Release 260111

2026-01-11 18:23:29 +08:00
commit 3721ecbf8a
2601 changed files with 855070 additions and 0 deletions
--- a/panda/board/stm32h7/lli2c.h
+++ b/panda/board/stm32h7/lli2c.h
@@ -0,0 +1,167 @@
+// TODO: this driver relies heavily on polling,
+// if we want it to be more async, we should use interrupts
+
+#define I2C_RETRY_COUNT 10U
+#define I2C_TIMEOUT_US 100000U
+
+bool i2c_status_wait(const volatile uint32_t *reg, uint32_t mask, uint32_t val) {
+  uint32_t start_time = microsecond_timer_get();
+  while(((*reg & mask) != val) && (get_ts_elapsed(microsecond_timer_get(), start_time) < I2C_TIMEOUT_US));
+  return ((*reg & mask) == val);
+}
+
+void i2c_reset(I2C_TypeDef *I2C) {
+  // peripheral reset
+  register_clear_bits(&I2C->CR1, I2C_CR1_PE);
+  while ((I2C->CR1 & I2C_CR1_PE) != 0U);
+  register_set_bits(&I2C->CR1, I2C_CR1_PE);
+}
+
+bool i2c_write_reg(I2C_TypeDef *I2C, uint8_t addr, uint8_t reg, uint8_t value) {
+  bool ret = false;
+
+  // Setup transfer and send START + addr
+  for (uint32_t i = 0U; i < I2C_RETRY_COUNT; i++) {
+    register_clear_bits(&I2C->CR2, I2C_CR2_ADD10);
+    I2C->CR2 = ((uint32_t)addr << 1U) & I2C_CR2_SADD_Msk;
+    register_clear_bits(&I2C->CR2, I2C_CR2_RD_WRN);
+    register_set_bits(&I2C->CR2, I2C_CR2_AUTOEND);
+    I2C->CR2 |= 2UL << I2C_CR2_NBYTES_Pos;
+
+    I2C->CR2 |= I2C_CR2_START;
+    if(!i2c_status_wait(&I2C->CR2, I2C_CR2_START, 0U)) {
+      continue;
+    }
+
+    // check if we lost arbitration
+    if ((I2C->ISR & I2C_ISR_ARLO) != 0U) {
+      register_set_bits(&I2C->ICR, I2C_ICR_ARLOCF);
+    } else {
+      ret = true;
+      break;
+    }
+  }
+
+  if (!ret) {
+    goto end;
+  }
+
+  // Send data
+  ret = i2c_status_wait(&I2C->ISR, I2C_ISR_TXIS, I2C_ISR_TXIS);
+  if(!ret) {
+    goto end;
+  }
+  I2C->TXDR = reg;
+
+  ret = i2c_status_wait(&I2C->ISR, I2C_ISR_TXIS, I2C_ISR_TXIS);
+  if(!ret) {
+    goto end;
+  }
+  I2C->TXDR = value;
+
+end:
+  return ret;
+}
+
+bool i2c_read_reg(I2C_TypeDef *I2C, uint8_t addr, uint8_t reg, uint8_t *value) {
+  bool ret = false;
+
+  // Setup transfer and send START + addr
+  for (uint32_t i = 0U; i < I2C_RETRY_COUNT; i++) {
+    register_clear_bits(&I2C->CR2, I2C_CR2_ADD10);
+    I2C->CR2 = ((uint32_t)addr << 1U) & I2C_CR2_SADD_Msk;
+    register_clear_bits(&I2C->CR2, I2C_CR2_RD_WRN);
+    register_clear_bits(&I2C->CR2, I2C_CR2_AUTOEND);
+    I2C->CR2 |= 1UL << I2C_CR2_NBYTES_Pos;
+
+    I2C->CR2 |= I2C_CR2_START;
+    if(!i2c_status_wait(&I2C->CR2, I2C_CR2_START, 0U)) {
+      continue;
+    }
+
+    // check if we lost arbitration
+    if ((I2C->ISR & I2C_ISR_ARLO) != 0U) {
+      register_set_bits(&I2C->ICR, I2C_ICR_ARLOCF);
+    } else {
+      ret = true;
+      break;
+    }
+  }
+
+  if (!ret) {
+    goto end;
+  }
+
+  // Send data
+  ret = i2c_status_wait(&I2C->ISR, I2C_ISR_TXIS, I2C_ISR_TXIS);
+  if(!ret) {
+    goto end;
+  }
+  I2C->TXDR = reg;
+
+  // Restart
+  I2C->CR2 = (((addr << 1) | 0x1U) & I2C_CR2_SADD_Msk) | (1UL << I2C_CR2_NBYTES_Pos) | I2C_CR2_RD_WRN | I2C_CR2_START;
+  ret = i2c_status_wait(&I2C->CR2, I2C_CR2_START, 0U);
+  if(!ret) {
+    goto end;
+  }
+
+  // check if we lost arbitration
+  if ((I2C->ISR & I2C_ISR_ARLO) != 0U) {
+    register_set_bits(&I2C->ICR, I2C_ICR_ARLOCF);
+    ret = false;
+    goto end;
+  }
+
+  // Read data
+  ret = i2c_status_wait(&I2C->ISR, I2C_ISR_RXNE, I2C_ISR_RXNE);
+  if(!ret) {
+    goto end;
+  }
+  *value = I2C->RXDR;
+
+  // Stop
+  I2C->CR2 |= I2C_CR2_STOP;
+
+end:
+
+  if (!ret) {
+    i2c_reset(I2C);
+  }
+
+  return ret;
+}
+
+bool i2c_set_reg_bits(I2C_TypeDef *I2C, uint8_t address, uint8_t regis, uint8_t bits) {
+  uint8_t value;
+  bool ret = i2c_read_reg(I2C, address, regis, &value);
+  if(ret) {
+    ret = i2c_write_reg(I2C, address, regis, value | bits);
+  }
+  return ret;
+}
+
+bool i2c_clear_reg_bits(I2C_TypeDef *I2C, uint8_t address, uint8_t regis, uint8_t bits) {
+  uint8_t value;
+  bool ret = i2c_read_reg(I2C, address, regis, &value);
+  if (ret) {
+    ret = i2c_write_reg(I2C, address, regis, value & (uint8_t) (~bits));
+  }
+  return ret;
+}
+
+bool i2c_set_reg_mask(I2C_TypeDef *I2C, uint8_t address, uint8_t regis, uint8_t value, uint8_t mask) {
+  uint8_t old_value;
+  bool ret = i2c_read_reg(I2C, address, regis, &old_value);
+  if(ret) {
+    ret = i2c_write_reg(I2C, address, regis, (old_value & (uint8_t) (~mask)) | (value & mask));
+  }
+  return ret;
+}
+
+void i2c_init(I2C_TypeDef *I2C) {
+  // 100kHz clock speed
+  I2C->TIMINGR = 0x107075B0;
+
+  i2c_reset(I2C);
+}