imu_i2c.h File Reference

STM32 HAL (STM32WB55) binding of the sensor_bus_t interface + DMA burst read of the FIFO with task notification. More...

#include "main.h"
#include "sensor_bus.h"
#include "cmsis_os2.h"

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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)
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)

Detailed Description

STM32 HAL (STM32WB55) binding of the sensor_bus_t interface + DMA burst read of the FIFO with task notification.

In IKS4A1 Mode 3 the LIS2MDL and the LPS22DF sit behind the LSM6DSV16X sensor hub. The expansion devices (ACwing Flow: VL53L1X 0x29, flow bridge 0x3B) share the bus on the bench, so every transaction takes a mutex with priority inheritance (imu_i2c_lock). On the ACwing FC rev A the IMU is on SPI and I2C1 is the expansion bus only.

Definition in file imu_i2c.h.

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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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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