at91_twi.c

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/*
 * Copyright (C) 2001-2005 by EmbeddedIT, Ole Reinhardt
 * Copyright (C) 2009 by Rittal GmbH & Co. KG, Ulrich Prinz
 * Copyright 2009 by egnite GmbH
 *
 * 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 holders nor the names of
 *    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 OWNER 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.
 *
 * For additional information see http://www.ethernut.de/
 *
 */

/*
 * $Id: at91_twi.c 4234 2012-06-12 09:38:41Z haraldkipp $
 */

#include <arch/arm.h>
#include <dev/irqreg.h>

#include <sys/event.h>
#include <sys/atom.h>
#include <sys/timer.h>
#include <sys/thread.h>
#include <sys/heap.h>

#include <dev/twif.h>


/*
 * Set ports for known targets.
 */
#if defined(MCU_AT91SAM7X)
#define TWI_TWD     PA10_TWD_A
#define TWI_TWCK    PA11_TWCK_A
#elif defined(MCU_AT91SAM7S) || defined(MCU_AT91SAM7SE)
#define TWI_TWD     PA3_TWD_A
#define TWI_TWCK    PA4_TWCK_A
#elif defined (MCU_AT91SAM9260) || defined(MCU_AT91SAM9XE)
#define TWI_TWD     PA23_TWD_A
#define TWI_TWCK    PA24_TWCK_A
#elif defined (MCU_AT91SAM9G45)
#define TWI_TWD     PA20_TWD0_A
#define TWI_TWCK    PA21_TWCK0_A
#endif

/*
 * Set port defaults, assume PIOA.
 */
#ifndef TWI_PIO_ASR
#define TWI_PIO_ASR     PIOA_ASR
#endif
#ifndef TWI_PIO_PDR
#define TWI_PIO_PDR     PIOA_PDR
#endif
#ifndef TWI_PIO_MDER
#define TWI_PIO_MDER    PIOA_MDER
#endif

static HANDLE tw_mm_mutex;      /* Exclusive master access. */
static HANDLE tw_mm_que;        /* Threads waiting for master transfer done. */

static volatile int tw_mm_err;  /* Current master mode error. */
static int tw_mm_error;         /* Last master mode error. */

static uint8_t *tw_mm_buf;      /* Pointer to the master transfer buffer. */
static volatile size_t tw_mm_len;       /* Number of bytes to transmit in master mode. */
static volatile size_t tw_mm_idx;       /* Current master transmit buffer index. */

/*
 * TWI interrupt handler.
 */
static void TwInterrupt(void *arg)
{
    register unsigned int twsr;

    /* Read the status register and check for errors. */
    twsr = inr(TWI_SR);
    if (twsr & (TWI_NACK | TWI_OVRE | TWI_ARBLST)) {
        if (twsr & TWI_NACK) {
            tw_mm_err = TWERR_SLA_NACK;
        } else {
            tw_mm_err = TWERR_BUS;
        }
    }

    /* Mask inactive interrupt flags. */
    twsr &= inr(TWI_IMR);
    if (twsr & TWI_TXRDY) {
        /* Byte has been transmitted. */
        if (tw_mm_idx < tw_mm_len) {
            /* More bytes in buffer, send next one. */
            outb(TWI_THR, tw_mm_buf[tw_mm_idx]);
            tw_mm_idx++;
        } else {
            /* All bytes sent, wait for completion. */
#if defined(MCU_AT91SAM9XE)
            /* On the SAM9XE the stop condition is not sent automatically
               when the transmitter runs out of data. */
            outr(TWI_CR, TWI_STOP);
#endif
            outr(TWI_IDR, TWI_TXRDY);
            outr(TWI_IER, TWI_TXCOMP);
        }
    } else if (twsr & TWI_RXRDY) {
        /* Byte has been received. */
        if (tw_mm_idx < tw_mm_len) {
            /* Store byte in receive buffer. */
            tw_mm_buf[tw_mm_idx++] = inb(TWI_RHR);
            if (tw_mm_idx == tw_mm_len - 1) {
                /* Next byte will be last, set STOP condition. */
                outr(TWI_CR, TWI_STOP);
            } else if (tw_mm_idx == tw_mm_len) {
                /* This was the last byte, wait for completion. */
                outr(TWI_IDR, TWI_RXRDY);
                outr(TWI_IER, TWI_TXCOMP);
            }
        }
    } else if (twsr & TWI_TXCOMP) {
        /* Transfer is complete, disable interrupts
        ** and signal waiting threads */
        outr(TWI_IDR, 0xFFFFFFFF);
        NutEventPostFromIrq(&tw_mm_que);
    }
}

int TwMasterTransact(uint8_t sla, CONST void *txdata, uint16_t txlen, void *rxdata, uint16_t rxsiz, uint32_t tmo)
{
    int rc = -1;

    /* This routine is marked reentrant, so lock the interface. */
    if (NutEventWait(&tw_mm_mutex, tmo)) {
        tw_mm_error = TWERR_IF_LOCKED;
        return -1;
    }

    /* Clear errors. */
    tw_mm_err = 0;

    /* Check if there is something to transmit. */
    if (txlen) {
        /* Set transmit parameters. */
        tw_mm_buf = (uint8_t *) txdata;
        tw_mm_len = (size_t) txlen;
        tw_mm_idx = 1;

        /* Start transmit to specified slave address. */
        outr(TWI_MMR, (unsigned int) sla << TWI_DADR_LSB);
        outr(TWI_THR, tw_mm_buf[0]);
        outr(TWI_IER, TWI_TXRDY);

        /* Wait for transmission complete. */
        if (NutEventWait(&tw_mm_que, tmo)) {
            tw_mm_err = TWERR_TIMEOUT;
        }
    }

    if (tw_mm_err == 0) {
        /* Reset receive counter. We need this below to set
        ** the return value. */
        tw_mm_idx = 0;
        /* Check if there is something to receive. */
        if (rxsiz) {
            /* Set remaining receive parameters. */
            tw_mm_buf = (uint8_t *) rxdata;
            tw_mm_len = (size_t) rxsiz;

            /* Start receive from specified slave address. */
            outr(TWI_MMR, ((unsigned int) sla << TWI_DADR_LSB) | TWI_MREAD);
            if (rxsiz == 1) {
                /* Set STOP condition if this is the last byte. */
                outr(TWI_CR, TWI_START | TWI_STOP);
            } else {
                outr(TWI_CR, TWI_START);
            }
            outr(TWI_IER, TWI_RXRDY);

            /* Wait for receiver complete. */
            if (NutEventWait(&tw_mm_que, tmo)) {
                tw_mm_err = TWERR_TIMEOUT;
            }
        }
    }
    /* Make sure that all interrupts are disabled. */
    outr(TWI_IDR, 0xFFFFFFFF);

    /* Check for errors that may have been detected
    ** by the interrupt routine. */
    if (tw_mm_err) {
        tw_mm_error = tw_mm_err;
    } else {
        rc = (int) tw_mm_idx;
    }

    /* Release the interface. */
    NutEventPost(&tw_mm_mutex);

    return rc;
}

int TwMasterRegRead(uint8_t sla, uint32_t iadr, uint8_t iadrlen, void *rxdata, uint16_t rxsiz, uint32_t tmo)
{
    int rc = -1;

    if (rxsiz == 0) {
        return -1;
    }
    /* This routine is marked reentrant, so lock the interface. */
    if (NutEventWait(&tw_mm_mutex, tmo)) {
        tw_mm_error = TWERR_IF_LOCKED;
        return -1;
    }

    tw_mm_err = 0;

    if (rxsiz) {
        tw_mm_buf = rxdata;
        tw_mm_len = (size_t) rxsiz;
        tw_mm_idx = 0;

        /* Set TWI Internal Address Register if needed */
        outr(TWI_IADRR, iadr);
        /* Set the TWI Master Mode Register */
        outr(TWI_MMR, ((unsigned int) sla << TWI_DADR_LSB) | (((unsigned int) iadrlen & 3) << 8) | TWI_MREAD);
        /* Send start condition. If read only one byte send stop as well */
        if (rxsiz == 1) {
            outr(TWI_CR, TWI_START | TWI_STOP);
        } else {
            outr(TWI_CR, TWI_START);
        }
        outr(TWI_IER, TWI_RXRDY);

        /* Wait for master transmission to be done. */
        if (NutEventWait(&tw_mm_que, tmo)) {
            tw_mm_error = TWERR_TIMEOUT;
        } else if (tw_mm_err) {
            tw_mm_error = tw_mm_err;
        } else {
            rc = (int) tw_mm_idx;
        }
        outr(TWI_IDR, 0xFFFFFFFF);
    }

    /* Release the interface. */
    NutEventPost(&tw_mm_mutex);

    return rc;
}

int TwMasterRegWrite(uint8_t sla, uint32_t iadr, uint8_t iadrlen, CONST void *txdata, uint16_t txsiz, uint32_t tmo)
{
    int rc = -1;

    /* This routine is marked reentrant, so lock the interface. */
    if (NutEventWait(&tw_mm_mutex, tmo)) {
        tw_mm_err = TWERR_IF_LOCKED;
        return -1;
    }

    tw_mm_err = 0;

    if (txsiz) {
        tw_mm_buf = (uint8_t *) txdata;
        tw_mm_len = (size_t) txsiz;
        tw_mm_idx = 1;

        /* Set TWI Internal Address Register */
        outr(TWI_IADRR, iadr);
        /* Set the TWI Master Mode Register */
        outr(TWI_MMR, ((unsigned int) sla << TWI_DADR_LSB) | (((unsigned int) iadrlen & 3) << 8));
        outb(TWI_THR, tw_mm_buf[0]);
        outr(TWI_IER, TWI_TXRDY);

        /* Wait for master transmission to be done. */
        if (NutEventWait(&tw_mm_que, tmo)) {
            tw_mm_error = TWERR_TIMEOUT;
        } else if (tw_mm_err) {
            tw_mm_error = tw_mm_err;
        } else {
            rc = (int) tw_mm_idx;
        }
        outr(TWI_IDR, 0xFFFFFFFF);
    }

    /* Release the interface. */
    NutEventPost(&tw_mm_mutex);

    return rc;
}

int TwMasterError(void)
{
    int rc = tw_mm_error;
    tw_mm_error = 0;
    return rc;
}

uint16_t TwMasterIndexes(uint8_t idx)
{
    switch (idx) {
    case 0:
        return (uint16_t) tw_mm_idx;
    case 1:
        return (uint16_t) tw_mm_idx;
    case 2:
        return (uint16_t) tw_mm_len;
    default:
        return 0;
    }
}

int TwIOCtl(int req, void *conf)
{
    int rc = 0;
    unsigned int cldiv, ckdiv;
    unsigned int twi_clk;
    switch (req) {

    case TWI_SETSPEED:
        ckdiv = 1;
        twi_clk = *((uint32_t *) conf);

        if (twi_clk > 400000)
            return -1;

        /*
         * CLDIV = ((Tlow x 2^CKDIV) -3) x Tmck
         * CHDIV = ((THigh x 2^CKDIV) -3) x Tmck
         * Only CLDIV is computed since CLDIV = CHDIV (50% duty cycle)
         */

        while ((cldiv = ((NutClockGet(NUT_HWCLK_PERIPHERAL) / (2 * twi_clk)) - 3) / (1 << ckdiv)) > 255) {
            ckdiv++;
        }

        /* BUG 41.2.7.1, datasheet SAM7X256  p. 626 */
        if (cldiv * (1 << ckdiv) > 8191)
            return -1;

        outr(TWI_CWGR, (ckdiv << 16) | ((unsigned int) cldiv << 8) | (unsigned int) cldiv);
        break;

    case TWI_GETSPEED:
        ckdiv = 1;
        twi_clk = *((uint32_t *) conf);

        cldiv = inr(TWI_CWGR) & 0x000000FF;
        ckdiv = (inr(TWI_CWGR) >> 16) & 0x00000007;

        *((uint32_t *) conf) = NutGetCpuClock() / ((cldiv * 2 << ckdiv) - 3);
        break;

    case TWI_GETSTATUS:
        break;

    case TWI_SETSTATUS:
        break;

    default:
        rc = -1;
        break;
    }
    return rc;
}

int TwInit(uint8_t sla)
{
    uint32_t speed = 4800;

    if (NutRegisterIrqHandler(&sig_TWI, TwInterrupt, 0)) {
        return -1;
    }

    /* Set TWD and TWCK as peripheral line. */
    outr(TWI_PIO_ASR, _BV(TWI_TWD) | _BV(TWI_TWCK));
    /* Let periperal control the PIO lines. */
    outr(TWI_PIO_PDR, _BV(TWI_TWD) | _BV(TWI_TWCK));
    /* Enabled OpenDrain output on both lines. */
    outr(TWI_PIO_MDER, _BV(TWI_TWD) | _BV(TWI_TWCK));
    /* Enable TWI clock in PMC. */
    outr(PMC_PCER, _BV(TWI_ID));

    /* Disable all interrupts. */
    outr(TWI_IDR, 0xFFFFFFFF);
    /* Reset bus. */
    outr(TWI_CR, TWI_SWRST);
    /* Enable master mode. */
    outr(TWI_CR, TWI_MSEN | TWI_SVDIS);
    /* Set initial rate. */
    if (TwIOCtl(TWI_SETSPEED, &speed)) {
        return -1;
    }

    /* Enable level triggered interrupts. */
    NutIrqSetMode(&sig_TWI, NUT_IRQMODE_LEVEL);
    NutIrqEnable(&sig_TWI);

    /* Initialize mutex semaphores. */
    NutEventPost(&tw_mm_mutex);

    return 0;
}