stmhal: Add I2C support; change accel driver to use new I2C.

7 files changed, 212 insertions, 47 deletions

diff --git a/stmhal/Makefile b/stmhal/Makefile
index 1c9ea5531..bf5db7186 100644
--- a/stmhal/Makefile
+++ b/stmhal/Makefile
@@ -94,9 +94,9 @@ SRC_C = \
 	servo.c \
 	dac.c \
 	adc.c \
+	i2c.c \
 
 #	timer.c \
-#	i2c.c \
 #	pybwlan.c \
 
 SRC_S = \
diff --git a/stmhal/accel.c b/stmhal/accel.c
index b58b7c4db..f79169161 100644
--- a/stmhal/accel.c
+++ b/stmhal/accel.c
@@ -9,6 +9,7 @@
 #include "qstr.h"
 #include "obj.h"
 #include "runtime.h"
+#include "i2c.h"
 #include "accel.h"
 
 #define MMA_ADDR (0x98)
@@ -19,8 +20,6 @@
 #define MMA_REG_MODE (7)
 #define MMA_AXIS_SIGNED_VALUE(i) (((i) & 0x3f) | ((i) & 0x20 ? (~0x1f) : 0))
 
-STATIC I2C_HandleTypeDef I2cHandle;
-
 void accel_init(void) {
     GPIO_InitTypeDef GPIO_InitStructure;
 
@@ -31,38 +30,12 @@ void accel_init(void) {
     GPIO_InitStructure.Speed = GPIO_SPEED_LOW;
     GPIO_InitStructure.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
-
-    // PB6=SCL, PB7=SDA
-    GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7;
-    GPIO_InitStructure.Mode = GPIO_MODE_AF_OD;
-    GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
-    GPIO_InitStructure.Pull = GPIO_NOPULL; // have external pull-up resistors on both lines
-    GPIO_InitStructure.Alternate = GPIO_AF4_I2C1;
-    HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
-
-    // enable the I2C1 clock
-    __I2C1_CLK_ENABLE();
-
-    // set up the I2C1 device
-    memset(&I2cHandle, 0, sizeof(I2C_HandleTypeDef));
-    I2cHandle.Instance = I2C1;
-    I2cHandle.Init.AddressingMode  = I2C_ADDRESSINGMODE_7BIT;
-    I2cHandle.Init.ClockSpeed      = 400000;
-    I2cHandle.Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
-    I2cHandle.Init.DutyCycle       = I2C_DUTYCYCLE_16_9;
-    I2cHandle.Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
-    I2cHandle.Init.NoStretchMode   = I2C_NOSTRETCH_DISABLED;
-    I2cHandle.Init.OwnAddress1     = 0xfe; // unused
-    I2cHandle.Init.OwnAddress2     = 0xfe; // unused
-
-    if (HAL_I2C_Init(&I2cHandle) != HAL_OK) {
-        // init error
-        printf("accel_init: HAL_I2C_Init failed\n");
-        return;
-    }
 }
 
-STATIC void accel_init_device(void) {
+STATIC void accel_start(void) {
+    // start the I2C bus
+    i2c_start(&I2cHandle_X);
+
     // turn off AVDD, wait 20ms, turn on AVDD, wait 20ms again
     GPIOB->BSRRH = GPIO_PIN_5; // turn off
     HAL_Delay(20);
@@ -73,7 +46,7 @@ STATIC void accel_init_device(void) {
 
     //printf("IsDeviceReady\n");
     for (int i = 0; i < 10; i++) {
-        status = HAL_I2C_IsDeviceReady(&I2cHandle, MMA_ADDR, 10, 200);
+        status = HAL_I2C_IsDeviceReady(&I2cHandle_X, MMA_ADDR, 10, 200);
         //printf("  got %d\n", status);
         if (status == HAL_OK) {
             break;
@@ -83,7 +56,7 @@ STATIC void accel_init_device(void) {
     //printf("MemWrite\n");
     uint8_t data[1];
     data[0] = 1; // active mode
-    status = HAL_I2C_Mem_Write(&I2cHandle, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
+    status = HAL_I2C_Mem_Write(&I2cHandle_X, MMA_ADDR, MMA_REG_MODE, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
     //printf("  got %d\n", status);
 }
 
@@ -108,14 +81,14 @@ STATIC mp_obj_t pyb_accel_make_new(mp_obj_t type_in, uint n_args, uint n_kw, con
 
     // init accel object
     pyb_accel_obj.base.type = &pyb_accel_type;
-    accel_init_device();
+    accel_start();
 
     return &pyb_accel_obj;
 }
 
 STATIC mp_obj_t read_axis(int axis) {
     uint8_t data[1];
-    HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
+    HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, axis, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
     return mp_obj_new_int(MMA_AXIS_SIGNED_VALUE(data[0]));
 }
 
@@ -139,7 +112,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_z_obj, pyb_accel_z);
 
 STATIC mp_obj_t pyb_accel_tilt(mp_obj_t self_in) {
     uint8_t data[1];
-    HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
+    HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, MMA_REG_TILT, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
     return mp_obj_new_int(data[0]);
 }
 
@@ -151,7 +124,7 @@ STATIC mp_obj_t pyb_accel_filtered_xyz(mp_obj_t self_in) {
     memmove(self->buf, self->buf + NUM_AXIS, NUM_AXIS * (FILT_DEPTH - 1) * sizeof(int16_t));
 
     uint8_t data[NUM_AXIS];
-    HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200);
+    HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, MMA_REG_X, I2C_MEMADD_SIZE_8BIT, data, NUM_AXIS, 200);
 
     mp_obj_t tuple[NUM_AXIS];
     for (int i = 0; i < NUM_AXIS; i++) {
@@ -170,7 +143,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_accel_filtered_xyz_obj, pyb_accel_filtered_
 
 STATIC mp_obj_t pyb_accel_read_reg(mp_obj_t self_in, mp_obj_t reg) {
     uint8_t data[1];
-    HAL_I2C_Mem_Read(&I2cHandle, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
+    HAL_I2C_Mem_Read(&I2cHandle_X, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
     return mp_obj_new_int(data[0]);
 }
 
@@ -179,7 +152,7 @@ MP_DEFINE_CONST_FUN_OBJ_2(pyb_accel_read_reg_obj, pyb_accel_read_reg);
 STATIC mp_obj_t pyb_accel_write_reg(mp_obj_t self_in, mp_obj_t reg, mp_obj_t val) {
     uint8_t data[1];
     data[0] = mp_obj_get_int(val);
-    HAL_I2C_Mem_Write(&I2cHandle, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
+    HAL_I2C_Mem_Write(&I2cHandle_X, MMA_ADDR, mp_obj_get_int(reg), I2C_MEMADD_SIZE_8BIT, data, 1, 200);
     return mp_const_none;
 }
 
diff --git a/stmhal/accel.h b/stmhal/accel.h
index 88fabfd54..9f9c0a8e0 100644
--- a/stmhal/accel.h
+++ b/stmhal/accel.h
@@ -1,3 +1,4 @@
-void accel_init(void);
-
+extern I2C_HandleTypeDef I2cHandle;
 extern const mp_obj_type_t pyb_accel_type;
+
+void accel_init(void);
diff --git a/stmhal/i2c.c b/stmhal/i2c.c
new file mode 100644
index 000000000..b8608ad3b
--- /dev/null
+++ b/stmhal/i2c.c
@@ -0,0 +1,184 @@
+#include <stdio.h>
+#include <string.h>
+
+#include <stm32f4xx_hal.h>
+
+#include "nlr.h"
+#include "misc.h"
+#include "mpconfig.h"
+#include "qstr.h"
+#include "obj.h"
+#include "runtime.h"
+#include "i2c.h"
+
+I2C_HandleTypeDef I2cHandle_X;
+I2C_HandleTypeDef I2cHandle_Y;
+
+void i2c_init(void) {
+    // init the I2C1 device
+    memset(&I2cHandle_X, 0, sizeof(I2C_HandleTypeDef));
+    I2cHandle_X.Instance = I2C1;
+
+    // init the I2C2 device
+    memset(&I2cHandle_Y, 0, sizeof(I2C_HandleTypeDef));
+    I2cHandle_Y.Instance = I2C2;
+}
+
+void i2c_start(I2C_HandleTypeDef *i2c_handle) {
+    GPIO_InitTypeDef GPIO_InitStructure;
+
+    // init the GPIO lines
+    GPIO_InitStructure.Mode = GPIO_MODE_AF_OD;
+    GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
+    GPIO_InitStructure.Pull = GPIO_NOPULL; // have external pull-up resistors on both lines
+
+    if (i2c_handle == &I2cHandle_X) {
+        // X-skin: X9=PB6=SCL, X10=PB7=SDA
+        GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7;
+        GPIO_InitStructure.Alternate = GPIO_AF4_I2C1;
+        HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
+        // enable the I2C clock
+        __I2C1_CLK_ENABLE();
+    } else {
+        // Y-skin: Y9=PB10=SCL, Y10=PB11=SDA
+        GPIO_InitStructure.Pin = GPIO_PIN_10 | GPIO_PIN_11;
+        GPIO_InitStructure.Alternate = GPIO_AF4_I2C2;
+        HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
+        // enable the I2C clock
+        __I2C2_CLK_ENABLE();
+    }
+
+    // init the I2C device
+    i2c_handle->Init.AddressingMode  = I2C_ADDRESSINGMODE_7BIT;
+    i2c_handle->Init.ClockSpeed      = 400000;
+    i2c_handle->Init.DualAddressMode = I2C_DUALADDRESS_DISABLED;
+    i2c_handle->Init.DutyCycle       = I2C_DUTYCYCLE_16_9;
+    i2c_handle->Init.GeneralCallMode = I2C_GENERALCALL_DISABLED;
+    i2c_handle->Init.NoStretchMode   = I2C_NOSTRETCH_DISABLED;
+    i2c_handle->Init.OwnAddress1     = 0xfe; // unused
+    i2c_handle->Init.OwnAddress2     = 0xfe; // unused
+
+    if (HAL_I2C_Init(i2c_handle) != HAL_OK) {
+        // init error
+        printf("accel_init: HAL_I2C_Init failed\n");
+        return;
+    }
+}
+
+/******************************************************************************/
+/* Micro Python bindings                                                      */
+
+#define PYB_NUM_I2C (2)
+
+typedef struct _pyb_i2c_obj_t {
+    mp_obj_base_t base;
+    I2C_HandleTypeDef *i2c_handle;
+} pyb_i2c_obj_t;
+
+STATIC pyb_i2c_obj_t pyb_i2c_obj[PYB_NUM_I2C] = {{{&pyb_i2c_type}, &I2cHandle_X}, {{&pyb_i2c_type}, &I2cHandle_Y}};
+
+STATIC mp_obj_t pyb_i2c_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
+    // check arguments
+    if (!(n_args == 1 && n_kw == 0)) {
+        nlr_jump(mp_obj_new_exception_msg(&mp_type_ValueError, "I2C accepts 1 argument"));
+    }
+
+    // get i2c number
+    machine_int_t i2c_id = mp_obj_get_int(args[0]) - 1;
+
+    // check i2c number
+    if (!(0 <= i2c_id && i2c_id < PYB_NUM_I2C)) {
+        nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "I2C bus %d does not exist", i2c_id + 1));
+    }
+
+    // get i2c object
+    pyb_i2c_obj_t *i2c_obj = &pyb_i2c_obj[i2c_id];
+
+    // start the peripheral
+    i2c_start(i2c_obj->i2c_handle);
+
+    return &pyb_i2c_obj;
+}
+
+STATIC mp_obj_t pyb_i2c_is_ready(mp_obj_t self_in, mp_obj_t i2c_addr_o) {
+    pyb_i2c_obj_t *self = self_in;
+    machine_uint_t i2c_addr = mp_obj_get_int(i2c_addr_o) << 1;
+
+    //printf("IsDeviceReady\n");
+    for (int i = 0; i < 10; i++) {
+        HAL_StatusTypeDef status = HAL_I2C_IsDeviceReady(self->i2c_handle, i2c_addr, 10, 200);
+        //printf("  got %d\n", status);
+        if (status == HAL_OK) {
+            return mp_const_true;
+        }
+    }
+
+    return mp_const_false;
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_i2c_is_ready_obj, pyb_i2c_is_ready);
+
+STATIC mp_obj_t pyb_i2c_mem_read(uint n_args, const mp_obj_t *args) {
+    pyb_i2c_obj_t *self = args[0];
+    machine_uint_t i2c_addr = mp_obj_get_int(args[1]) << 1;
+    machine_uint_t mem_addr = mp_obj_get_int(args[2]);
+    machine_uint_t n = mp_obj_get_int(args[3]);
+
+    byte *data;
+    mp_obj_t o = mp_obj_str_builder_start(&bytes_type, n, &data);
+    HAL_StatusTypeDef status = HAL_I2C_Mem_Read(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, n, 200);
+
+    //printf("Read got %d\n", status);
+
+    if (status != HAL_OK) {
+        // TODO really need a HardwareError object, or something
+        nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Mem_Read failed with code %d", status));
+    }
+
+    return mp_obj_str_builder_end(o);
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_i2c_mem_read_obj, 4, 4, pyb_i2c_mem_read);
+
+STATIC mp_obj_t pyb_i2c_mem_write(uint n_args, const mp_obj_t *args) {
+    pyb_i2c_obj_t *self = args[0];
+    machine_uint_t i2c_addr = mp_obj_get_int(args[1]) << 1;
+    machine_uint_t mem_addr = mp_obj_get_int(args[2]);
+    HAL_StatusTypeDef status;
+    mp_obj_type_t *type = mp_obj_get_type(args[3]);
+    if (type->buffer_p.get_buffer != NULL) {
+        buffer_info_t bufinfo;
+        type->buffer_p.get_buffer(args[3], &bufinfo, BUFFER_READ);
+        status = HAL_I2C_Mem_Write(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, bufinfo.buf, bufinfo.len, 200);
+    } else if (MP_OBJ_IS_INT(args[3])) {
+        uint8_t data[1] = {mp_obj_get_int(args[3])};
+        status = HAL_I2C_Mem_Write(self->i2c_handle, i2c_addr, mem_addr, I2C_MEMADD_SIZE_8BIT, data, 1, 200);
+    } else {
+        nlr_jump(mp_obj_new_exception_msg(&mp_type_TypeError, "data argument must be an integer or support the buffer protocol"));
+    }
+
+    //printf("Write got %d\n", status);
+
+    if (status != HAL_OK) {
+        // TODO really need a HardwareError object, or something
+        nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_I2C_Mem_Write failed with code %d", status));
+    }
+
+    return mp_const_none;
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_i2c_mem_write_obj, 4, 4, pyb_i2c_mem_write);
+
+STATIC const mp_method_t pyb_i2c_methods[] = {
+    { "is_ready", &pyb_i2c_is_ready_obj },
+    { "mem_read", &pyb_i2c_mem_read_obj },
+    { "mem_write", &pyb_i2c_mem_write_obj },
+    { NULL, NULL },
+};
+
+const mp_obj_type_t pyb_i2c_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_I2C,
+    .make_new = pyb_i2c_make_new,
+    .methods = pyb_i2c_methods,
+};
diff --git a/stmhal/i2c.h b/stmhal/i2c.h
new file mode 100644
index 000000000..32cba4259
--- /dev/null
+++ b/stmhal/i2c.h
@@ -0,0 +1,6 @@
+extern I2C_HandleTypeDef I2cHandle_X;
+extern I2C_HandleTypeDef I2cHandle_Y;
+extern const mp_obj_type_t pyb_i2c_type;
+
+void i2c_init(void);
+void i2c_start(I2C_HandleTypeDef *i2c_handle);
diff --git a/stmhal/main.c b/stmhal/main.c
index ab96dcdef..e80841ea9 100644
--- a/stmhal/main.c
+++ b/stmhal/main.c
@@ -32,6 +32,7 @@
 #include "sdcard.h"
 #include "ff.h"
 #include "lcd.h"
+#include "i2c.h"
 #include "accel.h"
 #include "servo.h"
 #include "dac.h"
@@ -375,6 +376,8 @@ soft_reset:
     pyb_usb_dev_init(USBD_DEVICE_CDC_MSC, usbd_medium_kind);
 #endif
 
+    i2c_init();
+
 #if MICROPY_HW_HAS_MMA7660
     // MMA accel: init and reset
     accel_init();
diff --git a/stmhal/modpyb.c b/stmhal/modpyb.c
index c7bab3666..b0442b65f 100644
--- a/stmhal/modpyb.c
+++ b/stmhal/modpyb.c
@@ -26,9 +26,9 @@
 #include "accel.h"
 #include "servo.h"
 #include "dac.h"
+#include "i2c.h"
 #if 0
 #include "usb.h"
-#include "i2c.h"
 #endif
 #include "modpyb.h"
 #include "ff.h"
@@ -261,9 +261,7 @@ STATIC const mp_map_elem_t pyb_module_globals_table[] = {
     { MP_OBJ_NEW_QSTR(MP_QSTR_hid), (mp_obj_t)&pyb_hid_send_report_obj },
 #endif
     { MP_OBJ_NEW_QSTR(MP_QSTR_Led), (mp_obj_t)&pyb_led_type },
-#if 0
-    { MP_OBJ_NEW_QSTR(MP_QSTR_I2C), (mp_obj_t)&pyb_I2C_obj },
-#endif
+    { MP_OBJ_NEW_QSTR(MP_QSTR_I2C), (mp_obj_t)&pyb_i2c_type },
     { MP_OBJ_NEW_QSTR(MP_QSTR_Usart), (mp_obj_t)&pyb_Usart_obj },
 
     { MP_OBJ_NEW_QSTR(MP_QSTR_ADC), (mp_obj_t)&pyb_adc_type },