rp2040: fix spurious i2c STOP during write+read transaction
Этот коммит содержится в:
soypat
Ron Evans
родитель
e060e588ab
коммит
f613cb41a3
1 изменённых файлов: 44 добавлений и 98 удалений
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@ -74,19 +74,7 @@ var (
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func (i2c *I2C) Tx(addr uint16, w, r []byte) error {
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// timeout in microseconds.
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const timeout = 40 * 1000 // 40ms is a reasonable time for a real-time system.
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if len(w) > 0 {
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if err := i2c.tx(uint8(addr), w, false, timeout); nil != err {
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return err
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}
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}
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if len(r) > 0 {
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if err := i2c.rx(uint8(addr), r, false, timeout); nil != err {
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return err
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}
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}
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return nil
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return i2c.tx(uint8(addr), w, r, timeout)
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}
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// Configure initializes i2c peripheral and configures I2C config's pins passed.
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@ -239,16 +227,16 @@ func (i2c *I2C) deinit() (resetVal uint32) {
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return resetVal
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}
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// tx is a primitive i2c blocking write to bus routine. timeout is time to wait
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// in microseconds since calling this function for write to finish.
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func (i2c *I2C) tx(addr uint8, tx []byte, nostop bool, timeout uint64) (err error) {
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deadline := ticks() + timeout
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// tx performs blocking write followed by read to I2C bus.
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func (i2c *I2C) tx(addr uint8, tx, rx []byte, timeout_us uint64) (err error) {
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deadline := ticks() + timeout_us
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if addr >= 0x80 || isReservedI2CAddr(addr) {
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return ErrInvalidTgtAddr
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}
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tlen := len(tx)
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txlen := len(tx)
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rxlen := len(rx)
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// Quick return if possible.
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if tlen == 0 {
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if txlen == 0 && rxlen == 0 {
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return nil
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}
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@ -258,17 +246,18 @@ func (i2c *I2C) tx(addr uint8, tx []byte, nostop bool, timeout uint64) (err erro
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}
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i2c.Bus.IC_TAR.Set(uint32(addr))
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i2c.enable()
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// If no timeout was passed timeoutCheck is false.
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abort := false
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var abortReason uint32
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byteCtr := 0
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for ; byteCtr < tlen; byteCtr++ {
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first := byteCtr == 0
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last := byteCtr == tlen-1
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for txCtr := 0; txCtr < txlen; txCtr++ {
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if abort {
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break
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}
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first := txCtr == 0
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last := txCtr == txlen-1 && rxlen == 0
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i2c.Bus.IC_DATA_CMD.Set(
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(boolToBit(first && i2c.restartOnNext) << rp.I2C0_IC_DATA_CMD_RESTART_Pos) |
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(boolToBit(last && !nostop) << rp.I2C0_IC_DATA_CMD_STOP_Pos) |
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uint32(tx[byteCtr]))
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(boolToBit(last) << rp.I2C0_IC_DATA_CMD_STOP_Pos) |
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uint32(tx[txCtr]))
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// Wait until the transmission of the address/data from the internal
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// shift register has completed. For this to function correctly, the
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@ -288,7 +277,6 @@ func (i2c *I2C) tx(addr uint8, tx []byte, nostop bool, timeout uint64) (err erro
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// any activity, then with ic_en=0, this bit is set to 0.
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for !i2c.interrupted(rp.I2C0_IC_RAW_INTR_STAT_TX_EMPTY) {
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if ticks() > deadline {
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i2c.restartOnNext = nostop
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return errI2CWriteTimeout // If there was a timeout, don't attempt to do anything else.
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}
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}
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@ -298,7 +286,7 @@ func (i2c *I2C) tx(addr uint8, tx []byte, nostop bool, timeout uint64) (err erro
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i2c.clearAbortReason()
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abort = true
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}
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if abort || (last && !nostop) {
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if abort || last {
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// If the transaction was aborted or if it completed
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// successfully wait until the STOP condition has occured.
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@ -307,7 +295,6 @@ func (i2c *I2C) tx(addr uint8, tx []byte, nostop bool, timeout uint64) (err erro
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// to take care of the abort.
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for !i2c.interrupted(rp.I2C0_IC_RAW_INTR_STAT_STOP_DET) {
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if ticks() > deadline {
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i2c.restartOnNext = nostop
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return errI2CWriteTimeout
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}
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}
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@ -315,6 +302,33 @@ func (i2c *I2C) tx(addr uint8, tx []byte, nostop bool, timeout uint64) (err erro
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}
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}
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if rxlen > 0 && !abort {
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for rxCtr := 0; rxCtr < rxlen; rxCtr++ {
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first := rxCtr == 0
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last := rxCtr == rxlen-1
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for i2c.writeAvailable() == 0 {
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}
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i2c.Bus.IC_DATA_CMD.Set(
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boolToBit(first && i2c.restartOnNext)<<rp.I2C0_IC_DATA_CMD_RESTART_Pos |
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boolToBit(last)<<rp.I2C0_IC_DATA_CMD_STOP_Pos |
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rp.I2C0_IC_DATA_CMD_CMD) // -> 1 for read
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for !abort && i2c.readAvailable() == 0 {
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abortReason = i2c.getAbortReason()
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i2c.clearAbortReason()
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if abortReason != 0 {
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abort = true
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}
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if ticks() > deadline {
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return errI2CReadTimeout // If there was a timeout, don't attempt to do anything else.
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}
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}
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if abort {
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break
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}
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rx[rxCtr] = uint8(i2c.Bus.IC_DATA_CMD.Get())
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}
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}
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// From Pico SDK: A lot of things could have just happened due to the ingenious and
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// creative design of I2C. Try to figure things out.
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if abort {
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@ -327,78 +341,9 @@ func (i2c *I2C) tx(addr uint8, tx []byte, nostop bool, timeout uint64) (err erro
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// Address acknowledged, some data not acknowledged
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fallthrough
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default:
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// panic("unknown i2c abortReason:" + strconv.Itoa(abortReason)
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err = makeI2CAbortError(abortReason)
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}
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}
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// nostop means we are now at the end of a *message* but not the end of a *transfer*
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i2c.restartOnNext = nostop
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return err
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}
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// rx is a primitive i2c blocking read routine. timeout is time to wait
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// in microseconds since calling this function for read to finish.
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func (i2c *I2C) rx(addr uint8, rx []byte, nostop bool, timeout uint64) (err error) {
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deadline := ticks() + timeout
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if addr >= 0x80 || isReservedI2CAddr(addr) {
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return ErrInvalidTgtAddr
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}
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rlen := len(rx)
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// Quick return if possible.
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if rlen == 0 {
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return nil
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}
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err = i2c.disable()
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if err != nil {
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return err
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}
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i2c.Bus.IC_TAR.Set(uint32(addr))
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i2c.enable()
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// If no timeout was passed timeoutCheck is false.
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abort := false
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var abortReason uint32
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byteCtr := 0
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for ; byteCtr < rlen; byteCtr++ {
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first := byteCtr == 0
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last := byteCtr == rlen-1
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for i2c.writeAvailable() == 0 {
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}
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i2c.Bus.IC_DATA_CMD.Set(
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boolToBit(first && i2c.restartOnNext)<<rp.I2C0_IC_DATA_CMD_RESTART_Pos |
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boolToBit(last && !nostop)<<rp.I2C0_IC_DATA_CMD_STOP_Pos |
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rp.I2C0_IC_DATA_CMD_CMD) // -> 1 for read
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for !abort && i2c.readAvailable() == 0 {
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abortReason = i2c.getAbortReason()
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i2c.clearAbortReason()
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if abortReason != 0 {
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abort = true
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}
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if ticks() > deadline {
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i2c.restartOnNext = nostop
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return errI2CReadTimeout // If there was a timeout, don't attempt to do anything else.
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}
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}
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if abort {
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break
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}
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rx[byteCtr] = uint8(i2c.Bus.IC_DATA_CMD.Get())
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}
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if abort {
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switch {
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case abortReason == 0 || abortReason&rp.I2C0_IC_TX_ABRT_SOURCE_ABRT_7B_ADDR_NOACK != 0:
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// No reported errors - seems to happen if there is nothing connected to the bus.
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// Address byte not acknowledged
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err = ErrI2CGeneric
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default:
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// undefined abort sequence
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err = makeI2CAbortError(abortReason)
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}
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}
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i2c.restartOnNext = nostop
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return err
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}
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@ -423,6 +368,7 @@ func (i2c *I2C) clearAbortReason() {
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i2c.Bus.IC_CLR_TX_ABRT.Get()
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}
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// getAbortReason reads IC_TX_ABRT_SOURCE register.
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//go:inline
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func (i2c *I2C) getAbortReason() uint32 {
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return i2c.Bus.IC_TX_ABRT_SOURCE.Get()
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