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- /* Copyright 2018 Jack Humbert
- *
- * 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, see <http://www.gnu.org/licenses/>.
- */
-
- #include "twi2c.h"
- #include <string.h>
- #include <hal.h>
- #include "hal_i2cslave.h"
- #include "chprintf.h"
- #include "memstreams.h"
- #include "printf.h"
- #include "matrix.h"
-
- /**
- * I2C slave test routine.
- *
- * To use: Add file to a project, call startComms() with the address of a serial stream
- *
- * There are two different responses:
- * a) A read-only transaction - returns the "Initial Reply" message
- * b) A write then read transaction - calls a message processor and returns the generated reply.
- * Stretches clock until reply available.
- */
- // static const I2CConfig masterI2CConfig = {
- // 400000
- // };
-
- I2CSlaveMsgCB twi2c_slave_message_process, catchError, clearAfterSend;
-
- static uint8_t twi2c_address;
-
- static const I2CConfig I2CConfig = {
- STM32_TIMINGR_PRESC(15U) |
- STM32_TIMINGR_SCLDEL(4U) | STM32_TIMINGR_SDADEL(2U) |
- STM32_TIMINGR_SCLH(15U) | STM32_TIMINGR_SCLL(21U),
- 0,
- 0,
- NULL
- };
-
- char initialReplyBody[50] = "Initial reply"; // 'Status' response if read without preceding write
-
-
- uint32_t messageCounter = 0; /* Counts number of messages received to return as part of response */
-
- uint8_t rxBody[2]; /* stores last message master sent us (intentionally a few bytes smaller than txBody) */
- uint8_t txBody[MATRIX_ROWS/2]; /* Return message buffer for computed replies */
-
- BaseSequentialStream *chp = NULL; // Used for serial logging
-
- // Handler when something sent to us
- const I2CSlaveMsg echoRx =
- {
- sizeof(rxBody), /* max sizeof received msg body */
- rxBody, /* body of received msg */
- NULL, /* do nothing on address match */
- twi2c_slave_message_process, /* Routine to process received messages */
- catchError /* Error hook */
- };
-
-
- // // 'Empty' reply when nothing to say, and no message received. In RAM, to allow update
- I2CSlaveMsg initialReply =
- {
- sizeof(initialReplyBody), /* trailing zero byte will be repeated as needed */
- (uint8_t *)initialReplyBody,
- NULL, /* do nothing on address match */
- NULL, /* do nothing after reply sent */
- catchError /* Error hook */
- };
-
- // // 'Empty' reply when nothing to say, and no message received. In RAM, to allow update
- // I2CSlaveMsg initialReply =
- // {
- // 0, /* trailing zero byte will be repeated as needed */
- // NULL,
- // NULL, /* do nothing on address match */
- // NULL, /* do nothing after reply sent */
- // catchError /* Error hook */
- // };
-
-
- // Response to received messages
- I2CSlaveMsg echoReply = { /* this is in RAM so size may be updated */
- MATRIX_ROWS / 2, /* filled in with the length of the message to send */
- txBody, /* Response message */
- NULL, /* do nothing special on address match */
- clearAfterSend, /* Clear receive buffer once replied */
- catchError /* Error hook */
- };
-
-
- /**
- * Track I2C errors
- */
- uint8_t gotI2cError = 0;
- uint32_t lastI2cErrorFlags = 0;
-
- // Called from ISR to log error
- void noteI2cError(uint32_t flags)
- {
- lastI2cErrorFlags = flags;
- gotI2cError = 1;
- }
-
-
-
- /**
- * Generic error handler
- *
- * Called in interrupt context, so need to watch what we do
- */
- void catchError(I2CDriver *i2cp)
- {
- noteI2cError(i2cp->errors);
- }
-
- extern void matrix_copy(matrix_row_t * copy);
-
- const char hexString[16] = "0123456789abcdef";
-
- /**
- * Message processor - looks at received message, determines reply as quickly as possible
- *
- * Responds with the value of the messageCounter (in hex), followed by the received message in [..]
- *
- * Note: Called in interrupt context, so need to be quick!
- */
- void twi2c_slave_message_process(I2CDriver *i2cp) {
-
- // size_t len = i2cSlaveBytes(i2cp); // Number of bytes received
-
- // memset(txBody, 0, MATRIX_ROWS / 2 * sizeof(matrix_row_t));
- matrix_copy(txBody);
-
- echoReply.size = MATRIX_ROWS / 2;
- i2cSlaveReplyI(i2cp, &echoReply);
- }
-
-
- /**
- * Callback after sending of response complete - restores default reply in case polled
- */
- void clearAfterSend(I2CDriver *i2cp)
- {
- // echoReply.size = 0; // Clear receive message
- // i2cSlaveReplyI(i2cp, &initialReply);
- }
-
-
- /**
- * Start the I2C Slave port to accept comms from master CPU
- *
- * We then go into a loop checking for errors, and never return
- */
-
- void twi2c_slave_init(void) {
-
- twi2c_init();
-
-
- i2cStart(&I2C_DRIVER, &I2CConfig);
- #if HAL_USE_I2C_SLAVE
- I2C_DRIVER.slaveTimeout = MS2ST(100); // Time for complete message
- #endif
-
- // i2cSlaveConfigure(&I2C_DRIVER, &echoRx, &initialReply);
-
- memset(txBody, 0, MATRIX_ROWS / 2 * sizeof(matrix_row_t));
-
- i2cSlaveConfigure(&I2C_DRIVER, &echoRx, &echoReply);
-
- // Enable match address after everything else set up
- i2cMatchAddress(&I2C_DRIVER, slaveI2Caddress/2);
- // i2cMatchAddress(&I2C_DRIVER, myOtherI2Caddress/2);
- // i2cMatchAddress(&I2C_DRIVER, 0); /* "all call" */
-
- printf("Slave I2C started\n\r");
-
- }
-
- void twi2c_slave_task(void) {
- if (gotI2cError) {
- gotI2cError = 0;
- printf("I2cError: %04x\r\n", lastI2cErrorFlags);
- }
- }
-
- uint8_t twi2c_start(uint8_t address) {
- twi2c_address = address;
- i2cStart(&I2C_DRIVER, &I2CConfig);
- }
-
- void twi2c_init(void) {
- palSetGroupMode(GPIOB,8,9, PAL_MODE_INPUT); // Try releasing special pins for a short time
- chThdSleepMilliseconds(10);
-
- palSetPadMode(GPIOB, 9, PAL_MODE_ALTERNATE(4) | PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_PUPDR_PULLUP);
- palSetPadMode(GPIOB, 8, PAL_MODE_ALTERNATE(4) | PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_PUPDR_PULLUP);
-
- // try high drive (from kiibohd)
- // I2C_DRIVER.i2c->C2 |= I2Cx_C2_HDRS;
- // try glitch fixing (from kiibohd)
- // I2C_DRIVER.i2c->FLT = 4;
- }
-
- uint8_t twi2c_write(uint8_t data) {
- uint8_t buffer[1] = {0};
- return i2cMasterTransmitTimeout(&I2C_DRIVER, twi2c_address/2, &data, 1, buffer, 1, MS2ST(100));
- }
-
- uint8_t twi2c_transmit(uint8_t address, uint8_t* data, uint16_t length) {
- twi2c_address = address;
- i2cStart(&I2C_DRIVER, &I2CConfig);
- return i2cMasterTransmitTimeout(&I2C_DRIVER, twi2c_address/2, data, length, buffer, 1, MS2ST(100));
- }
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