Collaboration diagram for I2C Interface:

Data Structures
struct	i2c_transaction
	I2C transaction structure. More...

struct	i2c_periph
	I2C peripheral structure. More...

struct	i2c_errors
	I2C errors counter. More...

Macros
#define	I2C_BUF_LEN 32
	I2C buffer length. More...

#define	I2C_TRANSACTION_QUEUE_LEN 8
	I2C transaction queue length. More...

#define	ZEROS_ERR_COUNTER(_i2c_err)

Enumerations
enum	I2CTransactionType { I2CTransTx, I2CTransRx, I2CTransTxRx }
	I2C transaction type. More...

enum	I2CTransactionStatus { I2CTransPending, I2CTransRunning, I2CTransSuccess, I2CTransFailed, I2CTransDone }
	I2C transaction status. More...

enum	I2CStatus { I2CIdle, I2CStartRequested, I2CAddrWrSent, I2CAddrRdSent, I2CSendingByte, I2CReadingByte, I2CReadingLastByte, I2CStopRequested, I2CRestartRequested, I2CComplete, I2CFailed }
	I2C peripheral status. More...

Functions
void	i2c_init (struct i2c_periph *p)
	Initialize I2C peripheral. More...

bool	i2c_idle (struct i2c_periph *p)
	Check if I2C bus is idle. More...

bool	i2c_submit (struct i2c_periph p, struct i2c_transaction t)
	Submit a I2C transaction. More...

void	i2c_setbitrate (struct i2c_periph *p, int bitrate)
	Set I2C bitrate. More...

void	i2c_event (void)
	i2c_event() function More...

bool	i2c_transmit (struct i2c_periph p, struct i2c_transaction t, uint8_t s_addr, uint8_t len)
	Submit a write only transaction. More...

bool	i2c_receive (struct i2c_periph p, struct i2c_transaction t, uint8_t s_addr, uint16_t len)
	Submit a read only transaction. More...

bool	i2c_transceive (struct i2c_periph p, struct i2c_transaction t, uint8_t s_addr, uint8_t len_w, uint16_t len_r)
	Submit a write/read transaction. More...

bool	i2c_blocking_transmit (struct i2c_periph p, struct i2c_transaction t, uint8_t s_addr, uint8_t len)
	Submit a write only transaction and wait for it to complete. More...

bool	i2c_blocking_receive (struct i2c_periph p, struct i2c_transaction t, uint8_t s_addr, uint16_t len)
	Submit a read only transaction and wait for it to complete. More...

bool	i2c_blocking_transceive (struct i2c_periph p, struct i2c_transaction t, uint8_t s_addr, uint8_t len_w, uint16_t len_r)
	Submit a write/read transaction and wait for it to complete. More...

Detailed Description

Data Structure Documentation

struct i2c_transaction

I2C transaction structure.

Use this structure to store a request of I2C transaction and submit it using one of the convenience functions (i2c_receive, i2c_transmit or i2c_transceive) or the i2c_submit function.

Definition at line 93 of file i2c.h.

Data Fields
volatile uint8_t	buf[I2C_BUF_LEN]	Transaction buffer With I2C_BUF_LEN number of bytes. Must be able to hold tranmitted + received bytes.
uint16_t	len_r	Number of bytes to read/receive. Always set by i2c_receive, i2c_transmit and i2c_transceive, needs to be manually set if using i2c_submit.
uint8_t	len_w	Number of bytes to write/transmit. Always set by i2c_receive, i2c_transmit and i2c_transceive, needs to be manually set if using i2c_submit.
uint8_t	slave_addr	Slave address. Always set by i2c_receive, i2c_transmit and i2c_transceive, needs to be manually set if using i2c_submit.
enum I2CTransactionStatus	status	Transaction status.
enum I2CTransactionType	type	Transaction type. Always set by i2c_receive, i2c_transmit and i2c_transceive, needs to be manually set every time if using i2c_submit.

struct i2c_periph

I2C peripheral structure.

Definition at line 138 of file i2c.h.

Collaboration diagram for i2c_periph:

Data Fields
struct i2c_errors *	errors
volatile uint8_t	idx_buf
void *	init_struct
void *	reg_addr
enum I2CStatus	status
struct i2c_transaction *	trans[I2C_TRANSACTION_QUEUE_LEN]
uint8_t	trans_extract_idx
uint8_t	trans_insert_idx
volatile int16_t	watchdog

struct i2c_errors

I2C errors counter.

Definition at line 154 of file i2c.h.

Data Fields
volatile uint16_t	ack_fail_cnt
volatile uint16_t	arb_lost_cnt
volatile uint32_t	er_irq_cnt
volatile uint32_t	last_unexpected_event
volatile uint16_t	miss_start_stop_cnt
volatile uint16_t	over_under_cnt
volatile uint16_t	pec_recep_cnt
volatile uint16_t	queue_full_cnt
volatile uint16_t	smbus_alert_cnt
volatile uint16_t	timeout_tlow_cnt
volatile uint16_t	unexpected_event_cnt
volatile uint16_t	wd_reset_cnt

Macro Definition Documentation

#define I2C_BUF_LEN 32

I2C buffer length.

Number of bytes a transaction can hold.

Definition at line 84 of file i2c.h.

#define I2C_TRANSACTION_QUEUE_LEN 8

I2C transaction queue length.

Number of transactions that can be queued.

Definition at line 133 of file i2c.h.

Referenced by i2c_irq(), i2c_submit(), i2c_thread(), and I2cEndOfTransaction().

#define ZEROS_ERR_COUNTER ( _i2c_err )

Value:

{     \
    _i2c_err.wd_reset_cnt = 0;            \
    _i2c_err.queue_full_cnt = 0;          \
    _i2c_err.ack_fail_cnt = 0;            \
    _i2c_err.miss_start_stop_cnt = 0;     \
    _i2c_err.arb_lost_cnt = 0;            \
    _i2c_err.over_under_cnt = 0;          \
    _i2c_err.pec_recep_cnt = 0;           \
    _i2c_err.timeout_tlow_cnt = 0;        \
    _i2c_err.smbus_alert_cnt = 0;         \
    _i2c_err.unexpected_event_cnt = 0;    \
    _i2c_err.last_unexpected_event = 0;   \
    _i2c_err.er_irq_cnt = 0;              \
  }

Definition at line 170 of file i2c.h.

Enumeration Type Documentation

enum I2CStatus

I2C peripheral status.

Used by each architecture specifc implementation.

Enumerator
I2CIdle
I2CStartRequested
I2CAddrWrSent
I2CAddrRdSent
I2CSendingByte
I2CReadingByte
I2CReadingLastByte
I2CStopRequested
I2CRestartRequested
I2CComplete
I2CFailed

Definition at line 65 of file i2c.h.

enum I2CTransactionStatus

I2C transaction status.

Enumerator
I2CTransPending	transaction is pending in queue
I2CTransRunning	transaction is currently ongoing
I2CTransSuccess	transaction successfully finished by I2C driver
I2CTransFailed	transaction failed
I2CTransDone	transaction set to done by user level

Definition at line 54 of file i2c.h.

enum I2CTransactionType

I2C transaction type.

Enumerator
I2CTransTx	transmit only transaction
I2CTransRx	receive only transaction
I2CTransTxRx	transmit and receive transaction

Definition at line 46 of file i2c.h.

Function Documentation

bool i2c_blocking_receive	(	struct i2c_periph *	p,
		struct i2c_transaction *	t,
		uint8_t	s_addr,
		uint16_t	len
	)

Submit a read only transaction and wait for it to complete.

Convenience function which is usually preferred over i2c_submit, as it explicitly sets the transaction type again.

Parameters

p	i2c peripheral to be used
t	i2c transaction
s_addr	slave address
len	number of bytes to receive

Returns: TRUE if insertion to the transaction queue succeeded

Definition at line 316 of file i2c.c.

References get_sys_time_float(), I2C_BLOCKING_TIMEOUT, i2c_submit(), I2CTransPending, I2CTransRunning, I2CTransRx, i2c_transaction::len_r, i2c_transaction::len_w, i2c_transaction::slave_addr, i2c_transaction::status, and i2c_transaction::type.

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bool i2c_blocking_transceive	(	struct i2c_periph *	p,
		struct i2c_transaction *	t,
		uint8_t	s_addr,
		uint8_t	len_w,
		uint16_t	len_r
	)

Submit a write/read transaction and wait for it to complete.

Convenience function which is usually preferred over i2c_submit, as it explicitly sets the transaction type again.

Parameters

p	i2c peripheral to be used
t	i2c transaction
s_addr	slave address
len_w	number of bytes to transmit
len_r	number of bytes to receive

Returns: TRUE if insertion to the transaction queue succeeded

Definition at line 337 of file i2c.c.

References get_sys_time_float(), I2C_BLOCKING_TIMEOUT, i2c_submit(), I2CTransPending, I2CTransRunning, I2CTransTxRx, i2c_transaction::len_r, i2c_transaction::len_w, i2c_transaction::slave_addr, i2c_transaction::status, and i2c_transaction::type.

Referenced by actuators_bebop_commit(), actuators_disco_commit(), and read_reg().

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bool i2c_blocking_transmit	(	struct i2c_periph *	p,
		struct i2c_transaction *	t,
		uint8_t	s_addr,
		uint8_t	len
	)

Submit a write only transaction and wait for it to complete.

Convenience function which is usually preferred over i2c_submit, as it explicitly sets the transaction type again.

Parameters

p	i2c peripheral to be used
t	i2c transaction
s_addr	slave address
len	number of bytes to transmit

Returns: TRUE if insertion to the transaction queue succeeded

Definition at line 295 of file i2c.c.

References get_sys_time_float(), I2C_BLOCKING_TIMEOUT, i2c_submit(), I2CTransPending, I2CTransRunning, I2CTransTx, i2c_transaction::len_r, i2c_transaction::len_w, i2c_transaction::slave_addr, i2c_transaction::status, and i2c_transaction::type.

Referenced by actuators_bebop_commit(), actuators_disco_commit(), mt9v117_write_patch(), and write_reg().

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void i2c_event ( void )

i2c_event() function

Empty, for paparazzi compatibility only

Definition at line 347 of file i2c_arch.c.

References SysTimeTimer, and SysTimeTimerStart.

Referenced by mcu_event().

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bool i2c_idle ( struct i2c_periph * p )

Check if I2C bus is idle.

Parameters

p	i2c peripheral to be used

Returns: TRUE if idle

Check if I2C bus is idle.

Empty, for paparazzi compatibility only

Definition at line 413 of file i2c_arch.c.

References BIT_X_IS_SET_IN_REG, FALSE, I2CIdle, i2c_periph::reg_addr, and i2c_periph::status.

Referenced by baro_periodic(), event_i2c_abuse_test(), hmc5843_idle_task(), hmc5843_periodic(), and i2c_setbitrate().

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void i2c_init ( struct i2c_periph * p )

Initialize I2C peripheral.

Definition at line 246 of file i2c.c.

References DefaultPeriodic, I2CIdle, i2c_periph::reg_addr, register_periodic_telemetry(), send_i2c_err(), i2c_periph::status, i2c_periph::trans_extract_idx, and i2c_periph::trans_insert_idx.

Referenced by i2c_submit().

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bool i2c_receive	(	struct i2c_periph *	p,
		struct i2c_transaction *	t,
		uint8_t	s_addr,
		uint16_t	len
	)

Submit a read only transaction.

Convenience function which is usually preferred over i2c_submit, as it explicitly sets the transaction type again.

Parameters

p	i2c peripheral to be used
t	i2c transaction
s_addr	slave address
len	number of bytes to receive

Returns: TRUE if insertion to the transaction queue succeeded

Definition at line 270 of file i2c.c.

References i2c_submit(), I2CTransRx, i2c_transaction::len_r, i2c_transaction::len_w, i2c_transaction::slave_addr, and i2c_transaction::type.

Referenced by actuators_asctec_v2_set(), airspeed_amsys_read_periodic(), airspeed_ets_read_periodic(), ArduIMU_periodic(), baro_amsys_read_periodic(), baro_ets_read_periodic(), baro_hca_read_periodic(), charge_sens_periodic(), dpicco_periodic(), dust_gp2y_periodic(), ezcurrent_read_periodic(), geiger_counter_periodic(), humid_htm_read(), humid_sht_p_humid(), humid_sht_p_temp(), infrared_i2c_hor_event(), infrared_i2c_update(), lidar_lite_periodic(), MPPT_periodic(), ms45xx_i2c_periodic(), srf08_read(), temod_periodic(), teraranger_periodic(), and wind_gfi_event().

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void i2c_setbitrate	(	struct i2c_periph *	p,
		int	bitrate
	)

Set I2C bitrate.

Parameters

p	i2c peripheral to be used
bitrate	bitrate

Set I2C bitrate.

Empty, for paparazzi compatibility only. Bitrate is already set in i2cX_hw_init()

Definition at line 355 of file i2c_arch.c.

References __disable_irq(), __enable_irq(), i2c_idle(), and i2c_periph::reg_addr.

Referenced by event_i2c_abuse_test().

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bool i2c_submit	(	struct i2c_periph *	p,
		struct i2c_transaction *	t
	)

Submit a I2C transaction.

Must be implemented by the underlying architecture

Parameters

p	i2c peripheral to be used
t	i2c transaction

Returns: TRUE if insertion to the transaction queue succeeded

Submit a I2C transaction.

Provides interface between high-level paparazzi i2c functions (such as i2c_transmit(), i2c_transcieve()) and ChibiOS i2c transmit function i2cMasterTransmitTimeout()

Note that we are using the same buffer for transmit and recevive. It is OK because in i2c transaction is Tx always before Rx.

I2C calls are synchronous, timeout is set to 1/PERIODIC_FREQUENCY seconds TODO: Note that on STM32F1xx such as Lia board I2C bus can easily hang in an interrupt (see issue #531). Use I2C bus with care and caution.

Parameters

[in]	p	pointer to a `i2c_periph` struct
[in]	t	pointer to a `i2c_transaction` struct

Definition at line 374 of file i2c_arch.c.

References __disable_irq(), __enable_irq(), i2c_thread_t::condition, disableIRQ(), enableIRQ(), i2c_periph::errors, FALSE, i2c_init(), I2C_TRANSACTION_QUEUE_LEN, I2CIdle, I2cSendStart(), I2CTransFailed, I2CTransPending, idx, i2c_periph::init_struct, PPRZ_I2C_SEND_START(), i2c_errors::queue_full_cnt, i2c_transaction::status, i2c_periph::status, i2c_periph::trans, i2c_periph::trans_extract_idx, i2c_periph::trans_insert_idx, TRUE, i2c_periph::watchdog, and WD_DELAY.

Referenced by actuators_asctec_v2_set(), actuators_mkk_v2_set(), actuators_skiron_set(), adxl345_i2c_read(), adxl345_i2c_tx_reg(), ami601_read(), baro_board_read_from_current_register(), baro_board_read_from_register(), baro_board_send_reset(), baro_board_set_current_register(), baro_board_write_to_register(), config_mkk_v2_read_eeprom(), config_mkk_v2_send_eeprom(), event_i2c_abuse_test(), hmc5843_idle_task(), hmc5843_periodic(), hmc58xx_i2c_tx_reg(), hmc58xx_read(), i2c_abuse_send_transaction(), i2c_blocking_receive(), i2c_blocking_transceive(), i2c_blocking_transmit(), i2c_receive(), i2c_transceive(), i2c_transmit(), itg3200_i2c_tx_reg(), itg3200_read(), lsm303dlhc_i2c_read(), lsm303dlhc_i2c_tx_reg(), and send_config().

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bool i2c_transceive	(	struct i2c_periph *	p,
		struct i2c_transaction *	t,
		uint8_t	s_addr,
		uint8_t	len_w,
		uint16_t	len_r
	)

Submit a write/read transaction.

Convenience function which is usually preferred over i2c_submit, as it explicitly sets the transaction type again.

Parameters

p	i2c peripheral to be used
t	i2c transaction
s_addr	slave address
len_w	number of bytes to transmit
len_r	number of bytes to receive

Returns: TRUE if insertion to the transaction queue succeeded

Definition at line 280 of file i2c.c.

References i2c_submit(), I2CTransTxRx, i2c_transaction::len_r, i2c_transaction::len_w, i2c_transaction::slave_addr, and i2c_transaction::type.

Referenced by actuators_md25_periodic(), ads1114_read(), ak8963_event(), ak8963_read(), ak8975_configure(), ak8975_event(), atmega_i2c_cam_ctrl_send(), baro_scp_event(), baro_scp_periodic(), battery_monitor_read_balance_ports(), battery_monitor_read_bus(), bmp085_periodic(), bmp085_read_eeprom_calib(), gps_ubx_i2c_periodic(), gps_ubx_i2c_read_event(), humid_sht_event_i2c(), humid_sht_periodic_i2c(), ir_mlx_event(), ir_mlx_periodic(), l3g4200_read(), lidar_sf11_periodic(), lm75_periodic(), mpl3115_read(), mpu60x0_i2c_read(), mpu9250_i2c_read(), ms5611_i2c_event(), ms5611_i2c_periodic_check(), pcap01readRegister(), px4flow_i2c_periodic(), readPCAP01_SRAM(), srf08_read_register(), and tmp102_periodic().

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bool i2c_transmit	(	struct i2c_periph *	p,
		struct i2c_transaction *	t,
		uint8_t	s_addr,
		uint8_t	len
	)

Submit a write only transaction.

Convenience function which is usually preferred over i2c_submit, as it explicitly sets the transaction type again.

Parameters

p	i2c peripheral to be used
t	i2c transaction
s_addr	slave address
len	number of bytes to transmit

Returns: TRUE if insertion to the transaction queue succeeded

Definition at line 260 of file i2c.c.

References i2c_submit(), I2CTransTx, i2c_transaction::len_r, i2c_transaction::len_w, i2c_transaction::slave_addr, and i2c_transaction::type.

Referenced by actuators_asctec_set(), actuators_asctec_v2_set(), actuators_md25_periodic(), actuators_md25_set(), actuators_mkk_set(), ads1114_init(), ak8963_configure(), ak8975_configure(), ak8975_read(), ArduIMU_periodicGPS(), baro_scp_start_high_res_measurement(), bmp085_event(), bmp085_periodic(), generic_com_periodic(), gps_ubx_i2c_periodic(), humid_htm_start(), humid_sht_event_i2c(), humid_sht_periodic_i2c(), infrared_i2c_hor_event(), infrared_i2c_update(), ir_mlx_periodic(), l3g4200_i2c_tx_reg(), lidar_lite_periodic(), mpl3115_read(), mpl3115_send_config(), MPPT_ask(), MPPT_periodic(), mpu60x0_i2c_write_to_reg(), mpu9250_i2c_write_to_reg(), ms5611_i2c_event(), ms5611_i2c_start_configure(), ms5611_i2c_start_conversion(), PCAP01_Control(), pcap01writeRegister(), px4flow_i2c_periodic(), srf08_init(), srf08_initiate_ranging(), srf08_receive(), stop_com(), tmp102_init(), wind_gfi_event(), wind_gfi_periodic(), and writePCAP01_SRAM().

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Data Structures

Macros

Enumerations

Functions

Detailed Description

Data Structure Documentation

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation