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@ -15,19 +15,203 @@
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*/
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#include "twi2c.h"
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#include <string.h>
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#include <hal.h>
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#include "hal_i2cslave.h"
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#include "chprintf.h"
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#include "memstreams.h"
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#include "printf.h"
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#ifndef I2C_DRIVER
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#define I2C_DRIVER &I2CD1
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#define I2C_DRIVER I2CD1
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#endif
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static const I2CConfig i2cconfig = {
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/**
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* I2C slave test routine.
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*
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* To use: Add file to a project, call startComms() with the address of a serial stream
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*
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* There are two different responses:
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* a) A read-only transaction - returns the "Initial Reply" message
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* b) A write then read transaction - calls a message processor and returns the generated reply.
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* Stretches clock until reply available.
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*/
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#define slaveI2Caddress 0x30 /* Address in our terms - halved by later code */
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//#define myOtherI2Caddress 0x19
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I2CSlaveMsgCB twi2c_slave_message_process, catchError, clearAfterSend;
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static const I2CConfig slaveI2Cconfig = {
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STM32_TIMINGR_PRESC(15U) |
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STM32_TIMINGR_SCLDEL(4U) | STM32_TIMINGR_SDADEL(2U) |
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STM32_TIMINGR_SCLH(15U) | STM32_TIMINGR_SCLL(21U),
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0,
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0
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0,
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NULL
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};
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void twi2c_init(void) {
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i2cStart(I2C_DRIVER, &i2cconfig);
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}
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char initialReplyBody[50] = "Initial reply"; // 'Status' response if read without preceding write
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uint32_t messageCounter = 0; /* Counts number of messages received to return as part of response */
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uint8_t rxBody[240]; /* stores last message master sent us (intentionally a few bytes smaller than txBody) */
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uint8_t txBody[256]; /* Return message buffer for computed replies */
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BaseSequentialStream *chp = NULL; // Used for serial logging
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// Handler when something sent to us
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const I2CSlaveMsg echoRx =
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{
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sizeof(rxBody), /* max sizeof received msg body */
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rxBody, /* body of received msg */
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NULL, /* do nothing on address match */
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twi2c_slave_message_process, /* Routine to process received messages */
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catchError /* Error hook */
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};
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// 'Empty' reply when nothing to say, and no message received. In RAM, to allow update
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I2CSlaveMsg initialReply =
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{
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sizeof(initialReplyBody), /* trailing zero byte will be repeated as needed */
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(uint8_t *)initialReplyBody,
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NULL, /* do nothing on address match */
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NULL, /* do nothing after reply sent */
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catchError /* Error hook */
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};
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// Response to received messages
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I2CSlaveMsg echoReply = { /* this is in RAM so size may be updated */
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0, /* filled in with the length of the message to send */
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txBody, /* Response message */
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NULL, /* do nothing special on address match */
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clearAfterSend, /* Clear receive buffer once replied */
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catchError /* Error hook */
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};
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/**
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* Track I2C errors
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*/
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uint8_t gotI2cError = 0;
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uint32_t lastI2cErrorFlags = 0;
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// Called from ISR to log error
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void noteI2cError(uint32_t flags)
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{
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lastI2cErrorFlags = flags;
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gotI2cError = 1;
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}
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/**
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* Generic error handler
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*
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* Called in interrupt context, so need to watch what we do
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*/
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void catchError(I2CDriver *i2cp)
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{
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noteI2cError(i2cp->errors);
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}
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const char hexString[16] = "0123456789abcdef";
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/**
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* Message processor - looks at received message, determines reply as quickly as possible
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*
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* Responds with the value of the messageCounter (in hex), followed by the received message in [..]
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*
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* Note: Called in interrupt context, so need to be quick!
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*/
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void twi2c_slave_message_process(I2CDriver *i2cp) {
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uint8_t i;
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uint8_t *txPtr = txBody + 8;
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uint8_t txLen;
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uint32_t curCount;
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size_t len = i2cSlaveBytes(i2cp); // Number of bytes received
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if (len >= sizeof(rxBody))
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len = sizeof(rxBody)-1;
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rxBody[len]=0; // String termination sometimes useful
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/* A real-world application would read and decode the message in rxBody, then generate an appropriate reply in txBody */
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curCount = ++messageCounter;
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txLen = len + 11; // Add in the overhead
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for (i = 0; i < 8; i++)
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{
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*--txPtr = hexString[curCount & 0xf];
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curCount = curCount >> 4;
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}
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txPtr = txBody + 8;
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*txPtr++ = ' ';
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*txPtr++ = '[';
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memcpy(txPtr, rxBody, len); // Echo received message
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txPtr += len;
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*txPtr++ = ']';
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*txPtr = '\0';
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/** Message ready to go here */
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echoReply.size = txLen;
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i2cSlaveReplyI(i2cp, &echoReply);
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}
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/**
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* Callback after sending of response complete - restores default reply in case polled
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*/
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void clearAfterSend(I2CDriver *i2cp)
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{
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echoReply.size = 0; // Clear receive message
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i2cSlaveReplyI(i2cp, &initialReply);
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}
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/**
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* Start the I2C Slave port to accept comms from master CPU
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*
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* We then go into a loop checking for errors, and never return
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*/
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void twi2c_slave_init(void) {
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palSetGroupMode(GPIOB,8,9, PAL_MODE_INPUT); // Try releasing special pins for a short time
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chThdSleepMilliseconds(10);
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/* I2C1 SCL on PF1, SDA on PF0 */
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palSetPadMode(GPIOB, 9, PAL_MODE_ALTERNATE(4) | PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_PUPDR_PULLUP);
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palSetPadMode(GPIOB, 8, PAL_MODE_ALTERNATE(4) | PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_PUPDR_PULLUP);
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i2cStart(&I2C_DRIVER, &slaveI2Cconfig);
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#if HAL_USE_I2C_SLAVE
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I2C_DRIVER.slaveTimeout = MS2ST(100); // Time for complete message
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#endif
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i2cSlaveConfigure(&I2C_DRIVER, &echoRx, &initialReply);
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// Enable match address after everything else set up
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i2cMatchAddress(&I2C_DRIVER, slaveI2Caddress/2);
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// i2cMatchAddress(&I2C_DRIVER, myOtherI2Caddress/2);
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// i2cMatchAddress(&I2C_DRIVER, 0); /* "all call" */
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printf("Slave I2C started\n\r");
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}
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void twi2c_slave_task(void) {
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if (gotI2cError) {
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gotI2cError = 0;
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printf("I2cError: %04x\r\n", lastI2cErrorFlags);
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}
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}
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Jack Humbert
7 years ago