diff --git a/cpu/stm32/periph/i2c_2.c b/cpu/stm32/periph/i2c_2.c index 2fcd74e8b3..23621ff62a 100644 --- a/cpu/stm32/periph/i2c_2.c +++ b/cpu/stm32/periph/i2c_2.c @@ -39,7 +39,6 @@ #include #include "cpu.h" -#include "irq.h" #include "mutex.h" #include "pm_layered.h" #include "panic.h" @@ -48,7 +47,9 @@ #include "periph/gpio.h" #include "periph_conf.h" -/* Some DEBUG statements may cause delays that alter i2c functionality */ +/* Some DEBUG statements may cause delays that alter i2c functionality. + * E.g. on STM32F1 the delay can cause issues in the state machine that + * prevent communication. Using faster stdio than UART can mitigate this. */ #define ENABLE_DEBUG 0 #include "debug.h" @@ -69,6 +70,9 @@ static int _stop(I2C_TypeDef *dev); static int _is_sr1_mask_set(I2C_TypeDef *i2c, uint32_t mask, uint8_t flags); static inline int _wait_for_bus(I2C_TypeDef *i2c); static void _init_pins(i2c_t dev); +static void _deinit_pins(i2c_t dev); +static void _disable_periph(i2c_t dev); +static void _enable_periph(i2c_t dev); /** * @brief Array holding one pre-initialized mutex for each I2C device @@ -106,13 +110,12 @@ void i2c_init(i2c_t dev) _init(dev); } #endif + _disable_periph(dev); } static void _init_pins(i2c_t dev) { /* configure pins */ - gpio_init(i2c_config[dev].scl_pin, GPIO_OD_PU); - gpio_init(i2c_config[dev].sda_pin, GPIO_OD_PU); #ifdef CPU_FAM_STM32F1 /* This is needed in case the remapped pins are used */ if (i2c_config[dev].scl_pin == GPIO_PIN(PORT_B, 8) || @@ -125,11 +128,61 @@ static void _init_pins(i2c_t dev) gpio_init_af(i2c_config[dev].scl_pin, GPIO_AF_OUT_OD); gpio_init_af(i2c_config[dev].sda_pin, GPIO_AF_OUT_OD); #else + gpio_init(i2c_config[dev].scl_pin, GPIO_OD_PU); + gpio_init(i2c_config[dev].sda_pin, GPIO_OD_PU); gpio_init_af(i2c_config[dev].scl_pin, i2c_config[dev].scl_af); gpio_init_af(i2c_config[dev].sda_pin, i2c_config[dev].sda_af); #endif } +static void _deinit_pins(i2c_t dev) +{ + /* Releasing pins as open drain and as set, so that the pull ups can pull + * the signal high. If we would release the pins as push-pull output, this + * could be unpleasant when an I2C device drives the signal low (e.g. for + * clock stretching) while the MCU would driving the same signal high. + */ + gpio_set(i2c_config[dev].scl_pin); + gpio_set(i2c_config[dev].sda_pin); + gpio_init(i2c_config[dev].scl_pin, GPIO_OD); + gpio_init(i2c_config[dev].sda_pin, GPIO_OD); +} + +static void _disable_periph(i2c_t dev) +{ + /* Clearing PE will not abort ongoing transfer, but only kick in when any + * current transfer is done. So we can do this at any point in time */ + i2c_config[dev].dev->CR1 &= ~(I2C_CR1_PE); + + /* Wait for bus being cleared */ + _wait_for_bus(i2c_config[dev].dev); + + /* On STM32F1: Detach pins from I2C peripheral before disabling the clock + * to it, otherwise SCL and SDA will be driven down and lots of battery + * charge is used to heat up the pull up resistors */ + if (IS_ACTIVE(CPU_FAM_STM32F1)) { + _deinit_pins(dev); + } + + /* Finally, disable the clock to the I2C peripheral */ + periph_clk_dis(i2c_config[dev].bus, i2c_config[dev].rcc_mask); +} + +static void _enable_periph(i2c_t dev) +{ + /* First, clock the I2C peripheral so that registers can be written to */ + periph_clk_en(i2c_config[dev].bus, i2c_config[dev].rcc_mask); + + /* On STM32F1: We had to detach pins to work around a h/w limitations, so + * re-attach them now */ + if (IS_ACTIVE(CPU_FAM_STM32F1)) { + _init_pins(dev); + } + + /* Finally: Enable peripheral again */ + i2c_config[dev].dev->CR1 |= I2C_CR1_PE; +} + static void _i2c_init(I2C_TypeDef *i2c, uint32_t clk, uint32_t ccr) { /* disable device and set ACK bit */ @@ -179,6 +232,9 @@ static void _init(i2c_t dev) /* configure device */ _i2c_init(i2c, i2c_config[dev].clk, ccr); + + /* go to low power */ + _disable_periph(dev); } void i2c_acquire(i2c_t dev) @@ -192,22 +248,14 @@ void i2c_acquire(i2c_t dev) pm_block(STM32_PM_STOP); #endif - periph_clk_en(i2c_config[dev].bus, i2c_config[dev].rcc_mask); - - /* enable device */ - i2c_config[dev].dev->CR1 |= I2C_CR1_PE; + _enable_periph(dev); } void i2c_release(i2c_t dev) { assert(dev < I2C_NUMOF); - /* disable device */ - i2c_config[dev].dev->CR1 &= ~(I2C_CR1_PE); - - _wait_for_bus(i2c_config[dev].dev); - - periph_clk_dis(i2c_config[dev].bus, i2c_config[dev].rcc_mask); + _disable_periph(dev); #ifdef STM32_PM_STOP /* unblock STOP mode */ @@ -223,7 +271,7 @@ int i2c_read_bytes(i2c_t dev, uint16_t address, void *data, size_t length, assert(dev < I2C_NUMOF); I2C_TypeDef *i2c = i2c_config[dev].dev; - DEBUG("[i2c] read_bytes: Starting\n"); + DEBUG_PUTS("[i2c] i2c_read_bytes(): Starting"); /* Do not support repeated start reading * The repeated start read requires the bus to be busy (I2C_SR2_BUSY == 1) @@ -260,11 +308,12 @@ int i2c_read_bytes(i2c_t dev, uint16_t address, void *data, size_t length, /* Wait for reception to complete */ ret = _is_sr1_mask_set(i2c, I2C_SR1_RXNE, flags); if (ret < 0) { + DEBUG_PUTS("[i2c] i2c_read_bytes(): Waiting for I2C_SR1_RXNE failed"); return ret; } ((uint8_t*)data)[i] = i2c->DR; } - DEBUG("[i2c] read_bytes: Finished reading bytes\n"); + DEBUG_PUTS("[i2c] i2c_read_bytes(): Finished reading bytes"); if (flags & I2C_NOSTOP) { return 0; } @@ -280,7 +329,7 @@ int i2c_write_bytes(i2c_t dev, uint16_t address, const void *data, I2C_TypeDef *i2c = i2c_config[dev].dev; assert(i2c != NULL); - DEBUG("[i2c] write_bytes: Starting\n"); + DEBUG_PUTS("[i2c] i2c_write_bytes(): Starting"); /* Length is 0 in start since we don't need to preset the stop bit */ ret = _i2c_start(i2c, (address << 1) | I2C_FLAG_WRITE, flags, 0); if (ret < 0) { @@ -292,17 +341,19 @@ int i2c_write_bytes(i2c_t dev, uint16_t address, const void *data, /* Send out data bytes */ for (size_t i = 0; i < length; i++) { - DEBUG("[i2c] write_bytes: Waiting for TX reg to be free\n"); + DEBUG_PUTS("[i2c] i2c_write_bytes(): Waiting for TX reg to be free"); ret = _is_sr1_mask_set(i2c, I2C_SR1_TXE, flags); if (ret < 0) { + DEBUG_PUTS("[i2c] i2c_write_bytes(): Waiting for I2C_SR1_TXE failed"); return ret; } - DEBUG("[i2c] write_bytes: TX is free so send byte\n"); + DEBUG_PUTS("[i2c] i2c_write_bytes(): TX is free so send byte"); i2c->DR = ((uint8_t*)data)[i]; } /* Wait for tx reg to be empty so other calls will no interfere */ ret = _is_sr1_mask_set(i2c, I2C_SR1_TXE, flags); if (ret < 0) { + DEBUG_PUTS("[i2c] i2c_write_bytes(): Waiting for I2C_SR1_TXE failed"); return ret; } if (flags & I2C_NOSTOP) { @@ -310,12 +361,12 @@ int i2c_write_bytes(i2c_t dev, uint16_t address, const void *data, } else { /* End transmission */ - DEBUG("[i2c] write_bytes: Ending transmission\n"); + DEBUG_PUTS("[i2c] i2c_write_bytes(): Ending transmission"); ret = _stop(i2c); if (ret < 0) { return ret; } - DEBUG("[i2c] write_bytes: STOP condition was send out\n"); + DEBUG_PUTS("[i2c] i2c_write_bytes(): STOP condition was send out"); } return _wait_for_bus(i2c); @@ -335,18 +386,19 @@ static int _i2c_start(I2C_TypeDef *i2c, uint8_t address_byte, uint8_t flags, i2c->SR1 &= ~ERROR_FLAG; if (!(flags & I2C_NOSTART)) { - DEBUG("[i2c] start: Generate start condition\n"); + DEBUG_PUTS("[i2c] _i2c_start(): Generate start condition"); /* Generate start condition */ i2c->CR1 |= I2C_CR1_START | I2C_CR1_ACK; /* Wait for SB flag to be set */ int ret = _is_sr1_mask_set(i2c, I2C_SR1_SB, flags & ~I2C_NOSTOP); if (ret < 0) { + DEBUG_PUTS("[i2c] _i2c_start(): Waiting for I2C_SR1_SB failed"); return ret; } - DEBUG("[i2c] start: Start condition generated\n"); + DEBUG_PUTS("[i2c] _i2c_start(): Start condition generated"); - DEBUG("[i2c] start: Generating address\n"); + DEBUG_PUTS("[i2c] _i2c_start(): Generating address"); /* Send address and read/write flag */ i2c->DR = (address_byte); if (!(flags & I2C_NOSTOP) && length == 1) { @@ -354,8 +406,9 @@ static int _i2c_start(I2C_TypeDef *i2c, uint8_t address_byte, uint8_t flags, } /* Wait for ADDR flag to be set */ ret = _is_sr1_mask_set(i2c, I2C_SR1_ADDR, flags & ~I2C_NOSTOP); - if (ret == -EIO){ + if (ret == -EIO) { /* Since NACK happened during start it means no device connected */ + DEBUG_PUTS("[i2c] _i2c_start(): Address NACKED"); return -ENXIO; } /* Needed to clear address bit */ @@ -364,7 +417,12 @@ static int _i2c_start(I2C_TypeDef *i2c, uint8_t address_byte, uint8_t flags, /* Stop must also be sent before final read */ i2c->CR1 |= (I2C_CR1_STOP); } - DEBUG("[i2c] start: Address generated\n"); + if (ret) { + DEBUG_PUTS("[i2c] _i2c_start(): Waiting for I2C_SR1_ADDR failed"); + } + else { + DEBUG_PUTS("[i2c] _i2c_start(): Address generated"); + } return ret; } return 0; @@ -377,7 +435,7 @@ static int _is_sr1_mask_set(I2C_TypeDef *i2c, uint32_t mask, uint8_t flags) while (tick--) { uint32_t sr1 = i2c->SR1; if (sr1 & I2C_SR1_AF) { - DEBUG("[i2c] is_sr1_mask_set: NACK received\n"); + DEBUG_PUTS("[i2c] _is_sr1_mask_set(): NACK received"); i2c->SR1 &= ~ERROR_FLAG; if (!(flags & I2C_NOSTOP)) { _stop(i2c); @@ -385,7 +443,7 @@ static int _is_sr1_mask_set(I2C_TypeDef *i2c, uint32_t mask, uint8_t flags) return -EIO; } if ((sr1 & I2C_SR1_ARLO) || (sr1 & I2C_SR1_BERR)) { - DEBUG("[i2c] is_sr1_mask_set: arb lost or bus ERROR_FLAG\n"); + DEBUG_PUTS("[i2c] _is_sr1_mask_set(): arb lost or bus ERROR_FLAG"); i2c->SR1 &= ~ERROR_FLAG; _stop(i2c); return -EAGAIN; @@ -401,25 +459,28 @@ static int _is_sr1_mask_set(I2C_TypeDef *i2c, uint32_t mask, uint8_t flags) */ i2c->SR1 &= ~ERROR_FLAG; _stop(i2c); + DEBUG_PUTS("[i2c] _is_sr1_mask_set(): Timed out"); return -ETIMEDOUT; } static int _stop(I2C_TypeDef *i2c) { /* send STOP condition */ - DEBUG("[i2c] stop: Generate stop condition\n"); + DEBUG_PUTS("[i2c] _stop(): Generate stop condition"); i2c->CR1 &= ~(I2C_CR1_ACK); i2c->CR1 |= I2C_CR1_STOP; uint16_t tick = TICK_TIMEOUT; while ((i2c->CR1 & I2C_CR1_STOP) && tick--) {} if (!tick) { + DEBUG_PUTS("[i2c] _stop(): Stop condition timed out"); return -ETIMEDOUT; } - DEBUG("[i2c] stop: Stop condition succeeded\n"); + DEBUG_PUTS("[i2c] _stop(): Stop condition succeeded"); if (_wait_for_bus(i2c) < 0) { + DEBUG_PUTS("[i2c] _stop(): Bus free timed out"); return -ETIMEDOUT; } - DEBUG("[i2c] stop: Bus is free\n"); + DEBUG_PUTS("[i2c] _stop(): Bus is free"); return 0; } @@ -428,6 +489,7 @@ static inline int _wait_for_bus(I2C_TypeDef *i2c) uint16_t tick = TICK_TIMEOUT; while ((i2c->SR2 & I2C_SR2_BUSY) && tick--) {} if (!tick) { + DEBUG_PUTS("[i2c] _wait_for_bus(): Timed out"); return -ETIMEDOUT; } return 0; @@ -443,28 +505,28 @@ static inline void irq_handler(i2c_t dev) assert(i2c != NULL); unsigned state = i2c->SR1; - DEBUG("\n\n### I2C ERROR OCCURRED ###\n"); + DEBUG_PUTS("\n\n### I2C ERROR OCCURRED ###"); DEBUG("status: %08x\n", state); if (state & I2C_SR1_OVR) { - DEBUG("OVR\n"); + DEBUG_PUTS("OVR"); } if (state & I2C_SR1_AF) { - DEBUG("AF\n"); + DEBUG_PUTS("AF"); } if (state & I2C_SR1_ARLO) { - DEBUG("ARLO\n"); + DEBUG_PUTS("ARLO"); } if (state & I2C_SR1_BERR) { - DEBUG("BERR\n"); + DEBUG_PUTS("BERR"); } if (state & I2C_SR1_PECERR) { - DEBUG("PECERR\n"); + DEBUG_PUTS("PECERR"); } if (state & I2C_SR1_TIMEOUT) { - DEBUG("TIMEOUT\n"); + DEBUG_PUTS("TIMEOUT"); } if (state & I2C_SR1_SMBALERT) { - DEBUG("SMBALERT\n"); + DEBUG_PUTS("SMBALERT"); } core_panic(PANIC_GENERAL_ERROR, "I2C FAULT"); }