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i2c_pic32.c
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/**
* @file i2c_pic32.c
* @author Sebastien CAUX (sebcaux)
* @copyright Robotips 2016-2017
*
* @date March 01, 2016, 19:10 PM
*
* @brief I2C communication support driver for PIC32MM, PIC32MK, PIC32MX,
* PIC32MZDA, PIC32MZEC and PIC32MZEF
*/
#include "i2c.h"
#include "driver/sysclock.h"
#include <archi.h>
#if !defined (I2C_COUNT) || I2C_COUNT==0
#warning "No i2c bus on the current device or unknow device"
#endif
#define I2C_FLAG_UNUSED 0x00
typedef struct {
union {
struct {
unsigned used : 1;
unsigned enabled : 1;
unsigned addrW10 : 1;
unsigned : 5;
};
uint8_t val;
};
} i2c_status;
struct i2c_dev
{
uint32_t baudSpeed;
i2c_status flags;
};
struct i2c_dev i2cs[] = {
#if I2C_COUNT>=1
{
.baudSpeed = 0,
.flags = {{.val = I2C_FLAG_UNUSED}}
},
#endif
#if I2C_COUNT>=2
{
.baudSpeed = 0,
.flags = {{.val = I2C_FLAG_UNUSED}}
},
#endif
#if I2C_COUNT>=3
{
.baudSpeed = 0,
.flags = {{.val = I2C_FLAG_UNUSED}}
},
#endif
#if I2C_COUNT>=4
{
.baudSpeed = 0,
.flags = {{.val = I2C_FLAG_UNUSED}}
},
#endif
#if I2C_COUNT>=5
{
.baudSpeed = 0,
.flags = {{.val = I2C_FLAG_UNUSED}}
},
#endif
};
#ifdef I2C_NOI2C2
rt_dev_t i2c(uint8_t d)
{
if (d > 1)
{
return MKDEV(DEV_CLASS_I2C, d-2);
}
else
{
return MKDEV(DEV_CLASS_I2C, d-1);
}
}
#endif
/**
* @brief Gives a free i2c bus device number and open it
* @return i2c bus device number
*/
rt_dev_t i2c_getFreeDevice()
{
#if I2C_COUNT>=1
uint8_t i;
rt_dev_t device;
for (i = 0; i < I2C_COUNT; i++)
{
if (i2cs[i].flags.val == I2C_FLAG_UNUSED)
{
break;
}
}
if (i == I2C_COUNT)
{
return NULLDEV;
}
device = MKDEV(DEV_CLASS_I2C, i);
i2c_open(device);
return device;
#else
return NULLDEV;
#endif
}
/**
* @brief Open an i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_open(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return -1;
}
if (i2cs[i2c].flags.used == 1)
{
return -1;
}
i2cs[i2c].flags.used = 1;
return 0;
#else
return -1;
#endif
}
/**
* @brief Close and release an i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_close(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return -1;
}
i2c_disable(device);
i2cs[i2c].flags.val = I2C_FLAG_UNUSED;
return 0;
#else
return -1;
#endif
}
/**
* @brief Enable the specified i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_enable(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return -1;
}
i2cs[i2c].flags.enabled = 1;
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1CONbits.I2CEN = 1; // enable i2c module
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2CONbits.I2CEN = 1; // enable i2c module
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3CONbits.I2CEN = 1; // enable i2c module
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4CONbits.I2CEN = 1; // enable i2c module
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5CONbits.I2CEN = 1; // enable i2c module
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Disable the specified i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_disable(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return -1;
}
i2cs[i2c].flags.enabled = 0;
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1CONbits.I2CEN = 0; // disable i2c
_I2C1MIE = 0; // disable i2c master interrupt
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2CONbits.I2CEN = 0; // disable i2c
_I2C2MIE = 0; // disable i2c master interrupt
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3CONbits.I2CEN = 0; // disable i2c
_I2C3MIE = 0; // disable i2c master interrupt
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4CONbits.I2CEN = 0; // disable i2c
_I2C4MIE = 0; // disable i2c master interrupt
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5CONbits.I2CEN = 0; // disable i2c
_I2C5MIE = 0; // disable i2c master interrupt
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Sets the speed of receive and transmit of the specified i2c bus device
* @param device i2c bus device number
* @param baudSpeed speed of receive and transmit in bauds (bits / s)
* @return 0 if ok, -1 in case of error
*/
int i2c_setBaudSpeed(rt_dev_t device, uint32_t baudSpeed)
{
#if I2C_COUNT>=1
uint32_t systemClockPeriph;
uint16_t uBrg;
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return -1;
}
if (baudSpeed == 0)
{
return -1;
}
i2cs[i2c].baudSpeed = baudSpeed;
systemClockPeriph = sysclock_periphFreq(SYSCLOCK_CLOCK_I2C);
uBrg = (systemClockPeriph / baudSpeed) - (systemClockPeriph / I2C_FPGD) - 2;
if (uBrg <= 1)
{
uBrg = 2;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1BRG = uBrg;
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2BRG = uBrg;
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3BRG = uBrg;
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4BRG = uBrg;
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5BRG = uBrg;
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Gets the true baud speed of the specified i2c bus device
* @param device i2c bus device number
* @return speed of receive and transmit in bauds (bits / s)
*/
uint32_t i2c_baudSpeed(rt_dev_t device)
{
#if I2C_COUNT>=1
uint32_t baudSpeed, systemClockPeriph;
uint16_t uBrg;
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
uBrg = I2C1BRG;
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
uBrg = I2C2BRG;
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
uBrg = I2C3BRG;
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
uBrg = I2C4BRG;
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
uBrg = I2C5BRG;
break;
#endif
}
systemClockPeriph = sysclock_periphFreq(SYSCLOCK_CLOCK_I2C);
baudSpeed = systemClockPeriph / (uBrg + 2); // TODO add PGD period to be exact
return baudSpeed;
#else
return 0;
#endif
}
/**
* @brief Gets the effective baud speed of the specified i2c bus device
* @param device i2c bus device number
* @return speed of receive and transmit in bauds (bits / s)
*/
uint32_t i2c_effectiveBaudSpeed(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
return i2cs[i2c].baudSpeed;
#else
return 0;
#endif
}
/**
* @brief Sets the address width of slaves of the specified i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_setAddressWidth(rt_dev_t device, uint8_t addressWidth)
{
#if I2C_COUNT>=1
uint8_t addrW10;
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
if (addressWidth == 7)
{
addrW10 = 0;
}
else if (addressWidth == 10)
{
addrW10 = 1;
}
else
{
return -1;
}
i2cs[i2c].flags.addrW10 = addrW10;
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1CONbits.A10M = addrW10;
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2CONbits.A10M = addrW10;
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3CONbits.A10M = addrW10;
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4CONbits.A10M = addrW10;
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5CONbits.A10M = addrW10;
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Gets the address width of slaves of the specified i2c bus device
* @param device i2c bus device number
* @return speed of receive and transmit in bauds (bits / s)
*/
uint8_t i2c_addressWidth(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
if (i2cs[i2c].flags.addrW10 == 1)
{
return 10;
}
else
{
return 7;
}
#else
return 0;
#endif
}
/**
* @brief Sends a start condition on the specified i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_start(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1CONbits.SEN = 1;
while (I2C1CONbits.SEN);
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2CONbits.SEN = 1;
while (I2C2CONbits.SEN);
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3CONbits.SEN = 1;
while (I2C3CONbits.SEN);
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4CONbits.SEN = 1;
while (I2C4CONbits.SEN);
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5CONbits.SEN = 1;
while (I2C5CONbits.SEN);
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Sends a restart condition on the specified i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_restart(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1CONbits.RSEN = 1;
while (I2C1CONbits.RSEN);
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2CONbits.RSEN = 1;
while (I2C2CONbits.RSEN);
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3CONbits.RSEN = 1;
while (I2C3CONbits.RSEN);
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4CONbits.RSEN = 1;
while (I2C4CONbits.RSEN);
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5CONbits.RSEN = 1;
while (I2C5CONbits.RSEN);
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Sends a stop condition on the specified i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_stop(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1CONbits.PEN = 1;
while (I2C1CONbits.PEN);
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2CONbits.PEN = 1;
while (I2C2CONbits.PEN);
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3CONbits.PEN = 1;
while (I2C3CONbits.PEN);
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4CONbits.PEN = 1;
while (I2C4CONbits.PEN);
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5CONbits.PEN = 1;
while (I2C5CONbits.PEN);
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Waits until start, restart, stop, receive, transmit or ack condition finish
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_idle(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
while (I2C1CONbits.SEN || I2C1CONbits.PEN || I2C1CONbits.RCEN ||
I2C1CONbits.RSEN || I2C1CONbits.ACKEN || I2C1STATbits.TRSTAT);
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
while (I2C2CONbits.SEN || I2C2CONbits.PEN || I2C2CONbits.RCEN ||
I2C2CONbits.RSEN || I2C2CONbits.ACKEN || I2C2STATbits.TRSTAT);
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
while (I2C3CONbits.SEN || I2C3CONbits.PEN || I2C3CONbits.RCEN ||
I2C3CONbits.RSEN || I2C3CONbits.ACKEN || I2C3STATbits.TRSTAT);
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
while (I2C4CONbits.SEN || I2C4CONbits.PEN || I2C4CONbits.RCEN ||
I2C4CONbits.RSEN || I2C4CONbits.ACKEN || I2C4STATbits.TRSTAT);
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
while (I2C5CONbits.SEN || I2C5CONbits.PEN || I2C5CONbits.RCEN ||
I2C5CONbits.RSEN || I2C5CONbits.ACKEN || I2C5STATbits.TRSTAT);
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Generates acknowledge condition on the specified i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_ack(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1CONbits.ACKDT = 0;
I2C1CONbits.ACKEN = 1;
while (I2C1CONbits.ACKEN);
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2CONbits.ACKDT = 0;
I2C2CONbits.ACKEN = 1;
while (I2C2CONbits.ACKEN);
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3CONbits.ACKDT = 0;
I2C3CONbits.ACKEN = 1;
while (I2C3CONbits.ACKEN);
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4CONbits.ACKDT = 0;
I2C4CONbits.ACKEN = 1;
while (I2C4CONbits.ACKEN);
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5CONbits.ACKDT = 0;
I2C5CONbits.ACKEN = 1;
while (I2C5CONbits.ACKEN);
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Generates not acknowledge condition on the specified i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_nack(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1CONbits.ACKDT = 1;
I2C1CONbits.ACKEN = 1;
while (I2C1CONbits.ACKEN);
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2CONbits.ACKDT = 1;
I2C2CONbits.ACKEN = 1;
while (I2C2CONbits.ACKEN);
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3CONbits.ACKDT = 1;
I2C3CONbits.ACKEN = 1;
while (I2C3CONbits.ACKEN);
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4CONbits.ACKDT = 1;
I2C4CONbits.ACKEN = 1;
while (I2C4CONbits.ACKEN);
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5CONbits.ACKDT = 1;
I2C5CONbits.ACKEN = 1;
while (I2C5CONbits.ACKEN);
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Send a 8 data on the specified i2c bus device
* @param device i2c bus device number
* @return 0 if ok, -1 in case of error
*/
int i2c_putc(rt_dev_t device, const char data)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1TRN = data;
if (I2C1STATbits.IWCOL) // write collision detection
{
return -1;
}
while (I2C1CONbits.SEN || I2C1CONbits.PEN || I2C1CONbits.RCEN ||
I2C1CONbits.RSEN || I2C1CONbits.ACKEN || I2C1STATbits.TRSTAT); // wait iddle
if (I2C1STATbits.ACKSTAT) // test for ACK received
{
return -1;
}
break;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2TRN = data;
if (I2C2STATbits.IWCOL) // write collision detection
{
return -1;
}
while (I2C2CONbits.SEN || I2C2CONbits.PEN || I2C2CONbits.RCEN ||
I2C2CONbits.RSEN || I2C2CONbits.ACKEN || I2C2STATbits.TRSTAT); // wait iddle
if (I2C2STATbits.ACKSTAT) // test for ACK received
{
return -1;
}
break;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3TRN = data;
if (I2C3STATbits.IWCOL) // write collision detection
{
return -1;
}
while (I2C3CONbits.SEN || I2C3CONbits.PEN || I2C3CONbits.RCEN ||
I2C3CONbits.RSEN || I2C3CONbits.ACKEN || I2C3STATbits.TRSTAT); // wait iddle
if (I2C3STATbits.ACKSTAT) // test for ACK received
{
return -1;
}
break;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4TRN = data;
if (I2C4STATbits.IWCOL) // write collision detection
{
return -1;
}
while (I2C4CONbits.SEN || I2C4CONbits.PEN || I2C4CONbits.RCEN ||
I2C4CONbits.RSEN || I2C4CONbits.ACKEN || I2C4STATbits.TRSTAT); // wait iddle
if (I2C4STATbits.ACKSTAT) // test for ACK received
{
return -1;
}
break;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5TRN = data;
if (I2C5STATbits.IWCOL) // write collision detection
{
return -1;
}
while (I2C5CONbits.SEN || I2C5CONbits.PEN || I2C5CONbits.RCEN ||
I2C5CONbits.RSEN || I2C5CONbits.ACKEN || I2C5STATbits.TRSTAT); // wait iddle
if (I2C5STATbits.ACKSTAT) // test for ACK received
{
return -1;
}
break;
#endif
}
return 0;
#else
return -1;
#endif
}
/**
* @brief Receive a 8 data on the specified i2c bus device
* @param device i2c bus device number
* @return data received
*/
uint8_t i2c_getc(rt_dev_t device)
{
#if I2C_COUNT>=1
uint8_t i2c = MINOR(device);
if (i2c >= I2C_COUNT)
{
return 0;
}
switch (i2c)
{
#ifdef I2C_NUM1
case I2C_NUM1:
I2C1CONbits.RCEN = 1;
while(I2C1CONbits.RCEN);
I2C1STATbits.I2COV = 0;
return I2C1RCV;
#endif
#ifdef I2C_NUM2
case I2C_NUM2:
I2C2CONbits.RCEN = 1;
while(I2C2CONbits.RCEN);
I2C2STATbits.I2COV = 0;
return I2C2RCV;
#endif
#ifdef I2C_NUM3
case I2C_NUM3:
I2C3CONbits.RCEN = 1;
while(I2C3CONbits.RCEN);
I2C3STATbits.I2COV = 0;
return I2C3RCV;
#endif
#ifdef I2C_NUM4
case I2C_NUM4:
I2C4CONbits.RCEN = 1;
while(I2C4CONbits.RCEN);
I2C4STATbits.I2COV = 0;
return I2C4RCV;
#endif
#ifdef I2C_NUM5
case I2C_NUM5:
I2C5CONbits.RCEN = 1;
while(I2C5CONbits.RCEN);
I2C5STATbits.I2COV = 0;
return I2C5RCV;
#endif
}
#endif
return 0;
}