Add board-i2c library for the launchpad

platform/srf06-cc26xx/launchpad/Makefile.launchpad

@@ -3,7 +3,7 @@ CFLAGS += -DBOARD_LAUNCHPAD=1
 CONTIKI_TARGET_DIRS += launchpad common
 
 BOARD_SOURCEFILES += board.c launchpad-sensors.c leds-arch.c button-sensor.c
-BOARD_SOURCEFILES += ext-flash.c board-spi.c
+BOARD_SOURCEFILES += ext-flash.c board-spi.c board-i2c.c
 
 ### Signal that we can be programmed with cc2538-bsl
 BOARD_SUPPORTS_BSL=1

platform/srf06-cc26xx/launchpad/board-i2c.c

@@ -0,0 +1,323 @@
+/*
+ * Copyright (c) 2014, Texas Instruments Incorporated - http://www.ti.com/
+ * Copyright (c) 2017, University of Bristol - http://www.bris.ac.uk/
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the copyright holder nor the names of its
+ *    contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+/*---------------------------------------------------------------------------*/
+/**
+ * \addtogroup sensortag-cc26xx-i2c
+ * @{
+ *
+ * \file
+ * Board-specific I2C driver for the Sensortags
+ */
+/*---------------------------------------------------------------------------*/
+#include "contiki-conf.h"
+#include "ti-lib.h"
+#include "board-i2c.h"
+#include "lpm.h"
+#include "rtimer.h"
+
+#include <string.h>
+#include <stdbool.h>
+/*---------------------------------------------------------------------------*/
+#define I2C_MAX_WAIT_TIME    (RTIMER_SECOND / 10)
+
+#define LIMITED_BUSYWAIT(cond) do {                   \
+    rtimer_clock_t end_time = RTIMER_NOW() + I2C_MAX_WAIT_TIME; \
+    while(cond) {                                               \
+      if(!RTIMER_CLOCK_LT(RTIMER_NOW(), end_time)) {            \
+        return false;                                           \
+      }                                                         \
+    }                                                           \
+  } while(0)
+/*---------------------------------------------------------------------------*/
+#define NO_INTERFACE 0xFF
+/*---------------------------------------------------------------------------*/
+static uint8_t slave_addr = 0x00;
+static uint8_t interface = NO_INTERFACE;
+/*---------------------------------------------------------------------------*/
+static bool
+accessible(void)
+{
+  /* First, check the PD */
+  if(ti_lib_prcm_power_domain_status(PRCM_DOMAIN_SERIAL)
+     != PRCM_DOMAIN_POWER_ON) {
+    return false;
+  }
+
+  /* Then check the 'run mode' clock gate */
+  if(!(HWREG(PRCM_BASE + PRCM_O_I2CCLKGR) & PRCM_I2CCLKGR_CLK_EN)) {
+    return false;
+  }
+
+  return true;
+}
+/*---------------------------------------------------------------------------*/
+void
+board_i2c_wakeup()
+{
+  /* First, make sure the SERIAL PD is on */
+  ti_lib_prcm_power_domain_on(PRCM_DOMAIN_SERIAL);
+  while((ti_lib_prcm_power_domain_status(PRCM_DOMAIN_SERIAL)
+        != PRCM_DOMAIN_POWER_ON));
+
+  /* Enable the clock to I2C */
+  ti_lib_prcm_peripheral_run_enable(PRCM_PERIPH_I2C0);
+  ti_lib_prcm_load_set();
+  while(!ti_lib_prcm_load_get());
+
+  /* Enable and initialize the I2C master module */
+  ti_lib_i2c_master_init_exp_clk(I2C0_BASE, ti_lib_sys_ctrl_clock_get(),
+                                 true);
+}
+/*---------------------------------------------------------------------------*/
+static bool
+i2c_status()
+{
+  uint32_t status;
+
+  status = ti_lib_i2c_master_err(I2C0_BASE);
+  if(status & (I2C_MSTAT_DATACK_N_M | I2C_MSTAT_ADRACK_N_M)) {
+    ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_ERROR_STOP);
+  }
+
+  return status == I2C_MASTER_ERR_NONE;
+}
+/*---------------------------------------------------------------------------*/
+void
+board_i2c_shutdown()
+{
+  interface = NO_INTERFACE;
+
+  if(accessible()) {
+    ti_lib_i2c_master_disable(I2C0_BASE);
+  }
+
+  ti_lib_prcm_peripheral_run_disable(PRCM_PERIPH_I2C0);
+  ti_lib_prcm_load_set();
+  while(!ti_lib_prcm_load_get());
+
+  /*
+   * Set all pins to GPIO Input and disable the output driver. Set internal
+   * pull to match external pull
+   *
+   * SDA and SCL: external PU resistor
+   */
+  ti_lib_ioc_pin_type_gpio_input(BOARD_IOID_SDA);
+  ti_lib_ioc_io_port_pull_set(BOARD_IOID_SDA, IOC_IOPULL_UP);
+  ti_lib_ioc_pin_type_gpio_input(BOARD_IOID_SCL);
+  ti_lib_ioc_io_port_pull_set(BOARD_IOID_SCL, IOC_IOPULL_UP);
+}
+/*---------------------------------------------------------------------------*/
+bool
+board_i2c_write(uint8_t *data, uint8_t len)
+{
+  uint32_t i;
+  bool success;
+
+  /* Write slave address */
+  ti_lib_i2c_master_slave_addr_set(I2C0_BASE, slave_addr, false);
+
+  /* Write first byte */
+  ti_lib_i2c_master_data_put(I2C0_BASE, data[0]);
+
+  /* Check if another master has access */
+  LIMITED_BUSYWAIT(ti_lib_i2c_master_bus_busy(I2C0_BASE));
+
+  /* Assert RUN + START */
+  ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
+  LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+  success = i2c_status();
+
+  for(i = 1; i < len && success; i++) {
+    /* Write next byte */
+    ti_lib_i2c_master_data_put(I2C0_BASE, data[i]);
+    if(i < len - 1) {
+      /* Clear START */
+      ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_CONT);
+      LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+      success = i2c_status();
+    }
+  }
+
+  /* Assert stop */
+  if(success) {
+    /* Assert STOP */
+    ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);
+    LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+    success = i2c_status();
+    LIMITED_BUSYWAIT(ti_lib_i2c_master_bus_busy(I2C0_BASE));
+  }
+
+  return success;
+}
+/*---------------------------------------------------------------------------*/
+bool
+board_i2c_write_single(uint8_t data)
+{
+  /* Write slave address */
+  ti_lib_i2c_master_slave_addr_set(I2C0_BASE, slave_addr, false);
+
+  /* Write first byte */
+  ti_lib_i2c_master_data_put(I2C0_BASE, data);
+
+  /* Check if another master has access */
+  LIMITED_BUSYWAIT(ti_lib_i2c_master_bus_busy(I2C0_BASE));
+
+  /* Assert RUN + START + STOP */
+  ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_SINGLE_SEND);
+  LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+
+  return i2c_status();
+}
+/*---------------------------------------------------------------------------*/
+bool
+board_i2c_read(uint8_t *data, uint8_t len)
+{
+  uint8_t i;
+  bool success;
+
+  /* Set slave address */
+  ti_lib_i2c_master_slave_addr_set(I2C0_BASE, slave_addr, true);
+
+  /* Check if another master has access */
+  LIMITED_BUSYWAIT(ti_lib_i2c_master_bus_busy(I2C0_BASE));
+
+  /* Assert RUN + START + ACK */
+  ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START);
+
+  i = 0;
+  success = true;
+  while(i < (len - 1) && success) {
+    LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+    success = i2c_status();
+    if(success) {
+      data[i] = ti_lib_i2c_master_data_get(I2C0_BASE);
+      ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
+      i++;
+    }
+  }
+
+  if(success) {
+    ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH);
+    LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+    success = i2c_status();
+    if(success) {
+      data[len - 1] = ti_lib_i2c_master_data_get(I2C0_BASE);
+      LIMITED_BUSYWAIT(ti_lib_i2c_master_bus_busy(I2C0_BASE));
+    }
+  }
+
+  return success;
+}
+/*---------------------------------------------------------------------------*/
+bool
+board_i2c_write_read(uint8_t *wdata, uint8_t wlen, uint8_t *rdata, uint8_t rlen)
+{
+  uint32_t i;
+  bool success;
+
+  /* Set slave address for write */
+  ti_lib_i2c_master_slave_addr_set(I2C0_BASE, slave_addr, false);
+
+  /* Write first byte */
+  ti_lib_i2c_master_data_put(I2C0_BASE, wdata[0]);
+
+  /* Check if another master has access */
+  LIMITED_BUSYWAIT(ti_lib_i2c_master_bus_busy(I2C0_BASE));
+
+  /* Assert RUN + START */
+  ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_START);
+  LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+  success = i2c_status();
+
+  for(i = 1; i < wlen && success; i++) {
+    /* Write next byte */
+    ti_lib_i2c_master_data_put(I2C0_BASE, wdata[i]);
+
+    /* Clear START */
+    ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_SEND_CONT);
+    LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+    success = i2c_status();
+  }
+  if(!success) {
+    return false;
+  }
+
+  /* Set slave address for read */
+  ti_lib_i2c_master_slave_addr_set(I2C0_BASE, slave_addr, true);
+
+  /* Assert ACK */
+  ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START);
+
+  i = 0;
+  while(i < (rlen - 1) && success) {
+    LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+    success = i2c_status();
+    if(success) {
+      rdata[i] = ti_lib_i2c_master_data_get(I2C0_BASE);
+      ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
+      i++;
+    }
+  }
+
+  if(success) {
+    ti_lib_i2c_master_control(I2C0_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH);
+    LIMITED_BUSYWAIT(ti_lib_i2c_master_busy(I2C0_BASE));
+    success = i2c_status();
+    if(success) {
+      rdata[rlen - 1] = ti_lib_i2c_master_data_get(I2C0_BASE);
+      LIMITED_BUSYWAIT(ti_lib_i2c_master_bus_busy(I2C0_BASE));
+    }
+  }
+
+  return success;
+}
+/*---------------------------------------------------------------------------*/
+void
+board_i2c_select(uint8_t address)
+{
+  slave_addr = address;
+
+  if(accessible() == false) {
+    board_i2c_wakeup();
+  }
+
+    ti_lib_i2c_master_disable(I2C0_BASE);
+
+    ti_lib_ioc_io_port_pull_set(BOARD_IOID_SDA, IOC_NO_IOPULL);
+    ti_lib_ioc_io_port_pull_set(BOARD_IOID_SCL, IOC_NO_IOPULL);
+    ti_lib_ioc_pin_type_i2c(I2C0_BASE, BOARD_IOID_SDA, BOARD_IOID_SCL);
+
+    /* Enable and initialize the I2C master module */
+    ti_lib_i2c_master_init_exp_clk(I2C0_BASE, ti_lib_sys_ctrl_clock_get(),
+                                   true);
+}
+/*---------------------------------------------------------------------------*/
+/** @} */