imu_i2c.c File Reference

#include "imu_i2c.h"

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Macros
#define	I2C_TIMEOUT_MS   10u
#define	FLAG_DMA_DONE   0x0100u /* bits distinct from the IMU IRQ flag used by the same task */
#define	FLAG_DMA_ERR   0x0200u
#define	LOCK_TIMEOUT_MS   5u

Functions
void	imu_i2c_bus_init (I2C_HandleTypeDef *hi2c)
	Creates the bus lock: call once before starting the tasks that use the bus.
int	imu_i2c_lock (void)
	0 = taken (or no kernel yet), -1 = timeout
void	imu_i2c_unlock (void)
I2C_HandleTypeDef *	imu_i2c_handle (void)
static int32_t	wr (void *h, uint8_t reg, const uint8_t *d, uint16_t len)
static int32_t	rd (void *h, uint8_t reg, uint8_t *d, uint16_t len)
static void	dly (uint32_t ms)
void	imu_i2c_make_bus (sensor_bus_t *bus, I2C_HandleTypeDef *hi2c, uint8_t addr7)
int32_t	imu_i2c_read_dma (uint8_t reg, uint8_t *buf, uint16_t len, uint32_t timeout_ms)
	Starts the DMA read and blocks the calling task until completion.
void	imu_i2c_rx_cplt_isr (I2C_HandleTypeDef *hi2c)
	To be called from HAL_I2C_MemRxCpltCallback / HAL_I2C_ErrorCallback.
void	imu_i2c_error_isr (I2C_HandleTypeDef *hi2c)

Variables
static I2C_HandleTypeDef *	s_hi2c
static uint16_t	s_addr8
static osThreadId_t	s_waiter
static osMutexId_t	s_lock

Macro Definition Documentation

I2C_TIMEOUT_MS

#define I2C_TIMEOUT_MS   10u

Definition at line 6 of file imu_i2c.c.

FLAG_DMA_DONE

#define FLAG_DMA_DONE   0x0100u /* bits distinct from the IMU IRQ flag used by the same task */

Definition at line 7 of file imu_i2c.c.

FLAG_DMA_ERR

#define FLAG_DMA_ERR   0x0200u

Definition at line 8 of file imu_i2c.c.

LOCK_TIMEOUT_MS

#define LOCK_TIMEOUT_MS   5u

Definition at line 10 of file imu_i2c.c.

Function Documentation

imu_i2c_bus_init()

void imu_i2c_bus_init

(

I2C_HandleTypeDef *

hi2c

)

Creates the bus lock: call once before starting the tasks that use the bus.

Definition at line 21 of file imu_i2c.c.

References s_hi2c, and s_lock.

Referenced by app_start().

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imu_i2c_lock()

int imu_i2c_lock

(

void

)

0 = taken (or no kernel yet), -1 = timeout

Definition at line 28 of file imu_i2c.c.

References LOCK_TIMEOUT_MS, and s_lock.

Referenced by imu_i2c_read_dma(), rd(), wr(), and xfer().

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imu_i2c_unlock()

void imu_i2c_unlock

(

void

)

Definition at line 34 of file imu_i2c.c.

References s_lock.

Referenced by imu_i2c_read_dma(), rd(), wr(), and xfer().

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imu_i2c_handle()

I2C_HandleTypeDef * imu_i2c_handle

(

void

)

Definition at line 39 of file imu_i2c.c.

References s_hi2c.

Referenced by xfer().

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wr()

static int32_t wr ( void *  h, uint8_t  reg, const uint8_t *  d, uint16_t  len  )

static

Definition at line 41 of file imu_i2c.c.

References I2C_TIMEOUT_MS, imu_i2c_lock(), imu_i2c_unlock(), s_addr8, and s_hi2c.

Referenced by imu_i2c_make_bus().

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rd()

static int32_t rd ( void *  h, uint8_t  reg, uint8_t *  d, uint16_t  len  )

static

Definition at line 51 of file imu_i2c.c.

References I2C_TIMEOUT_MS, imu_i2c_lock(), imu_i2c_unlock(), s_addr8, and s_hi2c.

Referenced by imu_i2c_make_bus().

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dly()

static void dly ( uint32_t  ms )

static

Definition at line 61 of file imu_i2c.c.

References ms.

Referenced by imu_i2c_make_bus().

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imu_i2c_make_bus()

void imu_i2c_make_bus	(	sensor_bus_t *	bus,
		I2C_HandleTypeDef *	hi2c,
		uint8_t	addr7
	)

Definition at line 66 of file imu_i2c.c.

References sensor_bus_t::delay_ms, dly(), sensor_bus_t::handle, rd(), sensor_bus_t::read, s_addr8, s_hi2c, wr(), and sensor_bus_t::write.

Referenced by ImuTask().

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imu_i2c_read_dma()

int32_t imu_i2c_read_dma	(	uint8_t	reg,
		uint8_t *	buf,
		uint16_t	len,
		uint32_t	timeout_ms
	)

Starts the DMA read and blocks the calling task until completion.

0 = OK, -1 error/timeout.

Definition at line 76 of file imu_i2c.c.

References FLAG_DMA_DONE, FLAG_DMA_ERR, imu_i2c_lock(), imu_i2c_unlock(), s_addr8, s_hi2c, and s_waiter.

Referenced by ImuTask().

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imu_i2c_rx_cplt_isr()

void imu_i2c_rx_cplt_isr

(

I2C_HandleTypeDef *

hi2c

)

To be called from HAL_I2C_MemRxCpltCallback / HAL_I2C_ErrorCallback.

Definition at line 91 of file imu_i2c.c.

References FLAG_DMA_DONE, s_hi2c, and s_waiter.

Referenced by app_i2c_rx_cplt().

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imu_i2c_error_isr()

void imu_i2c_error_isr

(

I2C_HandleTypeDef *

hi2c

)

Definition at line 96 of file imu_i2c.c.

References FLAG_DMA_ERR, s_hi2c, and s_waiter.

Referenced by app_i2c_error().

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Variable Documentation

s_hi2c

I2C_HandleTypeDef* s_hi2c

static

Definition at line 12 of file imu_i2c.c.

Referenced by imu_i2c_bus_init(), imu_i2c_error_isr(), imu_i2c_handle(), imu_i2c_make_bus(), imu_i2c_read_dma(), imu_i2c_rx_cplt_isr(), rd(), and wr().

s_addr8

uint16_t s_addr8

static

Definition at line 13 of file imu_i2c.c.

Referenced by imu_i2c_make_bus(), imu_i2c_read_dma(), rd(), and wr().

s_waiter

osThreadId_t s_waiter

static

Definition at line 14 of file imu_i2c.c.

Referenced by imu_i2c_error_isr(), imu_i2c_read_dma(), and imu_i2c_rx_cplt_isr().

s_lock

osMutexId_t s_lock

static

Definition at line 15 of file imu_i2c.c.

Referenced by imu_i2c_bus_init(), imu_i2c_lock(), and imu_i2c_unlock().