246 lines
8.5 KiB
C
246 lines
8.5 KiB
C
#include <stdio.h>
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#include <string.h>
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#include <stm32f4xx_hal.h>
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#include "nlr.h"
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#include "misc.h"
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#include "mpconfig.h"
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#include "qstr.h"
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#include "obj.h"
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#include "runtime.h"
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#include "i2c.h"
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I2C_HandleTypeDef I2cHandle_X;
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I2C_HandleTypeDef I2cHandle_Y;
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void i2c_init(void) {
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// init the I2C1 device
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memset(&I2cHandle_X, 0, sizeof(I2C_HandleTypeDef));
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I2cHandle_X.Instance = I2C1;
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// init the I2C2 device
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memset(&I2cHandle_Y, 0, sizeof(I2C_HandleTypeDef));
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I2cHandle_Y.Instance = I2C2;
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}
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void i2c_start(I2C_HandleTypeDef *i2c_handle) {
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GPIO_InitTypeDef GPIO_InitStructure;
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// init the GPIO lines
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GPIO_InitStructure.Mode = GPIO_MODE_AF_OD;
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GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
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GPIO_InitStructure.Pull = GPIO_NOPULL; // have external pull-up resistors on both lines
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if (i2c_handle == &I2cHandle_X) {
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// X-skin: X9=PB6=SCL, X10=PB7=SDA
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GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7;
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GPIO_InitStructure.Alternate = GPIO_AF4_I2C1;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
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// enable the I2C clock
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__I2C1_CLK_ENABLE();
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} else {
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// Y-skin: Y9=PB10=SCL, Y10=PB11=SDA
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GPIO_InitStructure.Pin = GPIO_PIN_10 | GPIO_PIN_11;
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GPIO_InitStructure.Alternate = GPIO_AF4_I2C2;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
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// enable the I2C clock
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__I2C2_CLK_ENABLE();
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}
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// init the I2C device
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i2c_handle->Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
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i2c_handle->Init.ClockSpeed = 400000;
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i2c_handle->Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
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i2c_handle->Init.DutyCycle = I2C_DUTYCYCLE_16_9;
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i2c_handle->Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
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i2c_handle->Init.NoStretchMode = I2C_NOSTRETCH_DISABLED;
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i2c_handle->Init.OwnAddress1 = 0xfe; // unused
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i2c_handle->Init.OwnAddress2 = 0xfe; // unused
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if (HAL_I2C_Init(i2c_handle) != HAL_OK) {
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// init error
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printf("accel_init: HAL_I2C_Init failed\n");
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return;
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}
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}
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/******************************************************************************/
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/* Micro Python bindings */
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#define PYB_NUM_I2C (2)
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typedef struct _pyb_i2c_obj_t {
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mp_obj_base_t base;
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I2C_HandleTypeDef *i2c_handle;
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} pyb_i2c_obj_t;
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STATIC const pyb_i2c_obj_t pyb_i2c_obj[PYB_NUM_I2C] = {{{&pyb_i2c_type}, &I2cHandle_X}, {{&pyb_i2c_type}, &I2cHandle_Y}};
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STATIC mp_obj_t pyb_i2c_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
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// check arguments
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mp_arg_check_num(n_args, n_kw, 1, 1, false);
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// get i2c number
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machine_int_t i2c_id = mp_obj_get_int(args[0]) - 1;
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// check i2c number
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if (!(0 <= i2c_id && i2c_id < PYB_NUM_I2C)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "I2C bus %d does not exist", i2c_id + 1));
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}
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// get i2c object
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const pyb_i2c_obj_t *i2c_obj = &pyb_i2c_obj[i2c_id];
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// start the peripheral
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i2c_start(i2c_obj->i2c_handle);
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return (mp_obj_t)i2c_obj;
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}
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// Check if an I2C device responds to the given address.
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STATIC mp_obj_t pyb_i2c_is_ready(mp_obj_t self_in, mp_obj_t i2c_addr_o) {
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pyb_i2c_obj_t *self = self_in;
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machine_uint_t i2c_addr = mp_obj_get_int(i2c_addr_o) << 1;
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for (int i = 0; i < 10; i++) {
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HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c_handle, i2c_addr, 10, 200);
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if (status == HAL_OK) {
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return mp_const_true;
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}
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}
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return mp_const_false;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_i2c_is_ready_obj, pyb_i2c_is_ready);
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// Scan all I2C addresses from 0x01 to 0x7f and return a list of those that respond.
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STATIC mp_obj_t pyb_i2c_scan(mp_obj_t self_in) {
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pyb_i2c_obj_t *self = self_in;
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mp_obj_t list = mp_obj_new_list(0, NULL);
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for (uint addr = 1; addr <= 127; addr++) {
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for (int i = 0; i < 10; i++) {
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HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c_handle, addr << 1, 10, 200);
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if (status == HAL_OK) {
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mp_obj_list_append(list, mp_obj_new_int(addr));
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break;
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}
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}
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}
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return list;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_i2c_scan_obj, pyb_i2c_scan);
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STATIC mp_obj_t pyb_i2c_read(mp_obj_t self_in, mp_obj_t i2c_addr_in, mp_obj_t n_in) {
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pyb_i2c_obj_t *self = self_in;
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machine_uint_t i2c_addr = mp_obj_get_int(i2c_addr_in) << 1;
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machine_uint_t n = mp_obj_get_int(n_in);
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byte *data;
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mp_obj_t o = mp_obj_str_builder_start(&mp_type_bytes, n, &data);
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HAL_StatusTypeDef status = HAL_I2C_Master_Receive(self->i2c_handle, i2c_addr, data, n, 500);
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if (status != HAL_OK) {
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// TODO really need a HardwareError object, or something
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Master_Receive failed with code %d", status));
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}
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return mp_obj_str_builder_end(o);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_3(pyb_i2c_read_obj, pyb_i2c_read);
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STATIC mp_obj_t pyb_i2c_write(mp_obj_t self_in, mp_obj_t i2c_addr_in, mp_obj_t data_in) {
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pyb_i2c_obj_t *self = self_in;
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machine_uint_t i2c_addr = mp_obj_get_int(i2c_addr_in) << 1;
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HAL_StatusTypeDef status;
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if (MP_OBJ_IS_INT(data_in)) {
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uint8_t data[1] = {mp_obj_get_int(data_in)};
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status = HAL_I2C_Master_Transmit(self->i2c_handle, i2c_addr, data, 1, 500);
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} else {
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mp_buffer_info_t bufinfo;
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mp_get_buffer_raise(data_in, &bufinfo, MP_BUFFER_READ);
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status = HAL_I2C_Master_Transmit(self->i2c_handle, i2c_addr, bufinfo.buf, bufinfo.len, 500);
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}
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if (status != HAL_OK) {
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// TODO really need a HardwareError object, or something
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Master_Transmit failed with code %d", status));
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}
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_3(pyb_i2c_write_obj, pyb_i2c_write);
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STATIC mp_obj_t pyb_i2c_mem_read(uint n_args, const mp_obj_t *args) {
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pyb_i2c_obj_t *self = args[0];
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machine_uint_t i2c_addr = mp_obj_get_int(args[1]) << 1;
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machine_uint_t mem_addr = mp_obj_get_int(args[2]);
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machine_uint_t n = mp_obj_get_int(args[3]);
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byte *data;
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mp_obj_t o = mp_obj_str_builder_start(&mp_type_bytes, n, &data);
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HAL_StatusTypeDef status = HAL_I2C_Mem_Read(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, n, 200);
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//printf("Read got %d\n", status);
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if (status != HAL_OK) {
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// TODO really need a HardwareError object, or something
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Mem_Read failed with code %d", status));
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}
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return mp_obj_str_builder_end(o);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_i2c_mem_read_obj, 4, 4, pyb_i2c_mem_read);
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STATIC mp_obj_t pyb_i2c_mem_write(uint n_args, const mp_obj_t *args) {
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pyb_i2c_obj_t *self = args[0];
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machine_uint_t i2c_addr = mp_obj_get_int(args[1]) << 1;
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machine_uint_t mem_addr = mp_obj_get_int(args[2]);
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HAL_StatusTypeDef status;
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if (MP_OBJ_IS_INT(args[3])) {
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uint8_t data[1] = {mp_obj_get_int(args[3])};
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status = HAL_I2C_Mem_Write(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
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} else {
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mp_buffer_info_t bufinfo;
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mp_get_buffer_raise(args[3], &bufinfo, MP_BUFFER_READ);
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status = HAL_I2C_Mem_Write(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, bufinfo.buf, bufinfo.len, 200);
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}
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//printf("Write got %d\n", status);
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if (status != HAL_OK) {
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// TODO really need a HardwareError object, or something
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Mem_Write failed with code %d", status));
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}
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_i2c_mem_write_obj, 4, 4, pyb_i2c_mem_write);
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STATIC const mp_map_elem_t pyb_i2c_locals_dict_table[] = {
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{ MP_OBJ_NEW_QSTR(MP_QSTR_is_ready), (mp_obj_t)&pyb_i2c_is_ready_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_scan), (mp_obj_t)&pyb_i2c_scan_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_read), (mp_obj_t)&pyb_i2c_read_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_write), (mp_obj_t)&pyb_i2c_write_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_mem_read), (mp_obj_t)&pyb_i2c_mem_read_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_mem_write), (mp_obj_t)&pyb_i2c_mem_write_obj },
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};
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STATIC MP_DEFINE_CONST_DICT(pyb_i2c_locals_dict, pyb_i2c_locals_dict_table);
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const mp_obj_type_t pyb_i2c_type = {
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{ &mp_type_type },
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.name = MP_QSTR_I2C,
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.make_new = pyb_i2c_make_new,
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.locals_dict = (mp_obj_t)&pyb_i2c_locals_dict,
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};
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