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Import patches from Teensyduino 1.22

main
PaulStoffregen il y a 9 ans
Parent
48007b99f9
révision
3e5be4522b
3 fichiers modifiés avec 610 ajouts et 5 suppressions
Vue séparée Afficher les stats Diff
  1. +507
    -0
      Wire.cpp
  2. +99
    -3
      Wire.h
  3. +4
    -2
      utility/twi.c

+ 507
- 0
Wire.cpp Voir le fichier

@@ -19,6 +19,507 @@
Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
*/

#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MKL26Z64__)

#include "kinetis.h"
#include <string.h> // for memcpy
#include "core_pins.h"
//#include "HardwareSerial.h"
#include "Wire.h"

uint8_t TwoWire::rxBuffer[BUFFER_LENGTH];
uint8_t TwoWire::rxBufferIndex = 0;
uint8_t TwoWire::rxBufferLength = 0;
//uint8_t TwoWire::txAddress = 0;
uint8_t TwoWire::txBuffer[BUFFER_LENGTH+1];
uint8_t TwoWire::txBufferIndex = 0;
uint8_t TwoWire::txBufferLength = 0;
uint8_t TwoWire::transmitting = 0;
void (*TwoWire::user_onRequest)(void) = NULL;
void (*TwoWire::user_onReceive)(int) = NULL;


TwoWire::TwoWire()
{
}

static uint8_t slave_mode = 0;
static uint8_t irqcount=0;


void TwoWire::begin(void)
{
//serial_begin(BAUD2DIV(115200));
//serial_print("\nWire Begin\n");

slave_mode = 0;
SIM_SCGC4 |= SIM_SCGC4_I2C0; // TODO: use bitband
I2C0_C1 = 0;
// On Teensy 3.0 external pullup resistors *MUST* be used
// the PORT_PCR_PE bit is ignored when in I2C mode
// I2C will not work at all without pullup resistors
// It might seem like setting PORT_PCR_PE & PORT_PCR_PS
// would enable pullup resistors. However, there seems
// to be a bug in chip while I2C is enabled, where setting
// those causes the port to be driven strongly high.
CORE_PIN18_CONFIG = PORT_PCR_MUX(2)|PORT_PCR_ODE|PORT_PCR_SRE|PORT_PCR_DSE;
CORE_PIN19_CONFIG = PORT_PCR_MUX(2)|PORT_PCR_ODE|PORT_PCR_SRE|PORT_PCR_DSE;
setClock(100000);
I2C0_C2 = I2C_C2_HDRS;
I2C0_C1 = I2C_C1_IICEN;
//pinMode(3, OUTPUT);
//pinMode(4, OUTPUT);
}

void TwoWire::setClock(uint32_t frequency)
{
#if F_BUS == 60000000
if (frequency < 400000) {
I2C0_F = 0x2C; // 104 kHz
} else if (frequency < 1000000) {
I2C0_F = 0x1C; // 416 kHz
} else {
I2C0_F = 0x12; // 938 kHz
}
I2C0_FLT = 4;
#elif F_BUS == 56000000
if (frequency < 400000) {
I2C0_F = 0x2B; // 109 kHz
} else if (frequency < 1000000) {
I2C0_F = 0x1C; // 389 kHz
} else {
I2C0_F = 0x0E; // 1 MHz
}
I2C0_FLT = 4;
#elif F_BUS == 48000000
if (frequency < 400000) {
I2C0_F = 0x27; // 100 kHz
} else if (frequency < 1000000) {
I2C0_F = 0x1A; // 400 kHz
} else {
I2C0_F = 0x0D; // 1 MHz
}
I2C0_FLT = 4;
#elif F_BUS == 40000000
if (frequency < 400000) {
I2C0_F = 0x29; // 104 kHz
} else if (frequency < 1000000) {
I2C0_F = 0x19; // 416 kHz
} else {
I2C0_F = 0x0B; // 1 MHz
}
I2C0_FLT = 3;
#elif F_BUS == 36000000
if (frequency < 400000) {
I2C0_F = 0x28; // 113 kHz
} else if (frequency < 1000000) {
I2C0_F = 0x19; // 375 kHz
} else {
I2C0_F = 0x0A; // 1 MHz
}
I2C0_FLT = 3;
#elif F_BUS == 24000000
if (frequency < 400000) {
I2C0_F = 0x1F; // 100 kHz
} else if (frequency < 1000000) {
I2C0_F = 0x12; // 375 kHz
} else {
I2C0_F = 0x02; // 1 MHz
}
I2C0_FLT = 2;
#elif F_BUS == 16000000
if (frequency < 400000) {
I2C0_F = 0x20; // 100 kHz
} else if (frequency < 1000000) {
I2C0_F = 0x07; // 400 kHz
} else {
I2C0_F = 0x00; // 800 MHz
}
I2C0_FLT = 1;
#elif F_BUS == 8000000
if (frequency < 400000) {
I2C0_F = 0x14; // 100 kHz
} else {
I2C0_F = 0x00; // 400 kHz
}
I2C0_FLT = 1;
#elif F_BUS == 4000000
if (frequency < 400000) {
I2C0_F = 0x07; // 100 kHz
} else {
I2C0_F = 0x00; // 200 kHz
}
I2C0_FLT = 1;
#elif F_BUS == 2000000
I2C0_F = 0x00; // 100 kHz
I2C0_FLT = 1;
#else
#error "F_BUS must be 60, 56, 48, 40, 36, 24, 16, 8, 4 or 2 MHz"
#endif
}

void TwoWire::begin(uint8_t address)
{
begin();
I2C0_A1 = address << 1;
slave_mode = 1;
I2C0_C1 = I2C_C1_IICEN | I2C_C1_IICIE;
NVIC_ENABLE_IRQ(IRQ_I2C0);
}

void i2c0_isr(void)
{
uint8_t status, c1, data;
static uint8_t receiving=0;

status = I2C0_S;
//serial_print(".");
if (status & I2C_S_ARBL) {
// Arbitration Lost
I2C0_S = I2C_S_ARBL;
//serial_print("a");
if (receiving && TwoWire::rxBufferLength > 0) {
// TODO: does this detect the STOP condition in slave receive mode?


}
if (!(status & I2C_S_IAAS)) return;
}
if (status & I2C_S_IAAS) {
//serial_print("\n");
// Addressed As A Slave
if (status & I2C_S_SRW) {
//serial_print("T");
// Begin Slave Transmit
receiving = 0;
TwoWire::txBufferLength = 0;
if (TwoWire::user_onRequest != NULL) {
TwoWire::user_onRequest();
}
if (TwoWire::txBufferLength == 0) {
// is this correct, transmitting a single zero
// when we should send nothing? Arduino's AVR
// implementation does this, but is it ok?
TwoWire::txBufferLength = 1;
TwoWire::txBuffer[0] = 0;
}
I2C0_C1 = I2C_C1_IICEN | I2C_C1_IICIE | I2C_C1_TX;
I2C0_D = TwoWire::txBuffer[0];
TwoWire::txBufferIndex = 1;
} else {
// Begin Slave Receive
//serial_print("R");
receiving = 1;
TwoWire::rxBufferLength = 0;
I2C0_C1 = I2C_C1_IICEN | I2C_C1_IICIE;
data = I2C0_D;
}
I2C0_S = I2C_S_IICIF;
return;
}
#if defined(KINETISL)
c1 = I2C0_FLT;
if ((c1 & I2C_FLT_STOPF) && (c1 & I2C_FLT_STOPIE)) {
I2C0_FLT = c1 & ~I2C_FLT_STOPIE;
if (TwoWire::user_onReceive != NULL) {
TwoWire::rxBufferIndex = 0;
TwoWire::user_onReceive(TwoWire::rxBufferLength);
}
}
#endif
c1 = I2C0_C1;
if (c1 & I2C_C1_TX) {
// Continue Slave Transmit
//serial_print("t");
if ((status & I2C_S_RXAK) == 0) {
//serial_print(".");
// Master ACK'd previous byte
if (TwoWire::txBufferIndex < TwoWire::txBufferLength) {
I2C0_D = TwoWire::txBuffer[TwoWire::txBufferIndex++];
} else {
I2C0_D = 0;
}
I2C0_C1 = I2C_C1_IICEN | I2C_C1_IICIE | I2C_C1_TX;
} else {
//serial_print("*");
// Master did not ACK previous byte
I2C0_C1 = I2C_C1_IICEN | I2C_C1_IICIE;
data = I2C0_D;
}
} else {
// Continue Slave Receive
irqcount = 0;
#if defined(KINETISK)
attachInterrupt(18, TwoWire::sda_rising_isr, RISING);
#elif defined(KINETISL)
I2C0_FLT |= I2C_FLT_STOPIE;
#endif
//digitalWriteFast(4, HIGH);
data = I2C0_D;
//serial_phex(data);
if (TwoWire::rxBufferLength < BUFFER_LENGTH && receiving) {
TwoWire::rxBuffer[TwoWire::rxBufferLength++] = data;
}
//digitalWriteFast(4, LOW);
}
I2C0_S = I2C_S_IICIF;
}

// Detects the stop condition that terminates a slave receive transfer.
// Sadly, the I2C in Kinetis K series lacks the stop detect interrupt
// This pin change interrupt hack is needed to detect the stop condition
void TwoWire::sda_rising_isr(void)
{
//digitalWrite(3, HIGH);
if (!(I2C0_S & I2C_S_BUSY)) {
detachInterrupt(18);
if (user_onReceive != NULL) {
rxBufferIndex = 0;
user_onReceive(rxBufferLength);
}
//delayMicroseconds(100);
} else {
if (++irqcount >= 2 || !slave_mode) {
detachInterrupt(18);
}
}
//digitalWrite(3, LOW);
}


// Chapter 44: Inter-Integrated Circuit (I2C) - Page 1012
// I2C0_A1 // I2C Address Register 1
// I2C0_F // I2C Frequency Divider register
// I2C0_C1 // I2C Control Register 1
// I2C0_S // I2C Status register
// I2C0_D // I2C Data I/O register
// I2C0_C2 // I2C Control Register 2
// I2C0_FLT // I2C Programmable Input Glitch Filter register


static void i2c_wait(void)
{
while (!(I2C0_S & I2C_S_IICIF)) ; // wait
I2C0_S = I2C_S_IICIF;
}

void TwoWire::beginTransmission(uint8_t address)
{
txBuffer[0] = (address << 1);
transmitting = 1;
txBufferLength = 1;
}

size_t TwoWire::write(uint8_t data)
{
if (transmitting || slave_mode) {
if (txBufferLength >= BUFFER_LENGTH+1) {
setWriteError();
return 0;
}
txBuffer[txBufferLength++] = data;
return 1;
}
return 0;
}

size_t TwoWire::write(const uint8_t *data, size_t quantity)
{
if (transmitting || slave_mode) {
size_t avail = BUFFER_LENGTH+1 - txBufferLength;
if (quantity > avail) {
quantity = avail;
setWriteError();
}
memcpy(txBuffer + txBufferLength, data, quantity);
txBufferLength += quantity;
return quantity;
}
return 0;
}

void TwoWire::flush(void)
{
}


uint8_t TwoWire::endTransmission(uint8_t sendStop)
{
uint8_t i, status, ret=0;

// clear the status flags
I2C0_S = I2C_S_IICIF | I2C_S_ARBL;
// now take control of the bus...
if (I2C0_C1 & I2C_C1_MST) {
// we are already the bus master, so send a repeated start
I2C0_C1 = I2C_C1_IICEN | I2C_C1_MST | I2C_C1_RSTA | I2C_C1_TX;
} else {
// we are not currently the bus master, so wait for bus ready
while (I2C0_S & I2C_S_BUSY) ;
// become the bus master in transmit mode (send start)
slave_mode = 0;
I2C0_C1 = I2C_C1_IICEN | I2C_C1_MST | I2C_C1_TX;
}
// transmit the address and data
for (i=0; i < txBufferLength; i++) {
I2C0_D = txBuffer[i];
i2c_wait();
status = I2C0_S;
if (status & I2C_S_RXAK) {
// the slave device did not acknowledge
if (i == 0) {
ret = 2; // 2:received NACK on transmit of address
} else {
ret = 3; // 3:received NACK on transmit of data
}
break;
}
if ((status & I2C_S_ARBL)) {
// we lost bus arbitration to another master
// TODO: what is the proper thing to do here??
ret = 4; // 4:other error
break;
}
}
if (sendStop) {
// send the stop condition
I2C0_C1 = I2C_C1_IICEN;
// TODO: do we wait for this somehow?
}
transmitting = 0;
return ret;
}


uint8_t TwoWire::requestFrom(uint8_t address, uint8_t length, uint8_t sendStop)
{
uint8_t tmp __attribute__((unused));
uint8_t status, count=0;

rxBufferIndex = 0;
rxBufferLength = 0;
//serial_print("requestFrom\n");
// clear the status flags
I2C0_S = I2C_S_IICIF | I2C_S_ARBL;
// now take control of the bus...
if (I2C0_C1 & I2C_C1_MST) {
// we are already the bus master, so send a repeated start
I2C0_C1 = I2C_C1_IICEN | I2C_C1_MST | I2C_C1_RSTA | I2C_C1_TX;
} else {
// we are not currently the bus master, so wait for bus ready
while (I2C0_S & I2C_S_BUSY) ;
// become the bus master in transmit mode (send start)
slave_mode = 0;
I2C0_C1 = I2C_C1_IICEN | I2C_C1_MST | I2C_C1_TX;
}
// send the address
I2C0_D = (address << 1) | 1;
i2c_wait();
status = I2C0_S;
if ((status & I2C_S_RXAK) || (status & I2C_S_ARBL)) {
// the slave device did not acknowledge
// or we lost bus arbitration to another master
I2C0_C1 = I2C_C1_IICEN;
return 0;
}
if (length == 0) {
// TODO: does anybody really do zero length reads?
// if so, does this code really work?
I2C0_C1 = I2C_C1_IICEN | (sendStop ? 0 : I2C_C1_MST);
return 0;
} else if (length == 1) {
I2C0_C1 = I2C_C1_IICEN | I2C_C1_MST | I2C_C1_TXAK;
} else {
I2C0_C1 = I2C_C1_IICEN | I2C_C1_MST;
}
tmp = I2C0_D; // initiate the first receive
while (length > 1) {
i2c_wait();
length--;
if (length == 1) I2C0_C1 = I2C_C1_IICEN | I2C_C1_MST | I2C_C1_TXAK;
rxBuffer[count++] = I2C0_D;
}
i2c_wait();
I2C0_C1 = I2C_C1_IICEN | I2C_C1_MST | I2C_C1_TX;
rxBuffer[count++] = I2C0_D;
if (sendStop) I2C0_C1 = I2C_C1_IICEN;
rxBufferLength = count;
return count;
}

int TwoWire::available(void)
{
return rxBufferLength - rxBufferIndex;
}

int TwoWire::read(void)
{
if (rxBufferIndex >= rxBufferLength) return -1;
return rxBuffer[rxBufferIndex++];
}

int TwoWire::peek(void)
{
if (rxBufferIndex >= rxBufferLength) return -1;
return rxBuffer[rxBufferIndex];
}





// alternate function prototypes

uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity)
{
return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true);
}

uint8_t TwoWire::requestFrom(int address, int quantity)
{
return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)true);
}

uint8_t TwoWire::requestFrom(int address, int quantity, int sendStop)
{
return requestFrom((uint8_t)address, (uint8_t)quantity, (uint8_t)sendStop);
}

void TwoWire::beginTransmission(int address)
{
beginTransmission((uint8_t)address);
}

uint8_t TwoWire::endTransmission(void)
{
return endTransmission(true);
}

void TwoWire::begin(int address)
{
begin((uint8_t)address);
}

void TwoWire::onReceive( void (*function)(int) )
{
user_onReceive = function;
}

void TwoWire::onRequest( void (*function)(void) )
{
user_onRequest = function;
}

//TwoWire Wire = TwoWire();
TwoWire Wire;


#endif // __MK20DX128__ || __MK20DX256__



#if defined(__AVR__)

extern "C" {
#include <stdlib.h>
#include <string.h>
@@ -75,6 +576,11 @@ void TwoWire::begin(int address)
begin((uint8_t)address);
}

void TwoWire::setClock(uint32_t frequency)
{
TWBR = ((F_CPU / frequency) - 16) / 2;
}

uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity, uint8_t sendStop)
{
// clamp to buffer length
@@ -296,3 +802,4 @@ void TwoWire::onRequest( void (*function)(void) )

TwoWire Wire = TwoWire();

#endif // __AVR__

+ 99
- 3
Wire.h Voir le fichier

@@ -23,10 +23,12 @@
#define TwoWire_h

#include <inttypes.h>
#include "Stream.h"
#include "Arduino.h"

#define BUFFER_LENGTH 32

extern "C" void i2c0_isr(void);

class TwoWire : public Stream
{
private:
@@ -40,15 +42,18 @@ class TwoWire : public Stream
static uint8_t txBufferLength;

static uint8_t transmitting;
static void (*user_onRequest)(void);
static void (*user_onReceive)(int);
static void onRequestService(void);
static void onReceiveService(uint8_t*, int);
static void (*user_onRequest)(void);
static void (*user_onReceive)(int);
static void sda_rising_isr(void);
friend void i2c0_isr(void);
public:
TwoWire();
void begin();
void begin(uint8_t);
void begin(int);
void setClock(uint32_t);
void beginTransmission(uint8_t);
void beginTransmission(int);
uint8_t endTransmission(void);
@@ -66,6 +71,19 @@ class TwoWire : public Stream
void onReceive( void (*)(int) );
void onRequest( void (*)(void) );
#ifdef CORE_TEENSY
// added by Teensyduino installer, for compatibility
// with pre-1.0 sketches and libraries
void send(uint8_t b) { write(b); }
void send(uint8_t *s, uint8_t n) { write(s, n); }
void send(int n) { write((uint8_t)n); }
void send(char *s) { write(s); }
uint8_t receive(void) {
int c = read();
if (c < 0) return 0;
return c;
}
#endif
inline size_t write(unsigned long n) { return write((uint8_t)n); }
inline size_t write(long n) { return write((uint8_t)n); }
inline size_t write(unsigned int n) { return write((uint8_t)n); }
@@ -75,5 +93,83 @@ class TwoWire : public Stream

extern TwoWire Wire;

#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MKL26Z64__)
class TWBRemulation
{
public:
inline TWBRemulation & operator = (int val) __attribute__((always_inline)) {
if (val == 12 || val == ((F_CPU / 400000) - 16) / 2) { // 22, 52, 112
I2C0_C1 = 0;
#if F_BUS == 60000000
I2C0_F = 0x1C; // 416 kHz
#elif F_BUS == 56000000
I2C0_F = 0x1C; // 389 kHz
#elif F_BUS == 48000000
I2C0_F = 0x1A; // 400 kHz
#elif F_BUS == 40000000
I2C0_F = 0x19; // 416 kHz
#elif F_BUS == 36000000
I2C0_F = 0x19; // 375 kHz
#elif F_BUS == 24000000
I2C0_F = 0x12; // 375 kHz
#elif F_BUS == 16000000
I2C0_F = 0x07; // 400 kHz
#elif F_BUS == 8000000
I2C0_F = 0x00; // 400 kHz
#elif F_BUS == 4000000
I2C0_F = 0x00; // 200 kHz
#endif
I2C0_C1 = I2C_C1_IICEN;
} else if (val == 72 || val == ((F_CPU / 100000) - 16) / 2) { // 112, 232, 472
I2C0_C1 = 0;
#if F_BUS == 60000000
I2C0_F = 0x2C; // 104 kHz
#elif F_BUS == 56000000
I2C0_F = 0x2B; // 109 kHz
#elif F_BUS == 48000000
I2C0_F = 0x27; // 100 kHz
#elif F_BUS == 40000000
I2C0_F = 0x29; // 104 kHz
#elif F_BUS == 36000000
I2C0_F = 0x28; // 113 kHz
#elif F_BUS == 24000000
I2C0_F = 0x1F; // 100 kHz
#elif F_BUS == 16000000
I2C0_F = 0x20; // 100 kHz
#elif F_BUS == 8000000
I2C0_F = 0x14; // 100 kHz
#elif F_BUS == 4000000
I2C0_F = 0x07; // 100 kHz
#elif F_BUS == 2000000
I2C0_F = 0x00; // 100 kHz
#endif
I2C0_C1 = I2C_C1_IICEN;
}
return *this;
}
inline operator int () const __attribute__((always_inline)) {
#if F_BUS == 60000000
if (I2C0_F == 0x1C) return 12;
#elif F_BUS == 48000000
if (I2C0_F == 0x1A) return 12;
#elif F_BUS == 40000000
if (I2C0_F == 0x19) return 12;
#elif F_BUS == 36000000
if (I2C0_F == 0x19) return 12;
#elif F_BUS == 24000000
if (I2C0_F == 0x12) return 12;
#elif F_BUS == 16000000
if (I2C0_F == 0x07) return 12;
#elif F_BUS == 8000000
if (I2C0_F == 0x00) return 12;
#elif F_BUS == 4000000
if (I2C0_F == 0x00) return 12;
#endif
return 72;
}
};
extern TWBRemulation TWBR;
#endif

#endif


+ 4
- 2
utility/twi.c Voir le fichier

@@ -19,6 +19,7 @@
Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
*/

#if defined(__AVR__)
#include <math.h>
#include <stdlib.h>
#include <inttypes.h>
@@ -27,6 +28,7 @@
#include <compat/twi.h>
#include "Arduino.h" // for digitalWrite


#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
@@ -360,7 +362,7 @@ void twi_releaseBus(void)
twi_state = TWI_READY;
}

ISR(TWI_vect)
SIGNAL(TWI_vect)
{
switch(TW_STATUS){
// All Master
@@ -524,4 +526,4 @@ ISR(TWI_vect)
break;
}
}
#endif // __AVR__

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