Prof Greg Egan
UAVX Multicopter Flight Controller.
Diff: i2c.c
- Revision:
- 2:90292f8bd179
- Parent:
- 1:1e3318a30ddd
--- a/i2c.c Fri Feb 25 01:35:24 2011 +0000
+++ b/i2c.c Tue Apr 26 12:12:29 2011 +0000
@@ -2,7 +2,7 @@
// = UAVXArm Quadrocopter Controller =
// = Copyright (c) 2008 by Prof. Greg Egan =
// = Original V3.15 Copyright (c) 2007 Ing. Wolfgang Mahringer =
-// = http://code.google.com/p/uavp-mods/ http://uavp.ch =
+// = http://code.google.com/p/uavp-mods/ =
// ===============================================================================================
// This is part of UAVXArm.
@@ -31,6 +31,8 @@
void ProgramSlaveAddress(uint8);
void ConfigureESCs(void);
+uint16 I2CError[256];
+uint8 I2CSpeed = 10; // 100KHz
uint32 MinI2CRate = I2C_MAX_RATE_HZ;
//______________________________________________________________________________________________
@@ -39,51 +41,154 @@
#ifdef SW_I2C
-#define I2CDelay5uS wait_us(5)
-#define I2CDelay2uS // wait_us(2)
-#define HighLowDelay // wait_us(1)
-#define FloatDelay // ???
+void SDelay(uint16 d) { // 1.25 + 0.0475 * n uS ~0.05uS per click
+
+ volatile int16 v;
+
+ for (v = 0; v < d ; v++ ) {};
+
+} // SDelay
+
+/*
+#define SCLLowStartT SDelay(I2CSpeed)
+#define DataLowPadT SDelay(I2CSpeed)
+#define SCLLowPadT SDelay(I2CSpeed)
+#define SCLHighT SDelay(I2CSpeed)
+*/
+
+#if ( I2C_MAX_RATE_HZ == 400000 )
-#define I2CSDALow {I2C0SDA.write(0);HighLowDelay;I2C0SDA.output();}
-#define I2CSDAFloat {I2C0SDA.input();}
-#define I2CSCLLow {I2C0SCL.write(0);HighLowDelay;I2C0SCL.output();}
-#define I2CSCLFloat {I2C0SCL.input();FloatDelay;}
+#define SCLLowStartT SDelay(10)
+#define DataLowPadT SDelay(16) // 10
+#define SCLLowPadT SDelay(6)
+#define SCLHighT SDelay(10)
+
+#else
+
+#define SCLLowStartT SDelay(82)
+#define DataLowPadT SDelay(82)
+#define SCLLowPadT SDelay(82)
+#define SCLHighT SDelay(85)
+
+#endif //I2C400KHZ
+
+
+#define I2CSDALow {I2C0SDA.write(0);I2C0SDA.output();SCLLowPadT;}
+#define I2CSDAFloat {I2C0SDA.input();SCLLowPadT;}
+#define I2CSCLLow {I2C0SCL.write(0);I2C0SCL.output();}
+#define I2CSCLFloat {I2C0SCL.input();SCLHighT;}
void MyI2C::frequency(uint32 f) {
// delay depending on rate
+
+ if ( f == 400000 )
+ I2CSpeed = 10;
+ else
+ I2CSpeed = 80;
} // frequency
+void MyI2C::start(void) {
+
+ I2CSDAFloat;
+ r = waitclock();
+ I2CSDALow;
+ SCLLowStartT;
+ I2CSCLLow;
+} // start
+
+void MyI2C::stop(void) {
+
+ I2CSDALow;
+ r = waitclock();
+ I2CSDAFloat;
+ SCLLowStartT;
+
+} // stop
+
boolean MyI2C::waitclock(void) {
static uint32 s;
I2CSCLFloat; // set SCL to input, output a high
s = 0;
- while ( !I2C0SCL.read() )
- if ( ++s > 60000 ) {
+ while ( I2C0SCL.read() == 0 )
+ if ( ++s > 16000 ) { // ~1mS
+ I2CError[0]++;
+ // possible add SCL cycles here to attempt to force device reset
Stats[I2CFailS]++;
return (false);
}
return( true );
} // waitclock
-void MyI2C::start(void) {
- static boolean r;
+uint8 MyI2C::read(uint8 ack) {
+ static uint8 s, d;
I2CSDAFloat;
- r = waitclock();
- I2CSDALow;
- I2CDelay5uS;
- I2CSCLLow;
-} // start
+ d = 0;
+ s = 8;
+ do {
+ if ( waitclock() ) {
+ d <<= 1;
+ if ( I2C0SDA.read() ) {
+ d |= 1;
+ I2CSCLLow;
+ DataLowPadT;
+ } else {
+ I2CSCLLow;
+ SDelay(10);//DataLowPadT;
+ }
+ } else
+ return( 0 );
+ } while ( --s );
+
+ if ( ack == I2C_NACK )
+ I2C0SDA.write(0xffff); // Port write with mask selecting SDA - messy
+ else
+ I2C0SDA.write(0);
+ I2C0SDA.output();
+
+ SCLLowPadT;
+
+ if ( waitclock() ) {
+ I2CSCLLow;
+ return( d );
+ } else
+ return( 0 );
+
+} // read
-void MyI2C::stop(void) {
- static boolean r;
+uint8 MyI2C::write(uint8 d) {
+ static uint8 s, r;
+
+ for ( s = 0; s < 8; s++) {
+ if ( d & 0x80 ) {
+ I2CSDAFloat;
+ } else {
+ I2CSDALow;
+ }
- I2CSDALow;
- r = waitclock();
+ if ( waitclock() ) {
+ I2CSCLLow;
+ d <<= 1;
+ } else
+ return(I2C_NACK);
+ }
+
I2CSDAFloat;
- I2CDelay5uS;
-} // stop
+ if ( waitclock() ) {
+ if ( I2C0SDA.read() )
+ r = I2C_NACK;
+ else
+ r = I2C_ACK;
+ I2CSDALow;// kill runt pulses
+ I2CSCLLow;
+ return ( r );
+ } else {
+// I2CSCLLow;
+ return(I2C_NACK);
+ }
+
+} // write
uint8 MyI2C::blockread(uint8 a, char* S, uint8 l) {
static uint8 b;
@@ -99,79 +204,31 @@
return( err );
} // blockread
-uint8 MyI2C::read(uint8 ack) {
- static uint8 s, d;
-
- I2CSDAFloat;
- d = 0;
- s = 8;
- do {
- if ( waitclock() ) {
- d <<= 1;
- if ( I2C0SDA.read() ) d |= 1;
- I2CSCLLow;
- I2CDelay2uS;
- } else
- return( 0 );
- } while ( --s );
-
- I2C0SDA.write(ack);
- HighLowDelay;
- I2C0SDA.output();
- HighLowDelay;
-
- if ( waitclock() ) {
- I2CSCLLow;
- return( d );
- } else
- return( 0 );
-} // read
-
-void MyI2C::blockwrite(uint8 a, const char* S, uint8 l) {
+boolean MyI2C::blockwrite(uint8 a, const char* S, uint8 l) {
static uint8 b;
- static boolean r;
I2C0.start();
- r = I2C0.write(a) == I2C_ACK; // use this?
+ if ( I2C0.write(a) != I2C_ACK ) goto BlockWriteError; // use this?
for ( b = 0; b < l; b++ )
- r |= I2C0.write(S[b]);
+ if ( I2C0.write(S[b]) != I2C_ACK ) goto BlockWriteError;
I2C0.stop();
+ return(false);
+
+BlockWriteError:
+ I2C0.stop();
+
+ return(true);
+
} // blockwrite
-uint8 MyI2C::write(uint8 d) {
- static uint8 s, r;
-
- for ( s = 0; s < 8; s++)
- {
- if ( d & 0x80 ) {
- I2CSDAFloat;
- } else {
- I2CSDALow;
- }
-
- if ( waitclock() ) {
- I2CSCLLow;
- d <<= 1;
- } else
- return(I2C_NACK);
- }
-
- I2CSDAFloat;
- if ( waitclock() ) {
- r = I2C0SDA.read();
- I2CSCLLow;
- return( r );
- } else
- return(I2C_NACK);
-
-} // write
-
#endif // SW_I2C
//______________________________________________________________________________________________
void TrackMinI2CRate(uint32 r) {
+
+// CURRENTLY USING DEFINE TO SPECIFY RATE - UAVXArm.h
if ( r < MinI2CRate )
MinI2CRate = r;
} // TrackMinI2CRate
@@ -243,26 +300,57 @@
d = 0;
TxString("Buss 0\r\n");
+
+#ifdef SW_I2C
+ TxString("I2C Ver.:\tSoftware\r\n");
+#else
+ TxString("I2C Ver.:\tHardware (CAUTION)\r\n");
+#endif // SW_I2C
+
+#if ( I2C_MAX_RATE_HZ == 400000 )
+ TxString("Rate:\t400KHz\r\n");
+#else
+ TxString("Rate:\t100KHz\r\n");
+#endif
+ TxString("SCL Hangs:\t");
+ TxVal32(I2CError[0], 0, 0);
+ TxNextLine();
for ( s = 0x10 ; s <= 0xf6 ; s += 2 ) {
if ( I2C0AddressResponds(s) ) {
d++;
- DebugPin = 1;
TxString("\t0x");
TxValH(s);
+ TxChar(HT);
+ TxVal32(I2CError[s], 0, HT);
ShowI2CDeviceName( s );
TxNextLine();
- DebugPin = 0;
}
Delay1mS(2);
}
#ifdef HAVE_I2C1
TxString("Buss 1\r\n");
+
+#ifdef SW_I2C
+ TxString("I2C Ver.:\tSoftware\r\n");
+#else
+ TxString("I2C Ver.:\tHardware (CAUTION)\r\n");
+#endif // SW_I2C
+
+#if ( I2C_MAX_RATE_HZ == 400000 )
+ TxString("Rate:\t400KHz\r\n");
+#else
+ TxString("Rate:\t100KHz\r\n");
+#endif
+ TxString("SCL Hangs:\t");
+ TxNextLine();
for ( s = 0x10 ; s <= 0xf6 ; s += 2 ) {
- if ( I2C0AddressResponds(s) ) {
+ if ( I2C0AddressResponds(s) ) {
d++;
TxString("\t0x");
TxValH(s);
+ TxChar(HT);
+ TxVal32(I2CError[s], 0, HT);
ShowI2CDeviceName( s );
TxNextLine();
}
@@ -328,5 +416,14 @@
TxString("\r\nYGEI2C not selected as ESC?\r\n");
} // ConfigureESCs
+void InitI2C(void) {
+
+ uint8 i;
+
+ for ( i = 0; i < 255; i++ )
+ I2CError[i] = 0;
+
+} // InitI2C
+