rt-thread/bsp/dm365/drivers/i2c-davinci.c

/*
 * File      : i2c-davinci.c
 * This file is part of RT-Thread RTOS
 * COPYRIGHT (C) 2006, RT-Thread Development Team
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with this program; if not, write to the Free Software Foundation, Inc.,
 *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 *
 * Change Logs:
 * Date           Author		Notes
 * 2011-01-13     weety		first version
 */

#include <rtthread.h>
#include <drivers/i2c.h>
#include <dm36x.h>

/* ----- global defines ----------------------------------------------- */
#define BIT(nr)			(1UL << (nr))

#define DAVINCI_I2C_TIMEOUT	(1*RT_TICK_PER_SECOND)
#define DAVINCI_I2C_MAX_TRIES	2
#define I2C_DAVINCI_INTR_ALL    (DAVINCI_I2C_IMR_AAS | \
				 DAVINCI_I2C_IMR_SCD | \
				 DAVINCI_I2C_IMR_ARDY | \
				 DAVINCI_I2C_IMR_NACK | \
				 DAVINCI_I2C_IMR_AL)

#define DAVINCI_I2C_OAR_REG	0x00
#define DAVINCI_I2C_IMR_REG	0x04
#define DAVINCI_I2C_STR_REG	0x08
#define DAVINCI_I2C_CLKL_REG	0x0c
#define DAVINCI_I2C_CLKH_REG	0x10
#define DAVINCI_I2C_CNT_REG	0x14
#define DAVINCI_I2C_DRR_REG	0x18
#define DAVINCI_I2C_SAR_REG	0x1c
#define DAVINCI_I2C_DXR_REG	0x20
#define DAVINCI_I2C_MDR_REG	0x24
#define DAVINCI_I2C_IVR_REG	0x28
#define DAVINCI_I2C_EMDR_REG	0x2c
#define DAVINCI_I2C_PSC_REG	0x30

#define DAVINCI_I2C_IVR_AAS	0x07
#define DAVINCI_I2C_IVR_SCD	0x06
#define DAVINCI_I2C_IVR_XRDY	0x05
#define DAVINCI_I2C_IVR_RDR	0x04
#define DAVINCI_I2C_IVR_ARDY	0x03
#define DAVINCI_I2C_IVR_NACK	0x02
#define DAVINCI_I2C_IVR_AL	0x01

#define DAVINCI_I2C_STR_BB	BIT(12)
#define DAVINCI_I2C_STR_RSFULL	BIT(11)
#define DAVINCI_I2C_STR_SCD	BIT(5)
#define DAVINCI_I2C_STR_ARDY	BIT(2)
#define DAVINCI_I2C_STR_NACK	BIT(1)
#define DAVINCI_I2C_STR_AL	BIT(0)

#define DAVINCI_I2C_MDR_NACK	BIT(15)
#define DAVINCI_I2C_MDR_STT	BIT(13)
#define DAVINCI_I2C_MDR_STP	BIT(11)
#define DAVINCI_I2C_MDR_MST	BIT(10)
#define DAVINCI_I2C_MDR_TRX	BIT(9)
#define DAVINCI_I2C_MDR_XA	BIT(8)
#define DAVINCI_I2C_MDR_RM	BIT(7)
#define DAVINCI_I2C_MDR_IRS	BIT(5)

#define DAVINCI_I2C_IMR_AAS	BIT(6)
#define DAVINCI_I2C_IMR_SCD	BIT(5)
#define DAVINCI_I2C_IMR_XRDY	BIT(4)
#define DAVINCI_I2C_IMR_RRDY	BIT(3)
#define DAVINCI_I2C_IMR_ARDY	BIT(2)
#define DAVINCI_I2C_IMR_NACK	BIT(1)
#define DAVINCI_I2C_IMR_AL	BIT(0)

#ifdef RT_EDMA_DEBUG
#define i2c_dbg(fmt, ...)  rt_kprintf(fmt, ##__VA_ARGS__)
#else
#define i2c_dbg(fmt, ...)
#endif


struct davinci_i2c_dev {
	void		*base;
	struct rt_semaphore  completion;
	struct clk  *clk;
	int         cmd_err;
	rt_uint8_t  *buf;
	rt_uint32_t      buf_len;
	int         irq;
	int         stop;
	rt_uint8_t  terminate;
	rt_uint32_t bus_freq;
	rt_uint32_t bus_delay;
	struct rt_i2c_bus_device *bus;
};

static inline void davinci_i2c_write_reg(struct davinci_i2c_dev *i2c_dev,
					 int reg, rt_uint16_t val)
{
	davinci_writew(val, i2c_dev->base + reg);
}

static inline rt_uint16_t davinci_i2c_read_reg(struct davinci_i2c_dev *i2c_dev, int reg)
{
	return davinci_readw(i2c_dev->base + reg);
}

static void udelay (rt_uint32_t us)
{
	rt_int32_t i;
	for (; us > 0; us--)
	{
		i = 50000;
		while(i > 0)
		{
			i--;
		}
	}
}


#if 0
/* Generate a pulse on the i2c clock pin. */
static void generic_i2c_clock_pulse(unsigned int scl_pin)
{
	rt_uint16_t i;

	if (scl_pin) {
		/* Send high and low on the SCL line */
		for (i = 0; i < 9; i++) {
			gpio_set_value(scl_pin, 0);
			udelay(20);
			gpio_set_value(scl_pin, 1);
			udelay(20);
		}
	}
}
#endif

/* This routine does i2c bus recovery as specified in the
 * i2c protocol Rev. 03 section 3.16 titled "Bus clear"
 */
static void i2c_recover_bus(struct davinci_i2c_dev *dev)
{
	rt_uint32_t flag = 0;

	i2c_dbg("initiating i2c bus recovery\n");
	/* Send NACK to the slave */
	flag = davinci_i2c_read_reg(dev, DAVINCI_I2C_MDR_REG);
	flag |=  DAVINCI_I2C_MDR_NACK;
	/* write the data into mode register */
	davinci_i2c_write_reg(dev, DAVINCI_I2C_MDR_REG, flag);
#if 0
	if (pdata)
		generic_i2c_clock_pulse(pdata->scl_pin);
#endif
	/* Send STOP */
	flag = davinci_i2c_read_reg(dev, DAVINCI_I2C_MDR_REG);
	flag |= DAVINCI_I2C_MDR_STP;
	davinci_i2c_write_reg(dev, DAVINCI_I2C_MDR_REG, flag);
}

static inline void davinci_i2c_reset_ctrl(struct davinci_i2c_dev *i2c_dev,
								int val)
{
	rt_uint16_t w;

	w = davinci_i2c_read_reg(i2c_dev, DAVINCI_I2C_MDR_REG);
	if (!val)	/* put I2C into reset */
		w &= ~DAVINCI_I2C_MDR_IRS;
	else		/* take I2C out of reset */
		w |= DAVINCI_I2C_MDR_IRS;

	davinci_i2c_write_reg(i2c_dev, DAVINCI_I2C_MDR_REG, w);
}

static void i2c_davinci_calc_clk_dividers(struct davinci_i2c_dev *dev)
{
	rt_uint16_t psc;
	rt_uint32_t clk;
	rt_uint32_t d;
	rt_uint32_t clkh;
	rt_uint32_t clkl;
	rt_uint32_t input_clock = clk_get_rate(dev->clk);

	/* NOTE: I2C Clock divider programming info
	 * As per I2C specs the following formulas provide prescaler
	 * and low/high divider values
	 * input clk --> PSC Div -----------> ICCL/H Div --> output clock
	 *                       module clk
	 *
	 * output clk = module clk / (PSC + 1) [ (ICCL + d) + (ICCH + d) ]
	 *
	 * Thus,
	 * (ICCL + ICCH) = clk = (input clk / ((psc +1) * output clk)) - 2d;
	 *
	 * where if PSC == 0, d = 7,
	 *       if PSC == 1, d = 6
	 *       if PSC > 1 , d = 5
	 */

	/* get minimum of 7 MHz clock, but max of 12 MHz */
	psc = (input_clock / 7000000) - 1;
	if ((input_clock / (psc + 1)) > 12000000)
		psc++;	/* better to run under spec than over */
	d = (psc >= 2) ? 5 : 7 - psc;

	clk = ((input_clock / (psc + 1)) / (dev->bus_freq * 1000)) - (d << 1);
	clkh = clk >> 1;
	clkl = clk - clkh;

	davinci_i2c_write_reg(dev, DAVINCI_I2C_PSC_REG, psc);
	davinci_i2c_write_reg(dev, DAVINCI_I2C_CLKH_REG, clkh);
	davinci_i2c_write_reg(dev, DAVINCI_I2C_CLKL_REG, clkl);

	i2c_dbg("input_clock = %d, CLK = %d\n", input_clock, clk);
}

/*
 * This function configures I2C and brings I2C out of reset.
 * This function is called during I2C init function. This function
 * also gets called if I2C encounters any errors.
 */
static int i2c_davinci_init(struct davinci_i2c_dev *dev)
{
	/* put I2C into reset */
	davinci_i2c_reset_ctrl(dev, 0);

	/* compute clock dividers */
	i2c_davinci_calc_clk_dividers(dev);

	/* Respond at reserved "SMBus Host" slave address" (and zero);
	 * we seem to have no option to not respond...
	 */
	davinci_i2c_write_reg(dev, DAVINCI_I2C_OAR_REG, 0x08);

	i2c_dbg("PSC  = %d\n",
		davinci_i2c_read_reg(dev, DAVINCI_I2C_PSC_REG));
	i2c_dbg("CLKL = %d\n",
		davinci_i2c_read_reg(dev, DAVINCI_I2C_CLKL_REG));
	i2c_dbg("CLKH = %d\n",
		davinci_i2c_read_reg(dev, DAVINCI_I2C_CLKH_REG));
	i2c_dbg("bus_freq = %dkHz, bus_delay = %d\n",
		dev->bus_freq, dev->bus_delay);

	/* Take the I2C module out of reset: */
	davinci_i2c_reset_ctrl(dev, 1);

	/* Enable interrupts */
	davinci_i2c_write_reg(dev, DAVINCI_I2C_IMR_REG, I2C_DAVINCI_INTR_ALL);

	return 0;
}

/*
 * Waiting for bus not busy
 */
static int i2c_davinci_wait_bus_not_busy(struct davinci_i2c_dev *dev,
					 char allow_sleep)
{
	unsigned long timeout;
	static rt_uint16_t to_cnt;
	RT_ASSERT(dev != RT_NULL);
	RT_ASSERT(dev->bus != RT_NULL);

	timeout = rt_tick_get() + dev->bus->timeout;
	while (davinci_i2c_read_reg(dev, DAVINCI_I2C_STR_REG)
	       & DAVINCI_I2C_STR_BB) {
		if (to_cnt <= DAVINCI_I2C_MAX_TRIES) {
			if (rt_tick_get() >= timeout) {
				rt_kprintf("timeout waiting for bus ready\n");
				to_cnt++;
				return -RT_ETIMEOUT;
			} else {
				to_cnt = 0;
				i2c_recover_bus(dev);
				i2c_davinci_init(dev);
			}
		}
		if (allow_sleep)
			rt_thread_delay(2);
	}

	return 0;
}

/*
 * Low level master read/write transaction. This function is called
 * from i2c_davinci_xfer.
 */
static int
i2c_davinci_xfer_msg(struct rt_i2c_bus_device *bus, struct rt_i2c_msg *msg, int stop)
{
	struct davinci_i2c_dev *dev = bus->priv;
	rt_uint32_t flag;
	rt_uint16_t w;
	int r;

	/* Introduce a delay, required for some boards (e.g Davinci EVM) */
	if (dev->bus_delay)
		udelay(dev->bus_delay);

	/* set the slave address */
	davinci_i2c_write_reg(dev, DAVINCI_I2C_SAR_REG, msg->addr);

	dev->buf = msg->buf;
	dev->buf_len = msg->len;
	dev->stop = stop;

	davinci_i2c_write_reg(dev, DAVINCI_I2C_CNT_REG, dev->buf_len);

	//INIT_COMPLETION(dev->cmd_complete);
	dev->cmd_err = 0;

	/* Take I2C out of reset and configure it as master */
	flag = DAVINCI_I2C_MDR_IRS | DAVINCI_I2C_MDR_MST;

	/* if the slave address is ten bit address, enable XA bit */
	if (msg->flags & RT_I2C_ADDR_10BIT)
		flag |= DAVINCI_I2C_MDR_XA;
	if (!(msg->flags & RT_I2C_RD))
		flag |= DAVINCI_I2C_MDR_TRX;
	if (msg->len == 0)
		flag |= DAVINCI_I2C_MDR_RM;

	/* Enable receive or transmit interrupts */
	w = davinci_i2c_read_reg(dev, DAVINCI_I2C_IMR_REG);
	if (msg->flags & RT_I2C_RD)
		w |= DAVINCI_I2C_IMR_RRDY;
	else
		w |= DAVINCI_I2C_IMR_XRDY;
	davinci_i2c_write_reg(dev, DAVINCI_I2C_IMR_REG, w);

	dev->terminate = 0;

	/*
	 * Write mode register first as needed for correct behaviour
	 * on OMAP-L138, but don't set STT yet to avoid a race with XRDY
	 * occurring before we have loaded DXR
	 */
	davinci_i2c_write_reg(dev, DAVINCI_I2C_MDR_REG, flag);

	/*
	 * First byte should be set here, not after interrupt,
	 * because transmit-data-ready interrupt can come before
	 * NACK-interrupt during sending of previous message and
	 * ICDXR may have wrong data
	 * It also saves us one interrupt, slightly faster
	 */
	if ((!(msg->flags & RT_I2C_RD)) && dev->buf_len)
	{
		davinci_i2c_write_reg(dev, DAVINCI_I2C_DXR_REG, *dev->buf++);
		dev->buf_len--;
	}

	/* Set STT to begin transmit now DXR is loaded */
	flag |= DAVINCI_I2C_MDR_STT;
	if (stop && msg->len != 0)
		flag |= DAVINCI_I2C_MDR_STP;
	davinci_i2c_write_reg(dev, DAVINCI_I2C_MDR_REG, flag);

	r = rt_sem_take(&dev->completion, dev->bus->timeout);
	if (r == -RT_ETIMEOUT)
	{
		rt_kprintf("controller timed out\n");
		i2c_recover_bus(dev);
		i2c_davinci_init(dev);
		dev->buf_len = 0;
		return -RT_ETIMEOUT;
	}
	if (dev->buf_len)
	{
		/* This should be 0 if all bytes were transferred
		 * or dev->cmd_err denotes an error.
		 * A signal may have aborted the transfer.
		 */
		if (r == RT_EOK)
		{
			rt_kprintf("abnormal termination buf_len=%i\n",
				dev->buf_len);
			r = -RT_EIO;
		}
		dev->terminate = 1;
		dev->buf_len = 0;
	}
	if (r < 0)
		return r;

	/* no error */
	if (!dev->cmd_err)
		return msg->len;

	/* We have an error */
	if (dev->cmd_err & DAVINCI_I2C_STR_AL)
	{
		i2c_davinci_init(dev);
		return -RT_EIO;
	}

	if (dev->cmd_err & DAVINCI_I2C_STR_NACK)
	{
		if (msg->flags & RT_I2C_IGNORE_NACK)
			return msg->len;
		if (stop)
		{
			w = davinci_i2c_read_reg(dev, DAVINCI_I2C_MDR_REG);
			w |= DAVINCI_I2C_MDR_STP;
			davinci_i2c_write_reg(dev, DAVINCI_I2C_MDR_REG, w);
		}
		return -RT_EIO;
	}
	return -RT_EIO;
}

/*
 * Prepare controller for a transaction and call i2c_davinci_xfer_msg
 */
static int
i2c_davinci_xfer(struct rt_i2c_bus_device *bus, struct rt_i2c_msg msgs[], int num)
{
	struct davinci_i2c_dev *dev = bus->priv;
	int i;
	int ret;

	i2c_dbg("%s: msgs: %d\n", __func__, num);

	ret = i2c_davinci_wait_bus_not_busy(dev, 1);
	if (ret < 0)
	{
		i2c_dbg("timeout waiting for bus ready\n");
		return ret;
	}

	for (i = 0; i < num; i++)
	{
		ret = i2c_davinci_xfer_msg(bus, &msgs[i], (i == (num - 1)));
		i2c_dbg("%s [%d/%d] ret: %d\n", __func__, i + 1, num,
			ret);
		if (ret < 0)
			return ret;
	}


	return num;
}


static void terminate_read(struct davinci_i2c_dev *dev)
{
	rt_uint16_t w = davinci_i2c_read_reg(dev, DAVINCI_I2C_MDR_REG);
	w |= DAVINCI_I2C_MDR_NACK;
	davinci_i2c_write_reg(dev, DAVINCI_I2C_MDR_REG, w);

	/* Throw away data */
	davinci_i2c_read_reg(dev, DAVINCI_I2C_DRR_REG);
	if (!dev->terminate)
		rt_kprintf("RDR IRQ while no data requested\n");
}
static void terminate_write(struct davinci_i2c_dev *dev)
{
	rt_uint16_t w = davinci_i2c_read_reg(dev, DAVINCI_I2C_MDR_REG);
	w |= DAVINCI_I2C_MDR_RM | DAVINCI_I2C_MDR_STP;
	davinci_i2c_write_reg(dev, DAVINCI_I2C_MDR_REG, w);

	if (!dev->terminate)
		i2c_dbg("TDR IRQ while no data to send\n");
}

/*
 * Interrupt service routine. This gets called whenever an I2C interrupt
 * occurs.
 */
static void i2c_davinci_isr(int irq, void *param)
{
	struct davinci_i2c_dev *dev = (struct davinci_i2c_dev *)param;
	rt_uint32_t stat;
	int count = 0;
	rt_uint16_t w;

	while ((stat = davinci_i2c_read_reg(dev, DAVINCI_I2C_IVR_REG))) {
		i2c_dbg("%s: stat=0x%x\n", __func__, stat);
		if (count++ == 100) {
			rt_kprintf("Too much work in one IRQ\n");
			break;
		}

		switch (stat) {
		case DAVINCI_I2C_IVR_AL:
			/* Arbitration lost, must retry */
			dev->cmd_err |= DAVINCI_I2C_STR_AL;
			dev->buf_len = 0;
			rt_sem_release(&dev->completion);
			break;

		case DAVINCI_I2C_IVR_NACK:
			dev->cmd_err |= DAVINCI_I2C_STR_NACK;
			dev->buf_len = 0;
			rt_sem_release(&dev->completion);
			break;

		case DAVINCI_I2C_IVR_ARDY:
			davinci_i2c_write_reg(dev,
				DAVINCI_I2C_STR_REG, DAVINCI_I2C_STR_ARDY);
			if (((dev->buf_len == 0) && (dev->stop != 0)) ||
			    (dev->cmd_err & DAVINCI_I2C_STR_NACK)) {
				w = davinci_i2c_read_reg(dev,
							 DAVINCI_I2C_MDR_REG);
				w |= DAVINCI_I2C_MDR_STP;
				davinci_i2c_write_reg(dev,
						      DAVINCI_I2C_MDR_REG, w);
			}
			rt_sem_release(&dev->completion);
			break;

		case DAVINCI_I2C_IVR_RDR:
			if (dev->buf_len) {
				*dev->buf++ =
				    davinci_i2c_read_reg(dev,
							 DAVINCI_I2C_DRR_REG);
				dev->buf_len--;
				if (dev->buf_len)
					continue;

				davinci_i2c_write_reg(dev,
					DAVINCI_I2C_STR_REG,
					DAVINCI_I2C_IMR_RRDY);
			} else {
				/* signal can terminate transfer */
				terminate_read(dev);
			}
			break;

		case DAVINCI_I2C_IVR_XRDY:
			if (dev->buf_len) {
				davinci_i2c_write_reg(dev, DAVINCI_I2C_DXR_REG,
						      *dev->buf++);
				dev->buf_len--;
				if (dev->buf_len)
					continue;

				w = davinci_i2c_read_reg(dev,
							 DAVINCI_I2C_IMR_REG);
				w &= ~DAVINCI_I2C_IMR_XRDY;
				davinci_i2c_write_reg(dev,
						      DAVINCI_I2C_IMR_REG,
						      w);
			} else {
				/* signal can terminate transfer */
				terminate_write(dev);
			}
			break;

		case DAVINCI_I2C_IVR_SCD:
			davinci_i2c_write_reg(dev,
				DAVINCI_I2C_STR_REG, DAVINCI_I2C_STR_SCD);
			rt_sem_release(&dev->completion);
			break;

		case DAVINCI_I2C_IVR_AAS:
			i2c_dbg("Address as slave interrupt\n");
			break;

		default:
			i2c_dbg("Unrecognized irq stat %d\n", stat);
			break;
		}
	}

}



static struct rt_i2c_bus_device_ops bus_ops = {
	.master_xfer	= i2c_davinci_xfer,
};

int davinci_i2c_init(char *bus_name)
{
	struct rt_i2c_bus_device *bus;
	struct davinci_i2c_dev *dev;
	int r;

	bus = rt_malloc(sizeof(struct rt_i2c_bus_device));
	if (bus == RT_NULL)
	{
		rt_kprintf("rt_malloc failed\n");
		return -RT_ENOMEM;
	}
	
	rt_memset((void *)bus, 0, sizeof(struct rt_i2c_bus_device));

	bus->ops = &bus_ops;
	bus->timeout = DAVINCI_I2C_TIMEOUT;

	dev = rt_malloc(sizeof(struct davinci_i2c_dev));
	if (!dev) 
	{
		r = -RT_ENOMEM;
		goto err;
	}

	rt_memset((void *)dev, 0, sizeof(struct davinci_i2c_dev));

	rt_sem_init(&dev->completion, "i2c_ack", 0, RT_IPC_FLAG_FIFO);

	dev->irq = IRQ_I2C;

	dev->clk = clk_get("I2CCLK");
	if (dev->clk == RT_NULL) {
		r = -RT_ERROR;
		goto err1;
	}

	psc_change_state(DAVINCI_DM365_LPSC_I2C, 3);

	dev->base = DAVINCI_I2C_BASE;
	dev->bus_freq = 100;
	dev->bus_delay = 0;
	dev->bus = bus;

	bus->priv = dev;

	i2c_davinci_init(dev);

	rt_hw_interrupt_install(dev->irq, i2c_davinci_isr, (void *)dev, "I2C");
	rt_hw_interrupt_umask(dev->irq);

	return rt_i2c_bus_device_register(bus, bus_name);

err1:
	rt_free(dev);

err:
	rt_free(bus);

	return r;
}