sb_regb(COM_ctrlREG[com], read_sb_regb(COM_ctrlREG[com]) & ~((unsigned char)1<<6));
    else  // COM2 ~ COM4
        write_sb_reg(COM_ctrlREG[com], read_sb_reg(COM_ctrlREG[com]) & ~(1L<<22));
}
Пример #3
0
RBAPI(bool) spi_Init2(unsigned baseaddr, int clkmode) {
    int i;

	if(spi_InUse() == true)
	{
		err_SetMsg(ERROR_SPI_INUSE, "SPI was already opened");
		return false;
	}
	
	if ((SPI_ioSection = io_Init()) == -1) return false;

	//NOTE: base address should be selected carefully to avoid conflicts with other devices!
	if (baseaddr != 0xffff)
        spi_SetBaseAddress(baseaddr);
	else
	{
        baseaddr = spi_SetDefaultBaseAddress();
        if ((baseaddr == 0x0000) || (baseaddr == 0xffff)) spi_SetBaseAddress(0xfc00);
    }

    spidx_DisableCS();
    spi_ClearErrors();

    // enable FIFO and set clock divisor
    //if (spi_SetControlREG(0x10 + SPI_CLKMODE[clkmode]) == false)
    if (spi_SetControlREG(0x10 + get_spidivisor(clkmode)) == false)
    {
        spi_Close();
        err_SetMsg(ERROR_SPI_INITFAIL, "fail to write SPI Control Register");
        return false;
    }
    
    // clear the input buffer if it is not empty
    for (i=0; i<20; i++)
    {
        if (spi_InputReady() == false) break;
        if (spidx_Read() == 0xffff)
        {
            spi_Close();
            err_SetMsg(ERROR_SPI_INITFAIL, "fail to clear SPI input buffer");
            return false;
        }
    }

    // switch GPIO3[3:0] to external SPI interface
    OLD_SPIGPIO3FLAG = read_sb_reg(SB_MULTIFUNC_REG);
    write_sb_reg(SB_MULTIFUNC_REG, OLD_SPIGPIO3FLAG | 1L);
    OLD_SPIGPIO3FLAG = OLD_SPIGPIO3FLAG & 1L;

    return true;
}
Пример #4
0
RBAPI(bool) i2c_InitSW2(unsigned devs, int i2c0mode, unsigned long i2c0clkdelay, int i2c1mode, unsigned long i2c1clkdelay) {
    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;

    #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] = 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]));

        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;
}
Пример #5
0
RBAPI(void) spi_Close(void) {
    if (SPISW_active == true) return;

	if (SPI_ioSection == -1) return;

    spidx_DisableCS();
    spi_ClearErrors();

    // restore GPIO3[3:0]/external SPI switch setting
    if (OLD_SPIGPIO3FLAG != 0xffffffffL)
        write_sb_reg(SB_MULTIFUNC_REG, (read_sb_reg(SB_MULTIFUNC_REG) & 0xfffffffeL) + OLD_SPIGPIO3FLAG);

	io_Close(SPI_ioSection);
	SPI_ioSection = -1;
	OLD_SPIGPIO3FLAG = 0xffffffffL;
}
Пример #6
0
RBAPI(void) spi_CloseSW(void) {
	if (spi_InUse() == false) return;
	if (SPISW_active == false) return;

    if (OLD_SPIGPIO3FLAG != 0xffffffffL)
        write_sb_reg(SB_MULTIFUNC_REG, (read_sb_reg(SB_MULTIFUNC_REG) & 0xfffffffeL) + OLD_SPIGPIO3FLAG);

	// restore GPIO3[3:0]
    io_outpb(GPIO3_DIR,  (io_inpb(GPIO3_DIR)  & 0xf0) + OLD_SPIGPIODIR);
    io_outpb(GPIO3_DATA, (io_inpb(GPIO3_DATA) & 0xf0) + OLD_SPIGPIODATA);

    io_Close(SPI_ioSection);
    SPI_ioSection = -1;

	OLD_SPIGPIO3FLAG = 0xffffffffL;
	SPISW_active = false;
}
Пример #7
0
RBAPI(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
        write_sb_reg(SB_IPFCTRL3_REG, (read_sb_reg(SB_IPFCTRL3_REG) & (~OLD_I2CGPIO3MASK[i])) | OLD_I2CGPIO3FLAG[i]); //restore GPIO/I2C switch flag
        I2C_action[i] = I2CACT_DISABLE;
	}

	io_Close(I2C_ioSection);
	I2C_ioSection = -1;
}
Пример #8
0
RBAPI(bool) spi_InitSW(int mode, unsigned long clkdelay) {
	if(spi_InUse() == true)
	{
		err_SetMsg(ERROR_SPI_INUSE, "SPI was already opened");
		return false;
	}
	
	if ((SPI_ioSection = io_Init()) == -1) return false;

	SPISW_mode  = mode;
	SPISW_delay = clkdelay;


    // set the initial state of SPI GPIO pins
	OLD_SPIGPIODIR  = io_inpb(GPIO3_DIR);
	OLD_SPIGPIODATA = io_inpb(GPIO3_DATA);

	io_outpb(GPIO3_DIR,  (OLD_SPIGPIODIR & 0xf0) | 0x07);
	if ((SPISW_mode & SPIMODE_CPOL1) != 0)
	   io_outpb(GPIO3_DATA, (OLD_SPIGPIODATA & 0xf0) + 0x03);  // SPI_CLK = 1, SPI_CS = 1
	else
	   io_outpb(GPIO3_DATA, (OLD_SPIGPIODATA & 0xf0) + 0x01);  // SPI_CLK = 0, SPI_CS = 1

	OLD_SPIGPIODIR  = OLD_SPIGPIODIR  & 0x0f;
	OLD_SPIGPIODATA = OLD_SPIGPIODATA & 0x0f;


	// switch to GPIO interface
	OLD_SPIGPIO3FLAG = read_sb_reg(SB_MULTIFUNC_REG);
    write_sb_reg(SB_MULTIFUNC_REG, OLD_SPIGPIO3FLAG & 0xfffffffeL);
    OLD_SPIGPIO3FLAG = OLD_SPIGPIO3FLAG & 1L;

	SPISW_active = true;

	return true;
}
Пример #9
0
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;
}
Пример #10
0
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;
}