107 lines
2.7 KiB
C
107 lines
2.7 KiB
C
#include "rpi.h"
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#include "main.h"
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#include "state.h"
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#include "stm32g4xx_hal_def.h"
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#include "stm32g4xx_hal_gpio.h"
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#include "stm32g4xx_hal_i2c.h"
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#include <stdint.h>
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uint8_t i2c_rx_buf[I2C_RX_BUF_SIZE];
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uint8_t i2c_tx_buf[I2C_TX_BUF_MAX_SIZE];
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uint8_t i2c_tx_len;
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RPiI2CState rpi_i2c_state;
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size_t rpi_num_polls;
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static I2C_HandleTypeDef *bus;
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static uint8_t current_command;
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void rpi_init(I2C_HandleTypeDef *handle) {
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bus = handle;
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rpi_i2c_state = RPI_I2C_IDLE;
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rpi_num_polls = 0;
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if (HAL_I2C_EnableListen_IT(bus) != HAL_OK) {
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Error_Handler();
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}
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i2c_tx_len = I2C_TX_BUF_MAX_SIZE;
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for (int i = 0; i < I2C_TX_BUF_MAX_SIZE; i++) {
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i2c_tx_buf[i] = i;
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}
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}
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void rpi_update_tx_buffer() { i2c_tx_buf[0] = stw_state.view; }
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void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *handle) {
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switch (rpi_i2c_state) {
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case RPI_I2C_SENDING_DATA_SIZE:
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if (HAL_I2C_Slave_Seq_Transmit_IT(bus, i2c_tx_buf, i2c_tx_len,
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I2C_LAST_FRAME) != HAL_OK) {
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Error_Handler();
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}
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rpi_i2c_state = RPI_I2C_SENDING_DATA;
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break;
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case RPI_I2C_SENDING_DATA:
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rpi_i2c_state = RPI_I2C_IDLE;
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rpi_num_polls++;
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break;
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default:
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// TODO: How do we handle this?
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return;
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}
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}
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void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *handle) {
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if (rpi_i2c_state != RPI_I2C_WAITING_FOR_COMMAND) {
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// TODO: How do we handle this?
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return;
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}
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// TODO: Check comm byte
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current_command = i2c_rx_buf[0];
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rpi_i2c_state = RPI_I2C_WAITING_FOR_MASTER_RECEIVE;
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}
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void HAL_I2C_AddrCallback(I2C_HandleTypeDef *handle, uint8_t TransferDirection,
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uint16_t AddrMatchCode) {
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if (handle != bus) {
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HAL_GPIO_WritePin(LED_SER_GPIO_Port, LED_SER_Pin, GPIO_PIN_RESET);
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return;
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}
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// TransferDirection is from master POV, so we need to receive when the
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// direction is transmit
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if (TransferDirection == I2C_DIRECTION_TRANSMIT) {
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if (rpi_i2c_state != RPI_I2C_IDLE) {
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// TODO: How do we handle this?
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return;
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}
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if (HAL_I2C_Slave_Seq_Receive_IT(bus, i2c_rx_buf, I2C_RX_BUF_SIZE,
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I2C_FIRST_FRAME) != HAL_OK) {
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Error_Handler();
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}
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rpi_i2c_state = RPI_I2C_WAITING_FOR_COMMAND;
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} else {
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if (rpi_i2c_state != RPI_I2C_WAITING_FOR_MASTER_RECEIVE) {
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// TODO: How do we handle this?
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return;
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}
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if (HAL_I2C_Slave_Seq_Transmit_IT(bus, &i2c_tx_len, 1, I2C_NEXT_FRAME) !=
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HAL_OK) {
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Error_Handler();
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}
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rpi_i2c_state = RPI_I2C_SENDING_DATA_SIZE;
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rpi_update_tx_buffer();
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}
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}
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void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *handle) {
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if (handle != bus) {
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return;
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}
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if (rpi_i2c_state == RPI_I2C_IDLE) {
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HAL_I2C_EnableListen_IT(bus);
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}
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} |