diff --git a/stmhal/Makefile b/stmhal/Makefile index 1c9ea55314..bf5db71867 100644 --- a/stmhal/Makefile +++ b/stmhal/Makefile @@ -94,9 +94,9 @@ SRC_C = \ servo.c \ dac.c \ adc.c \ + i2c.c \ # timer.c \ -# i2c.c \ # pybwlan.c \ SRC_S = \ diff --git a/stmhal/accel.c b/stmhal/accel.c index b58b7c4db4..f791691619 100644 --- a/stmhal/accel.c +++ b/stmhal/accel.c @@ -9,6 +9,7 @@ #include "qstr.h" #include "obj.h" #include "runtime.h" +#include "i2c.h" #include "accel.h" #define MMA_ADDR (0x98) @@ -19,8 +20,6 @@ #define MMA_REG_MODE (7) #define MMA_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0)) -STATIC I2C_HandleTypeDef I2cHandle; - void accel_init(void) { GPIO_InitTypeDef GPIO_InitStructure; @@ -31,38 +30,12 @@ void accel_init(void) { GPIO_InitStructure.Speed = GPIO_SPEED_LOW; GPIO_InitStructure.Pull = GPIO_NOPULL; HAL_GPIO_Init(GPIOB, &GPIO_InitStructure); - - // PB6=SCL, PB7=SDA - GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7; - GPIO_InitStructure.Mode = GPIO_MODE_AF_OD; - GPIO_InitStructure.Speed = GPIO_SPEED_FAST; - GPIO_InitStructure.Pull = GPIO_NOPULL; // have external pull-up resistors on both lines - GPIO_InitStructure.Alternate = GPIO_AF4_I2C1; - HAL_GPIO_Init(GPIOB, &GPIO_InitStructure); - - // enable the I2C1 clock - __I2C1_CLK_ENABLE(); - - // set up the I2C1 device - memset(&I2cHandle, 0, sizeof(I2C_HandleTypeDef)); - I2cHandle.Instance = I2C1; - I2cHandle.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; - I2cHandle.Init.ClockSpeed = 400000; - I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED; - I2cHandle.Init.DutyCycle = I2C_DUTYCYCLE_16_9; - I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED; - I2cHandle.Init.NoStretchMode = I2C_NOSTRETCH_DISABLED; - I2cHandle.Init.OwnAddress1 = 0xfe; // unused - I2cHandle.Init.OwnAddress2 = 0xfe; // unused - - if (HAL_I2C_Init(&I2cHandle) != HAL_OK) { - // init error - printf("accel_init: HAL_I2C_Init failed\n"); - return; - } } -STATIC void accel_init_device(void) { +STATIC void accel_start(void) { + // start the I2C bus + i2c_start(&I2cHandle_X); + // turn off AVDD, wait 20ms, turn on AVDD, wait 20ms again GPIOB->BSRRH = GPIO_PIN_5; // turn off HAL_Delay(20); @@ -73,7 +46,7 @@ STATIC void accel_init_device(void) { //printf("IsDeviceReady\n"); for (int i = 0; i < 10; i++) { - status = HAL_I2C_IsDeviceReady(&I2cHandle, MMA_ADDR, 10, 200); + status = HAL_I2C_IsDeviceReady(&I2cHandle_X, MMA_ADDR, 10, 200); //printf(" got %d\n", status); if (status == HAL_OK) { break; @@ -83,7 +56,7 @@ STATIC void accel_init_device(void) { //printf("MemWrite\n"); uint8_t data[1]; data[0] = 1; // active mode - status = HAL_I2C_Mem_Write(&I2cHandle, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200); + status = HAL_I2C_Mem_Write(&I2cHandle_X, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200); //printf(" got %d\n", status); } @@ -108,14 +81,14 @@ STATIC mp_obj_t pyb_accel_make_new(mp_obj_t type_in, uint n_args, uint n_kw, con // init accel object pyb_accel_obj.base.type = &pyb_accel_type; - accel_init_device(); + accel_start(); return &pyb_accel_obj; } STATIC mp_obj_t read_axis(int axis) { uint8_t data[1]; - HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200); + HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200); return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0])); } @@ -139,7 +112,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z); STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) { uint8_t data[1]; - HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200); + HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200); return mp_obj_new_int(data[0]); } @@ -151,7 +124,7 @@ STATIC mp_obj_t pyb_accel_filtered_xyz(mp_obj_t self_in) { memmove(self->buf, self->buf + NUM_AXIS, NUM_AXIS * (FILT_DEPTH - 1) * sizeof(int16_t)); uint8_t data[NUM_AXIS]; - HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200); + HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200); mp_obj_t tuple[NUM_AXIS]; for (int i = 0; i < NUM_AXIS; i++) { @@ -170,7 +143,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_filtered_xyz_obj, pyb_accel_filtered_ STATIC mp_obj_t pyb_accel_read_reg(mp_obj_t self_in, mp_obj_t reg) { uint8_t data[1]; - HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200); + HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200); return mp_obj_new_int(data[0]); } @@ -179,7 +152,7 @@ MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_read_reg_obj, pyb_accel_read_reg); STATIC mp_obj_t pyb_accel_write_reg(mp_obj_t self_in, mp_obj_t reg, mp_obj_t val) { uint8_t data[1]; data[0] = mp_obj_get_int(val); - HAL_I2C_Mem_Write(&I2cHandle, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200); + HAL_I2C_Mem_Write(&I2cHandle_X, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200); return mp_const_none; } diff --git a/stmhal/accel.h b/stmhal/accel.h index 88fabfd543..9f9c0a8e06 100644 --- a/stmhal/accel.h +++ b/stmhal/accel.h @@ -1,3 +1,4 @@ -void accel_init(void); - +extern I2C_HandleTypeDef I2cHandle; extern const mp_obj_type_t pyb_accel_type; + +void accel_init(void); diff --git a/stmhal/i2c.c b/stmhal/i2c.c new file mode 100644 index 0000000000..b8608ad3ba --- /dev/null +++ b/stmhal/i2c.c @@ -0,0 +1,184 @@ +#include +#include + +#include + +#include "nlr.h" +#include "misc.h" +#include "mpconfig.h" +#include "qstr.h" +#include "obj.h" +#include "runtime.h" +#include "i2c.h" + +I2C_HandleTypeDef I2cHandle_X; +I2C_HandleTypeDef I2cHandle_Y; + +void i2c_init(void) { + // init the I2C1 device + memset(&I2cHandle_X, 0, sizeof(I2C_HandleTypeDef)); + I2cHandle_X.Instance = I2C1; + + // init the I2C2 device + memset(&I2cHandle_Y, 0, sizeof(I2C_HandleTypeDef)); + I2cHandle_Y.Instance = I2C2; +} + +void i2c_start(I2C_HandleTypeDef *i2c_handle) { + GPIO_InitTypeDef GPIO_InitStructure; + + // init the GPIO lines + GPIO_InitStructure.Mode = GPIO_MODE_AF_OD; + GPIO_InitStructure.Speed = GPIO_SPEED_FAST; + GPIO_InitStructure.Pull = GPIO_NOPULL; // have external pull-up resistors on both lines + + if (i2c_handle == &I2cHandle_X) { + // X-skin: X9=PB6=SCL, X10=PB7=SDA + GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7; + GPIO_InitStructure.Alternate = GPIO_AF4_I2C1; + HAL_GPIO_Init(GPIOB, &GPIO_InitStructure); + // enable the I2C clock + __I2C1_CLK_ENABLE(); + } else { + // Y-skin: Y9=PB10=SCL, Y10=PB11=SDA + GPIO_InitStructure.Pin = GPIO_PIN_10 | GPIO_PIN_11; + GPIO_InitStructure.Alternate = GPIO_AF4_I2C2; + HAL_GPIO_Init(GPIOB, &GPIO_InitStructure); + // enable the I2C clock + __I2C2_CLK_ENABLE(); + } + + // init the I2C device + i2c_handle->Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; + i2c_handle->Init.ClockSpeed = 400000; + i2c_handle->Init.DualAddressMode = I2C_DUALADDRESS_DISABLED; + i2c_handle->Init.DutyCycle = I2C_DUTYCYCLE_16_9; + i2c_handle->Init.GeneralCallMode = I2C_GENERALCALL_DISABLED; + i2c_handle->Init.NoStretchMode = I2C_NOSTRETCH_DISABLED; + i2c_handle->Init.OwnAddress1 = 0xfe; // unused + i2c_handle->Init.OwnAddress2 = 0xfe; // unused + + if (HAL_I2C_Init(i2c_handle) != HAL_OK) { + // init error + printf("accel_init: HAL_I2C_Init failed\n"); + return; + } +} + +/******************************************************************************/ +/* Micro Python bindings */ + +#define PYB_NUM_I2C (2) + +typedef struct _pyb_i2c_obj_t { + mp_obj_base_t base; + I2C_HandleTypeDef *i2c_handle; +} pyb_i2c_obj_t; + +STATIC pyb_i2c_obj_t pyb_i2c_obj[PYB_NUM_I2C] = {{{&pyb_i2c_type}, &I2cHandle_X}, {{&pyb_i2c_type}, &I2cHandle_Y}}; + +STATIC mp_obj_t pyb_i2c_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) { + // check arguments + if (!(n_args == 1 && n_kw == 0)) { + nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "I2C accepts 1 argument")); + } + + // get i2c number + machine_int_t i2c_id = mp_obj_get_int(args[0]) - 1; + + // check i2c number + if (!(0 <= i2c_id && i2c_id < PYB_NUM_I2C)) { + nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "I2C bus %d does not exist", i2c_id + 1)); + } + + // get i2c object + pyb_i2c_obj_t *i2c_obj = &pyb_i2c_obj[i2c_id]; + + // start the peripheral + i2c_start(i2c_obj->i2c_handle); + + return &pyb_i2c_obj; +} + +STATIC mp_obj_t pyb_i2c_is_ready(mp_obj_t self_in, mp_obj_t i2c_addr_o) { + pyb_i2c_obj_t *self = self_in; + machine_uint_t i2c_addr = mp_obj_get_int(i2c_addr_o) << 1; + + //printf("IsDeviceReady\n"); + for (int i = 0; i < 10; i++) { + HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c_handle, i2c_addr, 10, 200); + //printf(" got %d\n", status); + if (status == HAL_OK) { + return mp_const_true; + } + } + + return mp_const_false; +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_i2c_is_ready_obj, pyb_i2c_is_ready); + +STATIC mp_obj_t pyb_i2c_mem_read(uint n_args, const mp_obj_t *args) { + pyb_i2c_obj_t *self = args[0]; + machine_uint_t i2c_addr = mp_obj_get_int(args[1]) << 1; + machine_uint_t mem_addr = mp_obj_get_int(args[2]); + machine_uint_t n = mp_obj_get_int(args[3]); + + byte *data; + mp_obj_t o = mp_obj_str_builder_start(&bytes_type, n, &data); + HAL_StatusTypeDef status = HAL_I2C_Mem_Read(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, n, 200); + + //printf("Read got %d\n", status); + + if (status != HAL_OK) { + // TODO really need a HardwareError object, or something + nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Mem_Read failed with code %d", status)); + } + + return mp_obj_str_builder_end(o); +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_i2c_mem_read_obj, 4, 4, pyb_i2c_mem_read); + +STATIC mp_obj_t pyb_i2c_mem_write(uint n_args, const mp_obj_t *args) { + pyb_i2c_obj_t *self = args[0]; + machine_uint_t i2c_addr = mp_obj_get_int(args[1]) << 1; + machine_uint_t mem_addr = mp_obj_get_int(args[2]); + HAL_StatusTypeDef status; + mp_obj_type_t *type = mp_obj_get_type(args[3]); + if (type->buffer_p.get_buffer != NULL) { + buffer_info_t bufinfo; + type->buffer_p.get_buffer(args[3], &bufinfo, BUFFER_READ); + status = HAL_I2C_Mem_Write(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, bufinfo.buf, bufinfo.len, 200); + } else if (MP_OBJ_IS_INT(args[3])) { + uint8_t data[1] = {mp_obj_get_int(args[3])}; + status = HAL_I2C_Mem_Write(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, 1, 200); + } else { + nlr_jump(mp_obj_new_exception_msg(&mp_type_TypeError, "data argument must be an integer or support the buffer protocol")); + } + + //printf("Write got %d\n", status); + + if (status != HAL_OK) { + // TODO really need a HardwareError object, or something + nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Mem_Write failed with code %d", status)); + } + + return mp_const_none; +} + +STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_i2c_mem_write_obj, 4, 4, pyb_i2c_mem_write); + +STATIC const mp_method_t pyb_i2c_methods[] = { + { "is_ready", &pyb_i2c_is_ready_obj }, + { "mem_read", &pyb_i2c_mem_read_obj }, + { "mem_write", &pyb_i2c_mem_write_obj }, + { NULL, NULL }, +}; + +const mp_obj_type_t pyb_i2c_type = { + { &mp_type_type }, + .name = MP_QSTR_I2C, + .make_new = pyb_i2c_make_new, + .methods = pyb_i2c_methods, +}; diff --git a/stmhal/i2c.h b/stmhal/i2c.h new file mode 100644 index 0000000000..32cba42595 --- /dev/null +++ b/stmhal/i2c.h @@ -0,0 +1,6 @@ +extern I2C_HandleTypeDef I2cHandle_X; +extern I2C_HandleTypeDef I2cHandle_Y; +extern const mp_obj_type_t pyb_i2c_type; + +void i2c_init(void); +void i2c_start(I2C_HandleTypeDef *i2c_handle); diff --git a/stmhal/main.c b/stmhal/main.c index ab96dcdef2..e80841ea9d 100644 --- a/stmhal/main.c +++ b/stmhal/main.c @@ -32,6 +32,7 @@ #include "sdcard.h" #include "ff.h" #include "lcd.h" +#include "i2c.h" #include "accel.h" #include "servo.h" #include "dac.h" @@ -375,6 +376,8 @@ soft_reset: pyb_usb_dev_init(USBD_DEVICE_CDC_MSC, usbd_medium_kind); #endif + i2c_init(); + #if MICROPY_HW_HAS_MMA7660 // MMA accel: init and reset accel_init(); diff --git a/stmhal/modpyb.c b/stmhal/modpyb.c index c7bab36665..b0442b65f7 100644 --- a/stmhal/modpyb.c +++ b/stmhal/modpyb.c @@ -26,9 +26,9 @@ #include "accel.h" #include "servo.h" #include "dac.h" +#include "i2c.h" #if 0 #include "usb.h" -#include "i2c.h" #endif #include "modpyb.h" #include "ff.h" @@ -261,9 +261,7 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = { { MP_OBJ_NEW_QSTR(MP_QSTR_hid), (mp_obj_t)&pyb_hid_send_report_obj }, #endif { MP_OBJ_NEW_QSTR(MP_QSTR_Led), (mp_obj_t)&pyb_led_type }, -#if 0 - { MP_OBJ_NEW_QSTR(MP_QSTR_I2C), (mp_obj_t)&pyb_I2C_obj }, -#endif + { MP_OBJ_NEW_QSTR(MP_QSTR_I2C), (mp_obj_t)&pyb_i2c_type }, { MP_OBJ_NEW_QSTR(MP_QSTR_Usart), (mp_obj_t)&pyb_Usart_obj }, { MP_OBJ_NEW_QSTR(MP_QSTR_ADC), (mp_obj_t)&pyb_adc_type },