|
| From: | Gautier Hattenberger |
| Subject: | [paparazzi-commits] [5786] moving i2c automaton to hw |
| Date: | Thu, 02 Sep 2010 15:29:00 +0000 |
Revision: 5786
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5786
Author: gautier
Date: 2010-09-02 15:29:00 +0000 (Thu, 02 Sep 2010)
Log Message:
-----------
moving i2c automaton to hw
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/arm7/i2c_hw.h
paparazzi3/trunk/sw/airborne/i2c.h
Modified: paparazzi3/trunk/sw/airborne/arm7/i2c_hw.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arm7/i2c_hw.h 2010-09-02 15:27:46 UTC (rev
5785)
+++ paparazzi3/trunk/sw/airborne/arm7/i2c_hw.h 2010-09-02 15:29:00 UTC (rev
5786)
@@ -54,6 +54,65 @@
#define I2c0ClearStart() { I2C0CONCLR = _BV(STAC); }
#define I2c0ClearIT() { I2C0CONCLR = _BV(SIC); }
+#define I2c0Automaton(state) { \
+ switch (state) { \
+ case I2C_START: \
+ case I2C_RESTART: \
+ I2c0SendByte(i2c0_slave_addr); \
+ I2c0ClearStart();
\
+ i2c0_index = 0; \
+ break; \
+ case I2C_MR_DATA_ACK: \
+ if (i2c0_index < i2c0_len_r) { \
+ i2c0_buf[i2c0_index] = I2C_DATA_REG; \
+ i2c0_index++; \
+ I2c0Receive(i2c0_index < i2c0_len_r - 1); \
+ }
\
+ else { \
+ /* error , we should have got NACK */ \
+ I2c0SendStop(); \
+ }
\
+ break; \
+ case I2C_MR_SLA_ACK: /* At least one char */ \
+ /* Wait and reply with ACK or NACK */ \
+ I2c0Receive(i2c0_index < i2c0_len_r - 1);
\
+ break; \
+ case I2C_MR_SLA_NACK: \
+ case I2C_MT_SLA_NACK: \
+ I2c0SendStart(); \
+ break; \
+ case I2C_MT_SLA_ACK: \
+ case I2C_MT_DATA_ACK: \
+ if (i2c0_index < i2c0_len_w) { \
+ I2c0SendByte(i2c0_buf[i2c0_index]); \
+ i2c0_index++; \
+ } else { \
+ if (i2c0_trx) {
\
+ i2c0_trx = 0;
\
+ i2c0_index = 0; \
+ i2c0_slave_addr |= 1;
\
+ I2c0SendStart(); \
+ } else { \
+ if (i2c0_stop_after_transmit) { \
+ I2c0SendStop(); \
+ } else { \
+ I2c0Finished(); \
+ } \
+ } \
+ }
\
+ break; \
+ case I2C_MR_DATA_NACK: \
+ if (i2c0_index < i2c0_len_r) { \
+ i2c0_buf[i2c0_index] = I2C_DATA_REG; \
+ }
\
+ I2c0SendStop(); \
+ break; \
+ default: \
+ I2c0SendStop(); \
+ /* FIXME log error */ \
+ } \
+ } \
+
#endif /* USE_I2C0 */
@@ -81,6 +140,88 @@
#define I2c1ClearStart() { I2C1CONCLR = _BV(STAC); }
#define I2c1ClearIT() { I2C1CONCLR = _BV(SIC); }
+#define I2c1Automaton(state) { \
+ switch (state) { \
+ case I2C_START: \
+ case I2C_RESTART: \
+ I2c1SendByte(i2c1_slave_addr); \
+ I2c1ClearStart();
\
+ i2c1_index = 0; \
+ break; \
+ case I2C_MR_DATA_ACK: \
+ if (i2c1_index < i2c1_len_r) { \
+ i2c1_buf[i2c1_index] = I2C1_DATA_REG; \
+ i2c1_index++; \
+ I2c1Receive(i2c1_index < i2c1_len_r - 1); \
+ }
\
+ else { \
+ /* error , we should have got NACK */ \
+ I2c1SendStop(); \
+ }
\
+ break; \
+ case I2C_MR_SLA_ACK: /* At least one char */ \
+ /* Wait and reply with ACK or NACK */ \
+ I2c1Receive(i2c1_index < i2c1_len_r - 1);
\
+ break; \
+ case I2C_MR_SLA_NACK: \
+ case I2C_MT_SLA_NACK: \
+ I2c1SendStart(); \
+ break; \
+ case I2C_MT_SLA_ACK: \
+ case I2C_MT_DATA_ACK: \
+ if (i2c1_index < i2c1_len_w) { \
+ I2c1SendByte(i2c1_buf[i2c1_index]); \
+ i2c1_index++; \
+ } else { \
+ if (i2c1_trx) {
\
+ i2c1_trx = 0;
\
+ i2c1_index = 0; \
+ i2c1_slave_addr |= 1;
\
+ I2c1SendStart(); \
+ } else { \
+ I2c1SendStop(); \
+ } \
+ }
\
+ break; \
+ case I2C_MR_DATA_NACK: \
+ if (i2c1_index < i2c1_len_r) { \
+ i2c1_buf[i2c1_index] = I2C1_DATA_REG; \
+ }
\
+ I2c1SendStop(); \
+ break; \
+ default: \
+ I2c1SendStop(); \
+ /* LED_ON(2); FIXME log error */ \
+ } \
+ } \
+
#endif /* USE_I2C1 */
+#ifdef USE_I2C2
+
+
+extern void i2c0_hw_init(void);
+
+#define I2c0SendAck() { I2C0CONSET = _BV(AA); }
+#define I2c0Finished() { \
+ if (i2c0_finished) *i2c0_finished = TRUE; \
+ i2c0_status = I2C_IDLE; \
+}
+#define I2c0SendStop() { \
+ I2C0CONSET = _BV(STO); \
+ I2c0Finished(); \
+ }
+#define I2c0SendStart() { I2C0CONSET = _BV(STA); }
+#define I2c0SendByte(b) { I2C_DATA_REG = b; }
+
+#define I2c0Receive(_ack) { \
+ if (_ack) I2C0CONSET = _BV(AA); \
+ else I2C0CONCLR = _BV(AAC); \
+ }
+
+#define I2c0ClearStart() { I2C0CONCLR = _BV(STAC); }
+#define I2c0ClearIT() { I2C0CONCLR = _BV(SIC); }
+
+#endif
+
#endif /* I2C_HW_H */
Modified: paparazzi3/trunk/sw/airborne/i2c.h
===================================================================
--- paparazzi3/trunk/sw/airborne/i2c.h 2010-09-02 15:27:46 UTC (rev 5785)
+++ paparazzi3/trunk/sw/airborne/i2c.h 2010-09-02 15:29:00 UTC (rev 5786)
@@ -103,65 +103,6 @@
extern volatile bool_t* i2c0_finished;
-#define I2c0Automaton(state) { \
- switch (state) { \
- case I2C_START: \
- case I2C_RESTART: \
- I2c0SendByte(i2c0_slave_addr); \
- I2c0ClearStart();
\
- i2c0_index = 0; \
- break; \
- case I2C_MR_DATA_ACK: \
- if (i2c0_index < i2c0_len_r) { \
- i2c0_buf[i2c0_index] = I2C_DATA_REG; \
- i2c0_index++; \
- I2c0Receive(i2c0_index < i2c0_len_r - 1); \
- }
\
- else { \
- /* error , we should have got NACK */ \
- I2c0SendStop(); \
- }
\
- break; \
- case I2C_MR_SLA_ACK: /* At least one char */ \
- /* Wait and reply with ACK or NACK */ \
- I2c0Receive(i2c0_index < i2c0_len_r - 1);
\
- break; \
- case I2C_MR_SLA_NACK: \
- case I2C_MT_SLA_NACK: \
- I2c0SendStart(); \
- break; \
- case I2C_MT_SLA_ACK: \
- case I2C_MT_DATA_ACK: \
- if (i2c0_index < i2c0_len_w) { \
- I2c0SendByte(i2c0_buf[i2c0_index]); \
- i2c0_index++; \
- } else { \
- if (i2c0_trx) {
\
- i2c0_trx = 0;
\
- i2c0_index = 0; \
- i2c0_slave_addr |= 1;
\
- I2c0SendStart(); \
- } else { \
- if (i2c0_stop_after_transmit) { \
- I2c0SendStop(); \
- } else { \
- I2c0Finished(); \
- } \
- } \
- }
\
- break; \
- case I2C_MR_DATA_NACK: \
- if (i2c0_index < i2c0_len_r) { \
- i2c0_buf[i2c0_index] = I2C_DATA_REG; \
- }
\
- I2c0SendStop(); \
- break; \
- default: \
- I2c0SendStop(); \
- /* FIXME log error */ \
- } \
- } \
-
#endif /* USE_I2C0 */
#ifdef USE_I2C1
@@ -187,61 +128,6 @@
extern volatile bool_t* i2c1_finished;
-#define I2c1Automaton(state) { \
- switch (state) { \
- case I2C_START: \
- case I2C_RESTART: \
- I2c1SendByte(i2c1_slave_addr); \
- I2c1ClearStart();
\
- i2c1_index = 0; \
- break; \
- case I2C_MR_DATA_ACK: \
- if (i2c1_index < i2c1_len_r) { \
- i2c1_buf[i2c1_index] = I2C1_DATA_REG; \
- i2c1_index++; \
- I2c1Receive(i2c1_index < i2c1_len_r - 1); \
- }
\
- else { \
- /* error , we should have got NACK */ \
- I2c1SendStop(); \
- }
\
- break; \
- case I2C_MR_SLA_ACK: /* At least one char */ \
- /* Wait and reply with ACK or NACK */ \
- I2c1Receive(i2c1_index < i2c1_len_r - 1);
\
- break; \
- case I2C_MR_SLA_NACK: \
- case I2C_MT_SLA_NACK: \
- I2c1SendStart(); \
- break; \
- case I2C_MT_SLA_ACK: \
- case I2C_MT_DATA_ACK: \
- if (i2c1_index < i2c1_len_w) { \
- I2c1SendByte(i2c1_buf[i2c1_index]); \
- i2c1_index++; \
- } else { \
- if (i2c1_trx) {
\
- i2c1_trx = 0;
\
- i2c1_index = 0; \
- i2c1_slave_addr |= 1;
\
- I2c1SendStart(); \
- } else { \
- I2c1SendStop(); \
- } \
- }
\
- break; \
- case I2C_MR_DATA_NACK: \
- if (i2c1_index < i2c1_len_r) { \
- i2c1_buf[i2c1_index] = I2C1_DATA_REG; \
- }
\
- I2c1SendStop(); \
- break; \
- default: \
- I2c1SendStop(); \
- /* LED_ON(2); FIXME log error */ \
- } \
- } \
-
#endif /* USE_I2C1 */
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