/* * SPDX-License-Identifier: MIT * * Copyright (C) 2021-2024 OpenMV, LLC. * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * * I2C port for rp2. */ #include #include #include "py/mphal.h" #include "pico/time.h" #include "pico/stdlib.h" #include "hardware/i2c.h" #include "omv_boardconfig.h" #include "omv_i2c.h" #define I2C_TIMEOUT (100 * 1000) #define I2C_SCAN_TIMEOUT (1 * 1000) int omv_i2c_init(omv_i2c_t *i2c, uint32_t bus_id, uint32_t speed) { i2c->id = bus_id; i2c->initialized = false; switch (speed) { case OMV_I2C_SPEED_STANDARD: i2c->speed = 100 * 1000; ///< 100 kbps break; case OMV_I2C_SPEED_FULL: i2c->speed = 250 * 1000; ///< 250 kbps break; case OMV_I2C_SPEED_FAST: i2c->speed = 1000 * 1000; ///< 1000 kbps break; default: return -1; } switch (bus_id) { case 0: { i2c->inst = i2c0; i2c->scl_pin = OMV_I2C0_SCL_PIN; i2c->sda_pin = OMV_I2C0_SDA_PIN; break; } case 1: { i2c->inst = i2c1; i2c->scl_pin = OMV_I2C1_SCL_PIN; i2c->sda_pin = OMV_I2C1_SDA_PIN; break; } default: return -1; } i2c_init(i2c->inst, i2c->speed); gpio_set_function(i2c->scl_pin, GPIO_FUNC_I2C); gpio_set_function(i2c->sda_pin, GPIO_FUNC_I2C); i2c->initialized = true; return 0; } int omv_i2c_deinit(omv_i2c_t *i2c) { if (i2c->initialized) { i2c_deinit(i2c->inst); i2c->initialized = false; } return 0; } int omv_i2c_scan(omv_i2c_t *i2c, uint8_t *list, uint8_t size) { int idx = 0; for (uint8_t addr = 0x20, rxdata; addr <= 0x77; addr++) { if (i2c_read_timeout_us(i2c->inst, addr, &rxdata, 1, false, I2C_SCAN_TIMEOUT) >= 0) { if (list == NULL || size == 0) { return (addr << 1); } else if (idx < size) { list[idx++] = (addr << 1); } else { break; } } } return idx; } int omv_i2c_enable(omv_i2c_t *i2c, bool enable) { return 0; } int omv_i2c_gencall(omv_i2c_t *i2c, uint8_t cmd) { int bytes = 0; bytes += i2c_write_timeout_us(i2c->inst, 0x00, &cmd, 1, false, I2C_TIMEOUT); return (bytes == 1) ? 0 : -1; } int omv_i2c_readb(omv_i2c_t *i2c, uint8_t slv_addr, uint8_t reg_addr, uint8_t *reg_data) { int bytes = 0; slv_addr = slv_addr >> 1; bytes += i2c_write_timeout_us(i2c->inst, slv_addr, ®_addr, 1, false, I2C_TIMEOUT); bytes += i2c_read_timeout_us(i2c->inst, slv_addr, reg_data, 1, false, I2C_TIMEOUT); return (bytes == 2) ? 0 : -1; } int omv_i2c_writeb(omv_i2c_t *i2c, uint8_t slv_addr, uint8_t reg_addr, uint8_t reg_data) { int bytes = 0; slv_addr = slv_addr >> 1; uint8_t buf[] = {reg_addr, reg_data}; bytes = i2c_write_timeout_us(i2c->inst, slv_addr, buf, 2, false, I2C_TIMEOUT); return (bytes == 2) ? 0 : -1; } int omv_i2c_read_bytes(omv_i2c_t *i2c, uint8_t slv_addr, uint8_t *buf, int len, uint32_t flags) { int bytes = 0; slv_addr = slv_addr >> 1; bool nostop = false; if (flags & OMV_I2C_XFER_NO_STOP) { nostop = true; } bytes = i2c_read_timeout_us(i2c->inst, slv_addr, buf, len, nostop, I2C_TIMEOUT); return (bytes == len) ? 0 : -1; } int omv_i2c_write_bytes(omv_i2c_t *i2c, uint8_t slv_addr, uint8_t *buf, int len, uint32_t flags) { int bytes = 0; slv_addr = slv_addr >> 1; bool nostop = false; if (flags & OMV_I2C_XFER_NO_STOP) { nostop = true; } bytes = i2c_write_timeout_us(i2c->inst, slv_addr, buf, len, nostop, I2C_TIMEOUT); return (bytes == len) ? 0 : -1; } int omv_i2c_pulse_scl(omv_i2c_t *i2c) { omv_i2c_deinit(i2c); // Configure SCL as GPIO gpio_init(i2c->scl_pin); gpio_set_dir(i2c->scl_pin, GPIO_OUT); // Pulse SCL to recover stuck device. for (int i = 0; i < 10000; i++) { gpio_put(i2c->scl_pin, 1); mp_hal_delay_us(10); gpio_put(i2c->scl_pin, 0); mp_hal_delay_us(10); } return 0; }