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;
}
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));
}
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));
}
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;
}
RBAPI(bool) com_IsFIFO32Mode(int com) {
if ((com < 0) || (com > 3)) return false;
if (com == COM_PORT1)
{
if ((read_sb_regb(COM_ctrlREG[com]) & ((unsigned char)1<<4)) == 0) return false;
}
else
{
if ((read_sb_reg(COM_ctrlREG[com]) & (1L<<21)) == 0L) return false;
}
return true;
}
RBAPI(bool) com_IsTurboMode(int com) {
if ((com < 0) || (com > 3) || (io_CpuID() != CPU_VORTEX86DX_3)) return false;
if (com == COM_PORT1)
{
if ((read_sb_regb(COM_ctrlREG[com]) & ((unsigned char)1<<6)) == 0) return false;
}
else
{
if ((read_sb_reg(COM_ctrlREG[com]) & (1L<<22)) == 0L) return false;
}
return true;
}
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;
}
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;
}
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;
}
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;
}
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;
}
_RB_INLINE unsigned short uart_getbaseaddr(int com) {
return (unsigned short)(read_sb_reg(COM_addrREG[com]) & 0xfff8L);
}
/**************************** Internal Functions ****************************/
_RB_INLINE bool uart_isenabled(int com) {
if (com == COM_PORT1)
return ((read_sb_regb(COM_ctrlREG[com]) & 0x80) == 0)? false : true;
else
return ((read_sb_reg(COM_ctrlREG[com]) & (0x01L << 23)) == 0L)? false : 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;
}