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Merge branch 'px4dev_new_param' of github.com:PX4/Firmware into px4dev_new_param

sbg
Lorenz Meier 13 years ago
parent
72d9db9875 92594ba76a
commit
b378f7ecd9
6 changed files with 286 additions and 307 deletions
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  1. 50
      apps/drivers/device/i2c.cpp
  2. 6
      apps/drivers/device/i2c.h
  3. 487
      nuttx/arch/arm/src/stm32/stm32_i2c.c
  4. 26
      nuttx/configs/px4fmu/include/board.h
  5. 7
      nuttx/configs/px4fmu/src/drv_hmc5833l.c
  6. 17
      nuttx/include/nuttx/i2c.h

50
apps/drivers/device/i2c.cpp
Unescape View File

@ -53,6 +53,7 @@ I2C::I2C(const char *name, @@ -53,6 +53,7 @@ I2C::I2C(const char *name,
CDev(name, devname, irq),
// public
// protected
_retries(0),
// private
_bus(bus),
_address(address),
@ -117,33 +118,44 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len @@ -117,33 +118,44 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
struct i2c_msg_s msgv[2];
unsigned msgs;
int ret;
unsigned tries;
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
do {
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
msgs = 0;
if (send_len > 0) {
msgv[msgs].addr = _address;
msgv[msgs].flags = 0;
msgv[msgs].buffer = send;
msgv[msgs].length = send_len;
msgs++;
}
if (send_len > 0) {
msgv[msgs].addr = _address;
msgv[msgs].flags = 0;
msgv[msgs].buffer = send;
msgv[msgs].length = send_len;
msgs++;
}
if (recv_len > 0) {
msgv[msgs].addr = _address;
msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv;
msgv[msgs].length = recv_len;
msgs++;
}
if (recv_len > 0) {
msgv[msgs].addr = _address;
msgv[msgs].flags = I2C_M_READ;
msgv[msgs].buffer = recv;
msgv[msgs].length = recv_len;
msgs++;
}
if (msgs == 0)
return -EINVAL;
if (msgs == 0)
return -EINVAL;
ret = I2C_TRANSFER(_dev, &msgv[0], msgs);
ret = I2C_TRANSFER(_dev, &msgv[0], msgs);
if (ret == OK)
break;
// reset the I2C bus to unwedge on error
up_i2creset(_dev);
} while (tries++ < _retries);
return ret;
}
} // namespace device

6
apps/drivers/device/i2c.h
Unescape View File

@ -52,6 +52,12 @@ class __EXPORT I2C : public CDev @@ -52,6 +52,12 @@ class __EXPORT I2C : public CDev
{
protected:
/**
* The number of times a read or write operation will be retried on
* error.
*/
unsigned _retries;
/**
* @ Constructor
*

487
nuttx/arch/arm/src/stm32/stm32_i2c.c
Unescape View File

@ -196,11 +196,29 @@ struct stm32_trace_s @@ -196,11 +196,29 @@ struct stm32_trace_s
uint32_t time; /* First of event or first status */
};
/* I2C Device hardware configuration */
struct stm32_i2c_config_s
{
uint32_t base; /* I2C base address */
#ifndef CONFIG_I2C_POLLED
int ( *isr)(int, void *); /* Interrupt handler */
#endif
uint32_t clk_bit; /* Clock enable bit */
uint32_t reset_bit; /* Reset bit */
uint32_t scl_pin; /* GPIO configuration for SCL as SCL */
uint32_t scl_gpio; /* GPIO configuration for SCL as a GPIO */
uint32_t sda_pin; /* GPIO configuration for SDA as SDA */
uint32_t sda_gpio; /* GPIO configuration for SDA as a GPIO */
uint32_t ev_irq; /* Event IRQ */
uint32_t er_irq; /* Error IRQ */
};
/* I2C Device Private Data */
struct stm32_i2c_priv_s
{
uint32_t base; /* I2C base address */
const struct stm32_i2c_config_s *config; /* Port configuration */
int refs; /* Referernce count */
sem_t sem_excl; /* Mutual exclusion semaphore */
#ifndef CONFIG_I2C_POLLED
@ -311,9 +329,32 @@ static int stm32_i2c_transfer(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *m @@ -311,9 +329,32 @@ static int stm32_i2c_transfer(FAR struct i2c_dev_s *dev, FAR struct i2c_msg_s *m
************************************************************************************/
#ifdef CONFIG_STM32_I2C1
struct stm32_i2c_priv_s stm32_i2c1_priv =
# ifndef GPIO_I2C1_SCL_GPIO
# define GPIO_I2C1_SCL_GPIO 0
# endif
# ifndef GPIO_I2C1_SDA_GPIO
# define GPIO_I2C1_SDA_GPIO 0
# endif
static const struct stm32_i2c_config_s stm32_i2c1_config =
{
.base = STM32_I2C1_BASE,
#ifndef CONFIG_I2C_POLLED
.isr = stm32_i2c1_isr,
#endif
.clk_bit = RCC_APB1ENR_I2C1EN,
.reset_bit = RCC_APB1RSTR_I2C1RST,
.scl_pin = GPIO_I2C1_SCL,
.scl_gpio = GPIO_I2C1_SCL_GPIO,
.sda_pin = GPIO_I2C1_SDA,
.sda_gpio = GPIO_I2C1_SDA_GPIO,
.ev_irq = STM32_IRQ_I2C1EV,
.er_irq = STM32_IRQ_I2C1ER
};
struct stm32_i2c_priv_s stm32_i2c1_priv =
{
.config = &stm32_i2c1_config,
.refs = 0,
.intstate = INTSTATE_IDLE,
.msgc = 0,
@ -326,9 +367,32 @@ struct stm32_i2c_priv_s stm32_i2c1_priv = @@ -326,9 +367,32 @@ struct stm32_i2c_priv_s stm32_i2c1_priv =
#endif
#ifdef CONFIG_STM32_I2C2
struct stm32_i2c_priv_s stm32_i2c2_priv =
# ifndef GPIO_I2C2_SCL_GPIO
# define GPIO_I2C2_SCL_GPIO 0
# endif
# ifndef GPIO_I2C2_SDA_GPIO
# define GPIO_I2C2_SDA_GPIO 0
# endif
static const struct stm32_i2c_config_s stm32_i2c2_config =
{
.base = STM32_I2C2_BASE,
#ifndef CONFIG_I2C_POLLED
.isr = stm32_i2c2_isr,
#endif
.clk_bit = RCC_APB1ENR_I2C2EN,
.reset_bit = RCC_APB1RSTR_I2C2RST,
.scl_pin = GPIO_I2C2_SCL,
.scl_gpio = GPIO_I2C2_SCL_GPIO,
.sda_pin = GPIO_I2C2_SDA,
.sda_gpio = GPIO_I2C2_SDA_GPIO,
.ev_irq = STM32_IRQ_I2C2EV,
.er_irq = STM32_IRQ_I2C2ER
};
struct stm32_i2c_priv_s stm32_i2c2_priv =
{
.config = &stm32_i2c2_config,
.refs = 0,
.intstate = INTSTATE_IDLE,
.msgc = 0,
@ -341,9 +405,32 @@ struct stm32_i2c_priv_s stm32_i2c2_priv = @@ -341,9 +405,32 @@ struct stm32_i2c_priv_s stm32_i2c2_priv =
#endif
#ifdef CONFIG_STM32_I2C3
struct stm32_i2c_priv_s stm32_i2c3_priv =
# ifndef GPIO_I2C3_SCL_GPIO
# define GPIO_I2C3_SCL_GPIO 0
# endif
# ifndef GPIO_I2C3_SDA_GPIO
# define GPIO_I2C3_SDA_GPIO 0
# endif
static const struct stm32_i2c_config_s stm32_i2c3_config =
{
.base = STM32_I2C3_BASE,
#ifndef CONFIG_I2C_POLLED
.isr = stm32_i2c3_isr,
#endif
.clk_bit = RCC_APB1ENR_I2C3EN,
.reset_bit = RCC_APB1RSTR_I2C3RST,
.scl_pin = GPIO_I2C3_SCL,
.scl_gpio = GPIO_I2C3_SCL_GPIO,
.sda_pin = GPIO_I2C3_SDA,
.sda_gpio = GPIO_I2C3_SDA_GPIO,
.ev_irq = STM32_IRQ_I2C3EV,
.er_irq = STM32_IRQ_I2C3ER
};
struct stm32_i2c_priv_s stm32_i2c3_priv =
{
.config = &stm32_i2c3_config,
.refs = 0,
.intstate = INTSTATE_IDLE,
.msgc = 0,
@ -355,7 +442,6 @@ struct stm32_i2c_priv_s stm32_i2c3_priv = @@ -355,7 +442,6 @@ struct stm32_i2c_priv_s stm32_i2c3_priv =
};
#endif
/* Device Structures, Instantiation */
struct i2c_ops_s stm32_i2c_ops =
@ -391,7 +477,7 @@ struct i2c_ops_s stm32_i2c_ops = @@ -391,7 +477,7 @@ struct i2c_ops_s stm32_i2c_ops =
static inline uint16_t stm32_i2c_getreg(FAR struct stm32_i2c_priv_s *priv,
uint8_t offset)
{
return getreg16(priv->base + offset);
return getreg16(priv->config->base + offset);
}
/************************************************************************************
@ -405,7 +491,7 @@ static inline uint16_t stm32_i2c_getreg(FAR struct stm32_i2c_priv_s *priv, @@ -405,7 +491,7 @@ static inline uint16_t stm32_i2c_getreg(FAR struct stm32_i2c_priv_s *priv,
static inline void stm32_i2c_putreg(FAR struct stm32_i2c_priv_s *priv, uint8_t offset,
uint16_t value)
{
putreg16(value, priv->base + offset);
putreg16(value, priv->config->base + offset);
}
/************************************************************************************
@ -420,7 +506,7 @@ static inline void stm32_i2c_modifyreg(FAR struct stm32_i2c_priv_s *priv, @@ -420,7 +506,7 @@ static inline void stm32_i2c_modifyreg(FAR struct stm32_i2c_priv_s *priv,
uint8_t offset, uint16_t clearbits,
uint16_t setbits)
{
modifyreg16(priv->base + offset, clearbits, setbits);
modifyreg16(priv->config->base + offset, clearbits, setbits);
}
/************************************************************************************
@ -986,7 +1072,7 @@ static inline uint32_t stm32_i2c_disablefsmc(FAR struct stm32_i2c_priv_s *priv) @@ -986,7 +1072,7 @@ static inline uint32_t stm32_i2c_disablefsmc(FAR struct stm32_i2c_priv_s *priv)
/* Is this I2C1 */
#ifdef CONFIG_STM32_I2C2
if (priv->base == STM32_I2C1_BASE)
if (priv->config->base == STM32_I2C1_BASE)
#endif
{
/* Disable FSMC unconditionally */
@ -1310,114 +1396,35 @@ static int stm32_i2c_init(FAR struct stm32_i2c_priv_s *priv) @@ -1310,114 +1396,35 @@ static int stm32_i2c_init(FAR struct stm32_i2c_priv_s *priv)
{
/* Power-up and configure GPIOs */
switch (priv->base)
{
#ifdef CONFIG_STM32_I2C1
case STM32_I2C1_BASE:
/* Enable power and reset the peripheral */
modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C1EN);
/* Enable power and reset the peripheral */
modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST);
modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0);
modifyreg32(STM32_RCC_APB1ENR, 0, priv->config->clk_bit);
/* Configure pins */
if (stm32_configgpio(GPIO_I2C1_SCL) < 0)
{
return ERROR;
}
if (stm32_configgpio(GPIO_I2C1_SDA) < 0)
{
stm32_unconfiggpio(GPIO_I2C1_SCL);
return ERROR;
}
modifyreg32(STM32_RCC_APB1RSTR, 0, priv->config->reset_bit);
modifyreg32(STM32_RCC_APB1RSTR, priv->config->reset_bit, 0);
/* Attach ISRs */
#ifndef CONFIG_I2C_POLLED
irq_attach(STM32_IRQ_I2C1EV, stm32_i2c1_isr);
irq_attach(STM32_IRQ_I2C1ER, stm32_i2c1_isr);
up_enable_irq(STM32_IRQ_I2C1EV);
up_enable_irq(STM32_IRQ_I2C1ER);
#endif
break;
#endif
/* Configure pins */
#ifdef CONFIG_STM32_I2C2
case STM32_I2C2_BASE:
/* Enable power and reset the peripheral */
modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C2EN);
modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C2RST);
modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C2RST, 0);
/* Configure pins */
if (stm32_configgpio(GPIO_I2C2_SCL) < 0)
{
return ERROR;
}
if (stm32_configgpio(GPIO_I2C2_SDA) < 0)
{
stm32_unconfiggpio(GPIO_I2C2_SCL);
return ERROR;
}
/* Attach ISRs */
#ifndef CONFIG_I2C_POLLED
irq_attach(STM32_IRQ_I2C2EV, stm32_i2c2_isr);
irq_attach(STM32_IRQ_I2C2ER, stm32_i2c2_isr);
up_enable_irq(STM32_IRQ_I2C2EV);
up_enable_irq(STM32_IRQ_I2C2ER);
#endif
break;
#endif
#ifdef CONFIG_STM32_I2C3
case STM32_I2C3_BASE:
/* Enable power and reset the peripheral */
modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_I2C3EN);
modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C3RST);
modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C3RST, 0);
/* Configure pins */
if (stm32_configgpio(GPIO_I2C3_SCL) < 0)
{
return ERROR;
}
if (stm32_configgpio(GPIO_I2C3_SDA) < 0)
{
stm32_unconfiggpio(GPIO_I2C3_SCL);
return ERROR;
}
if (stm32_configgpio(priv->config->scl_pin) < 0)
{
return ERROR;
}
/* Attach ISRs */
if (stm32_configgpio(priv->config->sda_pin) < 0)
{
stm32_unconfiggpio(priv->config->scl_pin);
return ERROR;
}
/* Attach ISRs */
#ifndef CONFIG_I2C_POLLED
irq_attach(STM32_IRQ_I2C3EV, stm32_i2c3_isr);
irq_attach(STM32_IRQ_I2C3ER, stm32_i2c3_isr);
up_enable_irq(STM32_IRQ_I2C3EV);
up_enable_irq(STM32_IRQ_I2C3ER);
#endif
break;
irq_attach(priv->config->ev_irq, priv->config->isr);
irq_attach(priv->config->er_irq, priv->config->isr);
up_enable_irq(priv->config->ev_irq);
up_enable_irq(priv->config->er_irq);
#endif
default:
return ERROR;
}
/* Set peripheral frequency, where it must be at least 2 MHz for 100 kHz
* or 4 MHz for 400 kHz. This also disables all I2C interrupts.
*/
@ -1445,56 +1452,16 @@ static int stm32_i2c_deinit(FAR struct stm32_i2c_priv_s *priv) @@ -1445,56 +1452,16 @@ static int stm32_i2c_deinit(FAR struct stm32_i2c_priv_s *priv)
stm32_i2c_putreg(priv, STM32_I2C_CR1_OFFSET, 0);
switch (priv->base)
{
#ifdef CONFIG_STM32_I2C1
case STM32_I2C1_BASE:
stm32_unconfiggpio(GPIO_I2C1_SCL);
stm32_unconfiggpio(GPIO_I2C1_SDA);
#ifndef CONFIG_I2C_POLLED
up_disable_irq(STM32_IRQ_I2C1EV);
up_disable_irq(STM32_IRQ_I2C1ER);
irq_detach(STM32_IRQ_I2C1EV);
irq_detach(STM32_IRQ_I2C1ER);
#endif
modifyreg32(STM32_RCC_APB1ENR, RCC_APB1ENR_I2C1EN, 0);
break;
#endif
#ifdef CONFIG_STM32_I2C2
case STM32_I2C2_BASE:
stm32_unconfiggpio(GPIO_I2C2_SCL);
stm32_unconfiggpio(GPIO_I2C2_SDA);
#ifndef CONFIG_I2C_POLLED
up_disable_irq(STM32_IRQ_I2C2EV);
up_disable_irq(STM32_IRQ_I2C2ER);
irq_detach(STM32_IRQ_I2C2EV);
irq_detach(STM32_IRQ_I2C2ER);
#endif
modifyreg32(STM32_RCC_APB1ENR, RCC_APB1ENR_I2C2EN, 0);
break;
#endif
#ifdef CONFIG_STM32_I2C3
case STM32_I2C3_BASE:
stm32_unconfiggpio(GPIO_I2C3_SCL);
stm32_unconfiggpio(GPIO_I2C3_SDA);
stm32_unconfiggpio(priv->config->scl_pin);
stm32_unconfiggpio(priv->config->sda_pin);
#ifndef CONFIG_I2C_POLLED
up_disable_irq(STM32_IRQ_I2C3EV);
up_disable_irq(STM32_IRQ_I2C3ER);
irq_detach(STM32_IRQ_I2C3EV);
irq_detach(STM32_IRQ_I2C3ER);
up_disable_irq(priv->config->ev_irq);
up_disable_irq(priv->config->er_irq);
irq_detach(priv->config->ev_irq);
irq_detach(priv->config->er_irq);
#endif
modifyreg32(STM32_RCC_APB1ENR, RCC_APB1ENR_I2C3EN, 0);
break;
#endif
default:
return ERROR;
}
modifyreg32(STM32_RCC_APB1ENR, priv->config->clk_bit, 0);
return OK;
}
@ -1979,159 +1946,119 @@ int up_i2cuninitialize(FAR struct i2c_dev_s * dev) @@ -1979,159 +1946,119 @@ int up_i2cuninitialize(FAR struct i2c_dev_s * dev)
int up_i2creset(FAR struct i2c_dev_s * dev)
{
// ASSERT(dev);
// stm32_i2c_sem_wait(dev); /* ensure that address or flags don't change meanwhile */
// struct stm32_i2c_inst_s *inst = (struct stm32_i2c_inst_s *)dev;
// FAR struct stm32_i2c_priv_s *priv = inst->priv;
// /* Clear any pending error interrupts */
// stm32_i2c_putreg(priv, STM32_I2C_SR1_OFFSET, 0);
// /* "Note: When the STOP, START or PEC bit is set, the software must
// * not perform any write access to I2C_CR1 before this bit is
// * cleared by hardware. Otherwise there is a risk of setting a
// * second STOP, START or PEC request." However, if the bits are
// * not cleared by hardware, then we will have to do that from hardware.
// */
// stm32_i2c_clrstart(priv);
// /* Reset peripheral */
// uint16_t cr1 = stm32_i2c_getreg(priv, STM32_I2C_CR1_OFFSET);
// /* Set reset flag */
// cr1 &= I2C_CR1_SWRST;
// stm32_i2c_putreg(priv, STM32_I2C_CR1_OFFSET, cr1);
// /* Clear CR1 */
// stm32_i2c_putreg(priv, STM32_I2C_CR1_OFFSET, 0);
// switch (priv->base)
// {
// case STM32_I2C1_BASE:
// modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C1RST);
// modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C1RST, 0);
// break;
// case STM32_I2C2_BASE:
// modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C2RST);
// modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C2RST, 0);
// break;
// case STM32_I2C3_BASE:
// modifyreg32(STM32_RCC_APB1RSTR, 0, RCC_APB1RSTR_I2C3RST);
// modifyreg32(STM32_RCC_APB1RSTR, RCC_APB1RSTR_I2C3RST, 0);
// break;
// }
// stm32_i2c_putreg(priv, STM32_I2C_CR2_OFFSET, (STM32_PCLK1_FREQUENCY / 1000000));
// stm32_i2c_setclock(priv, inst->frequency);
// inst->flags = 0;
// /* Enable I2C */
// stm32_i2c_putreg(priv, STM32_I2C_CR1_OFFSET, I2C_CR1_PE);
struct stm32_i2c_priv_s * priv;
unsigned clock_count;
unsigned stretch_count;
int ret = ERROR;
irqstate_t state;
ASSERT(dev);
/* Get I2C private structure */
priv = ((struct stm32_i2c_inst_s *)dev)->priv;
/* Our caller must own a ref */
ASSERT(priv->refs > 0);
/* Lock out other clients */
stm32_i2c_sem_wait(dev);
/* De-init the port */
stm32_i2c_deinit(priv);
/* If possible, use GPIO configuration to un-wedge the bus */
if ((priv->config->scl_gpio != 0) && (priv->config->sda_gpio != 0))
{
stm32_configgpio(priv->config->scl_gpio);
stm32_configgpio(priv->config->sda_gpio);
/*
* Clock the bus until any slaves currently driving it let it go.
*/
clock_count = 0;
while (!stm32_gpioread(priv->config->sda_gpio))
{
/* Give up if we have tried too hard */
int irqs;
ASSERT(dev);
/* Decrement refs and check for underflow */
if (((struct stm32_i2c_inst_s *)dev)->priv->refs == 0)
{
return ERROR;
}
if (clock_count++ > 1000)
{
goto out;
}
irqs = irqsave();
/*
* Sniff to make sure that clock stretching has finished.
*
* If the bus never relaxes, the reset has failed.
*/
irqrestore(irqs);
stretch_count = 0;
while (!stm32_gpioread(priv->config->scl_gpio))
{
/* Disable power and other HW resource (GPIO's) */
/* Give up if we have tried too hard */
//stm32_i2c_deinit( ((struct stm32_i2c_inst_s *)dev)->priv );
if (stretch_count++ > 1000)
{
goto out;
}
/* Release unused resources */
up_udelay(10);
//stm32_i2c_sem_destroy( (struct i2c_dev_s *)dev );
struct stm32_i2c_priv_s * priv = NULL; /* private data of device with multiple instances */
struct stm32_i2c_inst_s * inst = NULL; /* device, single instance */
}
#if STM32_PCLK1_FREQUENCY < 4000000
# warning STM32_I2C_INIT: Peripheral clock must be at least 4 MHz to support 400 kHz operation.
#endif
/* Drive SCL low */
#if STM32_PCLK1_FREQUENCY < 2000000
# warning STM32_I2C_INIT: Peripheral clock must be at least 2 MHz to support 100 kHz operation.
return NULL;
#endif
/* Get I2C private structure */
stm32_gpiowrite(priv->config->scl_gpio, 0);
up_udelay(10);
priv = ((struct stm32_i2c_inst_s *)dev)->priv;
// switch (port)
// {
// #ifdef CONFIG_STM32_I2C1
// case 1:
// priv = (struct stm32_i2c_priv_s *)&stm32_i2c1_priv;
// break;
// #endif
// #ifdef CONFIG_STM32_I2C2
// case 2:
// priv = (struct stm32_i2c_priv_s *)&stm32_i2c2_priv;
// break;
// #endif
// #ifdef CONFIG_STM32_I2C3
// case 3:
// priv = (struct stm32_i2c_priv_s *)&stm32_i2c3_priv;
// break;
// #endif
// default:
// return NULL;
// }
/* Drive SCL high again */
/* Allocate instance */
inst = (struct stm32_i2c_inst_s *)dev;
stm32_gpiowrite(priv->config->scl_gpio, 1);
up_udelay(10);
/* Initialize instance */
}
inst->ops = &stm32_i2c_ops;
inst->priv = priv;
inst->frequency = 100000;
inst->address = 0;
inst->flags = 0;
/*
* Generate a start followed by a stop to reset slave
* state machines.
*/
stm32_gpiowrite(priv->config->sda_gpio, 0);
up_udelay(10);
stm32_gpiowrite(priv->config->scl_gpio, 0);
up_udelay(10);
stm32_gpiowrite(priv->config->scl_gpio, 1);
up_udelay(10);
stm32_gpiowrite(priv->config->sda_gpio, 1);
up_udelay(10);
/*
* Revert the GPIO configuration.
*/
stm32_unconfiggpio(priv->config->sda_gpio);
stm32_unconfiggpio(priv->config->scl_gpio);
/* Init private data for the first time, increment refs count,
* power-up hardware and configure GPIOs.
*/
irqs = irqsave();
if ((volatile int)priv->refs++ == 0)
{
stm32_i2c_sem_init( (struct i2c_dev_s *)inst );
stm32_i2c_init( priv );
}
irqrestore(irqs);
return OK;
/* Re-init the port */
stm32_i2c_init(priv);
ret = OK;
out:
/* release the port for re-use by other clients */
stm32_i2c_sem_post(dev);
return ret;
}
#endif /* defined(CONFIG_STM32_I2C1) && defined(CONFIG_STM32_I2C2) */
#endif /* defined(CONFIG_STM32_I2C1) || defined(CONFIG_STM32_I2C2) || defined(CONFIG_STM32_I2C3) */

26
nuttx/configs/px4fmu/include/board.h
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@ -265,15 +265,25 @@ @@ -265,15 +265,25 @@
/*
* I2C
*
* The optional _GPIO configurations allow the I2C driver to manually
* reset the bus to clear stuck slaves. They match the pin configuration,
* but are normally-high GPIOs.
*/
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
/*
* I2C busses

7
nuttx/configs/px4fmu/src/drv_hmc5833l.c
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@ -323,13 +323,20 @@ hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg) @@ -323,13 +323,20 @@ hmc5883l_ioctl(struct file *filp, int cmd, unsigned long arg)
return result;
}
extern int up_i2creset(FAR struct i2c_dev_s * dev);
int hmc5883l_reset()
{
int ret;
#if 1
ret = up_i2creset(hmc5883l_dev.i2c);
printf("HMC5883: BUS RESET %s\n", ret ? "FAIL" : "OK");
#else
printf("[hmc5883l drv] Resettet I2C2 BUS\n");
up_i2cuninitialize(hmc5883l_dev.i2c);
hmc5883l_dev.i2c = up_i2cinitialize(2);
I2C_SETFREQUENCY(hmc5883l_dev.i2c, 400000);
#endif
return ret;
}

17
nuttx/include/nuttx/i2c.h
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@ -325,6 +325,23 @@ EXTERN FAR struct i2c_dev_s *up_i2cinitialize(int port); @@ -325,6 +325,23 @@ EXTERN FAR struct i2c_dev_s *up_i2cinitialize(int port);
EXTERN int up_i2cuninitialize(FAR struct i2c_dev_s * dev);
/****************************************************************************
* Name: up_i2creset
*
* Description:
* Reset the port and the associated I2C bus. Useful when the bus or an
* attached slave has become wedged or unresponsive.
*
* Input Parameter:
* Device structure as returned by the up_i2cinitalize()
*
* Returned Value:
* OK on success, ERROR if the bus cannot be unwedged.
*
****************************************************************************/
EXTERN int up_i2creset(FAR struct i2c_dev_s * dev);
#undef EXTERN
#if defined(__cplusplus)
}

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