加入大疆C板例程bsp

bsp/boards/bsp_i2c.c

@@ -0,0 +1,269 @@
+#include "bsp_i2c.h"
+#include "main.h"
+
+
+extern I2C_HandleTypeDef hi2c1;
+extern I2C_HandleTypeDef hi2c2;
+
+
+void bsp_I2C_master_transmit(I2C_TypeDef *I2C, uint16_t I2C_address, uint8_t *data, uint16_t len)
+{
+    if(I2C == I2C1)
+    {
+        HAL_I2C_Master_Transmit(&hi2c1, I2C_address, data, len, 100);
+    }
+    else if(I2C == I2C2)
+    {
+        HAL_I2C_Master_Transmit(&hi2c2, I2C_address, data, len, 100);
+    }
+}
+
+
+void bsp_I2C_reset(I2C_TypeDef *I2C)
+{
+    I2C_HandleTypeDef *hi2c;
+    if(I2C == I2C1)
+    {
+        hi2c = &hi2c1;
+    }
+    else if(I2C == I2C2)
+    {
+        hi2c = &hi2c2;
+    }
+
+    SET_BIT(hi2c->Instance->CR1, I2C_CR1_SWRST);
+    CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_SWRST);
+    if (HAL_I2C_Init(hi2c) != HAL_OK)
+    {
+        Error_Handler();
+    }
+}
+
+
+
+bool_t bsp_I2C_check_ack(I2C_TypeDef *I2C, uint16_t I2C_address)
+{
+    I2C_HandleTypeDef *hi2c;
+    if(I2C == I2C1)
+    {
+        hi2c = &hi2c1;
+    }
+    else if(I2C == I2C2)
+    {
+        hi2c = &hi2c2;
+    }
+
+    if((hi2c->Instance->CR2 & I2C_CR2_DMAEN) && ((hi2c->hdmatx != NULL && hi2c->hdmatx->Instance->NDTR != 0) || (hi2c->hdmarx != NULL && hi2c->hdmarx->Instance->NDTR != 0)))
+    {
+        return I2C_ACK;
+    }
+    else
+    {
+        uint16_t timeout = 0;
+
+        timeout = 0;
+        while(hi2c->Instance->SR2 & 0x02)
+        {
+            timeout ++;
+            if(timeout > 100)
+            {
+                SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP);
+                return I2C_NO_ACK;
+            }
+        }
+
+        CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS);
+
+        SET_BIT(hi2c->Instance->CR1, I2C_CR1_START);
+
+        timeout = 0;
+        while(!(hi2c->Instance->SR1 & 0x01))
+        {
+            timeout ++;
+            if(timeout > 100)
+            {
+                SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP);
+                return I2C_NO_ACK;
+            }
+        }
+
+        hi2c->Instance->DR = I2C_7BIT_ADD_WRITE(I2C_address);
+
+        timeout = 0;
+        while(!(hi2c->Instance->SR1 & 0x02))
+        {
+            timeout ++;
+            if(timeout > 500)
+            {
+                SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP);
+                return I2C_NO_ACK;
+            }
+        }
+
+        do{
+            __IO uint32_t tmpreg = 0x00U;
+            tmpreg = hi2c->Instance->SR1;
+            tmpreg = hi2c->Instance->SR2;
+            UNUSED(tmpreg);
+        } while(0);
+
+        timeout = 0;
+        while(!(hi2c->Instance->SR1 & 0x80))
+        {
+            timeout ++;
+            if(timeout > 500)
+            {
+                SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP);
+                return I2C_NO_ACK;
+            }
+        }
+
+        SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP);
+
+        return I2C_ACK;
+    }
+
+
+}
+
+
+
+void DMA1_Stream7_IRQHandler(void)
+{
+    if(DMA1->HISR & (1<<27))
+    {
+        __HAL_DMA_CLEAR_FLAG(hi2c2.hdmatx, DMA_HISR_TCIF7);
+        SET_BIT(hi2c2.Instance->CR1, I2C_CR1_STOP);
+    }
+}
+
+
+
+void I2C2_tx_DMA_init(void)
+{
+
+    //disable DMA
+    //ʧЧDMA
+    __HAL_DMA_DISABLE(hi2c2.hdmatx);
+    
+    while(hi2c2.hdmatx->Instance->CR & DMA_SxCR_EN)
+    {
+        __HAL_DMA_DISABLE(hi2c2.hdmatx);
+    }
+    hi2c2.hdmatx->Instance->PAR = (uint32_t)(&I2C2->DR);
+    __HAL_DMA_CLEAR_FLAG(hi2c2.hdmatx, DMA_HISR_TCIF7);
+    __HAL_DMA_ENABLE_IT(hi2c2.hdmatx, DMA_IT_TC);
+
+
+
+}
+
+void I2C2_tx_DMA_enable(uint32_t tx_buf, uint16_t ndtr)
+{
+    //disable DMA
+    //ʧЧDMA
+    __HAL_DMA_DISABLE(hi2c2.hdmatx);
+
+    while(hi2c2.hdmatx->Instance->CR & DMA_SxCR_EN)
+    {
+        __HAL_DMA_DISABLE(hi2c2.hdmatx);
+    }
+
+    __HAL_DMA_CLEAR_FLAG(hi2c2.hdmatx, DMA_HISR_TCIF7);
+
+
+    hi2c2.hdmatx->Instance->M0AR = tx_buf;
+    __HAL_DMA_SET_COUNTER(hi2c2.hdmatx, ndtr);
+
+    __HAL_DMA_ENABLE(hi2c2.hdmatx);
+
+}
+
+HAL_StatusTypeDef I2C_TX_DMA_START(I2C_HandleTypeDef *hi2c, uint16_t DevAddress)
+{
+    uint16_t timeout = 0;
+
+    if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE)
+    {
+        hi2c->Instance->CR1 |= I2C_CR1_PE;
+    }
+
+
+    timeout = 0;
+    while(hi2c->Instance->SR2 & 0x02)
+    {
+        timeout ++;
+        if(timeout > 100)
+        {
+            SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP);
+            return HAL_BUSY;
+        }
+    }
+
+
+    CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS);
+
+    SET_BIT(hi2c->Instance->CR1, I2C_CR1_START);
+
+    timeout = 0;
+    while(!(hi2c->Instance->SR1 & 0x01))
+    {
+        timeout ++;
+        if(timeout > 100)
+        {
+            SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP);
+            return HAL_ERROR;
+        }
+    }
+
+
+    hi2c->Instance->DR = I2C_7BIT_ADD_WRITE(DevAddress);
+
+
+    timeout = 0;
+    while(!(hi2c->Instance->SR1 & 0x02))
+    {
+        timeout ++;
+        if(timeout > 500)
+        {
+            SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP);
+            return HAL_ERROR;
+        }
+    }
+
+    do{
+        __IO uint32_t tmpreg = 0x00U;
+        tmpreg = hi2c->Instance->SR1;
+        tmpreg = hi2c->Instance->SR2;
+        UNUSED(tmpreg);
+    } while(0);
+
+
+
+    timeout = 0;
+    while(!(hi2c->Instance->SR1 & 0x80))
+    {
+        timeout ++;
+        if(timeout > 500)
+        {
+            SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP);
+            return HAL_ERROR;
+        }
+    }
+
+    return HAL_OK;
+}
+void I2C2_DMA_transmit(uint16_t DevAddress, uint8_t *pData, uint16_t Size)
+{
+    if( I2C_TX_DMA_START(&hi2c2, DevAddress) == HAL_OK)
+    {
+        I2C2_tx_DMA_enable((uint32_t)pData, Size);
+    }
+}
+
+
+
+
+
+
+