feather-stm32f405: add I2C support (#1378)

* machine/stm32f405: add initial I2C support
4 years ago · 3eb33dff5d
4 changed files with 573 additions and 5 deletions
--- a/src/machine/board_feather-stm32f405.go
+++ b/src/machine/board_feather-stm32f405.go
@ -202,11 +202,11 @@ const (
 	// #===========#==========#==============#==============#=======#=======#
 	// | Interface | Hardware |  Bus(Freq)   | SDA/SCL Pins | AltFn | Alias |
 	// #===========#==========#==============#==============#=======#=======#
-	// |   I2C1    |   I2C1   |              |   D14/D15    |       |   ~   |
-	// |   I2C2    |   I2C2   |              |    D0/D1     |       |   ~   |
-	// |   I2C3    |   I2C1   |              |    D9/D10    |       |   ~   |
+	// |   I2C1    |   I2C1   | APB1(42 MHz) |   D14/D15    |   4   |   ~   |
+	// |   I2C2    |   I2C2   | APB1(42 MHz) |    D0/D1     |   4   |   ~   |
+	// |   I2C3    |   I2C1   | APB1(42 MHz) |    D9/D10    |   4   |   ~   |
 	// | --------- | -------- | ------------ | ------------ | ----- | ----- |
-	// |   I2C0    |   I2C1   |              |   D14/D15    |       | I2C1  |
+	// |   I2C0    |   I2C1   | APB1(42 MHz) |   D14/D15    |   4   | I2C1  |
 	// #===========#==========#==============#==============#=======#=======#
 	NUM_I2C_INTERFACES = 3

@ -226,4 +226,20 @@ const (
 	I2C_SCL_PIN = I2C0_SCL_PIN //
 )

+var (
+	I2C1 = I2C{
+		Bus:             stm32.I2C1,
+		AltFuncSelector: stm32.AF4_I2C1_2_3,
+	}
+	I2C2 = I2C{
+		Bus:             stm32.I2C2,
+		AltFuncSelector: stm32.AF4_I2C1_2_3,
+	}
+	I2C3 = I2C{
+		Bus:             stm32.I2C1,
+		AltFuncSelector: stm32.AF4_I2C1_2_3,
+	}
+	I2C0 = I2C1
+)
+
 func initI2C() {}
--- a/src/machine/i2c.go
+++ b/src/machine/i2c.go
@ -1,4 +1,4 @@
-// +build avr nrf sam stm32,!stm32f4 fe310 k210
+// +build avr nrf sam stm32,!stm32f407 fe310 k210

 package machine

--- a/src/machine/machine_stm32_i2c.go
+++ b/src/machine/machine_stm32_i2c.go
@ -0,0 +1,481 @@
+// +build stm32,!stm32f103xx,!stm32f407
+
+package machine
+
+// Peripheral abstraction layer for I2C on the stm32 family
+
+import (
+	"device/stm32"
+	"unsafe"
+)
+
+const (
+	flagOVR     = 0x00010800
+	flagAF      = 0x00010400
+	flagARLO    = 0x00010200
+	flagBERR    = 0x00010100
+	flagTXE     = 0x00010080
+	flagRXNE    = 0x00010040
+	flagSTOPF   = 0x00010010
+	flagADD10   = 0x00010008
+	flagBTF     = 0x00010004
+	flagADDR    = 0x00010002
+	flagSB      = 0x00010001
+	flagDUALF   = 0x00100080
+	flagGENCALL = 0x00100010
+	flagTRA     = 0x00100004
+	flagBUSY    = 0x00100002
+	flagMSL     = 0x00100001
+)
+
+func (i2c I2C) hasFlag(flag uint32) bool {
+	const mask = 0x0000FFFF
+	if uint8(flag>>16) == 1 {
+		return i2c.Bus.SR1.HasBits(flag & mask)
+	} else {
+		return i2c.Bus.SR2.HasBits(flag & mask)
+	}
+}
+
+func (i2c I2C) clearFlag(flag uint32) {
+	const mask = 0x0000FFFF
+	i2c.Bus.SR1.Set(^(flag & mask))
+}
+
+// clearFlagADDR reads both status registers to clear any pending ADDR flags.
+func (i2c I2C) clearFlagADDR() {
+	i2c.Bus.SR1.Get()
+	i2c.Bus.SR2.Get()
+}
+
+func (i2c I2C) waitForFlag(flag uint32, set bool) bool {
+	const tryMax = 10000
+	hasFlag := false
+	for i := 0; !hasFlag && i < tryMax; i++ {
+		hasFlag = i2c.hasFlag(flag) == set
+	}
+	return hasFlag
+}
+
+func (i2c I2C) waitForFlagOrError(flag uint32, set bool) bool {
+	const tryMax = 10000
+	hasFlag := false
+	for i := 0; !hasFlag && i < tryMax; i++ {
+		if hasFlag = i2c.hasFlag(flag) == set; !hasFlag {
+			// check for ACK failure
+			if i2c.hasFlag(flagAF) {
+				// generate stop condition
+				i2c.Bus.CR1.SetBits(stm32.I2C_CR1_STOP)
+				// clear pending flags
+				i2c.clearFlag(flagAF)
+				return false
+			} else if i2c.hasFlag(flagSTOPF) {
+				// clear stop flag
+				i2c.clearFlag(flagSTOPF)
+				return false
+			}
+		}
+	}
+	return hasFlag
+}
+
+type transferOption uint32
+
+const (
+	frameFirst        = 0x00000001
+	frameFirstAndNext = 0x00000002
+	frameNext         = 0x00000004
+	frameFirstAndLast = 0x00000008
+	frameLastNoStop   = 0x00000010
+	frameLast         = 0x00000020
+	frameNoOption     = 0xFFFF0000
+)
+
+// addressable represents a type that can provide fully-formatted I2C peripheral
+// addresses for both read operations and write operations.
+type addressable interface {
+	toRead() uint32
+	toWrite() uint32
+	bitSize() uint8
+}
+
+// address7Bit and address10Bit stores the unshifted original I2C peripheral address
+// in an unsigned integral data type and implements the addressable interface
+// to reformat addresses as required for read/write operations.
+//   TODO:
+//    add 10-bit address support
+type (
+	address7Bit uint8
+	//address10Bit uint16
+)
+
+func (sa address7Bit) toRead() uint32 {
+	return uint32(((uint8(sa) << 1) | uint8(stm32.I2C_OAR1_ADD0)) & 0xFF)
+}
+func (sa address7Bit) toWrite() uint32 {
+	return uint32(((uint8(sa) << 1) & ^(uint8(stm32.I2C_OAR1_ADD0))) & 0xFF)
+}
+func (sa address7Bit) bitSize() uint8 { return 7 } // 7-bit addresses
+
+//func (sa address10Bit) toRead() uint32  {}
+//func (sa address10Bit) toWrite() uint32 {}
+//func (sa address10Bit) bitSize() uint8  { return 10 } // 10-bit addresses
+
+func readAddress7Bit(addr uint8) uint32  { return address7Bit(addr).toRead() }
+func writeAddress7Bit(addr uint8) uint32 { return address7Bit(addr).toWrite() }
+
+//func readAddress10Bit(addr uint16) uint32  { return address10Bit(addr).toRead() }
+//func writeAddress10Bit(addr uint16) uint32 { return address10Bit(addr).toWrite() }
+
+// I2C fast mode (Fm) duty cycle
+const (
+	DutyCycle2    = 0
+	DutyCycle16x9 = 1
+)
+
+// I2CConfig is used to store config info for I2C.
+type I2CConfig struct {
+	Frequency uint32
+	SCL       Pin
+	SDA       Pin
+	DutyCycle uint8
+}
+
+// Configure is intended to setup the STM32 I2C interface.
+func (i2c I2C) Configure(config I2CConfig) {
+
+	// The following is the required sequence in controller mode.
+	// 1. Program the peripheral input clock in I2C_CR2 Register in order to
+	//    generate correct timings
+	// 2. Configure the clock control registers
+	// 3. Configure the rise time register
+	// 4. Program the I2C_CR1 register to enable the peripheral
+	// 5. Set the START bit in the I2C_CR1 register to generate a Start condition
+
+	// disable I2C interface before any configuration changes
+	i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_PE)
+
+	// reset I2C bus
+	i2c.Bus.CR1.SetBits(stm32.I2C_CR1_SWRST)
+	i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_SWRST)
+
+	// enable clock for I2C
+	enableAltFuncClock(unsafe.Pointer(i2c.Bus))
+
+	// init pins
+	if config.SCL == 0 && config.SDA == 0 {
+		config.SCL = I2C0_SCL_PIN
+		config.SDA = I2C0_SDA_PIN
+	}
+	i2c.configurePins(config)
+
+	// default to 100 kHz (Sm, standard mode) if no frequency is set
+	if config.Frequency == 0 {
+		config.Frequency = TWI_FREQ_100KHZ
+	}
+
+	// configure I2C input clock
+	i2c.Bus.CR2.SetBits(i2c.getFreqRange(config))
+
+	// configure rise time
+	i2c.Bus.TRISE.Set(i2c.getRiseTime(config))
+
+	// configure clock control
+	i2c.Bus.CCR.Set(i2c.getSpeed(config))
+
+	// disable GeneralCall and NoStretch modes
+	i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_ENGC | stm32.I2C_CR1_NOSTRETCH)
+
+	// enable I2C interface
+	i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_PE)
+}
+
+func (i2c I2C) Tx(addr uint16, w, r []byte) error {
+	a := address7Bit(addr)
+	if err := i2c.controllerTransmit(a, w); nil != err {
+		return err
+	}
+	if err := i2c.controllerReceive(a, r); nil != err {
+		return err
+	}
+	return nil
+}
+
+func (i2c I2C) controllerTransmit(addr addressable, w []byte) error {
+
+	if !i2c.waitForFlag(flagBUSY, false) {
+		return errI2CBusReadyTimeout
+	}
+
+	// ensure peripheral is enabled
+	if !i2c.Bus.CR1.HasBits(stm32.I2C_CR1_PE) {
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_PE)
+	}
+
+	// disable POS
+	i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_POS)
+
+	pos := 0
+	rem := len(w)
+
+	// send peripheral address
+	if err := i2c.controllerRequestWrite(addr, frameNoOption); nil != err {
+		return err
+	}
+
+	// clear ADDR flag
+	i2c.clearFlagADDR()
+
+	for rem > 0 {
+		// wait for TXE flag set
+		if !i2c.waitForFlagOrError(flagTXE, true) {
+			return errI2CAckExpected
+		}
+
+		// write data to DR
+		i2c.Bus.DR.Set(uint32(w[pos]))
+		// update counters
+		pos++
+		rem--
+
+		if i2c.hasFlag(flagBTF) && rem != 0 {
+			// write data to DR
+			i2c.Bus.DR.Set(uint32(w[pos]))
+			// update counters
+			pos++
+			rem--
+		}
+
+		// wait for transfer finished flag BTF set
+		if !i2c.waitForFlagOrError(flagBTF, true) {
+			return errI2CWriteTimeout
+		}
+	}
+
+	// generate stop condition
+	i2c.Bus.CR1.SetBits(stm32.I2C_CR1_STOP)
+
+	return nil
+}
+
+func (i2c I2C) controllerRequestWrite(addr addressable, option transferOption) error {
+
+	if frameFirstAndLast == option || frameFirst == option || frameNoOption == option {
+		// generate start condition
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_START)
+	} else if false /* (hi2c->PreviousState == I2C_STATE_MASTER_BUSY_RX) */ {
+		// generate restart condition
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_START)
+	}
+
+	// ensure start bit is set
+	if !i2c.waitForFlag(flagSB, true) {
+		return errI2CSignalStartTimeout
+	}
+
+	// send peripheral address
+	switch addr.bitSize() {
+	case 7: // 7-bit peripheral address
+		i2c.Bus.DR.Set(addr.toWrite())
+
+	case 10: // 10-bit peripheral address
+		// TODO
+	}
+
+	// wait for address ACK from peripheral
+	if !i2c.waitForFlagOrError(flagADDR, true) {
+		return errI2CSignalStartTimeout
+	}
+
+	return nil
+}
+
+func (i2c I2C) controllerReceive(addr addressable, r []byte) error {
+
+	if !i2c.waitForFlag(flagBUSY, false) {
+		return errI2CBusReadyTimeout
+	}
+
+	// ensure peripheral is enabled
+	if !i2c.Bus.CR1.HasBits(stm32.I2C_CR1_PE) {
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_PE)
+	}
+
+	// disable POS
+	i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_POS)
+
+	pos := 0
+	rem := len(r)
+
+	// send peripheral address
+	if err := i2c.controllerRequestRead(addr, frameNoOption); nil != err {
+		return err
+	}
+
+	switch rem {
+	case 0:
+		// clear ADDR flag
+		i2c.clearFlagADDR()
+		// generate stop condition
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_STOP)
+
+	case 1:
+		// disable ACK
+		i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_ACK)
+		// clear ADDR flag
+		i2c.clearFlagADDR()
+		// generate stop condition
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_STOP)
+
+	case 2:
+		// disable ACK
+		i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_ACK)
+		// enable POS
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_POS)
+		// clear ADDR flag
+		i2c.clearFlagADDR()
+
+	default:
+		// enable ACK
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_ACK)
+		// clear ADDR flag
+		i2c.clearFlagADDR()
+	}
+
+	for rem > 0 {
+		switch rem {
+		case 1:
+			// wait until RXNE flag is set
+			if !i2c.waitForFlagOrError(flagRXNE, true) {
+				return errI2CReadTimeout
+			}
+
+			// read data from DR
+			r[pos] = byte(i2c.Bus.DR.Get())
+
+			// update counters
+			pos++
+			rem--
+
+		case 2:
+			// wait until transfer finished flag BTF is set
+			if !i2c.waitForFlag(flagBTF, true) {
+				return errI2CReadTimeout
+			}
+
+			// generate stop condition
+			i2c.Bus.CR1.SetBits(stm32.I2C_CR1_STOP)
+
+			// read data from DR
+			r[pos] = byte(i2c.Bus.DR.Get())
+
+			// update counters
+			pos++
+			rem--
+
+			// read data from DR
+			r[pos] = byte(i2c.Bus.DR.Get())
+
+			// update counters
+			pos++
+			rem--
+
+		case 3:
+			// wait until transfer finished flag BTF is set
+			if !i2c.waitForFlag(flagBTF, true) {
+				return errI2CReadTimeout
+			}
+
+			// disable ACK
+			i2c.Bus.CR1.ClearBits(stm32.I2C_CR1_ACK)
+
+			// read data from DR
+			r[pos] = byte(i2c.Bus.DR.Get())
+
+			// update counters
+			pos++
+			rem--
+
+			// wait until transfer finished flag BTF is set
+			if !i2c.waitForFlag(flagBTF, true) {
+				return errI2CReadTimeout
+			}
+
+			// generate stop condition
+			i2c.Bus.CR1.SetBits(stm32.I2C_CR1_STOP)
+
+			// read data from DR
+			r[pos] = byte(i2c.Bus.DR.Get())
+
+			// update counters
+			pos++
+			rem--
+
+			// read data from DR
+			r[pos] = byte(i2c.Bus.DR.Get())
+
+			// update counters
+			pos++
+			rem--
+
+		default:
+			// wait until RXNE flag is set
+			if !i2c.waitForFlagOrError(flagRXNE, true) {
+				return errI2CReadTimeout
+			}
+
+			// read data from DR
+			r[pos] = byte(i2c.Bus.DR.Get())
+
+			// update counters
+			pos++
+			rem--
+
+			if i2c.hasFlag(flagBTF) {
+				// read data from DR
+				r[pos] = byte(i2c.Bus.DR.Get())
+
+				// update counters
+				pos++
+				rem--
+			}
+		}
+	}
+
+	return nil
+}
+
+func (i2c I2C) controllerRequestRead(addr addressable, option transferOption) error {
+
+	// enable ACK
+	i2c.Bus.CR1.SetBits(stm32.I2C_CR1_ACK)
+
+	if frameFirstAndLast == option || frameFirst == option || frameNoOption == option {
+		// generate start condition
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_START)
+	} else if false /* (hi2c->PreviousState == I2C_STATE_MASTER_BUSY_TX) */ {
+		// generate restart condition
+		i2c.Bus.CR1.SetBits(stm32.I2C_CR1_START)
+	}
+
+	// ensure start bit is set
+	if !i2c.waitForFlag(flagSB, true) {
+		return errI2CSignalStartTimeout
+	}
+
+	// send peripheral address
+	switch addr.bitSize() {
+	case 7: // 7-bit peripheral address
+		i2c.Bus.DR.Set(addr.toRead())
+
+	case 10: // 10-bit peripheral address
+		// TODO
+	}
+
+	// wait for address ACK from peripheral
+	if !i2c.waitForFlagOrError(flagADDR, true) {
+		return errI2CSignalStartTimeout
+	}
+
+	return nil
+}
--- a/src/machine/machine_stm32f405.go
+++ b/src/machine/machine_stm32f405.go
@ -95,3 +95,74 @@ type I2C struct {
 	Bus             *stm32.I2C_Type
 	AltFuncSelector stm32.AltFunc
 }
+
+func (i2c I2C) configurePins(config I2CConfig) {
+	config.SCL.ConfigureAltFunc(PinConfig{Mode: PinModeI2CSCL}, i2c.AltFuncSelector)
+	config.SDA.ConfigureAltFunc(PinConfig{Mode: PinModeI2CSDA}, i2c.AltFuncSelector)
+}
+
+func (i2c I2C) getFreqRange(config I2CConfig) uint32 {
+	// all I2C interfaces are on APB1 (42 MHz)
+	clock := CPUFrequency() / 4
+	// convert to MHz
+	clock /= 1000000
+	// must be between 2 MHz (or 4 MHz for fast mode (Fm)) and 50 MHz, inclusive
+	var min, max uint32 = 2, 50
+	if config.Frequency > 10000 {
+		min = 4 // fast mode (Fm)
+	}
+	if clock < min {
+		clock = min
+	} else if clock > max {
+		clock = max
+	}
+	return clock << stm32.I2C_CR2_FREQ_Pos
+}
+
+func (i2c I2C) getRiseTime(config I2CConfig) uint32 {
+	// These bits must be programmed with the maximum SCL rise time given in the
+	// I2C bus specification, incremented by 1.
+	// For instance: in Sm mode, the maximum allowed SCL rise time is 1000 ns.
+	// If, in the I2C_CR2 register, the value of FREQ[5:0] bits is equal to 0x08
+	// and PCLK1 = 125 ns, therefore the TRISE[5:0] bits must be programmed with
+	// 09h (1000 ns / 125 ns = 8 + 1)
+	freqRange := i2c.getFreqRange(config)
+	if config.Frequency > 100000 {
+		// fast mode (Fm) adjustment
+		freqRange *= 300
+		freqRange /= 1000
+	}
+	return (freqRange + 1) << stm32.I2C_TRISE_TRISE_Pos
+}
+
+func (i2c I2C) getSpeed(config I2CConfig) uint32 {
+	ccr := func(pclk uint32, freq uint32, coeff uint32) uint32 {
+		return (((pclk - 1) / (freq * coeff)) + 1) & stm32.I2C_CCR_CCR_Msk
+	}
+	sm := func(pclk uint32, freq uint32) uint32 { // standard mode (Sm)
+		if s := ccr(pclk, freq, 2); s < 4 {
+			return 4
+		} else {
+			return s
+		}
+	}
+	fm := func(pclk uint32, freq uint32, duty uint8) uint32 { // fast mode (Fm)
+		if duty == DutyCycle2 {
+			return ccr(pclk, freq, 3)
+		} else {
+			return ccr(pclk, freq, 25) | stm32.I2C_CCR_DUTY
+		}
+	}
+	// all I2C interfaces are on APB1 (42 MHz)
+	clock := CPUFrequency() / 4
+	if config.Frequency <= 100000 {
+		return sm(clock, config.Frequency)
+	} else {
+		s := fm(clock, config.Frequency, config.DutyCycle)
+		if (s & stm32.I2C_CCR_CCR_Msk) == 0 {
+			return 1
+		} else {
+			return s | stm32.I2C_CCR_F_S
+		}
+	}
+}