fly316/PX4-Autopilot
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Handle the completion of an in-progress transaction (STOPF/AF bits) before accepting the start of a new transaction (ADDR).

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This commit is contained in:
px4dev 2013-01-26 14:26:02 -08:00
parent 11796e27f2
commit 6ba4cd04fe
1 changed files with 24 additions and 21 deletions
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45
apps/px4io/i2c.c
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@ -84,6 +84,7 @@ static const uint8_t junk_buf[] = { 0xff, 0xff, 0xff, 0xff };
static const uint8_t *tx_buf = junk_buf;
static unsigned tx_len = sizeof(junk_buf);
unsigned tx_count;
static uint8_t selected_page;
static uint8_t selected_offset;
@ -156,24 +157,6 @@ i2c_interrupt(int irq, FAR void *context)
{
uint16_t sr1 = rSR1;
if (sr1 & I2C_SR1_ADDR) {
/* clear ADDR to ack our selection and get direction */
(void)rSR1; /* as recommended, re-read SR1 */
uint16_t sr2 = rSR2;
if (sr2 & I2C_SR2_TRA) {
/* we are the transmitter */
direction = DIR_TX;
} else {
/* we are the receiver */
direction = DIR_RX;
}
}
if (sr1 & (I2C_SR1_STOPF | I2C_SR1_AF)) {
if (sr1 & I2C_SR1_STOPF) {
@ -197,6 +180,24 @@ i2c_interrupt(int irq, FAR void *context)
direction = DIR_NONE;
}
if (sr1 & I2C_SR1_ADDR) {
/* clear ADDR to ack our selection and get direction */
(void)rSR1; /* as recommended, re-read SR1 */
uint16_t sr2 = rSR2;
if (sr2 & I2C_SR2_TRA) {
/* we are the transmitter */
direction = DIR_TX;
} else {
/* we are the receiver */
direction = DIR_RX;
}
}
/* clear any errors that might need it (this handles AF as well */
if (sr1 & I2C_SR1_ERRORMASK)
rSR1 = 0;
@ -246,7 +247,7 @@ i2c_rx_complete(void)
int ret = registers_get(selected_page, selected_offset, &regs, &reg_count);
if (ret == 0) {
tx_buf = (uint8_t *)regs;
tx_len = reg_count *2;
tx_len = reg_count * 2;
} else {
tx_buf = junk_buf;
tx_len = sizeof(junk_buf);
@ -289,10 +290,12 @@ i2c_tx_setup(void)
static void
i2c_tx_complete(void)
{
tx_count = tx_len - stm32_dmaresidual(tx_dma);
stm32_dmastop(tx_dma);
tx_buf = junk_buf;
tx_len = sizeof(junk_buf);
/* for debug purposes, save the length of the last transmit as seen by the DMA */
/* leave tx_buf/tx_len alone, so that a retry will see the same data */
/* prepare for the next transaction */
i2c_tx_setup();