Merge remote-tracking branch 'upstream/master' into cmsis-5

bitcraze · Mar 3, 2021 · 5453e72 · 5453e72
2 parents b4db93f + 6c74047
commit 5453e72
Show file tree

Hide file tree

Showing 14 changed files with 63 additions and 92 deletions.
diff --git a/src/drivers/bosch/src/bstdr_comm_support.c b/src/drivers/bosch/src/bstdr_comm_support.c
@@ -102,7 +102,6 @@
 bstdr_ret_t bstdr_comm_init(void)
 {
 	/**< Communication initialization --Optional!*/
-	i2cdevInit(I2C1_DEV);
 	return (bstdr_ret_t)0;
 }
 

diff --git a/src/drivers/src/i2c_drv.c b/src/drivers/src/i2c_drv.c
@@ -47,6 +47,7 @@
 #include "i2c_drv.h"
 #include "config.h"
 #include "nvicconf.h"
+#include "sleepus.h"
 
 //DEBUG
 #ifdef I2CDRV_DEBUG_LOG_EVENTS
@@ -65,23 +66,15 @@
 #define I2C_MAX_RETRIES         2
 #define I2C_MESSAGE_TIMEOUT     M2T(1000)
 
-// Delay is approx 0.06us per loop @168Mhz
-#define I2CDEV_LOOPS_PER_US  17
-#define I2CDEV_LOOPS_PER_MS  (16789) // measured
-
-// Defines to unlock bus
-#define I2CDEV_CLK_TS (10 * I2CDEV_LOOPS_PER_US)
-#define GPIO_WAIT_FOR_HIGH(gpio, pin, timeoutcycles)\
-  {\
-    int i = timeoutcycles;\
-    while(GPIO_ReadInputDataBit(gpio, pin) == Bit_RESET && i--);\
-  }
-
-#define GPIO_WAIT_FOR_LOW(gpio, pin, timeoutcycles) \
-  {\
-    int i = timeoutcycles;\
-    while(GPIO_ReadInputDataBit(gpio, pin) == Bit_SET && i--);\
+// Helpers to unlock bus
+#define I2CDEV_CLK_TS (10)
+static void gpioWaitForHigh(GPIO_TypeDef *gpio, uint16_t pin, uint16_t timeout_us)
+{
+  uint64_t start = usecTimestamp();
+  while (GPIO_ReadInputDataBit(gpio, pin) == Bit_RESET && usecTimestamp() - start <= timeout_us)
+  {
   }
+}
 
 
 #ifdef I2CDRV_DEBUG_LOG_EVENTS
@@ -107,10 +100,6 @@ static void i2cdrvStartTransfer(I2cDrv *i2c);
  * Try to restart a hanged buss
  */
 static void i2cdrvTryToRestartBus(I2cDrv* i2c);
-/**
- * Rough spin loop delay.
- */
-static inline void i2cdrvRoughLoopDelay(uint32_t us) __attribute__((optimize("O2")));
 /**
  * Unlocks the i2c bus if needed.
  */
@@ -200,12 +189,6 @@ I2cDrv deckBus =
 };
 
 
-static inline void i2cdrvRoughLoopDelay(uint32_t us)
-{
-  volatile uint32_t delay = 0;
-  for(delay = 0; delay < I2CDEV_LOOPS_PER_US * us; ++delay) { };
-}
-
 static void i2cdrvStartTransfer(I2cDrv *i2c)
 {
   ASSERT_DMA_SAFE(i2c->txMessage.buffer);
@@ -238,43 +221,7 @@ static void i2cNotifyClient(I2cDrv* i2c)
 
 static void i2cdrvTryToRestartBus(I2cDrv* i2c)
 {
-  i2cdrvInitBus(i2c);
-}
-
-static void i2cdrvDmaSetupBus(I2cDrv* i2c)
-{
-
-  NVIC_InitTypeDef NVIC_InitStructure;
-
-  RCC_AHB1PeriphClockCmd(i2c->def->dmaPerif, ENABLE);
-
-  // RX DMA Channel Config
-  i2c->DMAStruct.DMA_Channel = i2c->def->dmaChannel;
-  i2c->DMAStruct.DMA_PeripheralBaseAddr = (uint32_t)&i2c->def->i2cPort->DR;
-  i2c->DMAStruct.DMA_Memory0BaseAddr = 0;
-  i2c->DMAStruct.DMA_DIR = DMA_DIR_PeripheralToMemory;
-  i2c->DMAStruct.DMA_BufferSize = 0;
-  i2c->DMAStruct.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
-  i2c->DMAStruct.DMA_MemoryInc = DMA_MemoryInc_Enable;
-  i2c->DMAStruct.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
-  i2c->DMAStruct.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
-  i2c->DMAStruct.DMA_Mode = DMA_Mode_Normal;
-  i2c->DMAStruct.DMA_Priority = DMA_Priority_High;
-  i2c->DMAStruct.DMA_FIFOMode = DMA_FIFOMode_Disable;
-  i2c->DMAStruct.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
-  i2c->DMAStruct.DMA_MemoryBurst = DMA_MemoryBurst_Single;
-  i2c->DMAStruct.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
-
-  NVIC_InitStructure.NVIC_IRQChannel = i2c->def->dmaRxIRQ;
-  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_HIGH_PRI;
-  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-  NVIC_Init(&NVIC_InitStructure);
-}
-
-static void i2cdrvInitBus(I2cDrv* i2c)
-{
-  I2C_InitTypeDef  I2C_InitStructure;
+  I2C_InitTypeDef I2C_InitStructure;
   NVIC_InitTypeDef NVIC_InitStructure;
   GPIO_InitTypeDef GPIO_InitStructure;
 
@@ -329,6 +276,42 @@ static void i2cdrvInitBus(I2cDrv* i2c)
   NVIC_Init(&NVIC_InitStructure);
 
   i2cdrvDmaSetupBus(i2c);
+}
+
+static void i2cdrvDmaSetupBus(I2cDrv* i2c)
+{
+
+  NVIC_InitTypeDef NVIC_InitStructure;
+
+  RCC_AHB1PeriphClockCmd(i2c->def->dmaPerif, ENABLE);
+
+  // RX DMA Channel Config
+  i2c->DMAStruct.DMA_Channel = i2c->def->dmaChannel;
+  i2c->DMAStruct.DMA_PeripheralBaseAddr = (uint32_t)&i2c->def->i2cPort->DR;
+  i2c->DMAStruct.DMA_Memory0BaseAddr = 0;
+  i2c->DMAStruct.DMA_DIR = DMA_DIR_PeripheralToMemory;
+  i2c->DMAStruct.DMA_BufferSize = 0;
+  i2c->DMAStruct.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+  i2c->DMAStruct.DMA_MemoryInc = DMA_MemoryInc_Enable;
+  i2c->DMAStruct.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+  i2c->DMAStruct.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+  i2c->DMAStruct.DMA_Mode = DMA_Mode_Normal;
+  i2c->DMAStruct.DMA_Priority = DMA_Priority_High;
+  i2c->DMAStruct.DMA_FIFOMode = DMA_FIFOMode_Disable;
+  i2c->DMAStruct.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
+  i2c->DMAStruct.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+  i2c->DMAStruct.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+
+  NVIC_InitStructure.NVIC_IRQChannel = i2c->def->dmaRxIRQ;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_HIGH_PRI;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&NVIC_InitStructure);
+}
+
+static void i2cdrvInitBus(I2cDrv* i2c)
+{
+  i2cdrvTryToRestartBus(i2c);
 
   i2c->isBusFreeSemaphore = xSemaphoreCreateBinaryStatic(&i2c->isBusFreeSemaphoreBuffer);
   i2c->isBusFreeMutex = xSemaphoreCreateMutexStatic(&i2c->isBusFreeMutexBuffer);
@@ -343,30 +326,30 @@ static void i2cdrvdevUnlockBus(GPIO_TypeDef* portSCL, GPIO_TypeDef* portSDA, uin
     /* Set clock high */
     GPIO_SetBits(portSCL, pinSCL);
     /* Wait for any clock stretching to finish. */
-    GPIO_WAIT_FOR_HIGH(portSCL, pinSCL, 10 * I2CDEV_LOOPS_PER_MS);
-    i2cdrvRoughLoopDelay(I2CDEV_CLK_TS);
+    gpioWaitForHigh(portSCL, pinSCL, 10 * 1000);
+    sleepus(I2CDEV_CLK_TS);
 
     /* Generate a clock cycle */
     GPIO_ResetBits(portSCL, pinSCL);
-    i2cdrvRoughLoopDelay(I2CDEV_CLK_TS);
+    sleepus(I2CDEV_CLK_TS);
     GPIO_SetBits(portSCL, pinSCL);
-    i2cdrvRoughLoopDelay(I2CDEV_CLK_TS);
+    sleepus(I2CDEV_CLK_TS);
   }
 
   /* Generate a start then stop condition */
   GPIO_SetBits(portSCL, pinSCL);
-  i2cdrvRoughLoopDelay(I2CDEV_CLK_TS);
-  GPIO_ResetBits(portSDA, pinSDA);
-  i2cdrvRoughLoopDelay(I2CDEV_CLK_TS);
+  sleepus(I2CDEV_CLK_TS);
   GPIO_ResetBits(portSDA, pinSDA);
-  i2cdrvRoughLoopDelay(I2CDEV_CLK_TS);
+  sleepus(I2CDEV_CLK_TS);
+  GPIO_ResetBits(portSCL, pinSCL);
+  sleepus(I2CDEV_CLK_TS);
 
   /* Set data and clock high and wait for any clock stretching to finish. */
   GPIO_SetBits(portSDA, pinSDA);
   GPIO_SetBits(portSCL, pinSCL);
-  GPIO_WAIT_FOR_HIGH(portSCL, pinSCL, 10 * I2CDEV_LOOPS_PER_MS);
+  gpioWaitForHigh(portSCL, pinSCL, 10 * 1000);
   /* Wait for data to be high */
-  GPIO_WAIT_FOR_HIGH(portSDA, pinSDA, 10 * I2CDEV_LOOPS_PER_MS);
+  gpioWaitForHigh(portSDA, pinSDA, 10 * 1000);
 }
 
 //-----------------------------------------------------------

diff --git a/src/drivers/src/pca9685.c b/src/drivers/src/pca9685.c
@@ -104,10 +104,6 @@ static uint16_t dutyToDuration(float duty)
 
 bool pca9685init(int addr, float pwmFreq)
 {
-  if (!i2cdevInit(I2C1_DEV)) {
-    return false;
-  }
-
   // initial state is sleeping.
   // must be asleep to set PWM freq.
 

diff --git a/src/drivers/src/vl53l0x.c b/src/drivers/src/vl53l0x.c
@@ -106,7 +106,6 @@ bool vl53l0xInit(VL53L0xDev* dev, I2C_Dev *I2Cx, bool io_2V8)
 {
   dev->I2Cx = I2Cx;
   dev->devAddr = VL53L0X_DEFAULT_ADDRESS;
-  i2cdevInit(dev->I2Cx);
 
   dev->io_timeout = 0;
   dev->did_timeout = 0;

diff --git a/src/drivers/src/vl53l1x.c b/src/drivers/src/vl53l1x.c
@@ -58,7 +58,6 @@ bool vl53l1xInit(VL53L1_Dev_t *pdev, I2C_Dev *I2Cx)
 
   pdev->I2Cx = I2Cx;
   pdev->devAddr = VL53L1X_DEFAULT_ADDRESS;
-  i2cdevInit(pdev->I2Cx);
 
   /* Move initialized sensor to a new I2C address */
   int newAddress;

diff --git a/src/hal/src/amg8833.c b/src/hal/src/amg8833.c
@@ -43,7 +43,6 @@ bool begin(AMG8833_Dev_t *dev, I2C_Dev *I2Cx)
   // Set I2C parameters
   dev->I2Cx = I2Cx;
   dev->devAddr = AMG88xx_ADDRESS;
-  bool i2c_complete = i2cdevInit(dev->I2Cx);
   // Enter normal mode
   bool mode_selected = write8(dev, AMG88xx_PCTL, AMG88xx_NORMAL_MODE);
   // Software reset
@@ -53,7 +52,7 @@ bool begin(AMG8833_Dev_t *dev, I2C_Dev *I2Cx)
   //set to 10 FPS
   bool fps_set = write8(dev, AMG88xx_FPSC, (AMG88xx_FPS_10 & 0x01));
   vTaskDelay(M2T(10));
-  return i2c_complete && mode_selected && software_resetted &&
+  return mode_selected && software_resetted &&
     interrupts_set && fps_set;
 }
 

diff --git a/src/hal/src/pca9555.c b/src/hal/src/pca9555.c
@@ -36,7 +36,6 @@ static I2C_Dev *I2Cx;
 
 void pca9555Init()
 {
-  i2cdevInit(I2C1_DEV);
   I2Cx = I2C1_DEV;
   devAddr = PCA9555_DEFAULT_ADDRESS;
 }

diff --git a/src/hal/src/pca95x4.c b/src/hal/src/pca95x4.c
@@ -36,7 +36,6 @@ static I2C_Dev *I2Cx;
 
 void pca95x4Init()
 {
-  i2cdevInit(I2C1_DEV);
   I2Cx = I2C1_DEV;
   devAddr = PCA95X4_DEFAULT_ADDRESS;
 }

diff --git a/src/hal/src/sensors_bmi088_bmp388.c b/src/hal/src/sensors_bmi088_bmp388.c
@@ -549,8 +549,6 @@ void sensorsBmi088Bmp388Init(void)
       return;
     }
 
-  i2cdevInit(I2C3_DEV);
-
   sensorsBiasObjInit(&gyroBiasRunning);
   sensorsDeviceInit();
   sensorsInterruptInit();

diff --git a/src/hal/src/sensors_bmi088_spi_bmp388.c b/src/hal/src/sensors_bmi088_spi_bmp388.c
@@ -842,7 +842,6 @@ void sensorsBmi088SpiBmp388Init(void)
       return;
     }
 
-  i2cdevInit(I2C3_DEV);
   spiInit();
   spiDMAInit();
 

diff --git a/src/hal/src/sensors_mpu9250_lps25h.c b/src/hal/src/sensors_mpu9250_lps25h.c
@@ -334,7 +334,6 @@ static void sensorsDeviceInit(void)
   // Wait for sensors to startup
   while (xTaskGetTickCount() < 1000);
 
-  i2cdevInit(I2C3_DEV);
   mpu6500Init(I2C3_DEV);
   if (mpu6500TestConnection() == true)
   {

diff --git a/src/hal/src/usb_bsp.c b/src/hal/src/usb_bsp.c
@@ -111,8 +111,7 @@ void USB_OTG_BSP_Init(USB_OTG_CORE_HANDLE *pdev)
   RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOA , ENABLE);
 
    /* Configure SOF ID DM DP Pins */
-  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8  |
-                                GPIO_Pin_11 |
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11 |
                                 GPIO_Pin_12;
 
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
@@ -123,7 +122,6 @@ void USB_OTG_BSP_Init(USB_OTG_CORE_HANDLE *pdev)
 
   // AF10
 
-  GPIO_PinAFConfig(GPIOA,GPIO_PinSource8,GPIO_AF_OTG1_FS) ;
   GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_OTG1_FS) ;
   GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_OTG1_FS) ;
 

diff --git a/src/modules/src/system.c b/src/modules/src/system.c
@@ -69,6 +69,7 @@
 #include "static_mem.h"
 #include "peer_localization.h"
 #include "cfassert.h"
+#include "i2cdev.h"
 
 #ifndef START_DISARMED
 #define ARM_INIT true
@@ -175,6 +176,10 @@ void systemTask(void *arg)
   uart2Init(115200);
 #endif
 
+  initUsecTimer();
+  i2cdevInit(I2C3_DEV);
+  i2cdevInit(I2C1_DEV);
+
   //Init the high-levels modules
   systemInit();
   commInit();

diff --git a/src/utils/src/configblockeeprom.c b/src/utils/src/configblockeeprom.c
@@ -122,7 +122,6 @@ int configblockInit(void)
   if(isInit)
     return 0;
 
-  i2cdevInit(I2C1_DEV);
   eepromInit(I2C1_DEV);
 
   // Because of strange behavior from I2C device during expansion port test
-Original file line number
+Diff line change
@@ Expand Up / @@ -842,7 +842,6 @@ void sensorsBmi088SpiBmp388Init(void) @@
           return;
         }
-      i2cdevInit(I2C3_DEV);
       spiInit();
       spiDMAInit();
@@ Expand Down @@