From: Olivier Matz Date: Thu, 17 Jul 2014 17:55:13 +0000 (+0200) Subject: add i2c support X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=da1d0e96fa1b3f2ec6598351b10ba7348b3f8c1d;p=protos%2Fimu.git add i2c support --- diff --git a/Makefile b/Makefile index 50e2137..91a2763 100644 --- a/Makefile +++ b/Makefile @@ -20,6 +20,7 @@ SRC += partition.c SRC += sd_raw.c SRC += gps_venus.c SRC += sd_log.c +SRC += i2c_protocol.c CFLAGS += -W -Wall -Werror diff --git a/i2c_config.h b/i2c_config.h index 2634073..93ce0ec 100644 --- a/i2c_config.h +++ b/i2c_config.h @@ -1,6 +1,6 @@ -/* +/* * Copyright Droids Corporation, Microb Technology, Eirbot (2005) - * + * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or @@ -15,12 +15,12 @@ * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * - * Revision : $Id: i2c_config.h,v 1.2 2009-03-05 23:01:32 zer0 Exp $ + * Revision : $Id: i2c_config.h,v 1.1 2009-03-05 22:52:35 zer0 Exp $ * */ -#define I2C_BITRATE 1 // divider dor i2c baudrate, see TWBR in doc +#define I2C_BITRATE 1 // divider dor i2c baudrate, see TWBR in doc #define I2C_PRESCALER 3 // prescaler config, rate = 2^(n*2) /* Size of transmission buffer */ diff --git a/i2c_helper.c b/i2c_helper.c index b6e304c..255aaec 100644 --- a/i2c_helper.c +++ b/i2c_helper.c @@ -5,25 +5,23 @@ #include #include -#include - - +#include "i2cm_sw.h" uint8_t read_reg(uint8_t address_dev, uint8_t address_reg, uint8_t * value) { uint8_t err = 0; - err = i2c_send(address_dev, &address_reg, 1, I2C_CTRL_SYNC); + err = i2cm_send(address_dev, &address_reg, 1); if (err) { printf("read reg: i2c error send\r\n"); return err; } - err = i2c_recv(address_dev, 1, I2C_CTRL_SYNC); + err = i2cm_recv(address_dev, 1); if (err) { printf("read reg: i2c error recv\r\n"); return err; } - err = i2c_get_recv_buffer(value, 1); + err = i2cm_get_recv_buffer(value, 1); if (err != 1) { printf("read reg: i2c error get recv\r\n"); return 0xff; @@ -33,20 +31,21 @@ uint8_t read_reg(uint8_t address_dev, uint8_t address_reg, uint8_t * value) } -uint8_t read_reg_len(uint8_t address_dev, uint8_t address_reg, uint8_t * values, uint8_t len) +uint8_t read_reg_len(uint8_t address_dev, uint8_t address_reg, + uint8_t *values, uint8_t len) { uint8_t err = 0; - err = i2c_send(address_dev, &address_reg, 1, I2C_CTRL_SYNC); + err = i2cm_send(address_dev, &address_reg, 1); if (err) { printf("read reg len: i2c error send\r\n"); return err; } - err = i2c_recv(address_dev, len, I2C_CTRL_SYNC); + err = i2cm_recv(address_dev, len); if (err) { printf("read reg len: i2c error recv\r\n"); return err; } - err = i2c_get_recv_buffer(values, len); + err = i2cm_get_recv_buffer(values, len); if (err != len) { printf("read reg len: i2c error get recv\r\n"); return 0xFF; diff --git a/i2c_protocol.c b/i2c_protocol.c new file mode 100644 index 0000000..f62bfb2 --- /dev/null +++ b/i2c_protocol.c @@ -0,0 +1,154 @@ +/* + * Copyright (c) 2014, Olivier MATZ + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the University of California, Berkeley nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include + +#include +#include + +#include + +#include "../fpv-common/i2c_commands.h" +#include "main.h" + +void i2c_protocol_init(void) +{ +} + +/*** LED CONTROL ***/ +void i2c_led_control(uint8_t l, uint8_t state) +{ + switch(l) { + case 1: + state? LED1_ON():LED1_OFF(); + break; + case 2: + state? LED2_ON():LED2_OFF(); + break; + default: + break; + } +} + +#ifdef notyet +static void i2c_test(uint16_t val) +{ + static uint16_t prev=0; + + if ( (val-prev) != 1 ) { + WARNING(E_USER_I2C_PROTO, "Dupplicated msg %d", val); + } + prev = val; + ext.nb_test_cmd ++; +} +#endif + +static void i2c_send_status(void) +{ + struct i2c_ans_imuboard_status ans; + static uint8_t x; + + i2c_flush(); + ans.hdr.cmd = I2C_ANS_IMUBOARD_STATUS; + + /* status */ + ans.test = x++; /* XXX */ +#if 0 + ans.mode = state_get_mode(); + ans.status = state_get_status(); + + ans.left_cobroller_speed = imuboard.left_cobroller_speed; + ans.right_cobroller_speed = imuboard.right_cobroller_speed; + + ans.cob_count = state_get_cob_count(); +#endif + + i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans, + sizeof(ans), I2C_CTRL_GENERIC); +} + +void i2c_recvevent(uint8_t * buf, int8_t size) +{ + void *void_cmd = buf; + +#if 0 /* XXX */ + static uint8_t a = 0; + + a++; + if (a & 0x10) + LED2_TOGGLE(); + + if (size <= 0) { + goto error; + } +#endif + + switch (buf[0]) { + + /* Commands (no answer needed) */ + case I2C_CMD_GENERIC_LED_CONTROL: + { + struct i2c_cmd_led_control *cmd = void_cmd; + if (size != sizeof (*cmd)) + goto error; + i2c_led_control(cmd->led_num, cmd->state); + break; + } + + + /* Add other commands here ...*/ + + case I2C_REQ_IMUBOARD_STATUS: + { + //struct i2c_req_imuboard_status *cmd = void_cmd; + if (size != sizeof (struct i2c_req_imuboard_status)) + goto error; + + i2c_send_status(); + break; + } + + default: + goto error; + } + + error: + /* log error on a led ? */ + return; +} + +void i2c_recvbyteevent(__attribute__((unused)) uint8_t hwstatus, + __attribute__((unused)) uint8_t i, + __attribute__((unused)) int8_t c) +{ +} + +void i2c_sendevent(__attribute__((unused)) int8_t size) +{ +} + + diff --git a/i2c_protocol.h b/i2c_protocol.h new file mode 100644 index 0000000..7f022ef --- /dev/null +++ b/i2c_protocol.h @@ -0,0 +1,30 @@ +/* + * Copyright Droids Corporation (2007) + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Revision : $Id: i2c_protocol.h,v 1.1 2009-03-05 22:52:35 zer0 Exp $ + * + */ + +#include + +void i2c_protocol_init(void); + +void i2c_recvevent(uint8_t * buf, int8_t size); +void i2c_recvbyteevent(uint8_t hwstatus, uint8_t i, uint8_t c); +void i2c_sendevent(int8_t size); + +int debug_send(char c, FILE* f); diff --git a/i2cm_sw.c b/i2cm_sw.c index e6a6748..a7da2b5 100644 --- a/i2cm_sw.c +++ b/i2cm_sw.c @@ -279,14 +279,11 @@ uint8_t i2cm_receive_byte(uint8_t last) } - -uint8_t i2c_send(uint8_t addr, uint8_t* data, uint8_t len, uint8_t ctrl) +uint8_t i2cm_send(uint8_t addr, uint8_t* data, uint8_t len) { uint8_t i; uint8_t err = 0; - (void)ctrl; /* ignored */ - err = i2cm_send_start((addr<<1) | 0); if (err) return err; @@ -302,15 +299,13 @@ uint8_t i2c_send(uint8_t addr, uint8_t* data, uint8_t len, uint8_t ctrl) } -uint8_t i2c_buf[0x20]; +uint8_t i2c_buf[0x20]; /* XXX */ -uint8_t i2c_recv(uint8_t addr, uint8_t len, uint8_t ctrl) +uint8_t i2cm_recv(uint8_t addr, uint8_t len) { uint8_t i; uint8_t err = 0; - (void)ctrl; /* ignored */ - err = i2cm_send_start((addr<<1) | 1); if (err) return err; @@ -328,12 +323,10 @@ uint8_t i2c_recv(uint8_t addr, uint8_t len, uint8_t ctrl) } -uint8_t i2c_get_recv_buffer(uint8_t* buf, uint8_t len) +uint8_t i2cm_get_recv_buffer(uint8_t* buf, uint8_t len) { uint8_t i; for (i=0; i #include #include +#include #include "eeprom_config.h" #include "gps_venus.h" #include "sd_log.h" +#include "../fpv-common/i2c_commands.h" +#include "i2c_protocol.h" #include "main.h" struct imuboard imuboard; @@ -164,6 +167,12 @@ int main(void) /* communication with mpu6050 */ i2cm_init(); + /* i2c hw with mainboard */ + i2c_init(I2C_MODE_SLAVE, I2C_IMUBOARD_ADDR); + i2c_protocol_init(); + i2c_register_recv_event(i2c_recvevent); + i2c_register_send_event(i2c_sendevent); + sei(); eeprom_load_config();