i2c ll transmit block

WSTRN · Apr 18, 2022 · fb98208 · fb98208
1 parent 7bfbaf9
commit fb98208
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Showing 6 changed files with 71 additions and 39 deletions.
diff --git a/2.Firmware/ServoDrive-fw-ll/include/i2c.h b/2.Firmware/ServoDrive-fw-ll/include/i2c.h
@@ -38,7 +38,8 @@ extern uint8_t i2cDataTx[8];
 
 /* USER CODE BEGIN Prototypes */
 void MY_I2C1_Init(uint32_t _id);
-void set_id(uint8_t _id);
+void Set_ID(uint8_t _id);
+ErrorStatus Slave_Transmit(uint8_t *pdata,uint16_t size,uint32_t timeout);
 void I2C_SlaveDMARxCpltCallback();
 /* USER CODE END Prototypes */
 

diff --git a/2.Firmware/ServoDrive-fw-ll/readme.md b/2.Firmware/ServoDrive-fw-ll/readme.md
@@ -0,0 +1,6 @@
+这个是智能舵机的LL库版本，代码体积得到优化，使用vscode和platformio开发，开发环境和编译参考[这个视频](https://www.bilibili.com/video/BV1US4y1P7Xr/)
+
+## **2022.04.18**
+
+1. 将i2c部分由hal库改为ll库实现；
+2. 设置i2c地址立刻生效，不需要重启；
diff --git a/2.Firmware/ServoDrive-fw-ll/src/i2c.c b/2.Firmware/ServoDrive-fw-ll/src/i2c.c
@@ -77,26 +77,6 @@ void MY_I2C1_Init(uint32_t _id)
   LL_DMA_SetMemoryAddress(DMA1,LL_DMA_CHANNEL_3,(uint32_t)i2cDataRx);
   LL_DMA_SetPeriphAddress(DMA1,LL_DMA_CHANNEL_3,LL_I2C_DMA_GetRegAddr(I2C1,LL_I2C_DMA_REG_DATA_RECEIVE));  
   LL_DMA_EnableIT_TC(DMA1,LL_DMA_CHANNEL_3);
-
-  /* I2C1_TX Init */
-  LL_DMA_SetDataTransferDirection(DMA1, LL_DMA_CHANNEL_2, LL_DMA_DIRECTION_MEMORY_TO_PERIPH);
-
-  LL_DMA_SetChannelPriorityLevel(DMA1, LL_DMA_CHANNEL_2, LL_DMA_PRIORITY_LOW);
-
-  LL_DMA_SetMode(DMA1, LL_DMA_CHANNEL_2, LL_DMA_MODE_NORMAL);
-
-  LL_DMA_SetPeriphIncMode(DMA1, LL_DMA_CHANNEL_2, LL_DMA_PERIPH_NOINCREMENT);
-
-  LL_DMA_SetMemoryIncMode(DMA1, LL_DMA_CHANNEL_2, LL_DMA_MEMORY_INCREMENT);
-
-  LL_DMA_SetPeriphSize(DMA1, LL_DMA_CHANNEL_2, LL_DMA_PDATAALIGN_BYTE);
-
-  LL_DMA_SetMemorySize(DMA1, LL_DMA_CHANNEL_2, LL_DMA_MDATAALIGN_BYTE);
-  LL_DMA_SetDataLength(DMA1,LL_DMA_CHANNEL_2,5);
-  LL_DMA_SetMemoryAddress(DMA1,LL_DMA_CHANNEL_2,(uint32_t)i2cDataTx);
-  LL_DMA_SetPeriphAddress(DMA1,LL_DMA_CHANNEL_2,LL_I2C_DMA_GetRegAddr(I2C1,LL_I2C_DMA_REG_DATA_TRANSMIT));  
-  LL_DMA_EnableIT_TC(DMA1,LL_DMA_CHANNEL_2);
-
   /* Peripheral clock enable */
   LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_I2C1);
 
@@ -127,16 +107,63 @@ void MY_I2C1_Init(uint32_t _id)
     LL_I2C_Enable(I2C1);
     LL_I2C_EnableIT_ADDR(I2C1);
     LL_I2C_EnableDMAReq_RX(I2C1);
-    LL_I2C_EnableDMAReq_TX(I2C1);
     /* USER CODE END I2C1_Init 2 */
 }
 
-void set_id(uint8_t _id)
+void Set_ID(uint8_t _id)
 {
     LL_I2C_DisableOwnAddress1(I2C1);
     LL_I2C_SetOwnAddress1(I2C1,_id,LL_I2C_OWNADDRESS1_7BIT);
     LL_I2C_EnableOwnAddress1(I2C1);
 }
+
+ErrorStatus Slave_Transmit(uint8_t *pdata,uint16_t size,uint32_t timeout)
+{
+    uint32_t Timeout = timeout;
+    while(!LL_I2C_IsActiveFlag_ADDR(I2C1))
+    {
+    /* Check Systick counter flag to decrement the time-out value */
+        if (LL_SYSTICK_IsActiveCounterFlag()) 
+        {
+            if(Timeout-- == 0)
+            {
+            /* Time-out occurred. return error */
+            return ERROR;
+            }
+        }
+    }
+  /*Clear ADDR flag and loop until end of transfer*/
+  /* Clear ADDR flag value in ISR register */
+    LL_I2C_ClearFlag_ADDR(I2C1);  
+
+   if(LL_I2C_GetTransferDirection(I2C1) == LL_I2C_DIRECTION_READ)
+   {
+       /* Loop until TXE flag is raised  */
+        while(size > 0)
+        {
+            /* Transmit data (TXE flag raised) **********************************/
+            /* Check TXE flag value in ISR register */
+            if(LL_I2C_IsActiveFlag_TXE(I2C1))
+            {
+            /* Write data in Transmit Data register.
+                TXE flag is cleared by writing data in TXDR register */
+                LL_I2C_TransmitData8(I2C1, (*pdata++));
+                size--;
+                Timeout = timeout;
+            }
+            /* Check Systick counter flag to decrement the time-out value */
+            if (LL_SYSTICK_IsActiveCounterFlag()) 
+            {
+                if(Timeout-- == 0)
+                {
+                    /* Time-out occurred. return error */
+                    return ERROR;
+                }
+            }
+        } 
+   }
+   return SUCCESS;  
+}
 /* USER CODE END 1 */
 
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/2.Firmware/ServoDrive-fw-ll/src/main.c b/2.Firmware/ServoDrive-fw-ll/src/main.c
@@ -79,7 +79,9 @@ int main(void)
   /* System interrupt init*/
 
   /* USER CODE BEGIN Init */
-
+  #if (PREFETCH_ENABLE != 0)
+    __HAL_FLASH_PREFETCH_BUFFER_ENABLE();
+  #endif /* PREFETCH_ENABLE */
   /* USER CODE END Init */
 
   /* Configure the system clock */

diff --git a/2.Firmware/ServoDrive-fw-ll/src/main1.cpp b/2.Firmware/ServoDrive-fw-ll/src/main1.cpp
@@ -85,6 +85,7 @@ void Main()
 // // Command handler
 void I2C_SlaveDMARxCpltCallback()
 {
+    ErrorStatus state;
 
     float valF = *((float*) (i2cDataRx + 1));
 
@@ -133,7 +134,7 @@ void I2C_SlaveDMARxCpltCallback()
         {
             boardConfig.nodeId = i2cDataRx[1];
             boardConfig.configStatus = CONFIG_COMMIT;
-            set_id(boardConfig.nodeId);
+            Set_ID(boardConfig.nodeId);
             auto* b = (unsigned char*) &(motor.angle);
             for (int i = 0; i < 4; i++)
                 i2cDataTx[i + 1] = *(b + i);
@@ -203,7 +204,13 @@ void I2C_SlaveDMARxCpltCallback()
             break;
         default:
             break;
+
     }
+    do
+    {
+       state = Slave_Transmit(i2cDataTx,5,5000);
+    } while (state != SUCCESS);
+
 }
 
 

diff --git a/2.Firmware/ServoDrive-fw-ll/src/stm32f0xx_it.c b/2.Firmware/ServoDrive-fw-ll/src/stm32f0xx_it.c
@@ -169,14 +169,7 @@ void DMA1_Channel2_3_IRQHandler(void)
         I2C_SlaveDMARxCpltCallback();  
         LL_DMA_DisableChannel(DMA1,LL_DMA_CHANNEL_3);
         LL_DMA_SetDataLength(DMA1,LL_DMA_CHANNEL_3,5);      
-    }
-    else if (LL_DMA_IsActiveFlag_TC2(DMA1))
-    {
-        LL_DMA_ClearFlag_TC2(DMA1);
-        LL_DMA_DisableChannel(DMA1,LL_DMA_CHANNEL_2);    
-        LL_DMA_SetDataLength(DMA1,LL_DMA_CHANNEL_2,5);
-    }
-
+    }    
   /* USER CODE END DMA1_Channel2_3_IRQn 0 */
 
   /* USER CODE BEGIN DMA1_Channel2_3_IRQn 1 */
@@ -221,13 +214,9 @@ void I2C1_IRQHandler(void)
         if(LL_I2C_GetTransferDirection(I2C1) == LL_I2C_DIRECTION_WRITE)
         {
             LL_DMA_EnableChannel(DMA1,LL_DMA_CHANNEL_3);
+            LL_I2C_ClearFlag_ADDR(I2C1);
         }
-        else
-        { 
-            LL_DMA_EnableChannel(DMA1,LL_DMA_CHANNEL_2);  
-        }
-        /* Clear ADDR flag value in ISR register */
-        LL_I2C_ClearFlag_ADDR(I2C1);
+
     }
 
   /* USER CODE END I2C1_IRQn 0 */