diff --git a/src/shared/drivers/i2c/I2CDriver-f7.cpp b/src/shared/drivers/i2c/I2CDriver-f7.cpp
index 27f9c32a2430baee304607ec268943f08f74f8e8..2ef687279bbbe89860c99ed77d2a2d19d493035f 100644
--- a/src/shared/drivers/i2c/I2CDriver-f7.cpp
+++ b/src/shared/drivers/i2c/I2CDriver-f7.cpp
@@ -41,17 +41,23 @@ static const int N_SCL_BITBANG =
static const uint8_t I2C_PIN_ALTERNATE_FUNCTION =
4; ///< Alternate Function number of the I2C peripheral pins
-static uint8_t PRESC_STD; ///< PRESC for STANDARD speed
-static uint8_t SCLH_STD; ///< SCLH for STANDARD speed
-static uint8_t SCLL_STD; ///< SCLL for STANDARD speed
-
-static uint8_t PRESC_F; ///< PRESC for FAST speed
-static uint8_t SCLH_F; ///< SCLH for FAST speed
-static uint8_t SCLL_F; ///< SCLL for FAST speed
-
-static uint8_t PRESC_FP; ///< PRESC for FAST PLUS speed
-static uint8_t SCLH_FP; ///< SCLH for FAST PLUS speed
-static uint8_t SCLL_FP; ///< SCLL for FAST PLUS speed
+static uint8_t PRESC_STD; ///< PRESC for STANDARD speed
+static uint8_t SCLH_STD; ///< SCLH for STANDARD speed
+static uint8_t SCLL_STD; ///< SCLL for STANDARD speed
+static uint8_t SCLDEL_STD; ///< SCLDEL for STANDARD speed
+static uint8_t SDADEL_STD; ///< SDADEL for STANDARD speed
+
+static uint8_t PRESC_F; ///< PRESC for FAST speed
+static uint8_t SCLH_F; ///< SCLH for FAST speed
+static uint8_t SCLL_F; ///< SCLL for FAST speed
+static uint8_t SCLDEL_F; ///< SCLDEL for FAST speed
+static uint8_t SDADEL_F; ///< SDADEL for FAST speed
+
+static uint8_t PRESC_FP; ///< PRESC for FAST PLUS speed
+static uint8_t SCLH_FP; ///< SCLH for FAST PLUS speed
+static uint8_t SCLL_FP; ///< SCLL for FAST PLUS speed
+static uint8_t SCLDEL_FP; ///< SCLDEL for FAST PLUS speed
+static uint8_t SDADEL_FP; ///< SDADEL for FAST PLUS speed
} // namespace I2CConsts
/**
@@ -59,14 +65,14 @@ static uint8_t SCLL_FP; ///< SCLL for FAST PLUS speed
* peripheral
*/
void calculateTimings(uint32_t f, uint32_t fi2c, uint8_t *presc, uint8_t *sclh,
- uint8_t *scll)
+ uint8_t *scll, uint8_t *scldel, uint8_t *sdadel)
{
// The formula for the clock is:
// t_SCL = [(SCLL + 1) + (SCLH + 1)] * (PRESC + 1) * t_I2CCLK + t_sync;
// calculating the "smallest" prescaler so that we can handle in a more
// refined way (with SCLL and SCLH) the length of high and low phases.
- uint32_t temp_presc = f / (256 * fi2c);
+ uint32_t temp_presc = f / (64 * fi2c);
// presc is 4 bit long, so avoiding overflow
if (temp_presc >= 16)
@@ -86,6 +92,31 @@ void calculateTimings(uint32_t f, uint32_t fi2c, uint8_t *presc, uint8_t *sclh,
// correcting for the 250ns delay of the peripheral (250ns = 12 I2C clocks)
// distributing the correction on SCLL and SCLH
*sclh = *scll = (f / (fi2c * 2 * (*presc + 1)) - 1) - (7 / (*presc + 1));
+
+ // SCLDEL >= (t_r + t_su) / ((PRESC+1)*t_i2c) - 1 ; approximated without
+ // subtracting 1
+ uint32_t scldly = 0, sdadly = 0;
+ if (fi2c == 100)
+ {
+ scldly = 1250 * f / (*presc + 1) / 1000000;
+ sdadly = (3450 - 1000 - 260) * f / (*presc + 1) / 1000000;
+ }
+ else if (fi2c == 400)
+ {
+ scldly = 400 * f / (*presc + 1) / 1000000;
+ sdadly = (900 - 300 - 260) * f / (*presc + 1) / 1000000;
+ }
+ else if (fi2c == 1000)
+ {
+ scldly = 170 * f / (*presc + 1) / 1000000;
+ sdadly = (450 - 120 - 260) * f / (*presc + 1) / 1000000;
+ }
+
+ // max value of scldel is 15
+ *scldel = ((scldly < 16) ? (scldly - 1) : 15);
+
+ // max value of sdadel is 15 m
+ *sdadel = ((sdadly < 16) ? (sdadly - 1) : 15);
}
#ifdef I2C1
@@ -380,21 +411,25 @@ void I2CDriver::init()
ClockUtils::getAPBPeripheralsClock(ClockUtils::APB::APB1) / 1000;
calculateTimings(f, 100, &I2CConsts::PRESC_STD, &I2CConsts::SCLH_STD,
- &I2CConsts::SCLL_STD);
+ &I2CConsts::SCLL_STD, &I2CConsts::SCLDEL_STD,
+ &I2CConsts::SDADEL_STD);
calculateTimings(f, 400, &I2CConsts::PRESC_F, &I2CConsts::SCLH_F,
- &I2CConsts::SCLL_F);
+ &I2CConsts::SCLL_F, &I2CConsts::SCLDEL_F,
+ &I2CConsts::SDADEL_F);
calculateTimings(f, 1000, &I2CConsts::PRESC_FP, &I2CConsts::SCLH_FP,
- &I2CConsts::SCLL_FP);
+ &I2CConsts::SCLL_FP, &I2CConsts::SCLDEL_FP,
+ &I2CConsts::SDADEL_FP);
// I2CCLK < (t_low - t_filters) / 4
// I2CCLK < t_high
// I2CCLK < 4/3 * t_SCL
+ i2c->CR1 |= I2C_CR1_PE;
}
bool I2CDriver::read(const I2CSlaveConfig &slaveConfig, void *buffer,
- size_t nBytes)
+ const size_t &nBytes)
{
// Setting up the read transaction
transaction.operation = Operation::READ;
@@ -413,7 +448,7 @@ bool I2CDriver::read(const I2CSlaveConfig &slaveConfig, void *buffer,
};
bool I2CDriver::write(const I2CSlaveConfig &slaveConfig, const void *buffer,
- size_t nBytes, bool generateStop)
+ const size_t &nBytes, bool generateStop)
{
// Setting up the write transaction
transaction.operation = Operation::WRITE;
@@ -518,28 +553,29 @@ void I2CDriver::setupPeripheral(const I2CSlaveConfig &slaveConfig)
if (slaveConfig.speed == Speed::STANDARD)
{
i2c->TIMINGR =
- (I2CConsts::PRESC_STD << I2C_TIMINGR_PRESC_Pos) | // PRESC
- (I2CConsts::SCLL_STD << I2C_TIMINGR_SCLL_Pos) | // SCLL
- (I2CConsts::SCLH_STD << I2C_TIMINGR_SCLH_Pos) | // SCLH
- (0x1 << I2C_TIMINGR_SDADEL_Pos) | // SDADEL
- (0x1 << I2C_TIMINGR_SCLDEL_Pos); // SCLDEL
+ (I2CConsts::PRESC_STD << I2C_TIMINGR_PRESC_Pos) | // PRESC
+ (I2CConsts::SCLL_STD << I2C_TIMINGR_SCLL_Pos) | // SCLL
+ (I2CConsts::SCLH_STD << I2C_TIMINGR_SCLH_Pos) | // SCLH
+ (I2CConsts::SCLDEL_STD << I2C_TIMINGR_SCLDEL_Pos) | // SCLDEL
+ (I2CConsts::SDADEL_STD << I2C_TIMINGR_SDADEL_Pos); // SDADEL
}
else if (slaveConfig.speed == Speed::FAST)
{
- i2c->TIMINGR = (I2CConsts::PRESC_F << I2C_TIMINGR_PRESC_Pos) | // PRESC
- (I2CConsts::SCLL_F << I2C_TIMINGR_SCLL_Pos) | // SCLL
- (I2CConsts::SCLH_F << I2C_TIMINGR_SCLH_Pos) | // SCLH
- (0x1 << I2C_TIMINGR_SDADEL_Pos) | // SDADEL
- (0x1 << I2C_TIMINGR_SCLDEL_Pos); // SCLDEL
+ i2c->TIMINGR =
+ (I2CConsts::PRESC_F << I2C_TIMINGR_PRESC_Pos) | // PRESC
+ (I2CConsts::SCLL_F << I2C_TIMINGR_SCLL_Pos) | // SCLL
+ (I2CConsts::SCLH_F << I2C_TIMINGR_SCLH_Pos) | // SCLH
+ (I2CConsts::SCLDEL_F << I2C_TIMINGR_SCLDEL_Pos) | // SCLDEL
+ (I2CConsts::SDADEL_F << I2C_TIMINGR_SDADEL_Pos); // SDADEL
}
else if (slaveConfig.speed == Speed::FAST_PLUS)
{
i2c->TIMINGR =
- (I2CConsts::PRESC_FP << I2C_TIMINGR_PRESC_Pos) | // PRESC
- (I2CConsts::SCLL_FP << I2C_TIMINGR_SCLL_Pos) | // SCLL
- (I2CConsts::SCLH_FP << I2C_TIMINGR_SCLH_Pos) | // SCLH
- (0x1 << I2C_TIMINGR_SDADEL_Pos) | // SDADEL
- (0x1 << I2C_TIMINGR_SCLDEL_Pos); // SCLDEL
+ (I2CConsts::PRESC_FP << I2C_TIMINGR_PRESC_Pos) | // PRESC
+ (I2CConsts::SCLL_FP << I2C_TIMINGR_SCLL_Pos) | // SCLL
+ (I2CConsts::SCLH_FP << I2C_TIMINGR_SCLH_Pos) | // SCLH
+ (I2CConsts::SCLDEL_FP << I2C_TIMINGR_SCLDEL_Pos) | // SCLDEL
+ (I2CConsts::SDADEL_FP << I2C_TIMINGR_SDADEL_Pos); // SDADEL
}
else
{
@@ -575,15 +611,16 @@ void I2CDriver::setupReload()
{
if ((transaction.nBytes - transaction.nBytesDone) <= 0xffu)
{
- i2c->CR2 &= ~I2C_CR2_RELOAD;
- i2c->CR2 |= ((transaction.nBytes - transaction.nBytesDone)
- << I2C_CR2_NBYTES_Pos);
+ i2c->CR2 =
+ (i2c->CR2 & ~(I2C_CR2_NBYTES_Msk |
+ I2C_CR2_RELOAD)) | // clearing NBYTES and RELOAD
+ ((transaction.nBytes - transaction.nBytesDone)
+ << I2C_CR2_NBYTES_Pos); // Reloading right number of bytes
}
else
{
- i2c->CR2 |=
- (I2C_CR2_RELOAD | // There must be a reload
- (0xff << I2C_CR2_NBYTES_Pos)); // maximum bytes that can be sent
+ i2c->CR2 |= (I2C_CR2_RELOAD | // There must be a reload
+ I2C_CR2_NBYTES_Msk); // maximum bytes that can be sent
}
}
@@ -716,6 +753,12 @@ void I2CDriver::IRQhandleInterrupt()
return;
}
+ // Transfer complete reload: setting registers for the remaining bytes
+ if (i2c->ISR & I2C_ISR_TCR)
+ {
+ setupReload();
+ }
+
if (transaction.nBytesDone < transaction.nBytes)
{
// Performing the read/write
@@ -733,12 +776,6 @@ void I2CDriver::IRQhandleInterrupt()
}
}
- // Transfer complete reload: setting registers for the remaining bytes
- if (i2c->ISR & I2C_ISR_TCR)
- {
- setupReload();
- }
-
// when stop detected on the bus
if (i2c->ISR & I2C_ISR_STOPF)
{
diff --git a/src/tests/drivers/i2c/test-i2c-driver.cpp b/src/tests/drivers/i2c/test-i2c-driver.cpp
index ce9d8ceebe2d091c282167427e8e191441e02bab..0b40f814e233ea2f727dfdf913cc0160c6b41992 100644
--- a/src/tests/drivers/i2c/test-i2c-driver.cpp
+++ b/src/tests/drivers/i2c/test-i2c-driver.cpp
@@ -89,20 +89,15 @@ I2CDriver::I2CSlaveConfig BME280Config{BME280.addressSensor,
I2CDriver::Addressing::BIT7,
I2CDriver::Speed::STANDARD};
-I2CDriver::I2CSlaveConfig OLEDConfig_F{
- OLED.addressSensor, I2CDriver::Addressing::BIT7, I2CDriver::Speed::FAST};
-
-#ifdef _ARCH_CORTEXM7_STM32F7
-I2CDriver::I2CSlaveConfig OLEDConfig_FP{OLED.addressSensor,
- I2CDriver::Addressing::BIT7,
- I2CDriver::Speed::FAST_PLUS};
-#endif // _ARCH_CORTEXM7_STM32F7
+I2CDriver::I2CSlaveConfig OLEDConfig{OLED.addressSensor,
+ I2CDriver::Addressing::BIT7,
+ I2CDriver::Speed::STANDARD};
bool i2cDriver(I2CDriver &i2c, I2CSensor sensor,
I2CDriver::I2CSlaveConfig sensorConfig)
{
- uint8_t buffer[10] = {0};
- const uint8_t nRead = 1;
+ const size_t nRead = 300;
+ uint8_t buffer[nRead] = {0};
i2c.flushBus();
@@ -132,31 +127,41 @@ bool i2cDriver(I2CDriver &i2c, I2CSensor sensor,
int main()
{
- int nRepeat = 50;
+ int nRepeat = 10;
- // thread that uses 100% CPU
- std::thread t(
- []()
- {
- while (1)
- ;
- });
+ // // thread that uses 100% CPU
+ // std::thread t(
+ // []()
+ // {
+ // while (1)
+ // ;
+ // });
+
+ I2CDriver i2c(I2C1, i1scl2::getPin(), i1sda2::getPin());
for (;;)
{
- I2CDriver i2c(I2C1, i1scl2::getPin(), i1sda2::getPin());
-
// resetting status of read sensors
bool statusOLED = true;
bool statusBMP = true;
for (int i = 0; i < nRepeat; i++)
{
- statusBMP &= i2cDriver(i2c, BMP180, BMP180Config);
- statusOLED &= i2cDriver(i2c, OLED, OLEDConfig_F);
+ for (I2CDriver::Speed speed :
+ {I2CDriver::Speed::STANDARD, I2CDriver::Speed::FAST
#ifdef _ARCH_CORTEXM7_STM32F7
- statusOLED &= i2cDriver(i2c, OLED, OLEDConfig_FP);
+ ,
+ I2CDriver::Speed::FAST_PLUS
#endif // _ARCH_CORTEXM7_STM32F7
+ })
+ {
+ statusBMP &= i2cDriver(
+ i2c, BMP180,
+ {BMP180.addressSensor, I2CDriver::Addressing::BIT7, speed});
+ statusOLED &= i2cDriver(
+ i2c, OLED,
+ {OLED.addressSensor, I2CDriver::Addressing::BIT7, speed});
+ }
}
printf("OLED:%d\tBMP:%d\n", statusOLED, statusBMP);
diff --git a/src/tests/drivers/i2c/test-i2c.cpp b/src/tests/drivers/i2c/test-i2c.cpp
index ac292392e681fbcf4b81a18f4f81553544240805..caa0dde6af61b53f6ec7064d24fe0141c7b7fb36 100644
--- a/src/tests/drivers/i2c/test-i2c.cpp
+++ b/src/tests/drivers/i2c/test-i2c.cpp
@@ -24,7 +24,6 @@
#include "drivers/i2c/I2C.h"
#include "miosix.h"
-#include "scheduler/TaskScheduler.h"
#include "string"
#include "string.h"
#include "thread"
@@ -67,6 +66,8 @@ typedef miosix::Gpio<GPIOH_BASE, 8> i3scl2;
* one sensor (in order to provoke a locked state).
*/
+uint8_t buffer = 0;
+
typedef struct
{
// cppcheck-suppress unusedStructMember
@@ -88,21 +89,14 @@ I2CDriver::I2CSlaveConfig BME280Config{BME280.addressSensor,
I2CDriver::Addressing::BIT7,
I2CDriver::Speed::STANDARD};
-I2CDriver::I2CSlaveConfig OLEDConfig_F{
- OLED.addressSensor, I2CDriver::Addressing::BIT7, I2CDriver::Speed::FAST};
-
-#ifdef _ARCH_CORTEXM7_STM32F7
-I2CDriver::I2CSlaveConfig OLEDConfig_FP{OLED.addressSensor,
- I2CDriver::Addressing::BIT7,
- I2CDriver::Speed::FAST_PLUS};
-#endif // _ARCH_CORTEXM7_STM32F7
+I2CDriver::I2CSlaveConfig OLEDConfig{OLED.addressSensor,
+ I2CDriver::Addressing::BIT7,
+ I2CDriver::Speed::STANDARD};
bool i2cDriver(I2C &i2c, I2CSensor sensor,
I2CDriver::I2CSlaveConfig sensorConfig)
{
- uint8_t whoamiContent = 0;
- const size_t nRead = 300;
- uint8_t buffer[nRead] = {0};
+ buffer = 48;
// reset the sensor and then read the whoami
if (!(i2c.probe(sensorConfig) &&
@@ -132,29 +126,39 @@ int main()
{
int nRepeat = 10;
- // thread that uses 100% CPU
- std::thread t(
- []()
- {
- while (1)
- ;
- });
+ // // thread that uses 100% CPU
+ // std::thread t(
+ // []()
+ // {
+ // while (1)
+ // ;
+ // });
+
+ SyncedI2C i2c(I2C1, i1scl2::getPin(), i1sda2::getPin());
for (;;)
{
- SyncedI2C i2c(I2C1, i1scl2::getPin(), i1sda2::getPin());
-
// resetting status of read sensors
bool statusOLED = true;
bool statusBMP = true;
for (int i = 0; i < nRepeat; i++)
{
- statusBMP &= i2cDriver(i2c, BMP180, BMP180Config);
- statusOLED &= i2cDriver(i2c, OLED, OLEDConfig_F);
+ for (I2CDriver::Speed speed :
+ {I2CDriver::Speed::STANDARD, I2CDriver::Speed::FAST
#ifdef _ARCH_CORTEXM7_STM32F7
- statusOLED &= i2cDriver(i2c, OLED, OLEDConfig_FP);
+ ,
+ I2CDriver::Speed::FAST_PLUS
#endif // _ARCH_CORTEXM7_STM32F7
+ })
+ {
+ statusBMP &= i2cDriver(
+ i2c, BMP180,
+ {BMP180.addressSensor, I2CDriver::Addressing::BIT7, speed});
+ statusOLED &= i2cDriver(
+ i2c, OLED,
+ {OLED.addressSensor, I2CDriver::Addressing::BIT7, speed});
+ }
}
printf("OLED:%d\tBMP:%d\n", statusOLED, statusBMP);